b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 1 | #include <stdio.h>
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| 2 | #include <string.h>
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| 3 | #include <strings.h>
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| 4 | #include <stdlib.h>
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| 5 | #include <errno.h>
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| 6 | #include <fcntl.h>
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| 7 | #include <signal.h>
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| 8 | #include <sys/types.h>
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| 9 | #include <unistd.h>
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| 10 | #include <pthread.h>
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| 11 | #include <termios.h>
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| 12 | #include <time.h>
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| 13 | #include <sys/ioctl.h>
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| 14 | #include <dlfcn.h>
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| 15 | #include <stdint.h>
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| 16 | #include <stdbool.h>
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| 17 |
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zw.wang | 581aab1 | 2025-05-28 19:43:53 +0800 | [diff] [blame] | 18 | #include "gsw_gnss_interface.h"
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| 19 |
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| 20 | #define MBTK_GNSS_IND_LOCATION (1) // 1
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| 21 | #define MBTK_GNSS_IND_NMEA (1 << 1) // 2
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| 22 | #define QSER_GNSS_TIMEOUT 5
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 23 |
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zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 24 | #include "gsw_log_interface.h"
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l.yang | 6a42e4d | 2025-05-28 01:04:20 -0700 | [diff] [blame] | 25 | #define GSW_GNSS "[HAL][GSW_GNSS]"
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| 26 |
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 27 | #define MOPEN_GNSS_NMEA_MAX_LENGTH 255 /** NMEA string maximum length. */
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| 28 | static gsw_gnss_cb *gsw_cb = NULL;
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| 29 | static bool inited = false;
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| 30 | static bool strated = false;
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| 31 |
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| 32 | typedef void (*mbtk_gnss_callback_func)(uint32_t ind_type, const void* data, uint32_t data_len);
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 33 |
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| 34 | int (*mbtk_gnss_init)(mbtk_gnss_callback_func cb);
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| 35 | int (*mbtk_gnss_deinit)();
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| 36 |
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| 37 | int (*mbtk_gnss_ind_set)(uint32_t ,int);
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| 38 | int (*mbtk_gnss_open)(int, int);
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| 39 | int (*mbtk_gnss_close)(int);
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| 40 | int (*mbtk_gnss_setting)(const char *setting_cmd, int);
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| 41 |
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| 42 | int (*mbtk_gnss_eph_download)(int);
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| 43 | int (*mbtk_gnss_eph_inject)(int);
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rx.xie | 85d47ac | 2025-08-08 05:16:29 -0700 | [diff] [blame] | 44 | int (*mbtk_gnss_dl_ptr)(const char *, int);
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 45 |
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| 46 | int gnss_freq = -1;
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| 47 | GSW_GNSS_MODE_CONFIGURATION gnss_startmode = -1;
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zw.wang | 581aab1 | 2025-05-28 19:43:53 +0800 | [diff] [blame] | 48 | GSW_CONF_SWITCH gnss_switch_op = -1;
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 49 | void *dlHandle_gnss;
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| 50 | char *lynqLib_gnss = "/lib/libmbtk_lib.so";
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| 51 |
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| 52 | typedef enum
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| 53 | {
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| 54 | E_MT_LOC_MSG_ID_LOCATION_INFO = 1, /**< pv_data = & mopen_location_info_t */
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| 55 | E_MT_LOC_MSG_ID_NMEA_INFO = 3, /**< pv_data = & mopen_gnss_nmea_info_t */
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| 56 | } e_msg_id_t;
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| 57 |
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| 58 | typedef struct
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| 59 | {
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| 60 | int64_t timestamp; /**< System Timestamp, marked for when got the nmea data */
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| 61 | int length; /**< NMEA string length. */
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| 62 | char nmea[MOPEN_GNSS_NMEA_MAX_LENGTH + 1]; /**< NMEA string.*/
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| 63 | }mopen_gnss_nmea_info_t; /* Message */
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| 64 |
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| 65 | typedef struct
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| 66 | {
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| 67 | uint32_t size; /**< Set to the size of mcm_gps_location_t. */
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| 68 | int flags; /**< Contains GPS location flags bits. */
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| 69 | int position_source; /**< Provider indicator for HYBRID or GPS. */ //功能暂未实现,可不用添加进结构体
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| 70 | double latitude; /**< Latitude in degrees. */
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| 71 | double longitude; /**< Longitude in degrees. */
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| 72 | double altitude; /**< Altitude in meters above the WGS 84 reference ellipsoid. */
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| 73 | float speed; /**< Speed in meters per second. */
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| 74 | float bearing; /**< Heading in degrees. */ //功能暂未实现,可不用添加进结构体
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| 75 | float accuracy; /**< Expected accuracy in meters. */ //功能暂未实现,可不用添加进结构体
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| 76 | int64_t timestamp; /**< Timestamp for the location fix in UTC million-second base. */
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| 77 | int32_t is_indoor; /**< Location is indoors. */ //功能暂未实现,可不用添加进结构体
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| 78 | float floor_number; /**< Indicates the floor number. */
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| 79 | }mopen_location_info_t;//功能暂未实现,可不用添加进结构体
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| 80 |
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| 81 |
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| 82 | typedef struct {
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| 83 | uint32_t flags;
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| 84 | double latitude; /**< Latitude in degrees. */
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| 85 | double longitude; /**< Longitude in degrees. */
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| 86 | double altitude; /**< Altitude in meters above the WGS 84 reference ellipsoid. */
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| 87 | float speed; /**< Speed in meters per second. */
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| 88 | float bearing; /**< Heading in degrees. */
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| 89 | int64_t timestamp; /**< Timestamp for the location fix in UTC million-second base. */
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| 90 | } mbtk_gnss_location_info_t;
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| 91 |
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zw.wang | 581aab1 | 2025-05-28 19:43:53 +0800 | [diff] [blame] | 92 | typedef struct{
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| 93 | GSW_GNSS_MODE_CONFIGURATION start_mode;
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| 94 | gnss_freq_type freq;
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| 95 | gsw_gnss_cb callback;
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| 96 | }gsw_gnss_init_configure_t;
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| 97 |
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 98 | typedef enum{
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| 99 | MODE_GPS = 1, /**< GPS only */
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| 100 | MODE_BEIDOU, /**< BEIDOU only*/
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| 101 | MODE_GPS_BEIDOU, /**< GPS+BEIDOU */
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| 102 | MODE_GLONASS, /**< GLONASS only */
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| 103 | MODE_GPS_GLONASS, /**< GPS+GLONASS */
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| 104 | MODE_GLONASS_BEIDOU, /**< GLONASS+BEIDOU */ /* The type does not support this type */
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| 105 | MODE_GPS_GLONASS_BEIDOU, /**< GPS+GLONASS+BEIDOU */ /* The type does not support this type */
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| 106 | MODE_GALILEO, /**< GALILEO only */
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| 107 | MODE_GPS_GALILEO, /**< GPS+GALILEO */
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| 108 | MODE_BEIDOU_GALILEO, /**< BEIDOU+GALILEO */
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| 109 | MODE_GPS_BEIDOU_GALILEO, /**< GPS+BEIDOU+GALILEO */
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| 110 | MODE_GLONASS_GALILEO, /**< GLONASS+GALILEO */
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| 111 | MODE_GPS_GLONASS_GALILEO, /**< GPS+GLONASS+GALILEO */
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| 112 | MODE_BEIDOU_GLONASS_GALILEO, /**< BEIDOU+GLONASS+GALILEO */ /* The type does not support this type */
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| 113 | MODE_END = -1, /**< init value */
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| 114 | }GSW_GNSS_MODE_CONFIGURATION_HD;
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| 115 |
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zw.wang | be05b92 | 2025-07-14 18:37:51 +0800 | [diff] [blame] | 116 | typedef enum{
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| 117 | NO_DEVICE = 0,
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| 118 | HD8122,
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| 119 | HD8040D,
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| 120 | }GSW_DEVICE;
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 121 |
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zw.wang | be05b92 | 2025-07-14 18:37:51 +0800 | [diff] [blame] | 122 | typedef struct {
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| 123 | int fd;
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| 124 | GSW_DEVICE got_hd8;
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| 125 | } rx_ctx;
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| 126 |
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| 127 | static GSW_DEVICE gsw_device = NO_DEVICE;
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 128 | GSW_GNSS_MODE_CONFIGURATION_HD map_gnss_mode(GSW_GNSS_MODE_CONFIGURATION mode)
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| 129 | {
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| 130 | switch (mode)
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| 131 | {
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| 132 | case GSW_MODE_GPS_GLONASS:
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| 133 | return MODE_GPS_GLONASS;
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| 134 | case GSW_MODE_GPS_BEIDOU:
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| 135 | return MODE_GPS_BEIDOU;
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| 136 | case GSW_MODE_GPS_GLONASS_BEIDOU:
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| 137 | return MODE_END;
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| 138 | case GSW_MODE_GPS:
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| 139 | return MODE_GPS;
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| 140 | case GSW_MODE_BEIDOU:
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| 141 | return MODE_BEIDOU;
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| 142 | case GSW_MODE_GLONASS:
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| 143 | return MODE_GLONASS;
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| 144 | case GSW_MODE_GPS_GLONASS_BEIDOU_GALILEO:
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| 145 | return MODE_END;
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| 146 | case GSW_MODE_GPS_GALILEO:
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| 147 | return MODE_GPS_GALILEO;
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| 148 | case GSW_MODE_GPS_GLONASS_GALILEO:
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| 149 | return MODE_GPS_GLONASS_GALILEO;
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| 150 | case GSW_MODE_GPS_GALILEO_ONLY:
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| 151 | return MODE_GALILEO;
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| 152 | case GSW_MODE_GPS_GLONASS_BEIDOU_GALILEO_NAVIC:
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| 153 | return MODE_END;
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| 154 | case GSW_MODE_GNSS_END:
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| 155 | return MODE_END;
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| 156 | default:
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| 157 | return MODE_END;
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| 158 | }
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| 159 | }
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| 160 |
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zw.wang | be05b92 | 2025-07-14 18:37:51 +0800 | [diff] [blame] | 161 | static void *rx_thread(void *arg)
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| 162 | {
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| 163 | rx_ctx *c = (rx_ctx *)arg;
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| 164 | char buf[128];
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| 165 | ssize_t n;
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| 166 | time_t end = time(NULL) + 1; /* 1 秒超时 */
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| 167 |
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| 168 | while (time(NULL) < end) {
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| 169 | n = read(c->fd, buf, sizeof(buf));
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| 170 | if (n > 0 && memmem(buf, n, "HD8040D", 7)) {
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| 171 | c->got_hd8 = 2;
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| 172 | break;
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| 173 | }
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| 174 | else if (n > 0 && memmem(buf, n, "HD812", 5)) {
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| 175 | c->got_hd8 = 1;
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| 176 | break;
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| 177 | }
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| 178 | }
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| 179 | return NULL;
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| 180 | }
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| 181 |
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| 182 | static int send_and_wait(int fd)
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| 183 | {
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| 184 | int ret;
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| 185 | pthread_t tid;
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| 186 | rx_ctx ctx = { .fd = fd, .got_hd8 = NO_DEVICE };
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| 187 |
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| 188 | pthread_create(&tid, NULL, rx_thread, &ctx);
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| 189 |
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| 190 | unsigned char tx[8] = {0xF1,0xD9,0x0A,0x04,0x00,0x00,0x0E,0x34};
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| 191 | ret = write(fd, tx, sizeof(tx));
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| 192 | if(ret < 0)
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| 193 | {
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zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 194 | LOGE(GSW_GNSS,"[GSW_gnss] send_and_wait write fail.ret = [%d]", ret);
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zw.wang | be05b92 | 2025-07-14 18:37:51 +0800 | [diff] [blame] | 195 | }
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| 196 | pthread_join(tid, NULL);
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| 197 | return ctx.got_hd8;
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| 198 | }
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| 199 |
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| 200 | static int get_gnss_device_version(void)
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| 201 | {
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| 202 | int fd = open("/dev/ttyS3", O_RDWR | O_NOCTTY);
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| 203 | if (fd < 0) { perror("open"); return 1; }
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| 204 | gsw_device = send_and_wait(fd);
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| 205 | close(fd);
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| 206 | return gsw_device;
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| 207 | }
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| 208 |
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 209 | int mbtk_gnss_set_VTG()
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| 210 | {
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| 211 | int ret;
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zw.wang | 57f3a9f | 2025-07-10 14:26:52 +0800 | [diff] [blame] | 212 | ret = system("/usr/sbin/gnss_gpio.sh VTG > /dev/null 2>&1");
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 213 | if(ret != 0)
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| 214 | {
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zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 215 | LOGE(GSW_GNSS,"[GSW_gnss] mbtk_gnss_set_VTG on fail.ret = [%d]", ret);
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hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 216 | return GSW_HAL_NORMAL_FAIL;
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 217 | }
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| 218 | return GSW_HAL_SUCCESS;
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| 219 | }
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| 220 |
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zw.wang | be05b92 | 2025-07-14 18:37:51 +0800 | [diff] [blame] | 221 | static int HD8040D_gsw_gnss_set_freq(int freq)
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| 222 | {
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| 223 | int ret;
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| 224 | char cmd[64] = {0};
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| 225 | switch (freq)
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| 226 | {
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| 227 | case 1:
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| 228 | snprintf(cmd, sizeof(cmd), "/usr/sbin/gnss_gpio.sh %s > /dev/null 2>&1", "1HZ");
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| 229 | break;
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| 230 | case 5:
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| 231 | snprintf(cmd, sizeof(cmd), "/usr/sbin/gnss_gpio.sh %s > /dev/null 2>&1", "5HZ");
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| 232 | break;
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| 233 | case 10:
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| 234 | snprintf(cmd, sizeof(cmd), "/usr/sbin/gnss_gpio.sh %s > /dev/null 2>&1", "10HZ");
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| 235 | break;
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| 236 | default:
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| 237 | return GSW_HAL_NORMAL_FAIL;
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| 238 | break;
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| 239 | }
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| 240 | ret = system(cmd);
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| 241 | if(ret != 0)
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| 242 | {
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zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 243 | LOGE(GSW_GNSS,"[GSW_gnss] gnss_gpio.sh GSW_HD8040D mode fail.ret = [%d]", ret);
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zw.wang | be05b92 | 2025-07-14 18:37:51 +0800 | [diff] [blame] | 244 | return GSW_HAL_NORMAL_FAIL;
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| 245 | }
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| 246 | return ret;
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| 247 | }
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 248 | /**
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| 249 | * @brief SDK interface to set gnss sampling frequency, support 1Hz、2Hz、5Hz
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| 250 | * @param [in] freq
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| 251 | * @retval 0: success
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| 252 | * @retval other: fail
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| 253 | */
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| 254 | int gsw_gnss_set_freq(int freq)
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| 255 | {
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zw.wang | bc534c0 | 2025-06-26 09:31:44 +0800 | [diff] [blame] | 256 | if(!inited)
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hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 257 | return GSW_HAL_NORMAL_FAIL;
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zw.wang | bc534c0 | 2025-06-26 09:31:44 +0800 | [diff] [blame] | 258 |
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 259 | int ret;
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| 260 | if (!strated)
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| 261 | {
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| 262 | gnss_freq = freq;
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| 263 | return GSW_HAL_SUCCESS;
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| 264 | }
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zw.wang | be05b92 | 2025-07-14 18:37:51 +0800 | [diff] [blame] | 265 | if(gsw_device == NO_DEVICE)
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| 266 | {
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| 267 | ret = get_gnss_device_version();
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zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 268 | LOGD(GSW_GNSS,"[GSW_gnss] get_gnss_device_version ret = [%d]", ret);
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zw.wang | be05b92 | 2025-07-14 18:37:51 +0800 | [diff] [blame] | 269 | }
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| 270 | if(gsw_device == HD8040D)
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| 271 | {
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| 272 | ret = HD8040D_gsw_gnss_set_freq(freq);
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| 273 | return ret;
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| 274 | }
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 275 | char param_buf[32] = {0};
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| 276 | snprintf(param_buf, 32, "$FREQCFG,%d", freq);
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| 277 | mbtk_gnss_setting=(int(*)(const char *setting_cmd, int))dlsym(dlHandle_gnss, "mbtk_gnss_setting");
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| 278 | ret = mbtk_gnss_setting(param_buf, QSER_GNSS_TIMEOUT);
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| 279 | if(ret != 0)
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| 280 | {
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zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 281 | LOGE(GSW_GNSS,"[qser_gnss] mbtk_gnss_setting fail.ret = [%d]", ret);
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hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 282 | return GSW_HAL_NORMAL_FAIL;
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 283 | }
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| 284 | return GSW_HAL_SUCCESS;
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| 285 | }
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| 286 |
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zw.wang | be05b92 | 2025-07-14 18:37:51 +0800 | [diff] [blame] | 287 | static int32_t HD8040D_gsw_gnss_set_start_mode(GSW_GNSS_MODE_CONFIGURATION start_mode)
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| 288 | {
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| 289 | int ret;
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| 290 | char cmd[64] = {0};
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| 291 | switch (start_mode)
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| 292 | {
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| 293 | case GSW_MODE_GPS_GLONASS:
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| 294 | return GSW_HAL_NORMAL_FAIL;
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| 295 | break;
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| 296 | case GSW_MODE_GPS_BEIDOU:
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| 297 | snprintf(cmd, sizeof(cmd), "/usr/sbin/gnss_gpio.sh %s > /dev/null 2>&1", "GSW_GPS_BD_DUAL");
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| 298 | break;
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| 299 | case GSW_MODE_GPS_GLONASS_BEIDOU:
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| 300 | return GSW_HAL_NORMAL_FAIL;
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| 301 | break;
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| 302 | case GSW_MODE_GPS:
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| 303 | snprintf(cmd, sizeof(cmd), "/usr/sbin/gnss_gpio.sh %s > /dev/null 2>&1", "GSW_GPS_L1L5");
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| 304 | break;
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| 305 | case GSW_MODE_BEIDOU:
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| 306 | snprintf(cmd, sizeof(cmd), "/usr/sbin/gnss_gpio.sh %s > /dev/null 2>&1", "GSW_BD_B1I_B1C_B2A");
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| 307 | break;
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| 308 | case GSW_MODE_GLONASS:
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| 309 | snprintf(cmd, sizeof(cmd), "/usr/sbin/gnss_gpio.sh %s > /dev/null 2>&1", "GSW_GALILEO_E1_E5A");
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| 310 | break;
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| 311 | case GSW_MODE_GPS_GLONASS_BEIDOU_GALILEO:
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| 312 | return GSW_HAL_NORMAL_FAIL;
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| 313 | break;
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| 314 | case GSW_MODE_GPS_GALILEO:
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| 315 | return GSW_HAL_NORMAL_FAIL;
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| 316 | break;
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| 317 | case GSW_MODE_GPS_GLONASS_GALILEO:
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| 318 | return GSW_HAL_NORMAL_FAIL;
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| 319 | break;
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| 320 | case GSW_MODE_GPS_GALILEO_ONLY:
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| 321 | return GSW_HAL_NORMAL_FAIL;
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| 322 | break;
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| 323 | case GSW_MODE_GPS_GLONASS_BEIDOU_GALILEO_NAVIC:
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| 324 | return GSW_HAL_NORMAL_FAIL;
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| 325 | break;
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| 326 | case GSW_MODE_GNSS_END:
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| 327 | return GSW_HAL_NORMAL_FAIL;
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| 328 | break;
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| 329 | default:
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| 330 | return GSW_HAL_NORMAL_FAIL;
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| 331 | break;
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| 332 | }
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| 333 | ret = system(cmd);
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| 334 | if(ret != 0)
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| 335 | {
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zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 336 | LOGE(GSW_GNSS,"[GSW_gnss] gnss_gpio.sh GSW_HD8040D mode fail.ret = [%d]", ret);
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zw.wang | be05b92 | 2025-07-14 18:37:51 +0800 | [diff] [blame] | 337 | return GSW_HAL_NORMAL_FAIL;
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| 338 | }
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| 339 | return ret;
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| 340 | }
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| 341 |
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 342 | /**
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| 343 | * @brief SDK interface to set gnss start mode,specific mode refreence GSW_HAL_GNSS_MODE_CONFIGURATION
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| 344 | * @param [in] start_mode
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| 345 | * @retval 0: success
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| 346 | * @retval other: fail
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| 347 | */
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hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 348 | int32_t gsw_gnss_set_start_mode(GSW_GNSS_MODE_CONFIGURATION start_mode)
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 349 | {
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zw.wang | bc534c0 | 2025-06-26 09:31:44 +0800 | [diff] [blame] | 350 | if(!inited)
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hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 351 | return GSW_HAL_NORMAL_FAIL;
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 352 | int ret;
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| 353 | if (!strated)
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| 354 | {
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| 355 | gnss_startmode = start_mode;
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| 356 | return GSW_HAL_SUCCESS;
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| 357 | }
|
zw.wang | be05b92 | 2025-07-14 18:37:51 +0800 | [diff] [blame] | 358 | if(gsw_device == NO_DEVICE)
|
| 359 | {
|
| 360 | ret = get_gnss_device_version();
|
zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 361 | LOGD(GSW_GNSS,"[GSW_gnss] get_gnss_device_version ret = [%d]", ret);
|
zw.wang | be05b92 | 2025-07-14 18:37:51 +0800 | [diff] [blame] | 362 | }
|
| 363 | if(gsw_device == HD8040D)
|
| 364 | {
|
| 365 | ret = HD8040D_gsw_gnss_set_start_mode(start_mode);
|
| 366 | return ret;
|
| 367 | }
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 368 | char param_buf[32] = {0};
|
| 369 | snprintf(param_buf, 32, "$SYSCFG,%d", map_gnss_mode(start_mode));
|
| 370 | if(map_gnss_mode(start_mode) == -1)
|
| 371 | {
|
zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 372 | LOGE(GSW_GNSS,"[qser_gnss] mbtk_gnss_start_mode con't support");
|
hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 373 | return GSW_HAL_NORMAL_FAIL;
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 374 | }
|
| 375 | mbtk_gnss_setting=(int(*)(const char *setting_cmd, int))dlsym(dlHandle_gnss, "mbtk_gnss_setting");
|
| 376 | ret = mbtk_gnss_setting(param_buf, QSER_GNSS_TIMEOUT);
|
| 377 | if(ret != 0)
|
| 378 | {
|
zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 379 | LOGE(GSW_GNSS,"[qser_gnss] mbtk_gnss_setting fail.ret = [%d]", ret);
|
hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 380 | return GSW_HAL_NORMAL_FAIL;
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 381 | }
|
| 382 | return GSW_HAL_SUCCESS;
|
| 383 | }
|
| 384 |
|
| 385 | /**
|
| 386 | * @brief SDK interface to set EPO switch if open or close
|
| 387 | * @param [in] switch_op
|
| 388 | * @retval 0: success
|
| 389 | * @retval other: fail
|
| 390 | */
|
hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 391 | int32_t gsw_gnss_epo_switch(GSW_CONF_SWITCH switch_op)
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 392 | {
|
zw.wang | bc534c0 | 2025-06-26 09:31:44 +0800 | [diff] [blame] | 393 | if(!inited)
|
hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 394 | return GSW_HAL_NORMAL_FAIL;
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 395 | int ret;
|
| 396 | if (!strated)
|
| 397 | {
|
| 398 | gnss_switch_op = switch_op;
|
| 399 | return GSW_HAL_SUCCESS;
|
| 400 | }
|
| 401 |
|
| 402 | if(switch_op)
|
| 403 | {
|
| 404 | mbtk_gnss_eph_download=(int(*)(int))dlsym(dlHandle_gnss, "mbtk_gnss_eph_download");
|
| 405 | ret = mbtk_gnss_eph_download(QSER_GNSS_TIMEOUT);
|
| 406 | if(ret != 0)
|
| 407 | {
|
zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 408 | LOGE(GSW_GNSS,"[qser_gnss] mbtk_gnss_eph_download fail.ret = [%d]", ret);
|
hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 409 | return GSW_HAL_NORMAL_FAIL;
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 410 | }
|
| 411 | mbtk_gnss_eph_inject=(int(*)(int))dlsym(dlHandle_gnss, "mbtk_gnss_eph_inject");
|
| 412 | ret = mbtk_gnss_eph_inject(QSER_GNSS_TIMEOUT);
|
| 413 | if(ret != 0)
|
| 414 | {
|
zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 415 | LOGE(GSW_GNSS,"[qser_gnss] mbtk_gnss_eph_inject fail.ret = [%d]", ret);
|
hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 416 | return GSW_HAL_NORMAL_FAIL;
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 417 | }
|
| 418 | }
|
| 419 | return GSW_HAL_SUCCESS;
|
| 420 | }
|
| 421 |
|
| 422 | static void gnss_callback(uint32_t ind_type, const void* data, uint32_t data_len)
|
| 423 | {
|
| 424 | if(data == NULL || data_len <= 0)
|
| 425 | {
|
zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 426 | LOGE(GSW_GNSS,"[GSW_gnss] data is NULL.");
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 427 | return;
|
| 428 | }
|
| 429 |
|
| 430 | if(gsw_cb == NULL)
|
| 431 | {
|
zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 432 | //LOGE(GSW_GNSS,"[qser_gnss] qser_gnss_callback is NULL.");
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 433 | return;
|
| 434 | }
|
| 435 |
|
zw.wang | a5250d6 | 2025-06-13 16:01:34 +0800 | [diff] [blame] | 436 | if(ind_type == MBTK_GNSS_IND_LOCATION && gsw_cb->gsw_location_cb != NULL) {
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 437 | if(data_len != sizeof(mbtk_gnss_location_info_t))
|
| 438 | {
|
zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 439 | LOGE(GSW_GNSS,"[GSW_gnss] data size error");
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 440 | return;
|
| 441 | }
|
| 442 | GSW_GNSS_LOCATION_EXT_T gsw_location;
|
hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 443 | GSW_GNSS_LOCATION_T gsw_location_t = {0};
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 444 | mbtk_gnss_location_info_t *locl_info = (mbtk_gnss_location_info_t *)data;
|
| 445 | gsw_location_t.altitude = locl_info->altitude;
|
| 446 | gsw_location_t.latitude = locl_info->latitude;
|
| 447 | gsw_location_t.longitude = locl_info->longitude;
|
| 448 | gsw_location_t.speed = locl_info->speed;
|
| 449 | gsw_location_t.bearing = locl_info->bearing;
|
| 450 | gsw_location_t.timestamp = locl_info->timestamp;
|
zw.wang | a5250d6 | 2025-06-13 16:01:34 +0800 | [diff] [blame] | 451 | gsw_location_t.flags = locl_info->flags;
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 452 | gsw_location.legacyLocation = gsw_location_t;
|
| 453 | gsw_cb->gsw_location_cb(&gsw_location);
|
zw.wang | a5250d6 | 2025-06-13 16:01:34 +0800 | [diff] [blame] | 454 | } else if(ind_type == MBTK_GNSS_IND_NMEA && gsw_cb->gsw_nmea_cb != NULL) {
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 455 | mopen_gnss_nmea_info_t qser_nmea = {0};
|
| 456 | memset(&qser_nmea, 0x0, sizeof(mopen_gnss_nmea_info_t));
|
| 457 | qser_nmea.length = data_len;
|
| 458 | memcpy(qser_nmea.nmea, (char *)data, data_len);
|
| 459 | //qser_nmea.timestamp = qser_get_gnss_time_sec(data, data_len);
|
| 460 | gsw_cb->gsw_nmea_cb(data,data_len);
|
| 461 | } else {
|
zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 462 | LOGD(GSW_GNSS,"Unknown IND : %d\n", ind_type);
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 463 | }
|
| 464 | }
|
| 465 |
|
hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 466 | int32_t gsw_gnss_init(void)
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 467 | {
|
lichengzhang | a708917 | 2025-07-01 20:41:46 +0800 | [diff] [blame] | 468 | int ret;
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 469 | if(!inited)
|
| 470 | {
|
lichengzhang | a708917 | 2025-07-01 20:41:46 +0800 | [diff] [blame] | 471 | ret = system("serial_atcmd AT*IMLCONFIG=13");
|
| 472 | if(ret != 0)
|
| 473 | {
|
zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 474 | LOGE(GSW_GNSS,"serial_atcmd fail\n");
|
lichengzhang | a708917 | 2025-07-01 20:41:46 +0800 | [diff] [blame] | 475 | return GSW_HAL_NORMAL_FAIL;
|
| 476 | }
|
zw.wang | 1907e8f | 2025-07-01 16:26:39 +0800 | [diff] [blame] | 477 | if(dlHandle_gnss == NULL)
|
zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 478 | dlHandle_gnss = dlopen(lynqLib_gnss, RTLD_NOW);;
|
| 479 | if(dlHandle_gnss == NULL)
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 480 | {
|
hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 481 | return GSW_HAL_NORMAL_FAIL;
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 482 | }
|
| 483 | mbtk_gnss_init=(int(*)(mbtk_gnss_callback_func))dlsym(dlHandle_gnss, "mbtk_gnss_init");
|
| 484 | ret = mbtk_gnss_init(gnss_callback);
|
| 485 | if(ret == 0)
|
| 486 | {
|
| 487 | mbtk_gnss_ind_set=(int(*)(uint32_t ,int))dlsym(dlHandle_gnss, "mbtk_gnss_ind_set");
|
zw.wang | a5250d6 | 2025-06-13 16:01:34 +0800 | [diff] [blame] | 488 | ret = mbtk_gnss_ind_set(MBTK_GNSS_IND_NMEA |MBTK_GNSS_IND_LOCATION, QSER_GNSS_TIMEOUT);
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 489 | if(ret == 0)
|
| 490 | {
|
| 491 | inited = true;
|
| 492 | }
|
| 493 | else
|
| 494 | {
|
zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 495 | LOGE(GSW_GNSS,"[GSW_gnss] init mbtk_gnss_ind_set() fail.ret = [%d]", ret);
|
hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 496 | return GSW_HAL_NORMAL_FAIL;
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 497 | }
|
| 498 | }
|
| 499 | else
|
| 500 | {
|
zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 501 | LOGE(GSW_GNSS,"[GSW_gnss] mbtk_gnss_init() fail.ret = [%d]", ret);
|
hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 502 | return GSW_HAL_NORMAL_FAIL;
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 503 | }
|
| 504 | }
|
| 505 |
|
| 506 | return GSW_HAL_SUCCESS;
|
| 507 | }
|
| 508 |
|
| 509 | /**
|
| 510 | * @brief SDK interface to registered callback function
|
| 511 | * @param [in] callback
|
| 512 | * @retval 0: success
|
| 513 | * @retval other: fail
|
| 514 | */
|
hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 515 | int32_t gsw_gnss_reg_cb_group(gsw_gnss_cb callback)
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 516 | {
|
zw.wang | bc534c0 | 2025-06-26 09:31:44 +0800 | [diff] [blame] | 517 | if(!inited)
|
hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 518 | return GSW_HAL_NORMAL_FAIL;
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 519 | if(callback.gsw_location_cb == NULL && callback.gsw_nmea_cb == NULL)
|
| 520 | {
|
zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 521 | LOGE(GSW_GNSS,"[GSW_gnss] handler_ptr is NULL.");
|
hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 522 | return GSW_HAL_NORMAL_FAIL;
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 523 | }
|
| 524 | if (gsw_cb == NULL)
|
| 525 | {
|
| 526 | gsw_cb = (gsw_gnss_cb *)malloc(sizeof(gsw_gnss_cb));
|
| 527 | if (gsw_cb == NULL)
|
| 528 | {
|
zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 529 | LOGE(GSW_GNSS,"[GSW_gnss] Memory allocation failed.");
|
hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 530 | return GSW_HAL_NORMAL_FAIL;
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 531 | }
|
| 532 | }
|
| 533 | gsw_cb->gsw_location_cb = callback.gsw_location_cb;
|
| 534 | gsw_cb->gsw_nmea_cb = callback.gsw_nmea_cb;
|
| 535 | return GSW_HAL_SUCCESS;
|
| 536 | }
|
| 537 | /**
|
| 538 | * @brief SDK interface to start gnss
|
| 539 | * @param
|
| 540 | * @retval 0: success
|
| 541 | * @retval other: fail
|
| 542 | */
|
hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 543 | int32_t gsw_gnss_start(void)
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 544 | {
|
| 545 | int ret;
|
zw.wang | bc534c0 | 2025-06-26 09:31:44 +0800 | [diff] [blame] | 546 | if(!inited)
|
hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 547 | return GSW_HAL_NORMAL_FAIL;
|
zw.wang | bc534c0 | 2025-06-26 09:31:44 +0800 | [diff] [blame] | 548 | ret = system("/usr/sbin/gnss_gpio.sh on > /dev/null 2>&1");
|
| 549 | if(ret != 0)
|
| 550 | {
|
zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 551 | LOGE(GSW_GNSS,"[GSW_gnss] gnss_gpio.sh on fail.ret = [%d]", ret);
|
hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 552 | return GSW_HAL_NORMAL_FAIL;
|
zw.wang | bc534c0 | 2025-06-26 09:31:44 +0800 | [diff] [blame] | 553 | }
|
zw.wang | 57f3a9f | 2025-07-10 14:26:52 +0800 | [diff] [blame] | 554 | // 记录mbtk_gnss_open前的时间戳
|
| 555 | struct timespec start_time;
|
| 556 | if (clock_gettime(CLOCK_MONOTONIC, &start_time) != 0) {
|
zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 557 | LOGE(GSW_GNSS,"[GSW_gnss] Failed to get start time");
|
zw.wang | 57f3a9f | 2025-07-10 14:26:52 +0800 | [diff] [blame] | 558 | return GSW_HAL_NORMAL_FAIL;
|
| 559 | }
|
| 560 |
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 561 | mbtk_gnss_open=(int(*)(int,int))dlsym(dlHandle_gnss, "mbtk_gnss_open");
|
| 562 | ret = mbtk_gnss_open(255, QSER_GNSS_TIMEOUT);
|
| 563 | if(ret != 0)
|
| 564 | {
|
zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 565 | LOGE(GSW_GNSS,"[GSW_gnss] mbtk_gnss_open is error.ret = [%d]", ret);
|
hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 566 | return GSW_HAL_NORMAL_FAIL;
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 567 | }
|
zw.wang | 89c1824 | 2025-06-24 19:07:10 +0800 | [diff] [blame] | 568 |
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 569 | strated = true;
|
zw.wang | 7aa3406 | 2025-06-27 17:54:55 +0800 | [diff] [blame] | 570 | /*
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 571 | if (gnss_freq > 0)
|
| 572 | gsw_gnss_set_freq(gnss_freq);
|
| 573 | if (gnss_startmode >= 0)
|
| 574 | gsw_gnss_set_start_mode(gnss_startmode);
|
| 575 | if (gnss_switch_op > 0)
|
| 576 | gsw_gnss_epo_switch(gnss_switch_op);
|
zw.wang | 7aa3406 | 2025-06-27 17:54:55 +0800 | [diff] [blame] | 577 | */
|
zw.wang | 57f3a9f | 2025-07-10 14:26:52 +0800 | [diff] [blame] | 578 |
|
| 579 | // 记录mbtk_gnss_set_VTG前的时间戳并计算等待时间
|
| 580 | struct timespec end_time;
|
| 581 | if (clock_gettime(CLOCK_MONOTONIC, &end_time) != 0) {
|
zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 582 | LOGE(GSW_GNSS,"[GSW_gnss] Failed to get end time");
|
zw.wang | 57f3a9f | 2025-07-10 14:26:52 +0800 | [diff] [blame] | 583 | return GSW_HAL_NORMAL_FAIL;
|
| 584 | }
|
| 585 | long start_ms = start_time.tv_sec * 1000 + start_time.tv_nsec / 1000000;
|
| 586 | long end_ms = end_time.tv_sec * 1000 + end_time.tv_nsec / 1000000;
|
| 587 | long diff_ms = end_ms - start_ms;
|
| 588 | if (diff_ms < 700) {
|
| 589 | long wait_ms = 700 - diff_ms;
|
| 590 | usleep(wait_ms * 1000); // 转换为微秒等待
|
| 591 | }
|
| 592 |
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 593 | mbtk_gnss_set_VTG();
|
| 594 |
|
| 595 | return GSW_HAL_SUCCESS;
|
| 596 | }
|
| 597 |
|
zw.wang | 57f3a9f | 2025-07-10 14:26:52 +0800 | [diff] [blame] | 598 |
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 599 | /**
|
| 600 | * @brief SDK interface to stop gnss
|
| 601 | * @param
|
| 602 | * @retval 0: success
|
| 603 | * @retval other: fail
|
| 604 | */
|
hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 605 | int32_t gsw_gnss_stop(void)
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 606 | {
|
| 607 | int ret;
|
zw.wang | bc534c0 | 2025-06-26 09:31:44 +0800 | [diff] [blame] | 608 | if(!inited)
|
hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 609 | return GSW_HAL_NORMAL_FAIL;
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 610 | mbtk_gnss_close=(int(*)(int))dlsym(dlHandle_gnss, "mbtk_gnss_close");
|
| 611 | ret = mbtk_gnss_close(QSER_GNSS_TIMEOUT);
|
| 612 | if(ret != 0)
|
| 613 | {
|
zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 614 | LOGE(GSW_GNSS,"[GSW_gnss] mbtk_gnss_close is error.ret = [%d]", ret);
|
hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 615 | return GSW_HAL_NORMAL_FAIL;
|
b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 616 | }
|
zw.wang | bc534c0 | 2025-06-26 09:31:44 +0800 | [diff] [blame] | 617 | ret = system("/usr/sbin/gnss_gpio.sh off > /dev/null 2>&1");
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| 618 | if(ret != 0)
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| 619 | {
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zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 620 | LOGE(GSW_GNSS,"[GSW_gnss] gnss_gpio.sh off fail.ret = [%d]", ret);
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hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 621 | return GSW_HAL_NORMAL_FAIL;
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zw.wang | bc534c0 | 2025-06-26 09:31:44 +0800 | [diff] [blame] | 622 | }
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 623 | strated = false;
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| 624 | return GSW_HAL_SUCCESS;
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| 625 | }
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| 626 |
|
| 627 | /**
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| 628 | * @brief SDK interface to de initialization gnss
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| 629 | * @param
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| 630 | * @retval 0: success
|
| 631 | * @retval other: fail
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| 632 | */
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hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 633 | int32_t gsw_gnss_deinit(void)
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 634 | {
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| 635 | int ret;
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zw.wang | bc534c0 | 2025-06-26 09:31:44 +0800 | [diff] [blame] | 636 | if(!inited)
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hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 637 | return GSW_HAL_NORMAL_FAIL;
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 638 | if(inited)
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| 639 | {
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lichengzhang | a708917 | 2025-07-01 20:41:46 +0800 | [diff] [blame] | 640 | ret = system("serial_atcmd AT*IMLCONFIG=12");
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| 641 | if(ret != 0)
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| 642 | {
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zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 643 | LOGE(GSW_GNSS,"serial_atcmd fail\n");
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lichengzhang | a708917 | 2025-07-01 20:41:46 +0800 | [diff] [blame] | 644 | return GSW_HAL_NORMAL_FAIL;
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| 645 | }
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 646 | mbtk_gnss_deinit=(int(*)())dlsym(dlHandle_gnss, "mbtk_gnss_deinit");
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| 647 | ret = mbtk_gnss_deinit();
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| 648 | if(ret == 0)
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| 649 | {
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| 650 | inited = false;
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| 651 | }
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| 652 | else
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| 653 | {
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zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 654 | LOGE(GSW_GNSS,"[GSW_gnss] mbtk_gnss_deinit() fail.ret = [%d]", ret);
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zw.wang | 1907e8f | 2025-07-01 16:26:39 +0800 | [diff] [blame] | 655 | /*
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 656 | dlclose(dlHandle_gnss);
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| 657 | dlHandle_gnss = NULL;
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zw.wang | 1907e8f | 2025-07-01 16:26:39 +0800 | [diff] [blame] | 658 | */
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hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 659 | return GSW_HAL_NORMAL_FAIL;
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 660 | }
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| 661 | }
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| 662 |
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zw.wang | 1907e8f | 2025-07-01 16:26:39 +0800 | [diff] [blame] | 663 | /*
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 664 | dlclose(dlHandle_gnss);
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| 665 | dlHandle_gnss = NULL;
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zw.wang | 1907e8f | 2025-07-01 16:26:39 +0800 | [diff] [blame] | 666 | */
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 667 | gnss_freq = -1;
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| 668 | gnss_startmode = -1;
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| 669 | gnss_switch_op = -1;
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| 670 | return GSW_HAL_SUCCESS;
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| 671 | }
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| 672 |
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zw.wang | 75e98ea | 2025-05-29 17:57:38 +0800 | [diff] [blame] | 673 | int gsw_gnss_add_lib(void)
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| 674 | {
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| 675 | return GSW_HAL_SUCCESS;
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| 676 | }
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 677 |
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| 678 | /**
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| 679 | * @brief SDK interface to enable XTRA switch
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| 680 | * @param [in] state
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| 681 | * @retval 0: success
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| 682 | * @retval other: fail
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| 683 | */
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hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 684 | int32_t gsw_gnss_xtra_is_enable(gsw_xtra_state_e state)
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 685 | {
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| 686 | return GSW_HAL_SUCCESS;
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| 687 | }
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| 688 |
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| 689 | /**
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| 690 | * @brief SDK interface to delete aiding data,delete aiding data for cold start(1-H,2-W,3-C)
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| 691 | * @param [in] switch_op
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| 692 | * @retval 0: success
|
| 693 | * @retval other: fail
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| 694 | */
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hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 695 | int32_t gsw_gnss_delete_aiding_data(unsigned int flags) /*1-don`t delete == hot_start ; 2-delete EPH == warm start ; 3-delete all == cold start*/
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 696 | {
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zw.wang | bc534c0 | 2025-06-26 09:31:44 +0800 | [diff] [blame] | 697 | if(!inited)
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hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 698 | return GSW_HAL_NORMAL_FAIL;
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 699 | int ret;
|
| 700 | char param_buf[32] = {0};
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| 701 | snprintf(param_buf, 32, "$RESET,%u", flags);
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| 702 | mbtk_gnss_setting=(int(*)(const char *setting_cmd, int))dlsym(dlHandle_gnss, "mbtk_gnss_setting");
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| 703 | ret = mbtk_gnss_setting(param_buf, QSER_GNSS_TIMEOUT);
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| 704 | if(ret != 0)
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| 705 | {
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zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 706 | LOGE(GSW_GNSS,"[qser_gnss] mbtk_gnss_setting fail.ret = [%d]", ret);
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hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 707 | return GSW_HAL_NORMAL_FAIL;
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 708 | }
|
| 709 | return GSW_HAL_SUCCESS;
|
| 710 | }
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| 711 |
|
| 712 | /**
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| 713 | * @brief init and configure gps
|
| 714 | * @param [in] init_configure
|
| 715 | * @retval 0: success
|
| 716 | * @retval other: fail
|
| 717 | */
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hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 718 | int32_t gsw_gnss_init_configure_gps(gsw_gnss_init_configure_t init_configure)
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b.liu | 68a94c9 | 2025-05-24 12:53:41 +0800 | [diff] [blame] | 719 | {
|
| 720 | return GSW_HAL_SUCCESS;
|
| 721 | }
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hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 722 |
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| 723 | int gsw_gnss_get_tail_nmea_type(char *tail_type, int len)
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| 724 | {
|
| 725 | if(NULL == tail_type){
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zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 726 | LOGE(GSW_GNSS,"get_tail_nmea_type fail, tail_type is NULL");
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hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 727 | return GSW_HAL_ERROR_GNSS_FAIL;
|
| 728 | }
|
| 729 |
|
| 730 | if(len >= 3){
|
| 731 | strcpy(tail_type, "RMC");
|
| 732 | return GSW_HAL_GNSS_SUCCESS;
|
| 733 | }else{
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zw.wang | bd342b9 | 2025-07-21 11:24:16 +0800 | [diff] [blame] | 734 | LOGE(GSW_GNSS,"get_tail_nmea_type fail, len[%d] is too short", len);
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hong.liu | d241707 | 2025-06-27 07:10:37 -0700 | [diff] [blame] | 735 | return GSW_HAL_ERROR_GNSS_FAIL;
|
| 736 | }
|
| 737 | }
|
rx.xie | 85d47ac | 2025-08-08 05:16:29 -0700 | [diff] [blame] | 738 |
|
| 739 |
|
| 740 | /**
|
| 741 | * @brief Start install gnss software
|
| 742 | * @param [in] char* file_path
|
| 743 | * @param [out] NULL
|
| 744 | * @retval GSW_HAL_SUCCESS\GSW_HAL_FAIL
|
| 745 | */
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| 746 | int gsw_update_gnss_start(const char *fw_path)
|
| 747 | {
|
| 748 | int ret;
|
| 749 | mbtk_gnss_dl_ptr = (int(*)(const char *, int))dlsym(dlHandle_gnss, "mbtk_gnss_dl");
|
| 750 | if (!mbtk_gnss_dl_ptr)
|
| 751 | {
|
| 752 | LOGE(GSW_GNSS,"[qser_gnss] dlsym failed for mbtk_gnss_dl: %s", dlerror());
|
| 753 | return GSW_HAL_NORMAL_FAIL;
|
| 754 | }
|
| 755 |
|
| 756 | ret = mbtk_gnss_dl_ptr(fw_path, QSER_GNSS_TIMEOUT);
|
| 757 | if(ret != 0)
|
| 758 | {
|
| 759 | LOGE(GSW_GNSS,"[qser_gnss] Firmware download failed. ret = [%d]", ret);
|
| 760 | return GSW_HAL_NORMAL_FAIL;
|
| 761 | }
|
| 762 | return GSW_HAL_SUCCESS;
|
| 763 | }
|
| 764 |
|
| 765 |
|
| 766 | /**
|
| 767 | * @brief get gnss version info
|
| 768 | * @param [in] NULL
|
| 769 | * @param [out] char* version_info
|
| 770 | * @retval GSW_HAL_SUCCESS\GSW_HAL_FAIL
|
| 771 | */
|
| 772 | int32_t gsw_get_gnss_version_info(char* version_info)
|
| 773 | {
|
| 774 | if (!version_info)
|
| 775 | {
|
| 776 | LOGE(GSW_GNSS, "[GSW_gnss] version_info is NULL");
|
| 777 | return GSW_HAL_NORMAL_FAIL;
|
| 778 | }
|
| 779 |
|
| 780 | GSW_DEVICE dev_type = get_gnss_device_version();
|
| 781 | switch (dev_type)
|
| 782 | {
|
| 783 | case HD8122:
|
| 784 | strncpy(version_info, "HD8122", 255);
|
| 785 | break;
|
| 786 | case HD8040D:
|
| 787 | strncpy(version_info, "HD8040D", 255);
|
| 788 | break;
|
| 789 | case NO_DEVICE:
|
| 790 | default:
|
| 791 | LOGE(GSW_GNSS, "[GSW_gnss] Failed to detect GNSS device");
|
| 792 | return GSW_HAL_NORMAL_FAIL;
|
| 793 | }
|
| 794 |
|
| 795 | version_info[255] = '\0';
|
| 796 | LOGE(GSW_GNSS, "[GSW_gnss] Retrieved GNSS version: %s", version_info);
|
| 797 | return GSW_HAL_SUCCESS;
|
| 798 | }
|
| 799 |
|
| 800 |
|
| 801 |
|