Android GPS学习笔记—重要结构体及接口

gps.h文件中定义了GPS底层相关的结构体和接口。

目录：hardware/libhardware/include/hardware/gps.h

1. 相关宏定义

• 定位模式定义：GpsPositionMode

GPS定位模式分为：独立定位，MSB，MSA，其中独立定位表示只使用GPS芯片进行定位，MSB和MSA是AGPS定位的两种模式

<pre name="code" class="cpp">/** Requested operational mode for GPS operation. */
typedef uint32_t GpsPositionMode;
// IMPORTANT: Note that the following values must match
// constants in GpsLocationProvider.java.
/** Mode for running GPS standalone (no assistance). */
#define GPS_POSITION_MODE_STANDALONE    0
/** AGPS MS-Based mode. */
#define GPS_POSITION_MODE_MS_BASED      1
/** AGPS MS-Assisted mode. */
#define GPS_POSITION_MODE_MS_ASSISTED   2

• GPS工作模式定义：GpsPositionRecurrence

GPS工作模式分为周期定位和单次定位

<pre name="code" class="cpp">/** Requested recurrence mode for GPS operation. */
typedef uint32_t GpsPositionRecurrence;
// IMPORTANT: Note that the following values must match
// constants in GpsLocationProvider.java.
/** Receive GPS fixes on a recurring basis at a specified period. 周期性定位*/
#define GPS_POSITION_RECURRENCE_PERIODIC    0
/** Request a single shot GPS fix. 单次定位*/
#define GPS_POSITION_RECURRENCE_SINGLE      1

• GPS工作状态：GpsStatusValue

GPS工作状态分为：未知，正在定位，停止定位，启动未定义，未启动。

<pre name="code" class="cpp">/** GPS status event values. */
typedef uint16_t GpsStatusValue;
// IMPORTANT: Note that the following values must match
// constants in GpsLocationProvider.java.
/** GPS status unknown. */
#define GPS_STATUS_NONE             0
/** GPS has begun navigating. */
#define GPS_STATUS_SESSION_BEGIN    1
/** GPS has stopped navigating. */
#define GPS_STATUS_SESSION_END      2
/** GPS has powered on but is not navigating. */
#define GPS_STATUS_ENGINE_ON        3
/** GPS is powered off. */
#define GPS_STATUS_ENGINE_OFF       4

• Location信息标志位

表明位置信息中哪些信息是可获得的

<pre name="code" class="cpp">/** Flags to indicate which values are valid in a GpsLocation. */
typedef uint16_t GpsLocationFlags;
// IMPORTANT: Note that the following values must match
// constants in GpsLocationProvider.java.
/** GpsLocation has valid latitude and longitude. */
#define GPS_LOCATION_HAS_LAT_LONG   0x0001
/** GpsLocation has valid altitude. */
#define GPS_LOCATION_HAS_ALTITUDE   0x0002
/** GpsLocation has valid speed. */
#define GPS_LOCATION_HAS_SPEED      0x0004
/** GpsLocation has valid bearing. */
#define GPS_LOCATION_HAS_BEARING    0x0008
/** GpsLocation has valid accuracy. */
#define GPS_LOCATION_HAS_ACCURACY   0x0010

• gps_set_capabilities 回调标志位

表示GPS芯片可以处理的能力

<pre name="code" class="cpp">/** Flags for the gps_set_capabilities callback. */

/** GPS HAL schedules fixes for GPS_POSITION_RECURRENCE_PERIODIC mode.
    If this is not set, then the framework will use 1000ms for min_interval
    and will start and call start() and stop() to schedule the GPS.
 */
#define GPS_CAPABILITY_SCHEDULING       0x0000001
/** GPS supports MS-Based AGPS mode */
#define GPS_CAPABILITY_MSB              0x0000002
/** GPS supports MS-Assisted AGPS mode */
#define GPS_CAPABILITY_MSA              0x0000004
/** GPS supports single-shot fixes */
#define GPS_CAPABILITY_SINGLE_SHOT      0x0000008
/** GPS supports on demand time injection */
#define GPS_CAPABILITY_ON_DEMAND_TIME   0x0000010
/** GPS supports Geofencing  */
#define GPS_CAPABILITY_GEOFENCING       0x0000020
/** GPS supports Measurements */
#define GPS_CAPABILITY_MEASUREMENTS     0x0000040
/** GPS supports Navigation Messages */
#define GPS_CAPABILITY_NAV_MESSAGES     0x0000080

• 辅助数据

当调用函数delete_aiding_data()函数时用来区分删除哪种辅助数据

<pre name="code" class="cpp">/** Flags used to specify which aiding data to delete
    when calling delete_aiding_data(). */
typedef uint16_t GpsAidingData;
// IMPORTANT: Note that the following values must match
// constants in GpsLocationProvider.java.
#define GPS_DELETE_EPHEMERIS        0x0001
#define GPS_DELETE_ALMANAC          0x0002
#define GPS_DELETE_POSITION         0x0004
#define GPS_DELETE_TIME             0x0008
#define GPS_DELETE_IONO             0x0010
#define GPS_DELETE_UTC              0x0020
#define GPS_DELETE_HEALTH           0x0040
#define GPS_DELETE_SVDIR            0x0080
#define GPS_DELETE_SVSTEER          0x0100
#define GPS_DELETE_SADATA           0x0200
#define GPS_DELETE_RTI              0x0400
#define GPS_DELETE_CELLDB_INFO      0x8000
#define GPS_DELETE_ALL              0xFFFF

• AGPS状态事件标志

<pre name="code" class="cpp">/** AGPS status event values. */
typedef uint16_t AGpsStatusValue;
/** GPS requests data connection for AGPS. */
#define GPS_REQUEST_AGPS_DATA_CONN  1
/** GPS releases the AGPS data connection. */
#define GPS_RELEASE_AGPS_DATA_CONN  2
/** AGPS data connection initiated */
#define GPS_AGPS_DATA_CONNECTED     3
/** AGPS data connection completed */
#define GPS_AGPS_DATA_CONN_DONE     4
/** AGPS data connection failed */
#define GPS_AGPS_DATA_CONN_FAILED   5

还有很多的宏定义在此不一一列举，在gps.h中有很好的解释。

2. 数据结构体

• GpsLocation

GPS位置信息的结构体，包含经纬度、高度、速度、方位角等

<pre name="code" class="cpp">/** Represents a location. */
typedef struct {
    /** set to sizeof(GpsLocation) */
    size_t          size;
    /** Contains GpsLocationFlags bits. */
    uint16_t        flags;
    /** Represents latitude in degrees. */
    double          latitude;
    /** Represents longitude in degrees. */
    double          longitude;
    /** Represents altitude in meters above the WGS 84 reference
     * ellipsoid. */
    double          altitude;
    /** Represents speed in meters per second. */
    float           speed;
    /** Represents heading in degrees. */
    float           bearing;
    /** Represents expected accuracy in meters. */
    float           accuracy;
    /** Timestamp for the location fix. */
    GpsUtcTime      timestamp;
} GpsLocation;

• GpsStatus

GPS工作状态分为：未知，正在定位，停止定位，启动未定义，未启动。（见前文宏定义）

<pre name="code" class="cpp">/** Represents the status. */
typedef struct {
    /** set to sizeof(GpsStatus) */
    size_t          size;
    GpsStatusValue status;
} GpsStatus;

• GpsSvInfo

表示当前的卫星信息：卫星编号，信号强度，仰望角，方位角

<pre name="code" class="cpp">/** Represents SV information. */
typedef struct {
    /** set to sizeof(GpsSvInfo) */
    size_t          size;
    /** Pseudo-random number for the SV. */
    int     prn;
    /** Signal to noise ratio. */
    float   snr;
    /** Elevation of SV in degrees. */
    float   elevation;
    /** Azimuth of SV in degrees. */
    float   azimuth;
} GpsSvInfo;

• GpsSvStatus

表示卫星状态，包含了GpsSvInfo结构，可见卫星数，星历时间，年历时间，与用来定位的卫星构成的一个掩码

<pre name="code" class="cpp">/** Represents SV status. */
typedef struct {
    /** set to sizeof(GpsSvStatus) */
    size_t          size;

    /** Number of SVs currently visible. */
    int         num_svs;

    /** Contains an array of SV information. */
    GpsSvInfo   sv_list[GPS_MAX_SVS];

    /** Represents a bit mask indicating which SVs
     * have ephemeris data.
     */
    uint32_t    ephemeris_mask;

    /** Represents a bit mask indicating which SVs
     * have almanac data.
     */
    uint32_t    almanac_mask;

    /**
     * Represents a bit mask indicating which SVs
     * were used for computing the most recent position fix.
     */
    uint32_t    used_in_fix_mask;
} GpsSvStatus;

• AGpsRefLocation

定义AGPS相关的cell ID 和mac地址

<pre name="code" class="cpp">/* 2G and 3G */
/* In 3G lac is discarded */
typedef struct {
    uint16_t type;
    uint16_t mcc;
    uint16_t mnc;
    uint16_t lac;
    uint32_t cid;
} AGpsRefLocationCellID;

typedef struct {
    uint8_t mac[6];
} AGpsRefLocationMac;

/** Represents ref locations */
typedef struct {
    uint16_t type;
    union {
        AGpsRefLocationCellID   cellID;
        AGpsRefLocationMac      mac;
    } u;
} AGpsRefLocation;

3. 回调函数指针定义

/** Callback with location information.告知上层位置信息
 *  Can only be called from a thread created by create_thread_cb.
 */
typedef void (* gps_location_callback)(GpsLocation* location);

/** Callback with status information.GPS状态信息回调
 *  Can only be called from a thread created by create_thread_cb.
 */
typedef void (* gps_status_callback)(GpsStatus* status);

/**
 * Callback with SV status information.卫星状态信息回调
 * Can only be called from a thread created by create_thread_cb.
 */
typedef void (* gps_sv_status_callback)(GpsSvStatus* sv_info);

/** Callback for reporting NMEA sentences.向上层传递NMEA信息
 *  Can only be called from a thread created by create_thread_cb.
 */
typedef void (* gps_nmea_callback)(GpsUtcTime timestamp, const char* nmea, int length);

/** Callback to inform framework of the GPS engine's capabilities.
 *  告知上层GPS可以实现的功能
 *Capability parameter is a bit field of GPS_CAPABILITY_* flags.
 */
typedef void (* gps_set_capabilities)(uint32_t capabilities);

/** Callback utility for acquiring the GPS wakelock.GPS上锁，防止被suspend
 *  This can be used to prevent the CPU from suspending while handling GPS events.
 */
typedef void (* gps_acquire_wakelock)();

/** Callback utility for releasing the GPS wakelock.释放锁 */
typedef void (* gps_release_wakelock)();

/** Callback for requesting NTP time 回调请求NTP时间*/
typedef void (* gps_request_utc_time)();

/** Callback for creating a thread that can call into the Java framework code.
 *  创建线程来响应framework层的请求
 *  This must be used to create any threads that report events up to the framework.
 */
typedef pthread_t (* gps_create_thread)(const char* name, void (*start)(void *), void* arg);

3. 接口结构体

• GpsCallbacks

就是上文函数指针组成的结构体，是一组回调函数，函数的实现在JNI层：com_android_server_location_GpsLocationProvider.cpp，GOOGLE已经实现好，无需做（太大）修改

/** GPS callback structure. */
typedef struct {
    /** set to sizeof(GpsCallbacks) */
    size_t      size;
    gps_location_callback location_cb;
    gps_status_callback status_cb;
    gps_sv_status_callback sv_status_cb;
    gps_nmea_callback nmea_cb;
    gps_set_capabilities set_capabilities_cb;
    gps_acquire_wakelock acquire_wakelock_cb;
    gps_release_wakelock release_wakelock_cb;
    gps_create_thread create_thread_cb;
    gps_request_utc_time request_utc_time_cb;
} GpsCallbacks;

• GpsInterface

GpsInterface接口是Android GPS 模块最重要的数据结构，它是底层驱动实现的接口，如果要porting到自己的板子上，就需要实现这些接口。

/** Represents the standard GPS interface. */
typedef struct {
    /** set to sizeof(GpsInterface) */
    size_t          size;
    /**
     * Opens the interface and provides the callback routines
     * to the implementation of this interface.
     */
    int   (*init)( GpsCallbacks* callbacks );

    /** Starts navigating. 开始定位*/
    int   (*start)( void );

    /** Stops navigating. 停止定位*/
    int   (*stop)( void );

    /** Closes the interface. 关闭接口*/
    void  (*cleanup)( void );

    /** Injects the current time. 注入当前时间*/
    int   (*inject_time)(GpsUtcTime time, int64_t timeReference,
                         int uncertainty);

    /** Injects current location from another location provider
     *  (typically cell ID).注入位置信息
     *  latitude and longitude are measured in degrees
     *  expected accuracy is measured in meters
     */
    int  (*inject_location)(double latitude, double longitude, float accuracy);

    /**
     * Specifies that the next call to start will not use the
     * information defined in the flags. GPS_DELETE_ALL is passed for
     * a cold start.删除辅助数据
     */
    void  (*delete_aiding_data)(GpsAidingData flags);

    /**
     * min_interval represents the time between fixes in milliseconds.
     * preferred_accuracy represents the requested fix accuracy in meters.
     * preferred_time represents the requested time to first fix in milliseconds.
     * 设置定位模式
     */
    int   (*set_position_mode)(GpsPositionMode mode, GpsPositionRecurrence recurrence,
            uint32_t min_interval, uint32_t preferred_accuracy, uint32_t preferred_time);

    /** Get a pointer to extension information. 自行添加接口实现*/
    const void* (*get_extension)(const char* name);
} GpsInterface;

• GpsXtraCallbacks

高通XTRA加速定位技术回调函数结构体

<pre name="code" class="cpp">/** Callback structure for the XTRA interface. */
typedef struct {
    gps_xtra_download_request download_request_cb;
    gps_create_thread create_thread_cb;
} GpsXtraCallbacks;

• GpsXtraInterface

高通XTRA加速定位技术接口

/** Extended interface for XTRA support. */
typedef struct {
    /** set to sizeof(GpsXtraInterface) */
    size_t          size;
    /**
     * Opens the XTRA interface and provides the callback routines
     * to the implementation of this interface.
     */
    int  (*init)( GpsXtraCallbacks* callbacks );
    /** Injects XTRA data into the GPS. */
    int  (*inject_xtra_data)( char* data, int length );
} GpsXtraInterface;

• AGpsInterface

AGPS加速定位技术接口结构体

<pre name="code" class="cpp">/** Extended interface for AGPS support. */
typedef struct {
    /** set to sizeof(AGpsInterface_v1) */
    size_t          size;

    /**
     * Opens the AGPS interface and provides the callback routines
     * to the implementation of this interface.
     */
    void  (*init)( AGpsCallbacks* callbacks );
    /**
     * Notifies that a data connection is available and sets
     * the name of the APN to be used for SUPL.
     */
    int  (*data_conn_open)( const char* apn );
    /**
     * Notifies that the AGPS data connection has been closed.
     */
    int  (*data_conn_closed)();
    /**
     * Notifies that a data connection is not available for AGPS.
     */
    int  (*data_conn_failed)();
    /**
     * Sets the hostname and port for the AGPS server.
     */
    int  (*set_server)( AGpsType type, const char* hostname, int port );
} AGpsInterface;

• GpsNiInterface

网络端发起的定位接口结构体

/**
 * Extended interface for Network-initiated (NI) support.
 */
typedef struct
{
    /** set to sizeof(GpsNiInterface) */
    size_t          size;

   /** Registers the callbacks for HAL to use. */
   void (*init) (GpsNiCallbacks *callbacks);

   /** Sends a response to HAL. */
   void (*respond) (int notif_id, GpsUserResponseType user_response);
} GpsNiInterface;

• gps_device_t

定义描述GPS设备类型

struct gps_device_t {
    struct hw_device_t common;

    /**
     * Set the provided lights to the provided values.
     *
     * Returns: 0 on succes, error code on failure.
     */
    const GpsInterface* (*get_gps_interface)(struct gps_device_t* dev);
};

其他接口在此不再赘述。