Build Android and fixed gps incomplete location messages

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joerg
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Build Android and fixed gps incomplete location messages

Unread post by joerg » Tue Mar 31, 2015 1:18 am

I was able to build Android (after long waiting of download sources). :P
As I saw every now and then messages in logcat from gps: 'W/LocationManagerService( 466): Dropping incomplete location' and beside in navigation app 'unexact location' I added one line in LocationManagerService.java:

Code: Select all

    @Override
    public void reportLocation(Location location, boolean passive) {
        checkCallerIsProvider();
	
        /*[fix by J. Wolff (acc missing in location from libmbm-gps)]*/
        location.makeComplete();
        /*[/fix]*/

        if (!location.isComplete()) {
            Log.w(TAG, "Dropping incomplete location: " + location);
            return;
        }
Would be nice if Hardkernel developers can overtake this to the source.

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Re: Build Android and fixed gps incomplete location messages

Unread post by codewalker » Tue Mar 31, 2015 2:41 pm

Thank you.
We will include your patch in the next release.

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Re: Build Android and fixed gps incomplete location messages

Unread post by joerg » Sun Jul 12, 2015 4:49 am

Now I must say that this was a fast shoot. I had to revert this to original code. The story:
Since some days I am using C1 in my car, as gps sensor I bought from AliExpress a U-Blox 7 based. When navigating with Sygic I saw that position very often freezes and making big jumps, no speed, no bearing information. It was impossible to use. I found that my patch caused Android to fill accuracy with 100 meters and I think that is disturbing Sygic. In logcat i saw that position, speed, bearing and accuracy periodic every second were reported from libmbm-gps. After reverted my patch I had again this messages in logcat 'incomple location'. Dived deeper inside and put some more debug messages to libodroid-gps. I found that location, speed and bearing are in message from gps sensor, nmea message RMC, and accuracy is in different message GSA. But every unique message causes a update (r->update=1) to Android OS. So there were sent messages with location to Android OS, but without accuracy. And messages with accuracy, but without location.
I changed the code in that manner that messages to Android only are fired when location flag is set and also accuracy flag.
With this changes now I can use Sygic, the position is moving smooth and speed is shown.

Hope this helps somebody.

Code: Select all

--- nmea_reader.c	2012-11-28 02:45:07.000000000 +0100
+++ nmea_reader.c	2015-07-09 20:20:24.828550817 +0200
@@ -157,7 +157,7 @@
         return;
 
     r->callback = cbs->location_cb;
-    if (cbs->location_cb != NULL && r->fix.flags != 0) {
+    if (cbs->location_cb != NULL) {
         ALOGD("%s: sending latest fix to new callback", __FUNCTION__);
         //r->callback(&r->fix);
         r->set_pending_callback_cb(CMD_LOCATION_CB);
@@ -265,6 +265,8 @@
     r->utc_mon = mon;
     r->utc_day = day;
 
+    ALOGD("nmea_reader_update_date: %d-%d-%d", r->utc_year, r->utc_mon, r->utc_day);
+
     EXIT;
     return nmea_reader_update_time(r, time);
 }
@@ -312,6 +314,7 @@
     r->fix.latitude = lat;
     r->fix.longitude = lon;
     EXIT;
+    ALOGD("nmea_reader_update_latlong: %f %f", r->fix.latitude, r->fix.longitude);
     return 0;
 }
 
@@ -329,6 +332,7 @@
 
     r->fix.flags |= GPS_LOCATION_HAS_ALTITUDE;
     r->fix.altitude = str2float(tok.p, tok.end);
+    ALOGD("nmea_reader_update_altitude: %f", r->fix.altitude );
     EXIT;
     return 0;
 }
@@ -345,10 +349,12 @@
     r->fix.accuracy = str2float(tok.p, tok.end);
 
     if (r->fix.accuracy == 99.99) {
+        ALOGD("nmea_reader_update_accuracy (bad): %f", r->fix.altitude );
         return 0;
     }
 
     r->fix.flags |= GPS_LOCATION_HAS_ACCURACY;
+    ALOGD("nmea_reader_update_accuracy: %f", r->fix.accuracy );
     EXIT;
     return 0;
 }
@@ -364,6 +370,7 @@
 
     r->fix.flags |= GPS_LOCATION_HAS_BEARING;
     r->fix.bearing = str2float(tok.p, tok.end);
+    ALOGD("nmea_reader_update_bearing: %f", r->fix.bearing );
     EXIT;
     return 0;
 }
@@ -383,6 +390,7 @@
      * -> convert..
      */
     r->fix.speed = str2float(tok.p, tok.end) * 0.514444;
+    ALOGD("nmea_reader_update_speed: %f", r->fix.speed );
     EXIT;
     return 0;
 }
@@ -483,6 +491,7 @@
             Token tok_accuracy = nmea_tokenizer_get(tzer, 15);
 
             nmea_reader_update_accuracy(r, tok_accuracy);
+            //r->update = 1;
 
             r->sv_status.used_in_fix_mask = 0ul;
 
@@ -523,14 +532,14 @@
             Token tok_longitudeHemi = nmea_tokenizer_get(tzer, 4);
 
             ALOGD("in GGL, fixStatus=%c", tok_fixStatus.p[0]);
-            if (tok_fixStatus.p[0] == 'A') {
+            /*if (tok_fixStatus.p[0] == 'A') {
                 nmea_reader_update_latlong(r, tok_latitude,
                                            tok_latitudeHemi.p[0],
                                            tok_longitude,
                                            tok_longitudeHemi.p[0]);
 
-                r->update = 1;
-            }
+                //r->update = 1;
+            }*/
         }
 /*
 **     RMC          Recommended Minimum sentence C
@@ -546,7 +555,7 @@
 */
 /* RMC,232401.00,A,5740.841023,N,01159.626002,E,000.0,244.0,031109,,,A*56 */
     } else if (!memcmp(tok.p, "RMC", 3)) {
-        ALOGD("RMC");
+        ALOGD("RMC(!)");
         Token tok_fixStatus = nmea_tokenizer_get(tzer, 2);
 
         if (tok_fixStatus.p[0] == 'A') {
@@ -562,6 +571,7 @@
 
             ALOGD("in RMC, fixStatus=%c", tok_fixStatus.p[0]);
             if (tok_fixStatus.p[0] == 'A') {
+                ALOGD("RMC tok_fixStatus.p[0] == 'A'");
                 nmea_reader_update_date(r, tok_date, tok_time);
 
                 nmea_reader_update_latlong(r, tok_latitude,
@@ -571,8 +581,8 @@
 
                 nmea_reader_update_bearing(r, tok_bearing);
                 nmea_reader_update_speed(r, tok_speed);
-                r->update = 1;
-            }
+                //r->update = 1;
+            } else {ALOGD("RMC tok_fixStatus.p[0] != 'A'");}
         }
 
 /*
@@ -657,6 +667,10 @@
         ALOGD("unknown sentence '%.*s", tok.end - tok.p, tok.p);
     }
 
+    if (((r->fix.flags & GPS_LOCATION_HAS_ACCURACY) != 0) & ((r->fix.flags & GPS_LOCATION_HAS_LAT_LONG) != 0)) {
+        r->update = 1;
+    }
+
     if ((r->fix.flags != 0) && r->update) {
 #if 0
         char temp[256];


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Re: Build Android and fixed gps incomplete location messages

Unread post by Beezer » Fri Oct 16, 2015 7:38 pm

I have a Holux GR213 and was noticing the same problems. I tried your fix and although it was much better than the standard driver, I was still getting frequent disconnects. I replaced the odroid GPS driver with this one and it now appears to work perfectly. Now if Only I could find one that works with Sirf rather than NMEA :)

https://github.com/dipcore/gps-glonass-android-driver

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Re: Build Android and fixed gps incomplete location messages

Unread post by joerg » Sat Oct 17, 2015 2:20 am

Hi, I didn't knew about this driver. Probably because is new and I don't have problems now with my patched odroid driver. Only rarely a short disconnect, but this don't disturbe, can be also a sensor problem. Could you please explain more your question about Sirf, what protocol they use instead of NMEA that is a quasi standard of serial GPS messages?

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Re: Build Android and fixed gps incomplete location messages

Unread post by Glorin » Mon Dec 28, 2015 7:56 pm

joerg, can you share patched lib ? Or need build all android ?

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Re: Build Android and fixed gps incomplete location messages

Unread post by odroid » Mon Dec 28, 2015 8:14 pm

This patch was already included in the latest update.
http://odroid.com/dokuwiki/doku.php?id= ... _note_v2.1

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Re: Build Android and fixed gps incomplete location messages

Unread post by Glorin » Mon Dec 28, 2015 8:47 pm

for c1 only or for u3 anroid too ? little explain, interesting patch for nmea_reader

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Re: Build Android and fixed gps incomplete location messages

Unread post by joerg » Tue Dec 29, 2015 7:31 am

Look here: http://forum.odroid.com/viewtopic.php?f ... ps#p111188
This should work on U3 also, unfortunatly cannot test it, but you ;)

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Re: Build Android and fixed gps incomplete location messages

Unread post by Glorin » Tue Dec 29, 2015 7:19 pm

Thanx! Test today and post result

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Re: Build Android and fixed gps incomplete location messages

Unread post by Glorin » Wed Dec 30, 2015 6:27 am

work, looks good, also need test in car

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Re: Build Android and fixed gps incomplete location messages

Unread post by Glorin » Wed Jan 06, 2016 9:47 pm

strange satellites "blinking", fix sats skip from ~2 to ~8 and back every 200 ms (update rate set to 200 ms), maybe need set rate to 1 sec, it will be work like buffer and help solve "blinking"

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Re: Build Android and fixed gps incomplete location messages

Unread post by joerg » Thu Jan 07, 2016 12:17 am

I think this behavior comes from sensor, because driver don't change values, only passes to location manager. Can you make a log of nmea messages when you have this blinking? I know it it's not easy to make if you are in car, but before starting put a usb storage to C1, open a console and do a 'su' and a 'cat /dev/ttyACM0 > /usbstorage/gps.log' (or whatever is your serial port).

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Re: Build Android and fixed gps incomplete location messages

Unread post by Glorin » Fri Jan 08, 2016 6:11 am

i think it`s problem in ublox 6 series. try test new UBLOX NEW-M8N, but not like it, need use usb to ttl converter, but anyway get logs before

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Re: Build Android and fixed gps incomplete location messages

Unread post by mr1173 » Sat Jan 09, 2016 4:36 am

The chip does not matter. ACM interface (/dev/ttyACMx) is the problem.
Any GPS with USB-serial (/dev/ttyUSBx) works OK.

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Re: Build Android and fixed gps incomplete location messages

Unread post by Glorin » Sun Jan 10, 2016 6:08 am

But why ? Somebody know how set baud, params from build.prop ignoring
logs from ublox 6 ACM0 https://www.dropbox.com/s/llrdg7evdhs14d7/gps.log?dl=0
ublox 8 series work fine, but have problems with gps antenna and some times losing satellites, but satellites not "blinking"

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Re: Build Android and fixed gps incomplete location messages

Unread post by Glorin » Mon Jan 11, 2016 1:59 am

Test again ublox 8 and not understand next bug, gps status show fix 10 sats, but fix location by random time, in normal it must be fix every second

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Re: Build Android and fixed gps incomplete location messages

Unread post by odroid » Tue Jan 12, 2016 2:14 pm


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Re: Build Android and fixed gps incomplete location messages

Unread post by Glorin » Tue Jan 12, 2016 4:09 pm

I'm x2/u3 user

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Re: Build Android and fixed gps incomplete location messages

Unread post by Glorin » Tue Jan 12, 2016 9:31 pm

Can you apply this changes to u3 android too? Which files was changed for gps?

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Re: Build Android and fixed gps incomplete location messages

Unread post by odroid » Wed Jan 13, 2016 9:25 am


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Re: Build Android and fixed gps incomplete location messages

Unread post by Glorin » Wed Jan 13, 2016 4:24 pm

thanx, extracted lib from img, try it

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Re: Build Android and fixed gps incomplete location messages

Unread post by Glorin » Fri Jan 15, 2016 7:03 am

i use gps through CP2102 if not start any app which read gps cat /dev/ttyUSB0 return proped data, if start any app which use gps cat /dev/ttyUSB0 return junk and gps not work anymore, i realy not understand what do with it... but if use lib http://forum.odroid.com/viewtopic.php?f ... ps#p111188 all ok, with original u3 lib do not want work and with new odroidc gps lib
Last edited by Glorin on Fri Jan 15, 2016 7:24 am, edited 1 time in total.

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Re: Build Android and fixed gps incomplete location messages

Unread post by Glorin » Fri Jan 15, 2016 7:17 am

i`m not sure but think lib change ispeed (baud) to 9600, can you add 115200 baud in lib ? Best way, if speed not set use default 9600 or value from build.prop

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Re: Build Android and fixed gps incomplete location messages

Unread post by Glorin » Fri Jan 15, 2016 7:21 am

not check before but i will be right
stty -F /dev/ttyUSB0 speed
9600
but real need speed 115200
on boot
stty -F /dev/ttyUSB0 speed
115200

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Re: Build Android and fixed gps incomplete location messages

Unread post by Glorin » Fri Jan 15, 2016 11:30 pm

something like this

Code: Select all

--- a/libodroid-gps/odroid_gps.c
+++ b/libodroid-gps/odroid_gps.c
@@ -155,11 +155,31 @@ static void nmea_received(void *line, void *data)
     nmea_reader_add(state.reader, (char *) line);
 }
 
+
+static int baud_speed(int s)
+{
+    switch (s) {
+    case 4800:
+        return B4800;
+    case 9600:
+        return B9600;
+    case 19200:
+        return B19200;
+    case 38400:
+        return B38400;
+    case 57600:
+        return B57600;
+    case 115200:
+        return B115200;
+    default:
+        return B9600;
+    }
+}
+
 static void start_gps ()
 {
     int ret;
     char prop[PROPERTY_VALUE_MAX];
-    speed_t baud_rate = B9600;
 
     D("%s: enter", __FUNCTION__);
 
@@ -185,9 +205,8 @@ static void start_gps ()
         D("Stop the GPS before starting");
 
     property_get("ro.kernel.android.gps.speed", prop, "9600");
+    int prop_baud_speed = atoi(prop);
     ALOGE("ro.kernel.android.gps.speed = %s", prop);
-    if (strcmp(prop, "4800") == 0)
-        baud_rate = B4800;
 
     // disable echo on serial lines
     if ( isatty( state.fd ) ) {
@@ -197,7 +216,7 @@ static void start_gps ()
         ios.c_oflag &= (~ONLCR);                       /* Stop \n -> \r\n translation on output */
         ios.c_iflag &= (~(ICRNL | INLCR));     /* Stop \r -> \n & \n -> \r translation on input */
         ios.c_iflag |= (IGNCR | IXOFF);        /* Ignore \r & XON/XOFF on input */
-        cfsetispeed(&ios, baud_rate);
+        cfsetispeed(&ios, baud_speed(prop_baud_speed));
         tcsetattr( state.fd, TCSANOW, &ios );
     }


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Re: Build Android and fixed gps incomplete location messages

Unread post by joerg » Wed Apr 20, 2016 1:06 am

I found in the driver another issue that caused occasional frozen location in Android. Android checking in the callback if flag accuarcy is set, but occasional flags where cleared to early from driver. Because callback is called from another task. I tried my patch now several days and drove about 1500km and I didn't saw any more frozen location.
libgps.odroidc.so.zip
(14.87 KiB) Downloaded 120 times
install

Code: Select all

adb push libgps.odroidc.so /system/lib/hw/gps.odroidc.so
adb shell chmod 644 /system/lib/hw/gps.odroidc.so
adb shell reboot
diff [updated]

Code: Select all

diff --git a/nmea_reader.c b/nmea_reader.c
index f80bd8c..774b49c 100644
--- a/nmea_reader.c
+++ b/nmea_reader.c
@@ -47,6 +47,8 @@
 #pragma GCC diagnostic warning "-pedantic"
 #endif
 
+uint16_t  flags;
+
 /*****************************************************************/
 /*****************************************************************/
 /*****                                                       *****/
@@ -161,7 +163,7 @@ void nmea_reader_set_callbacks(NmeaReader * r, GpsCallbacks * cbs)
         ALOGD("%s: sending latest fix to new callback", __FUNCTION__);
         //r->callback(&r->fix);
         r->set_pending_callback_cb(CMD_LOCATION_CB);
-        r->fix.flags = 0;
+        flags = 0;
     }
 
     r->sv_status_callback = cbs->sv_status_cb;
@@ -308,7 +310,7 @@ nmea_reader_update_latlong(NmeaReader * r,
     if (longitudeHemi == 'W')
         lon = -lon;
 
-    r->fix.flags |= GPS_LOCATION_HAS_LAT_LONG;
+    flags |= GPS_LOCATION_HAS_LAT_LONG;
     r->fix.latitude = lat;
     r->fix.longitude = lon;
     EXIT;
@@ -327,7 +329,7 @@ nmea_reader_update_altitude(NmeaReader * r, Token altitude, Token units)
     if (tok.p >= tok.end)
         return -1;
 
-    r->fix.flags |= GPS_LOCATION_HAS_ALTITUDE;
+    flags |= GPS_LOCATION_HAS_ALTITUDE;
     r->fix.altitude = str2float(tok.p, tok.end);
     EXIT;
     return 0;
@@ -348,7 +350,7 @@ static int nmea_reader_update_accuracy(NmeaReader * r, Token accuracy)
         return 0;
     }
 
-    r->fix.flags |= GPS_LOCATION_HAS_ACCURACY;
+    flags |= GPS_LOCATION_HAS_ACCURACY;
     EXIT;
     return 0;
 }
@@ -362,7 +364,7 @@ static int nmea_reader_update_bearing(NmeaReader * r, Token bearing)
     if (tok.p >= tok.end)
         return -1;
 
-    r->fix.flags |= GPS_LOCATION_HAS_BEARING;
+    flags |= GPS_LOCATION_HAS_BEARING;
     r->fix.bearing = str2float(tok.p, tok.end);
     EXIT;
     return 0;
@@ -378,7 +380,7 @@ static int nmea_reader_update_speed(NmeaReader * r, Token speed)
     if (tok.p >= tok.end)
         return -1;
 
-    r->fix.flags |= GPS_LOCATION_HAS_SPEED;
+    flags |= GPS_LOCATION_HAS_SPEED;
     /*android requires speed in m/s, but nmea gives knots
      * -> convert..
      */
@@ -648,11 +650,12 @@ static void nmea_reader_parse(NmeaReader * r)
         ALOGD("unknown sentence '%.*s", tok.end - tok.p, tok.p);
     }
 
-    if (((r->fix.flags & GPS_LOCATION_HAS_ACCURACY) != 0) & ((r->fix.flags & GPS_LOCATION_HAS_LAT_LONG) != 0)) {
+    if (((flags & GPS_LOCATION_HAS_ACCURACY) != 0) & ((flags & GPS_LOCATION_HAS_LAT_LONG) != 0)) {
         r->update = 1;
     }
 
-    if ((r->fix.flags != 0) && r->update) {
+    if ((flags != 0) && r->update) {
+        r->fix.flags = flags;
 #if 0
         char temp[256];
         char *p = temp;
@@ -676,15 +679,16 @@ static void nmea_reader_parse(NmeaReader * r)
         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);
+        time_t ts = (time_t) (r->fix.timestamp/1000);
+        gmtime_r(&ts, &utc);
         p += snprintf(p, end - p, " time=%s", asctime(&utc));
         ALOGD("%s", temp);
 #endif
         if (r->callback) {
             //r->callback(&r->fix);
             r->set_pending_callback_cb(CMD_LOCATION_CB);
-            r->fix.flags = 0;
             r->update = 0;
+            flags = 0;
         } else {
             ALOGE("no callback, keeping data until needed !");
         }
Last edited by joerg on Wed Apr 20, 2016 1:17 pm, edited 2 times in total.

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Re: Build Android and fixed gps incomplete location messages

Unread post by codewalker » Wed Apr 20, 2016 11:37 am

Sorry, I can't apply this patch.

$ git apply gps.patch
fatal: corrupt patch at line 101

Please, Pull request on https://github.com/codewalkerster/andro ... 1.1_master.

Or update full source.

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Re: Build Android and fixed gps incomplete location messages

Unread post by joerg » Wed Apr 20, 2016 1:22 pm

No, I am sorry. I updated above. By the way, I made account on Github, but when I tried to upload my changes: access denied. Maybe I am doing something wrong. Ah, and this is for C1 S805.

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Re: Build Android and fixed gps incomplete location messages

Unread post by codewalker » Fri Apr 22, 2016 5:33 pm

Ok. Please send nmea_reader.c to me by PM.
joerg wrote:No, I am sorry. I updated above. By the way, I made account on Github, but when I tried to upload my changes: access denied. Maybe I am doing something wrong. Ah, and this is for C1 S805.

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