Android系统Gps分析（一）

1 GPS架构

2 GPS分析

2.1 头文件

头文件定义在：hardware/libhardware/include/hardware/gps.h，定义了GPS底层相关的结构体和接口

• GpsLocation

GPS位置信息结构体，包含经纬度，高度，速度，方位角等。

/** 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

/** 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状态包括5种状态，分别为未知，正在定位，停止定位，启动未定义，未启动。

/** 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. */AgpsCallbacks

AgpsInterface
#define GPS_STATUS_ENGINE_OFF       4

/** Represents the status. */
typedef struct {
    /** set to sizeof(GpsStatus) */
    size_t          size;
    GpsStatusValue status;
} GpsStatus;

• GpsSvInfo

GPS卫星信息，包含卫星编号，信号强度，卫星仰望角，方位角等。

/** 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

GPS卫星状态，包含可见卫星数和信息，星历时间，年历时间等。

/** 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;

• GpsCallbacks

回调函数定义

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

/** Callback with SV status information. 向上层传递GPS卫星信息
 *  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MEMA数据
 *  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GPS模块可以实现的功能
 *  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.上锁，防止处理GPS事件时中止。
 *  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 creating a thread that can call into the Java framework code.等待上层请求
 *  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);

/** 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;
} GpsCallbacks;

• GpsInterface

GPS接口是最重要的结构体，上层是通过此接口与硬件适配层交互的。

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

    /** Starts navigating. 启动定位*/
    int   (*start)( void );

    /** Stops navigating. 取消定位*/
    int   (*stop)( void );

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

    /** Injects the current time.填入时间 */
    int   (*inject_time)(GpsUtcTime time, int64_t timeReference,
                         int uncertainty);

    /** Injects current location from another location provider填入位置
     *  (typically cell ID).
     *  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删除全部或部分辅助数据，在性能测试时使用
     * information defined in the flags. GPS_DELETE_ALL is passed for
     * a cold start.
     */
    void  (*delete_aiding_data)(GpsAidingData flags);

    /**设置定位模式和GPS工作模式等
     * 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.
     */
    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. 自定义的接口*/
    const void* (*get_extension)(const char* name);
} GpsInterface;

• gps_device_t

GPS设备结构体，继承自hw_device_tcommon，硬件适配接口，向上层提供了重要的get_gps_interface接口。

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);
};

2.2硬件适配层

GPS硬件适配层的源码位于：hardware/qcom/gps目录下。

我们看gps/loc_api/llibloc_api/gps.c，首先定义了gps设备模块实例：

const struct hw_module_t HAL_MODULE_INFO_SYM = {
    .tag = HARDWARE_MODULE_TAG,
    .version_major = 1,
    .version_minor = 0,
    .id = GPS_HARDWARE_MODULE_ID,
    .name = "loc_api GPS Module",
    .author = "Qualcomm USA, Inc.",
    .methods = &gps_module_methods,
};

这里的methods指向gps.c文件中的gps_module_methods

static struct hw_module_methods_t gps_module_methods = {
    .open = open_gps
};

gps_module_methods定义了设备的open函数为open_gps，我们看open_gps函数：

static int open_gps(const struct hw_module_t* module, char const* name,
        struct hw_device_t** device)
{
    struct gps_device_t *dev = malloc(sizeof(struct gps_device_t));
    memset(dev, 0, sizeof(*dev));

    dev->common.tag = HARDWARE_DEVICE_TAG;
    dev->common.version = 0;
    dev->common.module = (struct hw_module_t*)module;
    dev->get_gps_interface = gps__get_gps_interface;

    *device = (struct hw_device_t*)dev;
    return 0;
}

此处可以看作是GPS设备的初始化函数，在使用设备前必须执行此函数。函数里面指定了hw_device_t的module成员，以及gps_device_t的get_gps_interface成员。上层可通过gps_device_t的get_gps_interface调用gps__get_gps_interface函数。gps__get_gps_interface的定义如下：

const GpsInterface* gps__get_gps_interface(struct gps_device_t* dev)
{
    return get_gps_interface();
}

用代码跟踪可看到，此函数返回了gps/loc_eng.cpp文件的sLocEngInterface变量，sLocEngInterface定义如下：

// Defines the GpsInterface in gps.h
static const GpsInterface sLocEngInterface =
{
    sizeof(GpsInterface),
    loc_eng_init,
    loc_eng_start,
    loc_eng_stop,
    loc_eng_cleanup,
    loc_eng_inject_time,
    loc_eng_inject_location,
    loc_eng_delete_aiding_data,
    loc_eng_set_position_mode,
    loc_eng_get_extension,
};

sLocEngInterface指定了