android gps hal

Android HAL的实现

（1）制作libgps.so库

google提供的方法

http://source.android.com/porting/gps.html

 

Android.mk:

LOCAL_SRC_FILES:= main.c   //指定库的源码

LOCAL_MODULE := libgps    //指定库的名称

include $(BUILD_SHARED_LIBRARY)    //指定编译成.so库

 

（2）修改BoardConfig.mk

添加BOARD_GPS_LIBRARIES := libgps

 

由于hardware/libhardware_legacy/gps/Android.mk中指定LOCAL_SHARED_LIBRARIES

ifneq ($(BOARD_GPS_LIBRARIES),)
  LOCAL_CFLAGS           += -DHAVE_GPS_HARDWARE
  LOCAL_SHARED_LIBRARIES += $(BOARD_GPS_LIBRARIES)
endif

 

（3）修改hardware/libhardware_legacy/gps/gps.cpp

1. staticvoid
   
2. gps_find_hardware(void )
   
3. {
   
4.     sGpsInterface = gps_get_hardware_interface();
   
5.     if (!sGpsInterface)
   
6.         LOGD("no GPS hardware on this device\n");
   
7. }

gps_get_hardware_interface()在libgps.so源码中实现

 

（4）实现libgps.so源码main.c

（可参考hardware/libhardware_legacy/gps/gps_qemu.c）

 

1. staticconst GpsInterface sirfGpsInterface = {
   
2.     sirf_gps_init,
   
3.     sirf_gps_start,
   
4.     sirf_gps_stop,
   
5.     sirf_gps_cleanup,
   
6.     sirf_gps_inject_time,
   
7.     sirf_gps_inject_location,
   
8.     sirf_gps_delete_aiding_data,
   
9.     sirf_gps_set_position_mode,
   
10.     sirf_gps_get_extension,
    
11. };
    
12. const GpsInterface* gps_get_hardware_interface()
    
13. {
    
14.     return &sirfGpsInterface;
    
15. }

下面将介绍下需要修改的函数，其他函数都可以仿照gps_qemu.c

sirf_gps_start()函数中添加SiRF_Start()；

sirf_gps_stop()函数中添加SiRF_Stop()；

sirf_gps_init()函数中调用gps_state_init，作用是创建socket通信和gps_state_thread线程；

gps_state_init()函数中需要根据具体的GPS模块实现state->fd = channel_open()；

gps_state_thread()函数中去掉两句nmea_reader_set_callback调用；

nmea_reader_parse()函数添加callbacks.nmea_cb和callbacks.location_cb：

1. if(r->pos< 9) {
   
2.         D("Too short. discarded.");
   
3.         return;
   
4. }
   
5. {
   
6.     struct timeval tv;
   
7.     gettimeofday(&tv,NULL);
   
8.      _gps_state->callbacks.nmea_cb(tv.tv_sec*1000+tv.tv_usec/1000, r->in, r->pos);
   
9. }
   
10. nmea_tokenizer_init(tzer, r->in, r->in+ r->pos);

1. if(_gps_state->callbacks.location_cb){
   
2.      _gps_state->callbacks.location_cb(&r->fix);
   
3.      r->fix.flags= 0;
   
4. }
   
5. else {
   
6.      D("no callback, keeping data until needed !");
   
7. }

（5）NMEA数据上报

Android本身的GPS读取NMEA信息机制是调用read函数读取串口信息并解析上报，但SIRF提供了SiRF_Output函数用于底层与应用层的数据上报，GPS工作后会有线程不停调用SiRF_Output，因此只要在SiRF_Output函数中添加：

1. NmeaReader reader[1];
   
2. nmea_reader_init( reader);
   
3. 
   
4. for (nn = 0; nn< sizeof(buf); nn++)
   
5.      nmea_reader_addc( reader, buf[nn]);

现在GPS可以上报GGA、GSA、RMC等数据（GSA数据需添加nmea_reader_parse函数中关于GSA数据解析）