Yocto开发笔记之《驱动调试－GPS数据采集》（QQ交流群：519230208）

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参考资料：

GPS数据包分析：http://www.cnblogs.com/csMapx/archive/2011/11/02/2232663.html
手机定位原理，关于GPS&GLONASS&北斗：http://www.cnblogs.com/radiolover/p/4307453.html

GSP 数据解析（搜索 NMEA parser）

C Project : http://nmea.sourceforge.net/#downloads
C++ Project : http://www.visualgps.net/WhitePapers/NMEAParser/NMEAParser.htm
单片机（郭天详）：http://download.csdn.net/detail/suzhouzhouchunhua/2370503

Makefile中添加以下内容：

CC=arm-poky-linux-gnueabi-gcc --sysroot=/home/summer/test-yocto/qemuarm
LD=arm-poky-linux-gnueabi-ld --sysroot=/home/summer/test-yocto/qemuarm
CFLAGS=-O2 -pipe -g -feliminate-unused-debug-types
CXXFLAGS=-O2 -pipe -g -feliminate-unused-debug-types

ERROR记录与解决方法

error：
lib/libnmea.a(generate.o)：在函数‘nmea_gsv_npack’中：
generate.c:(.text+0x7f0)：对‘ceil’未定义的引用
collect2: error: ld returned  exit status
make: *** [samples_generate] 错误
rm samples/generate/main.o

Makefile中添加红色，ubuntu编译器不能识别加在前边。。。晕，macos完全不用修改
samples_%: samples/%/main.o
    $(CC) $< $(LIBS) -o build/$@ -lm

Error case :
, Lat: -nan, Lon: nan, Sig: , Fix:
$GPRMC,213922.000,A,4221.1129,N,07102.9146,W,0.00,,,,,A*6F
Trace:
$GPGGA,213923.000,4221.1129,N,07102.9146,W,,,3.9,129.7,M,-33.7,M,,*6F
Trace:
, Lat: -nan, Lon: nan, Sig: , Fix:
$GPGSA,A,,,,,,,,,,,,,,4.1,3.9,1.0*3A
Trace:
, Lat: -nan, Lon: nan, Sig: , Fix:
$GPRMC,213923.000,A,4221.1129,N,07102.9146,W,0.00,,,,,A*6E
Trace:
$GPGGA,213924.000,4221.1129,N,07102.9146,W,,,3.9,129.7,M,-33.7,M,,*
Trace:
, Lat: -nan, Lon: nan, Sig: , Fix:
$GPGSA,A,,,,,,,,,,,,,,4.0,3.9,1.0*3B
Trace:
, Lat: -nan, Lon: nan, Sig: , Fix:
$GPRMC,213924.000,A,4221.1129,N,07102.9146,W,0.00,,,,,A*
Trace:
$GPGGA,213925.000,4221.1129,N,07102.9146,W,,,3.9,129.7,M,-33.7,M,,*
Trace:
, Lat: -nan, Lon: nan, Sig: , Fix:
$GPGSA,A,,,,,,,,,,,,,,4.0,3.9,1.0*3B
Trace:
$GPRMC,213925.000,A,4221.1129,N,07102.9146,W,0.00,,,,,A*
Trace:
, Lat: -nan, Lon: nan, Sig: , Fix:
$GPGGA,213926.000,4221.1112,N,07102.9177,W,,,3.9,136.5,M,-33.7,M,,*6C
Trace:
, Lat: -nan, Lon: nan, Sig: , Fix:
---------------------------------------------------------------------------------

---------------------------------------------------------------------------------
Right case:
$GPGSV,,,,,,,,,,,,,,,,,,,*7F
Trace:
$GPGSV,,,,,,,,,,,,,,,*
Trace:
, Lat: 0.739180, Lon: -1.240032, Sig: , Fix:
$GPRMC,213921.000,A,4221.1129,N,07102.9146,W,0.00,,,,,A*6C
Trace:
, Lat: 0.739180, Lon: -1.240032, Sig: , Fix:
$GPGGA,213922.000,4221.1129,N,07102.9146,W,,,3.9,129.7,M,-33.7,M,,*6E
Trace:
$GPGSA,A,,,,,,,,,,,,,,4.1,3.9,1.0*3A
Trace:
, Lat: 0.739180, Lon: -1.240032, Sig: , Fix:
$GPRMC,213922.000,A,4221.1129,N,07102.9146,W,0.00,,,,,A*6F
Trace:
$GPGGA,213923.000,4221.1129,N,07102.9146,W,,,3.9,129.7,M,-33.7,M,,*6F
Trace:
, Lat: 0.739180, Lon: -1.240032, Sig: , Fix:
$GPGSA,A,,,,,,,,,,,,,,4.1,3.9,1.0*3A
Trace:
, Lat: 0.739180, Lon: -1.240032, Sig: , Fix:
$GPRMC,213923.000,A,4221.1129,N,07102.9146,W,0.00,,,,,A*6E
Trace:
$GPGGA,213924.000,4221.1129,N,07102.9146,W,,,3.9,129.7,M,-33.7,M,,*
Trace:
, Lat: 0.739180, Lon: -1.240032, Sig: , Fix:
$GPGSA,A,,,,,,,,,,,,,,4.0,3.9,1.0*3B
Trace:
, Lat: 0.739180, Lon: -1.240032, Sig: , Fix:
$GPRMC,213924.000,A,4221.1129,N,07102.9146,W,0.00,,,,,A*

/*
 * Copyright (C) 2010 The Android Open Source Project
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

/* this implements a GPS hardware library for the Android emulator.
 * the following code should be built as a shared library that will be
 * placed into /system/lib/hw/gps.goldfish.so
 *
 * it will be loaded by the code in hardware/libhardware/hardware.c
 * which is itself called from android_location_GpsLocationProvider.cpp
 ******************************************************************************
******************************************************************************
*
*                  Modified by liukun321 GJGJ
*                  http://blog.csdn.net/liukun321
*
******************************************************************************
******************************************************************************/

#include <errno.h>
#include <pthread.h>
#include <fcntl.h>
#include <sys/epoll.h>
#include <math.h>
#include <time.h>

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <termios.h>
#include <errno.h>

#define  LOG_TAG  "gps_Ublox6M"
#include <cutils/log.h>
#include <cutils/sockets.h>
#include <hardware/gps.h>
#include <hardware/qemud.h>
#include <hardware/hardware.h>
/* the name of the qemud-controlled socket */
#define  QEMU_CHANNEL_NAME  "gps"

#define  GPS_DEBUG  0
#define Ublox_6M 1
#if GPS_DEBUG
#  define  D(...)   LOGD(__VA_ARGS__)
#else
#  define  D(...)   ((void))
#endif

/*****************************************************************/
/*****************************************************************/
/*****                                                       *****/
/*****       N M E A   T O K E N I Z E R                     *****/
/*****                                                       *****/
/*****************************************************************/
/*****************************************************************/

typedef struct {
    const char*  p;
    const char*  end;
} Token;

#define  MAX_NMEA_TOKENS  16

typedef struct {
    int     count;
    Token   tokens[ MAX_NMEA_TOKENS ];
} NmeaTokenizer;

/*********************************************************************/
GpsStatus g_status;

static int
nmea_tokenizer_init( NmeaTokenizer*  t, const char*  p, const char*  end )
{
    int    count = ;
    char*  q;

    // the initial '$' is optional
    if (p < end && p[] == '$')
        p += ;

    // remove trailing newline
    if (end > p && end[-] == '\n') {
        end -= ;
        if (end > p && end[-] == '\r')
            end -= ;
    }

    // get rid of checksum at the end of the sentecne
    if (end >= p+ && end[-] == '*') {
        end -= ;
    }

    while (p < end) {
        const char*  q = p;

        q = memchr(p, ',', end-p);
        if (q == NULL)
            q = end;

        if (q >= p) {//////////////////////////////////////////////////////////////////////////////
            if (count < MAX_NMEA_TOKENS) {
                t->tokens[count].p   = p;
                t->tokens[count].end = q;
                count += ;
            }
        }
        if (q < end)
            q += ;

        p = q;
    }

    t->count = count;
    return count;
}

static Token
nmea_tokenizer_get( NmeaTokenizer*  t, int  index )
{
    Token  tok;
    static const char*  dummy = "";

    if (index <  || index >= t->count) {
        tok.p = tok.end = dummy;
    } else
        tok = t->tokens[index];

    return tok;
}

static int
str2int( const char*  p, const char*  end )
{
    int   result = ;
    int   len    = end - p;

    for ( ; len > ; len--, p++ )
    {
        int  c;

        if (p >= end)
            goto Fail;

        c = *p - '';
        if ((unsigned)c >= )
            goto Fail;

        result = result* + c;
    }
    return  result;

Fail:
    return -;
}

static double
str2float( const char*  p, const char*  end )
{
    int   result = ;
    int   len    = end - p;
    char  temp[];

    if (len >= (int)sizeof(temp))
        return .;

    memcpy( temp, p, len );
    temp[len] = ;
    return strtod( temp, NULL );
}

/*****************************************************************/
/*****************************************************************/
/*****                                                       *****/
/*****       N M E A   P A R S E R                           *****/
/*****                                                       *****/
/*****************************************************************/
/*****************************************************************/

#define  NMEA_MAX_SIZE  83

typedef struct {
    int     pos;
    int     overflow;
    int     utc_year;
    int     utc_mon;
    int     utc_day;
    int     utc_diff;
    GpsLocation  fix;
    //********************************
  GpsSvStatus  sv_status;

    int     sv_status_changed;
   #ifdef Ublox_6M
     GpsCallbacks callback;

#else
    //*********************************
    gps_location_callback  callback;
#endif
    char    in[ NMEA_MAX_SIZE+ ];
} NmeaReader;

static void
nmea_reader_update_utc_diff( NmeaReader*  r )
{
    time_t         now = time(NULL);
    struct tm      tm_local;
    struct tm      tm_utc;
    long           time_local, time_utc;

    gmtime_r( &now, &tm_utc );
    localtime_r( &now, &tm_local );

    time_local = tm_local.tm_sec +
                 *(tm_local.tm_min +
                 *(tm_local.tm_hour +
                 *(tm_local.tm_yday +
                 *tm_local.tm_year)));

    time_utc = tm_utc.tm_sec +
               *(tm_utc.tm_min +
               *(tm_utc.tm_hour +
               *(tm_utc.tm_yday +
               *tm_utc.tm_year)));

    r->utc_diff = time_local - time_utc;
}

static void
nmea_reader_init( NmeaReader*  r )
{
    memset( r, , sizeof(*r) );

    r->pos      = ;
    r->overflow = ;
    r->utc_year = -;
    r->utc_mon  = -;
    r->utc_day  = -;
#ifdef Ublox_6M
    r->callback.sv_status_cb = NULL;//////////////////////////////////////////
    r->callback.nmea_cb = NULL;
    r->callback.location_cb = NULL;
    r->callback.status_cb = NULL;
#else
    r->callback = NULL;
#endif
    r->fix.size = sizeof(r->fix);
    nmea_reader_update_utc_diff( r );
}

static void
nmea_reader_set_callback( NmeaReader*  r, gps_location_callback  cb )
{
#ifdef Ublox_6M
        r->callback.location_cb  = cb;//////////////////////////////////////////////////
#else
     r->callback  = cb;
#endif
    if (cb != NULL && r->fix.flags != ) {
    D("%s: sending latest fix to new callback", __FUNCTION__);
#ifdef Ublox_6M
        r->callback.location_cb( &r->fix );/////////////////////////////////////////////
#else
        r->fix.flags = ;
#endif
    }
}

static int
nmea_reader_update_time( NmeaReader*  r, Token  tok )
{
    int        hour, minute;
    double     seconds;
    struct tm  tm;
    time_t     fix_time;

    if (tok.p +  > tok.end)
        return -;

    if (r->utc_year < ) {
        // no date yet, get current one
        time_t  now = time(NULL);
        gmtime_r( &now, &tm );
        r->utc_year = tm.tm_year + ;
        r->utc_mon  = tm.tm_mon + ;
        r->utc_day  = tm.tm_mday;
    }

    hour    = str2int(tok.p,   tok.p+);
    minute  = str2int(tok.p+, tok.p+);
    seconds = str2float(tok.p+, tok.end);

    tm.tm_hour  = hour;
    tm.tm_min   = minute;
    tm.tm_sec   = (int) seconds;
    tm.tm_year  = r->utc_year - ;
    tm.tm_mon   = r->utc_mon - ;
    tm.tm_mday  = r->utc_day;
    tm.tm_isdst = -;

    fix_time = mktime( &tm ) + r->utc_diff;
    r->fix.timestamp = (long long)fix_time * ;
    return ;
}

static int
nmea_reader_update_date( NmeaReader*  r, Token  date, Token  time )
{
    Token  tok = date;
    int    day, mon, year;

    if (tok.p +  != tok.end) {
        D("date not properly formatted: '%.*s'", tok.end-tok.p, tok.p);
        return -;
    }
    day  = str2int(tok.p, tok.p+);
    mon  = str2int(tok.p+, tok.p+);
    year = str2int(tok.p+, tok.p+) + ;

    if ((day|mon|year) < ) {
        D("date not properly formatted: '%.*s'", tok.end-tok.p, tok.p);
        return -;
    }

    r->utc_year  = year;
    r->utc_mon   = mon;
    r->utc_day   = day;

    return nmea_reader_update_time( r, time );
}

static double
convert_from_hhmm( Token  tok )
{
    double  val     = str2float(tok.p, tok.end);
    int     degrees = (int)(floor(val) / );
    double  minutes = val - degrees*.;
    double  dcoord  = degrees + minutes / 60.0;
    return dcoord;
}

static int
nmea_reader_update_latlong( NmeaReader*  r,
                            Token        latitude,
                            char         latitudeHemi,
                            Token        longitude,
                            char         longitudeHemi )
{
    double   lat, lon;
    Token    tok;

    tok = latitude;
    if (tok.p +  > tok.end) {
        D("latitude is too short: '%.*s'", tok.end-tok.p, tok.p);
        return -;
    }
    lat = convert_from_hhmm(tok);
    if (latitudeHemi == 'S')
        lat = -lat;

    tok = longitude;
    if (tok.p +  > tok.end) {
        D("longitude is too short: '%.*s'", tok.end-tok.p, tok.p);
        return -;
    }
    lon = convert_from_hhmm(tok);
    if (longitudeHemi == 'W')
        lon = -lon;

    r->fix.flags    |= GPS_LOCATION_HAS_LAT_LONG;
    r->fix.latitude  = lat;
    r->fix.longitude = lon;
    return ;
}

static int
nmea_reader_update_altitude( NmeaReader*  r,
                             Token        altitude,
                             Token        units )
{
    double  alt;
    Token   tok = altitude;

    if (tok.p >= tok.end)
        return -;

    r->fix.flags   |= GPS_LOCATION_HAS_ALTITUDE;
    r->fix.altitude = str2float(tok.p, tok.end);
    return ;
}

static int
nmea_reader_update_bearing( NmeaReader*  r,
                            Token        bearing )
{
    double  alt;
    Token   tok = bearing;

    if (tok.p >= tok.end)
        return -;

    r->fix.flags   |= GPS_LOCATION_HAS_BEARING;
    r->fix.bearing  = str2float(tok.p, tok.end);
    return ;
}

static int
nmea_reader_update_speed( NmeaReader*  r,
                          Token        speed )
{
    double  alt;
    Token   tok = speed;

    if (tok.p >= tok.end)
        return -;

    r->fix.flags   |= GPS_LOCATION_HAS_SPEED;
    r->fix.speed    = str2float(tok.p, tok.end);
    return ;
}
static int nmea_reader_update_accuracy(NmeaReader * r,  Token accuracy)
{
    double acc;
    Token  tok = accuracy;

    if(tok.p >= tok.end)
        return -;

    r->fix.accuracy = str2float(tok.p, tok.end);

    if(r->fix.accuracy == 99.99){
    return ;
    }

    r->fix.flags |= GPS_LOCATION_HAS_ACCURACY;
    return ;
}

/* this is the state of our connection to the qemu_gpsd daemon */
typedef struct {
    int                     init;
    int                     fd;
    GpsCallbacks            callbacks;
    pthread_t               thread;
    int                     control[];
} GpsState;

static GpsState  _gps_state[];

static void
nmea_reader_parse( NmeaReader*  r )
{
   /* we received a complete sentence, now parse it to generate
    * a new GPS fix...
    */
    NmeaTokenizer  tzer[];
    Token          tok;

    D("Received: '%.*s'", r->pos, r->in);

    if (r->pos < ) {
        D("Too short. discarded.");
        return;
    }

    nmea_tokenizer_init(tzer, r->in, r->in + r->pos);
#if GPS_DEBUG
    {
        int  n;
        D("Found %d tokens", tzer->count);
        for (n = ; n < tzer->count; n++) {
            Token  tok = nmea_tokenizer_get(tzer,n);
            D("%2d: '%.*s'", n, tok.end-tok.p, tok.p);
        }
    }
#endif

    tok = nmea_tokenizer_get(tzer, );
    if (tok.p +  > tok.end) {
        D("sentence id '%.*s' too short, ignored.", tok.end-tok.p, tok.p);
        return;
    }

    // ignore first two characters.
    tok.p += ;
    if ( !memcmp(tok.p, "GGA", ) ) {
        // GPS fix
        Token  tok_time          = nmea_tokenizer_get(tzer,);
        Token  tok_latitude      = nmea_tokenizer_get(tzer,);
        Token  tok_latitudeHemi  = nmea_tokenizer_get(tzer,);
        Token  tok_longitude     = nmea_tokenizer_get(tzer,);
        Token  tok_longitudeHemi = nmea_tokenizer_get(tzer,);
        Token  tok_altitude      = nmea_tokenizer_get(tzer,);
        Token  tok_altitudeUnits = nmea_tokenizer_get(tzer,);

        nmea_reader_update_time(r, tok_time);
        nmea_reader_update_latlong(r, tok_latitude,
                                      tok_latitudeHemi.p[],
                                      tok_longitude,
                                      tok_longitudeHemi.p[]);
        nmea_reader_update_altitude(r, tok_altitude, tok_altitudeUnits);

    } else if ( !memcmp(tok.p, "GSA", ) ) {
        // do something ?

         #ifdef Ublox_6M
        {
D("may%s,%d,%s,gsa\n",__FILE__,__LINE__,__FUNCTION__);
        Token tok_fixStatus = nmea_tokenizer_get(tzer, );
        int i;  

        if (tok_fixStatus.p[] != '\0' && tok_fixStatus.p[] != '') {  

            Token tok_accuracy = nmea_tokenizer_get(tzer, );//position dilution of precision dop   

            nmea_reader_update_accuracy(r, tok_accuracy);  

            r->sv_status.used_in_fix_mask = 0ul;
    D("\n");
            for (i = ; i <= ; ++i){  

                Token tok_prn = nmea_tokenizer_get(tzer, i);
                int prn = str2int(tok_prn.p, tok_prn.end);
        D("gsa,prn=%d,",prn);
                if (prn > ){
                    r->sv_status.used_in_fix_mask |= (1ul << ( prn-));
                    r->sv_status_changed = ;  

               }  

           }D("\n");
     D("%s: fix mask is %x", __FUNCTION__, r->sv_status.used_in_fix_mask);
      //   D(" [log hit][%s:%d] fix.flags=0x%x ", __FUNCTION__, __LINE__, r->fix.flags);
       }  

       D(" [log hit][%s:%d] fix.flags=0x%x ", __FUNCTION__, __LINE__, r->fix.flags);  

    }
    #endif   

    } //////////////////////////////////////////////////////////////////////////////////////////////////
        #ifdef Ublox_6M
    else if ( !memcmp(tok.p, "GSV", ) ) {
D("may%s,%d,%s,gsV\n",__FILE__,__LINE__,__FUNCTION__);
    Token tok_noSatellites = nmea_tokenizer_get(tzer, );
    int noSatellites = str2int(tok_noSatellites.p, tok_noSatellites.end);
       D("%d,inview=%d,\n",__LINE__,noSatellites);
    if (noSatellites > ) {
     Token tok_noSentences = nmea_tokenizer_get(tzer, );
     Token tok_sentence     = nmea_tokenizer_get(tzer, );  

     int sentence = str2int(tok_sentence.p, tok_sentence.end);
     int totalSentences = str2int(tok_noSentences.p, tok_noSentences.end);
   D("%d,gsv_index=%d,gsv_total=%d\n",__LINE__,sentence,totalSentences);
     int curr;
     int i;  

     if (sentence == ) {
D("msg_index=%d\n",sentence);
   //  r->sv_status_changed = 0;
     r->sv_status.num_svs = ;
    r->sv_status.ephemeris_mask=0ul;
    r->sv_status.almanac_mask=0ul;
     }  

        curr = r->sv_status.num_svs;  

        i = ;  

        while (i <  && r->sv_status.num_svs < noSatellites){
         Token    tok_prn = nmea_tokenizer_get(tzer, i *  + );
         Token    tok_elevation = nmea_tokenizer_get(tzer, i *  + );
         Token    tok_azimuth = nmea_tokenizer_get(tzer, i *  + );
         Token    tok_snr = nmea_tokenizer_get(tzer, i *  + );  

         r->sv_status.sv_list[curr].prn = str2int(tok_prn.p, tok_prn.end);
         r->sv_status.sv_list[curr].elevation = str2float(tok_elevation.p, tok_elevation.end);
         r->sv_status.sv_list[curr].azimuth = str2float(tok_azimuth.p, tok_azimuth.end);
         r->sv_status.sv_list[curr].snr = str2float(tok_snr.p, tok_snr.end);
         r->sv_status.ephemeris_mask|=(1ul << (r->sv_status.sv_list[curr].prn-));
    r->sv_status.almanac_mask|=(1ul << (r->sv_status.sv_list[curr].prn-));
    r->sv_status.num_svs += ;
 D("**********curr=%d\n",curr);  

   D("%d,prn=%d:snr=%f\n",__LINE__,r->sv_status.sv_list[curr].prn,r->sv_status.sv_list[curr].snr);
         curr += ;  

         i += ;
     }  

     if (sentence == totalSentences) {
D("msg=%d,msgindex=%d",totalSentences,sentence);
        #ifdef Ublox_6M
r->callback.sv_status_cb=_gps_state->callbacks.sv_status_cb;  

     if (r->sv_status_changed !=) {
           if (r->callback.sv_status_cb) {  

        #if GPS_DEBUG
        D("%d,SV_STATSU,change=%d\n",__LINE__,r->sv_status_changed);
        int nums=r->sv_status.num_svs;
        D("num_svs=%d,emask=%x,amask=%x,inusemask=%x\n",r->sv_status.num_svs,r->sv_status.ephemeris_mask,r->sv_status.almanac_mask,r->sv_status.used_in_fix_mask);
        D("************88\n");
        while(nums)
        {
        nums--;
        D("prn=%d:snr=%f\n",r->sv_status.sv_list[nums].prn,r->sv_status.sv_list[nums].snr);  

        }D("************88\n");
        #endif
                 r->callback.sv_status_cb( &(r->sv_status) );
               r->sv_status_changed = ;
             }else {
                D("no callback, keeping status data until needed !");
           }  

        }
     #endif
     }  

     D("%s: GSV message with total satellites %d", __FUNCTION__, noSatellites);   

    }           

    }
    #endif////////////////////////////////////////////////////////////////////////////////////////////

    else if ( !memcmp(tok.p, "GLL", ) ) {
            Token tok_fixstaus = nmea_tokenizer_get(tzer,);
            if (tok_fixstaus.p[] == 'A') {
             Token tok_latitude = nmea_tokenizer_get(tzer,);
             Token tok_latitudeHemi = nmea_tokenizer_get(tzer,);
             Token tok_longitude = nmea_tokenizer_get(tzer,);
             Token tok_longitudeHemi = nmea_tokenizer_get(tzer,);
             Token tok_time = nmea_tokenizer_get(tzer,);
             nmea_reader_update_time(r, tok_time);
             nmea_reader_update_latlong(r, tok_latitude, tok_latitudeHemi.p[], tok_longitude, tok_longitudeHemi.p[]);
            }
    }  

    /////////////////////////////////////////////////////////////////////////////////
    else if ( !memcmp(tok.p, "RMC", ) ) {
#ifndef Ublox_6M
      Token  tok_time          = nmea_tokenizer_get(tzer,);
        Token  tok_fixStatus     = nmea_tokenizer_get(tzer,);
        Token  tok_latitude      = nmea_tokenizer_get(tzer,);
        Token  tok_latitudeHemi  = nmea_tokenizer_get(tzer,);
        Token  tok_longitude     = nmea_tokenizer_get(tzer,);
        Token  tok_longitudeHemi = nmea_tokenizer_get(tzer,);
        Token  tok_speed         = nmea_tokenizer_get(tzer,);
        Token  tok_bearing       = nmea_tokenizer_get(tzer,);
        Token  tok_date          = nmea_tokenizer_get(tzer,);

        D("in RMC, fixStatus=%c", tok_fixStatus.p[]);
        if (tok_fixStatus.p[] == 'A')
        {
            nmea_reader_update_date( r, tok_date, tok_time );

            nmea_reader_update_latlong( r, tok_latitude,
                                           tok_latitudeHemi.p[],
                                           tok_longitude,
                                           tok_longitudeHemi.p[] );

            nmea_reader_update_bearing( r, tok_bearing );
            nmea_reader_update_speed  ( r, tok_speed );
        }
#else
        Token tok_time = nmea_tokenizer_get(tzer,);
        Token tok_fixStatus = nmea_tokenizer_get(tzer,);
        Token tok_latitude = nmea_tokenizer_get(tzer,);
        Token tok_latitudeHemi = nmea_tokenizer_get(tzer,);
        Token tok_longitude = nmea_tokenizer_get(tzer,);
        Token tok_longitudeHemi = nmea_tokenizer_get(tzer,);
        Token tok_speed = nmea_tokenizer_get(tzer,);
        Token tok_bearing = nmea_tokenizer_get(tzer,);
        Token tok_date = nmea_tokenizer_get(tzer,);  

        D("in RMC, fixStatus=%c", tok_fixStatus.p[]);
       if (tok_fixStatus.p[] == 'A')
        {
            nmea_reader_update_date( r, tok_date, tok_time );  

            nmea_reader_update_latlong( r, tok_latitude,
                                           tok_latitudeHemi.p[],
                                           tok_longitude,
                                           tok_longitudeHemi.p[] );  

            nmea_reader_update_bearing( r, tok_bearing );
            nmea_reader_update_speed ( r, tok_speed );
         #ifdef Ublox_6M
        r->callback.location_cb=_gps_state->callbacks.location_cb;
        r->callback.nmea_cb=_gps_state->callbacks.nmea_cb;
        r->callback.status_cb=_gps_state->callbacks.status_cb;
        if (r->callback.status_cb) {
        D("report,status,flags=%d\n",r->fix.flags);
                    r->callback.status_cb( (struct GpsStatus *)&(r->fix.flags) );
                }
             if (r->callback.location_cb) {
        D("location_cb report:r->fix.flags=%d,r->latitude=%f,r->longitude=%f,r->altitude=%f,r->speed=%f,r->bearing=%f,r->accuracy=%f\n",r->fix.flags,r->fix.latitude,r->fix.longitude,r->fix.altitude,r->fix.speed,r->fix.bearing,r->fix.accuracy);
                    r->callback.location_cb( &r->fix );
        D("%d,cc=%d",__LINE__,cc);
                r->fix.flags = ;  

                }
        if (r->callback.nmea_cb) {
        D("report,timestamp=%llx,%llu\n",r->fix.timestamp,r->fix.timestamp);
                    r->callback.nmea_cb( r->fix.timestamp,r->in,r->pos );  

        }  

    #else
        r->callback=_gps_state.callbacks->location_cb;
        //r->callback.nmea_cb=_gps_state->callbacks.nmea_cb;
                if (r->callback) {D("if2 (r->callback.location_cb)\n");
                     r->callback( &r->fix );
                     r->fix.flags = ;
         }
        #endif
        }
#endif
    }  

    else
    {
        tok.p -= ;
        D("unknown sentence '%.*s", tok.end-tok.p, tok.p);
    }
    if (r->fix.flags != ) {
#if GPS_DEBUG
        char   temp[];
        char*  p   = temp;
        char*  end = p + sizeof(temp);
        struct tm   utc;

        p += snprintf( p, end-p, "sending fix" );
        if (r->fix.flags & GPS_LOCATION_HAS_LAT_LONG) {
            p += snprintf(p, end-p, " lat=%g lon=%g", r->fix.latitude, r->fix.longitude);
        }
        if (r->fix.flags & GPS_LOCATION_HAS_ALTITUDE) {
            p += snprintf(p, end-p, " altitude=%g", r->fix.altitude);
        }
        if (r->fix.flags & GPS_LOCATION_HAS_SPEED) {
            p += snprintf(p, end-p, " speed=%g", r->fix.speed);
        }
        if (r->fix.flags & GPS_LOCATION_HAS_BEARING) {
            p += snprintf(p, end-p, " bearing=%g", r->fix.bearing);
        }
        if (r->fix.flags & GPS_LOCATION_HAS_ACCURACY) {
            p += snprintf(p,end-p, " accuracy=%g", r->fix.accuracy);
        }
        gmtime_r( (time_t*) &r->fix.timestamp, &utc );
        p += snprintf(p, end-p, " time=%s", asctime( &utc ) );
        LOGD("%s",temp);
#endif

#ifndef Ublox_6M
    if (r->callback ) {
            r->callback( &r->fix );
            r->fix.flags = ;
        }
        else {
            D("no callback, keeping data until needed !");
        }
#endif
    }
}

static void
nmea_reader_addc( NmeaReader*  r, int  c )
{
    if (r->overflow) {
        r->overflow = (c != '\n');
        return;
    }

    if (r->pos >= (int) sizeof(r->in)- ) {
        r->overflow = ;
        r->pos      = ;
        return;
    }

    r->in[r->pos] = (char)c;
    r->pos       += ;

    if (c == '\n') {
        nmea_reader_parse( r );
        r->pos = ;
    }
}

/*****************************************************************/
/*****************************************************************/
/*****                                                       *****/
/*****       C O N N E C T I O N   S T A T E                 *****/
/*****                                                       *****/
/*****************************************************************/
/*****************************************************************/

/* commands sent to the gps thread */
enum {
    CMD_QUIT  = ,
    CMD_START = ,
    CMD_STOP  =
};

static void
gps_state_done( GpsState*  s )
{
    // tell the thread to quit, and wait for it
    char   cmd = CMD_QUIT;
    void*  dummy;
    write( s->control[], &cmd,  );
    pthread_join(s->thread, &dummy);

    // close the control socket pair
    close( s->control[] ); s->control[] = -;
    close( s->control[] ); s->control[] = -;

    // close connection to the QEMU GPS daemon
    close( s->fd ); s->fd = -;
    s->init = ;
}

static void
gps_state_start( GpsState*  s )
{
    char  cmd = CMD_START;
    int   ret;

    do { ret=write( s->control[], &cmd,  ); }
    while (ret <  && errno == EINTR);

    if (ret != )
        D("%s: could not send CMD_START command: ret=%d: %s",
          __FUNCTION__, ret, strerror(errno));
}

static void
gps_state_stop( GpsState*  s )
{
    char  cmd = CMD_STOP;
    int   ret;

    do { ret=write( s->control[], &cmd,  ); }
    while (ret <  && errno == EINTR);

    if (ret != )
        D("%s: could not send CMD_STOP command: ret=%d: %s",
          __FUNCTION__, ret, strerror(errno));
}

static int
epoll_register( int  epoll_fd, int  fd )
{
    struct epoll_event  ev;
    int                 ret, flags;

    /* important: make the fd non-blocking */
    flags = fcntl(fd, F_GETFL);
    fcntl(fd, F_SETFL, flags | O_NONBLOCK);

    ev.events  = EPOLLIN;
    ev.data.fd = fd;
    do {
        ret = epoll_ctl( epoll_fd, EPOLL_CTL_ADD, fd, &ev );
    } while (ret <  && errno == EINTR);
    return ret;
}

static int
epoll_deregister( int  epoll_fd, int  fd )
{
    int  ret;
    do {
        ret = epoll_ctl( epoll_fd, EPOLL_CTL_DEL, fd, NULL );
    } while (ret <  && errno == EINTR);
    return ret;
}

/* this is the main thread, it waits for commands from gps_state_start/stop and,
 * when started, messages from the QEMU GPS daemon. these are simple NMEA sentences
 * that must be parsed to be converted into GPS fixes sent to the framework
 */
static void*
gps_state_thread( void*  arg )
{
    GpsState*   state = (GpsState*) arg;
    NmeaReader  reader[];
    int         epoll_fd   = epoll_create();
    int         started    = ;
    int         gps_fd     = state->fd;
    int         control_fd = state->control[];

    nmea_reader_init( reader );

    // register control file descriptors for polling
    epoll_register( epoll_fd, control_fd );
    epoll_register( epoll_fd, gps_fd );

    D("gps thread running");

    // now loop
    for (;;) {
        struct epoll_event   events[];
        int                  ne, nevents;

        nevents = epoll_wait( epoll_fd, events, , - );
        if (nevents < ) {
            if (errno != EINTR)
                LOGE("epoll_wait() unexpected error: %s", strerror(errno));
            continue;
        }
        D("gps thread received %d events", nevents);
        for (ne = ; ne < nevents; ne++) {
            if ((events[ne].events & (EPOLLERR|EPOLLHUP)) != ) {
                LOGE("EPOLLERR or EPOLLHUP after epoll_wait() !?");
                goto Exit;
            }
            if ((events[ne].events & EPOLLIN) != ) {
                int  fd = events[ne].data.fd;

                if (fd == control_fd)
                {
                    char  cmd = ;
                    int   ret;
                    D("gps control fd event");
                    do {
                        ret = read( fd, &cmd,  );
                    } while (ret <  && errno == EINTR);

                    if (cmd == CMD_QUIT) {
                        D("gps thread quitting on demand");
                        goto Exit;
                    }
                    else if (cmd == CMD_START) {
                        if (!started) {
                            D("gps thread starting  location_cb=%p", state->callbacks.location_cb);
                            started = ;
//******************************************************************
                g_status.status=GPS_STATUS_SESSION_BEGIN;//\BF\AAʼ\B5\BC\BA\BD
                state->callbacks.status_cb(&g_status);
//******************************************************************
                            nmea_reader_set_callback( reader, state->callbacks.location_cb );
                LOGE("%d",gps_fd);
                        }
                    }
                    else if (cmd == CMD_STOP) {
                        if (started) {
                            D("gps thread stopping");
                            started = ;
//********************************************************************
                g_status.status=GPS_STATUS_SESSION_END; //ֹͣ
                state->callbacks.status_cb(&g_status);
//********************************************************************
                            nmea_reader_set_callback( reader, NULL );
                        }
                    }
                }
                else if (fd == gps_fd)
                {
                    char  buff[];
                    D("gps fd event");
                    for (;;) {
                        int  nn, ret;

                        ret = read( fd, buff, sizeof(buff) );
                        if (ret < ) {
                            if (errno == EINTR)
                                continue;
                            if (errno != EWOULDBLOCK)
                                LOGE("error while reading from gps daemon socket: %s:", strerror(errno));
                            break;
                        }
                        D("received %d bytes: %.*s", ret, ret, buff);
                        for (nn = ; nn < ret; nn++)
                            nmea_reader_addc( reader, buff[nn] );
                    }
                    D("gps fd event end");
                }
                else
                {
                    LOGE("epoll_wait() returned unkown fd %d ?", fd);
                }
            }
        }
    }
Exit:
    return NULL;
}

static void
gps_state_init( GpsState*  state )
{
    state->init       = ;
    state->control[] = -;
    state->control[] = -;
    state->fd         = -;
    int ret = -;
    struct termios gps_termios;

//*****************************************************************************
    state->fd= open("/dev/s3c2410_serial1",O_RDWR|O_NOCTTY|O_NDELAY);//\D5\E2\C0\EF\D3õ\C4\CA\C7UART1

     if( state->fd < ){

            LOGE("open port /dev/s3c2410_serial1 ERROR..state->fd=%d\n",state->fd); 

            exit();

        }else

            LOGE("open port:/dev/s3c2410_serial1 succceed..state->fd=%d\n",state->fd);

        if(fcntl( state->fd,F_SETFL,)<)

            LOGE("fcntl F_SETFL\n");

        {

    LOGI(">>>> Port setup..\n");

    int err;

      tcflush(state->fd, TCIOFLUSH);//\D2\D4\CF\C2\CA\C7\C5\E4\D6ô\AE\BFڵIJ\CE\CA\FD

    if ((err = tcgetattr(state->fd,&gps_termios)) != )

    {

        LOGI("tcgetattr(%d) = %d,errno %d\r\n",state->fd,err,errno);

        close(state->fd);

    }

      gps_termios.c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL|IXON);

      gps_termios.c_oflag &= ~OPOST;

      gps_termios.c_lflag &= ~(ECHO|ECHONL|ICANON|ISIG|IEXTEN);

      gps_termios.c_cflag &= ~(CSIZE|PARENB);

      gps_termios.c_cflag |= CS8;

      gps_termios.c_cflag &= ~CRTSCTS;//no flow control

    tcsetattr(state->fd, TCSANOW, &gps_termios);

    tcflush(state->fd, TCIOFLUSH);

    tcsetattr(state->fd, TCSANOW, &gps_termios);

    tcflush(state->fd, TCIOFLUSH);

    tcflush(state->fd, TCIOFLUSH);

    if (cfsetispeed(&gps_termios,B9600))//\BE\DF\CC\E5\B5IJο\BCGPS\CEĵ\B5

       {

        LOGE("cfsetispeed.. errno..\r\n");

              close(state->fd);

              //return(-1);

       }

       // Set the output baud rates in the termios.

      if (cfsetospeed(&gps_termios,B9600))

       {

        LOGE("cfsetispeed.. errno..\r\n");

              close(state->fd);

              //return(-1);

       }

    tcsetattr(state->fd,TCSANOW,&gps_termios);

    LOGE("Port setup finished..\n");

}

if (state->fd < ) {

        LOGD("no gps emulation detected");

        return;

    }

//**********************************************************************

    if ( socketpair( AF_LOCAL, SOCK_STREAM, , state->control ) <  ) {
        LOGE("could not create thread control socket pair: %s", strerror(errno));
        goto Fail;
    }

   /* if ( pthread_create( &state->thread, NULL, gps_state_thread, state ) != 0 ) {
        LOGE("could not create gps thread: %s", strerror(errno));
        goto Fail;
    }*/
    //***********************************************************************
    LOGE("gps state initialized before");
state->thread=state->callbacks.create_thread_cb("gps_state_thread",gps_state_thread,state);
   //**************************************************************************
//    D("gps state initialized");
    LOGE("gps state initialized");
    return;

Fail:
    gps_state_done( state );
}

/*****************************************************************/
/*****************************************************************/
/*****                                                       *****/
/*****       I N T E R F A C E                               *****/
/*****                                                       *****/
/*****************************************************************/
/*****************************************************************/

static int
qemu_gps_init(GpsCallbacks* callbacks)
{
    GpsState*  s = _gps_state;

/**************************************************/
 s->callbacks = *callbacks; //ע\B2\E1\BBص\F7\BA\AF\CA\FD,JNI\B4\AB\CF\C2\C0\B4\B5Ļص\F7\BA\AF\CA\FD

    g_status.status=GPS_STATUS_ENGINE_ON;//\C9\E8\D6\C3״̬ ͨ\B5絫\BB\B9û\BF\AAʼ\B5\BC\BA\BD

    s->callbacks.status_cb(&g_status);
/******************************************************/

    if (!s->init)
        gps_state_init(s);

    if (s->fd < )
        return -;

   // s->callbacks = *callbacks;

    return ;
}

static void
qemu_gps_cleanup(void)
{
    GpsState*  s = _gps_state;

    if (s->init)
        gps_state_done(s);
}

static int
qemu_gps_start()
{
    GpsState*  s = _gps_state;

    if (!s->init) {
        D("%s: called with uninitialized state !!", __FUNCTION__);
        return -;
    }

    D("%s: called", __FUNCTION__);
    gps_state_start(s);
    return ;
}

static int
qemu_gps_stop()
{
    GpsState*  s = _gps_state;

    if (!s->init) {
        D("%s: called with uninitialized state !!", __FUNCTION__);
        return -;
    }

    D("%s: called", __FUNCTION__);
    gps_state_stop(s);
    return ;
}

static int
qemu_gps_inject_time(GpsUtcTime time, int64_t timeReference, int uncertainty)
{
    return ;
}

static int
qemu_gps_inject_location(double latitude, double longitude, float accuracy)
{
    return ;
}

static void
qemu_gps_delete_aiding_data(GpsAidingData flags)
{
}

static int qemu_gps_set_position_mode(GpsPositionMode mode, GpsPositionRecurrence recurrence,uint32_t min_interval, uint32_t preferred_accuracy, uint32_t preferred_time)//(GpsPositionMode mode, int fix_frequency)
{
    // FIXME - support fix_frequency
    return ;
}

static const void*
qemu_gps_get_extension(const char* name)
{
    // no extensions supported
    return NULL;
}

static const GpsInterface  qemuGpsInterface = {
    sizeof(GpsInterface),
    qemu_gps_init,
    qemu_gps_start,
    qemu_gps_stop,
    qemu_gps_cleanup,
    qemu_gps_inject_time,
    qemu_gps_inject_location,
    qemu_gps_delete_aiding_data,
    qemu_gps_set_position_mode,
    qemu_gps_get_extension,
};

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

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, , sizeof(*dev));

    dev->common.tag = HARDWARE_DEVICE_TAG;
    dev->common.version = ;
    dev->common.module = (struct hw_module_t*)module;
//    dev->common.close = (int (*)(struct hw_device_t*))close_lights;
    dev->get_gps_interface = gps__get_gps_interface;

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

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

const struct hw_module_t HAL_MODULE_INFO_SYM = {
    .tag = HARDWARE_MODULE_TAG,
    .version_major = ,
    .version_minor = ,
    .id = GPS_HARDWARE_MODULE_ID,
    .name = "Goldfish GPS Module",
    .author = "The Android Open Source Project",
    .methods = &gps_module_methods,
};