sm8450-common: Import gps from LA.VENDOR.1.0.r1-12800-WAIPIO.0
Change-Id: Ia76265a8c3326f2b5f9f260ce98807276af80ee3
This commit is contained in:
Arian
367
gps/utils/loc_misc_utils.cpp
Normal file
367
gps/utils/loc_misc_utils.cpp
Normal file
@@ -0,0 +1,367 @@
|
||||
/* Copyright (c) 2014, 2020-2021 The Linux Foundation. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are
|
||||
* met:
|
||||
* * Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* * Redistributions in binary form must reproduce the above
|
||||
* copyright notice, this list of conditions and the following
|
||||
* disclaimer in the documentation and/or other materials provided
|
||||
* with the distribution.
|
||||
* * Neither the name of The Linux Foundation, nor the names of its
|
||||
* contributors may be used to endorse or promote products derived
|
||||
* from this software without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS" AND ANY EXPRESS OR IMPLIED
|
||||
* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT
|
||||
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS
|
||||
* BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
|
||||
* BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
|
||||
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
|
||||
* OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN
|
||||
* IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
*/
|
||||
#define LOG_NDEBUG 0
|
||||
#define LOG_TAG "LocSvc_misc_utils"
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <inttypes.h>
|
||||
#include <dlfcn.h>
|
||||
#include <math.h>
|
||||
#include <log_util.h>
|
||||
#include <loc_misc_utils.h>
|
||||
#include <ctype.h>
|
||||
#include <fcntl.h>
|
||||
#include <inttypes.h>
|
||||
#include <sys/stat.h>
|
||||
|
||||
#ifndef MSEC_IN_ONE_SEC
|
||||
#define MSEC_IN_ONE_SEC 1000ULL
|
||||
#endif
|
||||
#define GET_MSEC_FROM_TS(ts) ((ts.tv_sec * MSEC_IN_ONE_SEC) + (ts.tv_nsec + 500000)/1000000)
|
||||
|
||||
int loc_util_split_string(char *raw_string, char **split_strings_ptr,
|
||||
int max_num_substrings, char delimiter)
|
||||
{
|
||||
int raw_string_index=0;
|
||||
int num_split_strings=0;
|
||||
unsigned char end_string=0;
|
||||
int raw_string_length=0;
|
||||
|
||||
if(!raw_string || !split_strings_ptr) {
|
||||
LOC_LOGE("%s:%d]: NULL parameters", __func__, __LINE__);
|
||||
num_split_strings = -1;
|
||||
goto err;
|
||||
}
|
||||
LOC_LOGD("%s:%d]: raw string: %s\n", __func__, __LINE__, raw_string);
|
||||
raw_string_length = strlen(raw_string) + 1;
|
||||
split_strings_ptr[num_split_strings] = &raw_string[raw_string_index];
|
||||
for(raw_string_index=0; raw_string_index < raw_string_length; raw_string_index++) {
|
||||
if(raw_string[raw_string_index] == '\0')
|
||||
end_string=1;
|
||||
if((raw_string[raw_string_index] == delimiter) || end_string) {
|
||||
raw_string[raw_string_index] = '\0';
|
||||
if (num_split_strings < max_num_substrings) {
|
||||
LOC_LOGD("%s:%d]: split string: %s\n",
|
||||
__func__, __LINE__, split_strings_ptr[num_split_strings]);
|
||||
}
|
||||
num_split_strings++;
|
||||
if(((raw_string_index + 1) < raw_string_length) &&
|
||||
(num_split_strings < max_num_substrings)) {
|
||||
split_strings_ptr[num_split_strings] = &raw_string[raw_string_index+1];
|
||||
}
|
||||
else {
|
||||
break;
|
||||
}
|
||||
}
|
||||
if(end_string)
|
||||
break;
|
||||
}
|
||||
err:
|
||||
LOC_LOGD("%s:%d]: num_split_strings: %d\n", __func__, __LINE__, num_split_strings);
|
||||
return num_split_strings;
|
||||
}
|
||||
|
||||
void loc_util_trim_space(char *org_string)
|
||||
{
|
||||
char *scan_ptr, *write_ptr;
|
||||
char *first_nonspace = NULL, *last_nonspace = NULL;
|
||||
|
||||
if(org_string == NULL) {
|
||||
LOC_LOGE("%s:%d]: NULL parameter", __func__, __LINE__);
|
||||
goto err;
|
||||
}
|
||||
|
||||
scan_ptr = write_ptr = org_string;
|
||||
|
||||
while (*scan_ptr) {
|
||||
//Find the first non-space character
|
||||
if ( !isspace(*scan_ptr) && first_nonspace == NULL) {
|
||||
first_nonspace = scan_ptr;
|
||||
}
|
||||
//Once the first non-space character is found in the
|
||||
//above check, keep shifting the characters to the left
|
||||
//to replace the spaces
|
||||
if (first_nonspace != NULL) {
|
||||
*(write_ptr++) = *scan_ptr;
|
||||
//Keep track of which was the last non-space character
|
||||
//encountered
|
||||
//last_nonspace will not be updated in the case where
|
||||
//the string ends with spaces
|
||||
if ( !isspace(*scan_ptr)) {
|
||||
last_nonspace = write_ptr;
|
||||
}
|
||||
}
|
||||
scan_ptr++;
|
||||
}
|
||||
//Add NULL terminator after the last non-space character
|
||||
if (last_nonspace) { *last_nonspace = '\0'; }
|
||||
err:
|
||||
return;
|
||||
}
|
||||
|
||||
inline void logDlError(const char* failedCall) {
|
||||
const char * err = dlerror();
|
||||
LOC_LOGw("%s error: %s", failedCall, (nullptr == err) ? "unknown" : err);
|
||||
}
|
||||
|
||||
void* dlGetSymFromLib(void*& libHandle, const char* libName, const char* symName)
|
||||
{
|
||||
void* sym = nullptr;
|
||||
if ((nullptr != libHandle || nullptr != libName) && nullptr != symName) {
|
||||
if (nullptr == libHandle) {
|
||||
libHandle = dlopen(libName, RTLD_NOW);
|
||||
if (nullptr == libHandle) {
|
||||
logDlError("dlopen");
|
||||
}
|
||||
}
|
||||
// NOT else, as libHandle gets assigned 5 line above
|
||||
if (nullptr != libHandle) {
|
||||
sym = dlsym(libHandle, symName);
|
||||
if (nullptr == sym) {
|
||||
logDlError("dlsym");
|
||||
}
|
||||
}
|
||||
} else {
|
||||
LOC_LOGe("Either libHandle (%p) or libName (%p) must not be null; "
|
||||
"symName (%p) can not be null.", libHandle, libName, symName);
|
||||
}
|
||||
|
||||
return sym;
|
||||
}
|
||||
|
||||
uint64_t getQTimerTickCount()
|
||||
{
|
||||
uint64_t qTimerCount = 0;
|
||||
#if __aarch64__
|
||||
asm volatile("mrs %0, cntvct_el0" : "=r" (qTimerCount));
|
||||
#elif defined (__i386__) || defined (__x86_64__)
|
||||
/* Qtimer not supported in x86 architecture */
|
||||
qTimerCount = 0;
|
||||
#else
|
||||
asm volatile("mrrc p15, 1, %Q0, %R0, c14" : "=r" (qTimerCount));
|
||||
#endif
|
||||
|
||||
return qTimerCount;
|
||||
}
|
||||
|
||||
uint64_t getQTimerDeltaNanos()
|
||||
{
|
||||
char qtimer_val_string[100];
|
||||
char *temp;
|
||||
uint64_t local_qtimer = 0, remote_qtimer = 0;
|
||||
int mdm_fd = -1, wlan_fd = -1, ret = 0;
|
||||
uint64_t delta = 0;
|
||||
|
||||
memset(qtimer_val_string, '\0', sizeof(qtimer_val_string));
|
||||
|
||||
char devNode[] = "/sys/bus/mhi/devices/0306_00.01.00/time_us";
|
||||
for (; devNode[27] < 3 && mdm_fd < 0; devNode[27]++) {
|
||||
mdm_fd = ::open(devNode, O_RDONLY);
|
||||
if (mdm_fd < 0) {
|
||||
LOC_LOGe("MDM open file: %s error: %s", devNode, strerror(errno));
|
||||
}
|
||||
}
|
||||
if (mdm_fd > 0) {
|
||||
ret = read(mdm_fd, qtimer_val_string, sizeof(qtimer_val_string)-1);
|
||||
::close(mdm_fd);
|
||||
if (ret < 0) {
|
||||
LOC_LOGe("MDM read time_us file error: %s", strerror(errno));
|
||||
} else {
|
||||
temp = qtimer_val_string;
|
||||
temp = strchr(temp, ':');
|
||||
temp = temp + 2;
|
||||
local_qtimer = atoll(temp);
|
||||
|
||||
temp = strchr(temp, ':');
|
||||
temp = temp + 2;
|
||||
remote_qtimer = atoll(temp);
|
||||
|
||||
if (local_qtimer >= remote_qtimer) {
|
||||
delta = (local_qtimer - remote_qtimer) * 1000;
|
||||
}
|
||||
LOC_LOGv("qtimer values in microseconds: local:%" PRIi64 " remote:%" PRIi64 ""
|
||||
" delta in nanoseconds:%" PRIi64 "",
|
||||
local_qtimer, remote_qtimer, delta);
|
||||
}
|
||||
}
|
||||
return delta;
|
||||
}
|
||||
|
||||
uint64_t getQTimerFreq()
|
||||
{
|
||||
#if __aarch64__
|
||||
uint64_t val = 0;
|
||||
asm volatile("mrs %0, cntfrq_el0" : "=r" (val));
|
||||
#elif defined (__i386__) || defined (__x86_64__)
|
||||
/* Qtimer not supported in x86 architecture */
|
||||
uint64_t val = 0;
|
||||
#else
|
||||
uint32_t val = 0;
|
||||
asm volatile("mrc p15, 0, %0, c14, c0, 0" : "=r" (val));
|
||||
#endif
|
||||
return val;
|
||||
}
|
||||
|
||||
uint64_t getBootTimeMilliSec()
|
||||
{
|
||||
struct timespec curTs = {};
|
||||
clock_gettime(CLOCK_BOOTTIME, &curTs);
|
||||
return (uint64_t)GET_MSEC_FROM_TS(curTs);
|
||||
}
|
||||
|
||||
// Used for convert position/velocity from GSNS antenna based to VRP based
|
||||
void Matrix_MxV(float a[3][3], float b[3], float c[3]) {
|
||||
int i, j;
|
||||
|
||||
for (i=0; i<3; i++) {
|
||||
c[i] = 0.0f;
|
||||
for (j=0; j<3; j++)
|
||||
c[i] += a[i][j] * b[j];
|
||||
}
|
||||
}
|
||||
|
||||
// Used for convert position/velocity from GNSS antenna based to VRP based
|
||||
void Matrix_Skew(float a[3], float c[3][3]) {
|
||||
c[0][0] = 0.0f;
|
||||
c[0][1] = -a[2];
|
||||
c[0][2] = a[1];
|
||||
c[1][0] = a[2];
|
||||
c[1][1] = 0.0f;
|
||||
c[1][2] = -a[0];
|
||||
c[2][0] = -a[1];
|
||||
c[2][1] = a[0];
|
||||
c[2][2] = 0.0f;
|
||||
}
|
||||
|
||||
// Used for convert position/velocity from GNSS antenna based to VRP based
|
||||
void Euler2Dcm(float euler[3], float dcm[3][3]) {
|
||||
float cr = 0.0, sr = 0.0, cp = 0.0, sp = 0.0, ch = 0.0, sh = 0.0;
|
||||
|
||||
cr = cosf(euler[0]);
|
||||
sr = sinf(euler[0]);
|
||||
cp = cosf(euler[1]);
|
||||
sp = sinf(euler[1]);
|
||||
ch = cosf(euler[2]);
|
||||
sh = sinf(euler[2]);
|
||||
|
||||
dcm[0][0] = cp * ch;
|
||||
dcm[0][1] = (sp*sr*ch) - (cr*sh);
|
||||
dcm[0][2] = (cr*sp*ch) + (sh*sr);
|
||||
|
||||
dcm[1][0] = cp * sh;
|
||||
dcm[1][1] = (sr*sp*sh) + (cr*ch);
|
||||
dcm[1][2] = (cr*sp*sh) - (sr*ch);
|
||||
|
||||
dcm[2][0] = -sp;
|
||||
dcm[2][1] = sr * cp;
|
||||
dcm[2][2] = cr * cp;
|
||||
}
|
||||
|
||||
// Used for convert position from GSNS based to VRP based
|
||||
// The converted position will be stored in the llaInfo parameter.
|
||||
#define A6DOF_WGS_A (6378137.0f)
|
||||
#define A6DOF_WGS_B (6335439.0f)
|
||||
#define A6DOF_WGS_E2 (0.00669437999014f)
|
||||
void loc_convert_lla_gnss_to_vrp(double lla[3], float rollPitchYaw[3],
|
||||
float leverArm[3]) {
|
||||
LOC_LOGv("lla: %f, %f, %f, lever arm: %f %f %f, "
|
||||
"rollpitchyaw: %f %f %f",
|
||||
lla[0], lla[1], lla[2],
|
||||
leverArm[0], leverArm[1], leverArm[2],
|
||||
rollPitchYaw[0], rollPitchYaw[1], rollPitchYaw[2]);
|
||||
|
||||
float cnb[3][3];
|
||||
memset(cnb, 0, sizeof(cnb));
|
||||
Euler2Dcm(rollPitchYaw, cnb);
|
||||
|
||||
float sl = sin(lla[0]);
|
||||
float cl = cos(lla[0]);
|
||||
float sf = 1.0f / (1.0f - A6DOF_WGS_E2 * sl* sl);
|
||||
float sfr = sqrtf(sf);
|
||||
|
||||
float rn = A6DOF_WGS_B * sf * sfr + lla[2];
|
||||
float re = A6DOF_WGS_A * sfr + lla[2];
|
||||
|
||||
float deltaNEU[3];
|
||||
|
||||
// gps_pos_lla = imu_pos_lla + Cbn*la_b .* [1/geo.Rn; 1/(geo.Re*geo.cL); -1];
|
||||
Matrix_MxV(cnb, leverArm, deltaNEU);
|
||||
|
||||
// NED to lla conversion
|
||||
lla[0] = lla[0] + deltaNEU[0] / rn;
|
||||
lla[1] = lla[1] + deltaNEU[1] / (re * cl);
|
||||
lla[2] = lla[2] + deltaNEU[2];
|
||||
}
|
||||
|
||||
// Used for convert velocity from GSNS based to VRP based
|
||||
// The converted velocity will be stored in the enuVelocity parameter.
|
||||
void loc_convert_velocity_gnss_to_vrp(float enuVelocity[3], float rollPitchYaw[3],
|
||||
float rollPitchYawRate[3], float leverArm[3]) {
|
||||
|
||||
LOC_LOGv("enu velocity: %f, %f, %f, lever arm: %f %f %f, roll pitch yaw: %f %f %f,"
|
||||
"rollpitchyawRate: %f %f %f",
|
||||
enuVelocity[0], enuVelocity[1], enuVelocity[2],
|
||||
leverArm[0], leverArm[1], leverArm[2],
|
||||
rollPitchYaw[0], rollPitchYaw[1], rollPitchYaw[2],
|
||||
rollPitchYawRate[0], rollPitchYawRate[1], rollPitchYawRate[2]);
|
||||
|
||||
float cnb[3][3];
|
||||
memset(cnb, 0, sizeof(cnb));
|
||||
Euler2Dcm(rollPitchYaw, cnb);
|
||||
|
||||
float skewLA[3][3];
|
||||
memset(skewLA, 0, sizeof(skewLA));
|
||||
Matrix_Skew(leverArm, skewLA);
|
||||
|
||||
float tmp[3];
|
||||
float deltaEnuVelocity[3];
|
||||
memset(tmp, 0, sizeof(tmp));
|
||||
memset(deltaEnuVelocity, 0, sizeof(deltaEnuVelocity));
|
||||
Matrix_MxV(skewLA, rollPitchYawRate, tmp);
|
||||
Matrix_MxV(cnb, tmp, deltaEnuVelocity);
|
||||
|
||||
enuVelocity[0] = enuVelocity[0] - deltaEnuVelocity[0];
|
||||
enuVelocity[1] = enuVelocity[1] - deltaEnuVelocity[1];
|
||||
enuVelocity[2] = enuVelocity[2] - deltaEnuVelocity[2];
|
||||
}
|
||||
|
||||
// Wait for the system script(rootdir/etc/init.qcom.rc) to create the folder
|
||||
void locUtilWaitForDir(const char* dirName) {
|
||||
struct stat buf_stat;
|
||||
while (1) {
|
||||
LOC_LOGv("waiting for %s...", dirName);
|
||||
int rc = stat(dirName, &buf_stat);
|
||||
if (!rc) {
|
||||
break;
|
||||
}
|
||||
//check every 100ms
|
||||
usleep(100000);
|
||||
}
|
||||
LOC_LOGv("done");
|
||||
}
|
||||
Reference in New Issue
Block a user