I.MX6 GPS Android HAL Framework 调试一、参考文章：    android4.3 GPS定位问题        http://blog.csdn.net/bzw073/article/details/44341943二、修改GPS配置文件：    1. myzr@myzr:~/myandroid/device$ grep ttymxc2 * -R        ......        fsl/imx6/etc/ueventd.freescale.rc:/dev/ttymxc2              0660   system     gps        fsl/sabresd_6dq/init.rc:    symlink /dev/ttymxc2 /dev/gpsdevice        fsl/imx5x/ueventd.freescale.rc:/dev/ttymxc2              0600   bluetooth  bluetooth        fsl/imx53_smd/init.freescale.rc:#service hciattach /system/bin/logwrapper /system/bin/hciattach -n -s 115200 /dev/ttymxc2 ath3k 3000000 flow sleep        fsl-proprietary/gps/Orion.ini:;ReceiverComPortName=/dev/ttymxc2        ......        2. cat fsl/imx6/etc/ueventd.freescale.rc        ......        /dev/ttymxc1              0660   system     gps   <----- zengjf modified        /dev/ttya0                0660   system     gps        /dev/ptya0                0660   system     gps        /dev/ttya1                0660   system     gps        /dev/ptya1                0660   system     gps        ......            3. cat fsl/sabresd_6dq/init.rc        ......        # Set GPS serial and reset GPIO pin        setprop ro.kernel.android.gps /dev/ttymxc1        <----- zengjf modified        setprop persist.gps.oacmode @f        symlink /dev/ttymxc1 /dev/gpsdevice               <----- zengjf modified        write /sys/class/gpio/export 60        write /sys/class/gpio/gpio60/direction "out"        write /sys/class/gpio/gpio60/value 1        ......        4. cat fsl-proprietary/gps/Orion.ini        ......        ; GPS Receiver COM Port Baud Rate for boot, 115200, 230400, 460800, 921600,     or custom        ReceiverComPortBootSpeed=9600　　　　　　　　　　　　<----- zengjf modified        ReceiverComPortName=/dev/ttymxc1                 <----- zengjf modified        ......三、修改Atheros GPS HAL代码：    1. 代码位置：/home/myzr/myandroid/hardware/imx/libgps/athr_gps.c    2. GPS调试，当然要打开调试功能了：        ......        #define  GPS_DEBUG        /* #undef    GPS_DEBUG_TOKEN */ /* print out NMEA tokens */        #define  GPS_DEBUG_TOKEN    /* print out NMEA tokens */        ......    3. 修改tty 串口默认通信波特率：        int gps_opentty(GpsState *state)        {            ......            // disable echo on serial lines            if ( isatty( state->fd ) ) {                struct termios  ios;                tcgetattr( state->fd, &ios );                bzero(&ios, sizeof(ios));                //ios.c_cflag = B115200 | CS8 | CLOCAL | CREAD;                ios.c_cflag = B9600 | CS8 | CLOCAL | CREAD;   <----- zengjf modified                ios.c_iflag = IGNPAR;                ios.c_oflag = 0;                ios.c_lflag = 0;  /* disable ECHO, ICANON, etc... */                tcsetattr( state->fd, TCSANOW, &ios );                tcflush(state->fd,TCIOFLUSH);            }             ......        }四、修改GPS LocationManagerService代码：    1. 代码位置：/home/myzr/myandroid/frameworks/base/services/java/com/android/server/LocationManagerService.java    2. 具体原因请参考《参考文章》        @Override        public void reportLocation(Location location, boolean passive) {            checkCallerIsProvider();                    // 2015-11-2 zengjf modify for GPS module            /*            if (!location.isComplete()) {                Log.w(TAG, "Dropping incomplete location: " + location);                return;            }            */            ......        }五、打开开发板GPS编译：    1. 代码位置：/home/myzr/myandroid/device/fsl/sabresd_6dq/BoardConfig.mk    2. 参考代码如下，没有任何修改：        BOARD_HAVE_HARDWARE_GPS := true        USE_ATHR_GPS_HARDWARE := true        USE_QEMU_GPS_HARDWARE := false