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raspberry-vanilla / android_local_manifest

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External USB GPS support #42

Closed dat-tran-halo closed 7 months ago

dat-tran-halo commented 8 months ago

Does any of the Android versions for RP-14 support a USB GPS module (u-blox neo series)?

dat-tran-halo commented 8 months ago

I was able to compile and load Android 13 (automotive). I installed Maps but no GPS location with the USB module. I am able to read from /dev/ttyACM0. How can I configure the system to read the location from this device? Thank you.

KonstaT commented 8 months ago

My personal builds (https://konstakang.com/devices/rpi4/) have support for serial GPS devices.

Raspberry Vanilla project doesn't provide support for external hardware such as USB GPS dongles.

You would need to implement Android serial GPS HAL for this to work on your own build. Some options to look into: https://github.com/lineage-rpi/android_hardware_gps https://github.com/zxcwhale/aosp13_gnss_hal

dat-tran-halo commented 8 months ago

Thank you. I'll give it a try.

dat-tran-halo commented 8 months ago

I was able to verify that your personal build for AOSP-13 works with the USB GPS module I have.

However, when I try to integrate https://github.com/lineage-rpi/android_hardware_gps with the build from source provided by this repo, it doesn't give me a location. Can you provide your gnss/gps changes to get it working with AOSP? Thanks

My changes:

project device/brcm/rpi4/
diff --git a/device.mk b/device.mk
index de2ed12..f961500 100644
--- a/device.mk
+++ b/device.mk
@@ -273,6 +273,12 @@ PRODUCT_PACKAGES += \
     wpa_supplicant \
     wpa_supplicant.conf

+# Gnss HAL
+PRODUCT_PACKAGES += \
+       android.hardware.gnss@1.0 \
+       android.hardware.gnss@1.0-impl \
+       android.hardware.gnss@1.0-service
+
 PRODUCT_COPY_FILES += \
     hardware/broadcom/wlan/bcmdhd/config/wpa_supplicant_overlay.conf:$(TARGET_COPY_OUT_VENDOR)/etc/wifi/wpa_supplicant_overlay.conf

Extra build step:

Default gps path to ttyACM0

mmm vendor/android_hardware_gps/

I get these runtime errors in logcat:

130|rpi4:/ $ logcat | grep gnss                                                                                                                                                                                                                                                      
01-01 00:00:17.036     0     0 I init    : starting service 'vendor.gnss_service'...
01-01 00:00:22.050     0     0 I init    : starting service 'vendor.gnss_service'...
01-01 00:00:22.135     0     0 I init    : Service 'vendor.gnss_service' (pid 471) exited with status 0
01-01 00:00:22.143     0     0 I init    : Sending signal 9 to service 'vendor.gnss_service' (pid 471) process group...
01-01 00:00:27.062     0     0 I init    : starting service 'vendor.gnss_service'...
01-01 00:00:27.119     0     0 I init    : Service 'vendor.gnss_service' (pid 493) exited with status 0
01-01 00:00:27.137     0     0 I init    : Sending signal 9 to service 'vendor.gnss_service' (pid 493) process group...
01-01 00:00:32.074     0     0 I init    : starting service 'vendor.gnss_service'...
01-01 00:00:32.136     0     0 I init    : Service 'vendor.gnss_service' (pid 530) exited with status 0
01-01 00:00:32.143     0     0 I init    : Sending signal 9 to service 'vendor.gnss_service' (pid 530) process group...
11-19 15:36:53.437   154   154 I servicemanager: Could not find android.hardware.gnss.IGnss/default in the VINTF manifest.
11-19 15:36:53.439   155   155 I hwservicemanager: getTransport: Cannot find entry android.hardware.gnss@2.1::IGnss/default in either framework or device VINTF manifest.
11-19 15:36:53.439   473   473 D GnssJni : gnssHal 2.1 was null, trying 2.0
11-19 15:36:53.440   155   155 I hwservicemanager: getTransport: Cannot find entry android.hardware.gnss@2.0::IGnss/default in either framework or device VINTF manifest.
11-19 15:36:53.440   473   473 D GnssJni : gnssHal 2.0 was null, trying 1.1
11-19 15:36:53.440   155   155 I hwservicemanager: getTransport: Cannot find entry android.hardware.gnss@1.1::IGnss/default in either framework or device VINTF manifest.
11-19 15:36:53.441   473   473 D GnssJni : gnssHal 1.1 was null, trying 1.0
11-19 15:36:53.444   155   155 I hwservicemanager: getTransport: Cannot find entry android.hardware.gnss@1.0::IGnss/default in either framework or device VINTF manifest.
01-01 00:00:37.083     0     0 I init    : starting service 'vendor.gnss_service'...
11-19 15:36:53.634   155   155 I hwservicemanager: getTransport: Cannot find entry android.hardware.gnss@1.0::IGnss/default in either framework or device VINTF manifest.
11-19 15:36:53.642   155   155 I hwservicemanager: getTransport: Cannot find entry android.hardware.gnss@1.0::IGnss/default in either framework or device VINTF manifest.
11-19 15:36:53.642   673   673 E HidlServiceManagement: Service android.hardware.gnss@1.0::IGnss/default must be in VINTF manifest in order to register/get.
11-19 15:36:53.642   673   673 E LegacySupport: Could not register service android.hardware.gnss@1.0::IGnss/default (-2147483648).
01-01 00:00:37.187     0     0 I init    : Service 'vendor.gnss_service' (pid 673) exited with status 0
01-01 00:00:37.201     0     0 I init    : Sending signal 9 to service 'vendor.gnss_service' (pid 673) process group...
11-19 15:36:53.627   673   673 I android.hardwar: type=1400 audit(0.0:86): avc: denied { read } for name="vndbinder" dev="binder" ino=6 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:vndbinder_device:s0 tclass=chr_file permissive=1
11-19 15:36:53.627   673   673 I android.hardwar: type=1400 audit(0.0:87): avc: denied { write } for name="vndbinder" dev="binder" ino=6 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:vndbinder_device:s0 tclass=chr_file permissive=1
11-19 15:36:53.627   673   673 I android.hardwar: type=1400 audit(0.0:88): avc: denied { open } for path="/dev/binderfs/vndbinder" dev="binder" ino=6 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:vndbinder_device:s0 tclass=chr_file permissive=1
11-19 15:36:53.627   673   673 I android.hardwar: type=1400 audit(0.0:89): avc: denied { ioctl } for path="/dev/binderfs/vndbinder" dev="binder" ino=6 ioctlcmd=0x6209 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:vndbinder_device:s0 tclass=chr_file permissive=1
11-19 15:36:53.627   673   673 I android.hardwar: type=1400 audit(0.0:90): avc: denied { map } for path="/dev/binderfs/vndbinder" dev="binder" ino=6 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:vndbinder_device:s0 tclass=chr_file permissive=1
01-01 00:00:42.093     0     0 I init    : starting service 'vendor.gnss_service'...
11-20 15:43:18.682   155   155 I hwservicemanager: getTransport: Cannot find entry android.hardware.gnss@1.0::IGnss/default in either framework or device VINTF manifest.
11-20 15:43:18.697   155   155 I hwservicemanager: getTransport: Cannot find entry android.hardware.gnss@1.0::IGnss/default in either framework or device VINTF manifest.
11-20 15:43:18.697  1259  1259 E HidlServiceManagement: Service android.hardware.gnss@1.0::IGnss/default must be in VINTF manifest in order to register/get.
11-20 15:43:18.697  1259  1259 E LegacySupport: Could not register service android.hardware.gnss@1.0::IGnss/default (-2147483648).
11-20 15:43:18.644  1259  1259 I android.hardwar: type=1400 audit(0.0:94): avc: denied { read } for name="vndbinder" dev="binder" ino=6 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:vndbinder_device:s0 tclass=chr_file permissive=1
01-01 00:00:42.282     0     0 I init    : Service 'vendor.gnss_service' (pid 1259) exited with status 0
01-01 00:00:42.293     0     0 I init    : Sending signal 9 to service 'vendor.gnss_service' (pid 1259) process group...
11-20 15:43:18.672  1259  1259 I android.hardwar: type=1400 audit(0.0:95): avc: denied { write } for name="vndbinder" dev="binder" ino=6 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:vndbinder_device:s0 tclass=chr_file permissive=1
11-20 15:43:18.672  1259  1259 I android.hardwar: type=1400 audit(0.0:96): avc: denied { open } for path="/dev/binderfs/vndbinder" dev="binder" ino=6 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:vndbinder_device:s0 tclass=chr_file permissive=1
11-20 15:43:18.676  1259  1259 I android.hardwar: type=1400 audit(0.0:97): avc: denied { ioctl } for path="/dev/binderfs/vndbinder" dev="binder" ino=6 ioctlcmd=0x6209 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:vndbinder_device:s0 tclass=chr_file permissive=1
11-20 15:43:18.676  1259  1259 I android.hardwar: type=1400 audit(0.0:98): avc: denied { map } for path="/dev/binderfs/vndbinder" dev="binder" ino=6 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:vndbinder_device:s0 tclass=chr_file permissive=1
01-01 00:00:47.158     0     0 I init    : starting service 'vendor.gnss_service'...
11-20 15:43:23.619   155   155 I hwservicemanager: getTransport: Cannot find entry android.hardware.gnss@1.0::IGnss/default in either framework or device VINTF manifest.
11-20 15:43:23.624   155   155 I hwservicemanager: getTransport: Cannot find entry android.hardware.gnss@1.0::IGnss/default in either framework or device VINTF manifest.
11-20 15:43:23.624  1452  1452 E HidlServiceManagement: Service android.hardware.gnss@1.0::IGnss/default must be in VINTF manifest in order to register/get.
11-20 15:43:23.625  1452  1452 E LegacySupport: Could not register service android.hardware.gnss@1.0::IGnss/default (-2147483648).
11-20 15:43:23.612  1452  1452 I android.hardwar: type=1400 audit(0.0:99): avc: denied { read } for name="vndbinder" dev="binder" ino=6 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:vndbinder_device:s0 tclass=chr_file permissive=1
01-01 00:00:47.209     0     0 I init    : Service 'vendor.gnss_service' (pid 1452) exited with status 0
01-01 00:00:47.228     0     0 I init    : Sending signal 9 to service 'vendor.gnss_service' (pid 1452) process group...
11-20 15:43:23.612  1452  1452 I android.hardwar: type=1400 audit(0.0:100): avc: denied { write } for name="vndbinder" dev="binder" ino=6 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:vndbinder_device:s0 tclass=chr_file permissive=1
11-20 15:43:23.612  1452  1452 I android.hardwar: type=1400 audit(0.0:101): avc: denied { open } for path="/dev/binderfs/vndbinder" dev="binder" ino=6 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:vndbinder_device:s0 tclass=chr_file permissive=1
11-20 15:43:23.612  1452  1452 I android.hardwar: type=1400 audit(0.0:102): avc: denied { ioctl } for path="/dev/binderfs/vndbinder" dev="binder" ino=6 ioctlcmd=0x6209 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:vndbinder_device:s0 tclass=chr_file permissive=1
11-20 15:43:23.612  1452  1452 I android.hardwar: type=1400 audit(0.0:103): avc: denied { map } for path="/dev/binderfs/vndbinder" dev="binder" ino=6 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:vndbinder_device:s0 tclass=chr_file permissive=1

Thanks for your help!

dat-tran-halo commented 8 months ago

I was able to fix the manifest error by adding to device/brcm/rpi4/manifest.xml

diff --git a/manifest.xml b/manifest.xml
old mode 100644
new mode 100755
index 20e91b0..a574b92
--- a/manifest.xml
+++ b/manifest.xml
@@ -67,4 +67,14 @@
             <instance>default</instance>
         </interface>
     </hal>
+    <hal format="hidl">
+        <name>android.hardware.gnss</name>
+        <transport>hwbinder</transport>
+        <version>1.0</version>
+        <interface>
+            <name>IGnss</name>
+            <instance>default</instance>
+        </interface>
+        <fqname>@1.0::IGnss/default</fqname>
+    </hal>
 </manifest>
diff --git a/ramdisk/ueventd.rpi4.rc b/ramdisk/ueventd.rpi4.rc
index bcdd85f..5b4e060 100644
--- a/ramdisk/ueventd.rpi4.rc
+++ b/ramdisk/ueventd.rpi4.rc
@@ -25,3 +25,5 @@
 /dev/video18                                                                 0660   media      media
 /dev/video19                                                                 0660   media      media
 /dev/video31                                                                 0660   media      media
+
+/dev/ttyACM0                                                                 0660   gps        gps

However, gps still doesn't work. I get these errors from logcat:

rpi4:/ $ logcat | grep gps
11-19 15:36:53.443   268   268 E gps_serial: Setting gps baud rate to 115200
11-19 15:36:53.464   468   485 E GnssLocationProviderJni: android_location_gnss_hal_GnssNative_set_agps_server: IAGnss interface not available.
11-20 17:19:11.094   268   268 E gps_serial: Setting gps baud rate to 115200
11-20 17:19:11.097   468   485 E GnssLocationProviderJni: android_location_gnss_hal_GnssNative_set_agps_server: IAGnss interface not available.
11-20 17:19:12.374   468   485 E LocationManagerService: blocking 0,0 location from gps provider
11-20 17:19:13.333   468   485 E LocationManagerService: blocking 0,0 location from gps provider
11-20 17:19:14.339   468   485 E LocationManagerService: blocking 0,0 location from gps provider
130|rpi4:/ $ logcat | grep gnss                                                                                                          
11-19 15:36:53.411   155   155 I servicemanager: Could not find android.hardware.gnss.IGnss/default in the VINTF manifest.
11-19 15:36:53.412   156   156 I hwservicemanager: getTransport: Cannot find entry android.hardware.gnss@2.1::IGnss/default in either framework or device VINTF manifest.
11-19 15:36:53.412   468   468 D GnssJni : gnssHal 2.1 was null, trying 2.0
11-19 15:36:53.413   156   156 I hwservicemanager: getTransport: Cannot find entry android.hardware.gnss@2.0::IGnss/default in either framework or device VINTF manifest.
11-19 15:36:53.413   468   468 D GnssJni : gnssHal 2.0 was null, trying 1.1
11-19 15:36:53.413   156   156 I hwservicemanager: getTransport: Cannot find entry android.hardware.gnss@1.1::IGnss/default in either framework or device VINTF manifest.
11-19 15:36:53.413   468   468 D GnssJni : gnssHal 1.1 was null, trying 1.0
11-19 15:36:53.439   268   268 E GnssHAL_GnssInterface: gnss flp hw_get_module failed: -2
11-19 15:36:53.452   468   468 I GnssManager: gnss hal initialized
11-19 15:36:53.452   468   468 I GnssManager: gnss hal started
11-19 15:36:53.452   468   468 E GnssLocationProviderJni: android_location_gnss_hal_GnssNative_start_antenna_info_listening: IGnssAntennaInfo interface not available.
11-19 15:36:53.464   468   485 E GnssLocationProviderJni: android_location_gnss_hal_GnssNative_set_agps_server: IAGnss interface not available.
11-19 15:36:53.435   268   268 I gnss@1.0-servic: type=1400 audit(0.0:71): avc: denied { read } for name="u:object_r:default_prop:s0" dev="tmpfs" ino=99 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:default_prop:s0 tclass=file permissive=1
11-19 15:36:53.439   268   268 I gnss@1.0-servic: type=1400 audit(0.0:72): avc: denied { open } for path="/dev/__properties__/u:object_r:default_prop:s0" dev="tmpfs" ino=99 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:default_prop:s0 tclass=file permissive=1
11-19 15:36:53.439   268   268 I gnss@1.0-servic: type=1400 audit(0.0:73): avc: denied { getattr } for path="/dev/__properties__/u:object_r:default_prop:s0" dev="tmpfs" ino=99 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:default_prop:s0 tclass=file permissive=1
11-19 15:36:53.439   268   268 I gnss@1.0-servic: type=1400 audit(0.0:74): avc: denied { map } for path="/dev/__properties__/u:object_r:default_prop:s0" dev="tmpfs" ino=99 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:default_prop:s0 tclass=file permissive=1
11-19 15:36:53.439   268   268 I gnss@1.0-servic: type=1400 audit(0.0:75): avc: denied { read write } for name="ttyACM0" dev="tmpfs" ino=307 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:usb_serial_device:s0 tclass=chr_file permissive=1
11-19 15:36:53.439   268   268 I gnss@1.0-servic: type=1400 audit(0.0:76): avc: denied { open } for path="/dev/ttyACM0" dev="tmpfs" ino=307 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:usb_serial_device:s0 tclass=chr_file permissive=1
11-19 15:36:53.439   268   268 I gnss@1.0-servic: type=1400 audit(0.0:77): avc: denied { ioctl } for path="/dev/ttyACM0" dev="tmpfs" ino=307 ioctlcmd=0x5401 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:usb_serial_device:s0 tclass=chr_file permissive=1
11-20 17:19:11.097   468   485 E GnssLocationProviderJni: android_location_gnss_hal_GnssNative_set_agps_server: IAGnss interface not available.
11-20 17:19:11.089   268   268 I gnss@1.0-servic: type=1400 audit(0.0:117): avc: denied { read write } for name="ttyACM0" dev="tmpfs" ino=307 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:usb_serial_device:s0 tclass=chr_file permissive=1
11-20 17:19:11.089   268   268 I gnss@1.0-servic: type=1400 audit(0.0:118): avc: denied { open } for path="/dev/ttyACM0" dev="tmpfs" ino=307 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:usb_serial_device:s0 tclass=chr_file permissive=1
11-20 17:19:11.089   268   268 I gnss@1.0-servic: type=1400 audit(0.0:119): avc: denied { ioctl } for path="/dev/ttyACM0" dev="tmpfs" ino=307 ioctlcmd=0x5401 scontext=u:r:hal_gnss_default:s0 tcontext=u:object_r:usb_serial_device:s0 tclass=chr_file permissive=1
11-20 17:19:12.368   468   485 W AlarmManager: Unrecognized alarm listener com.android.server.location.gnss.GnssLocationProvider$$ExternalSyntheticLambda22@beb5889
11-20 17:19:12.374   468   485 W AlarmManager: Unrecognized alarm listener com.android.server.location.gnss.GnssLocationProvider$$ExternalSyntheticLambda22@beb5889
11-20 17:19:13.330   468   485 W AlarmManager: Unrecognized alarm listener com.android.server.location.gnss.GnssLocationProvider$$ExternalSyntheticLambda22@beb5889
11-20 17:19:13.333   468   485 W AlarmManager: Unrecognized alarm listener com.android.server.location.gnss.GnssLocationProvider$$ExternalSyntheticLambda22@beb5889
11-20 17:19:14.339   468   485 W AlarmManager: Unrecognized alarm listener com.android.server.location.gnss.GnssLocationProvider$$ExternalSyntheticLambda22@beb5889
11-20 17:19:14.340   468   485 W AlarmManager: Unrecognized alarm listener com.android.server.location.gnss.GnssLocationProvider$$ExternalSyntheticLambda22@beb5889
11-20 17:19:15.338   468   485 W AlarmManager: Unrecognized alarm listener com.android.server.location.gnss.GnssLocationProvider$$ExternalSyntheticLambda22@beb5889
11-20 17:19:15.340   468   485 W AlarmManager: Unrecognized alarm listener com.android.server.location.gnss.GnssLocationProvider$$ExternalSyntheticLambda22@beb5889
KonstaT commented 8 months ago

I don't see anything missing but the permission (copy from frameworks/native/data/etc/android.hardware.location.gps.xml).

Also note that the GPS HAL might involve some hacking around https://android.googlesource.com/platform/frameworks/base/+/refs/tags/android-14.0.0_r14/location/java/android/location/LocationResult.java#109 as not all serial GPS devices report complete location. This might also be fixed in some serial GPS HALs you might find.

dat-tran-halo commented 7 months ago

I'll give that a try. Thanks for all your help.

Here is my latest patch for GPS if it helps anyone else:

project device/brcm/rpi4/
diff --git a/device.mk b/device.mk
index de2ed12..3355c17 100644
--- a/device.mk
+++ b/device.mk
@@ -273,6 +273,15 @@ PRODUCT_PACKAGES += \
     wpa_supplicant \
     wpa_supplicant.conf

+# Gnss HAL
+PRODUCT_PACKAGES += \
+       android.hardware.gnss@1.0 \
+       android.hardware.gnss@1.0-impl \
+       android.hardware.gnss@1.0-service
+
+PRODUCT_COPY_FILES += \
+    frameworks/native/data/etc/android.hardware.location.gps.xml:$(TARGET_COPY_OUT_VENDOR)/etc/permissions/android.hardware.location.gps.xml
+
 PRODUCT_COPY_FILES += \
     hardware/broadcom/wlan/bcmdhd/config/wpa_supplicant_overlay.conf:$(TARGET_COPY_OUT_VENDOR)/etc/wifi/wpa_supplicant_overlay.conf

diff --git a/manifest.xml b/manifest.xml
old mode 100644
new mode 100755
index 20e91b0..a574b92
--- a/manifest.xml
+++ b/manifest.xml
@@ -67,4 +67,14 @@
             <instance>default</instance>
         </interface>
     </hal>
+    <hal format="hidl">
+        <name>android.hardware.gnss</name>
+        <transport>hwbinder</transport>
+        <version>1.0</version>
+        <interface>
+            <name>IGnss</name>
+            <instance>default</instance>
+        </interface>
+        <fqname>@1.0::IGnss/default</fqname>
+    </hal>
 </manifest>
diff --git a/ramdisk/ueventd.rpi4.rc b/ramdisk/ueventd.rpi4.rc
index bcdd85f..5b4e060 100644
--- a/ramdisk/ueventd.rpi4.rc
+++ b/ramdisk/ueventd.rpi4.rc
@@ -25,3 +25,5 @@
 /dev/video18                                                                 0660   media      media
 /dev/video19                                                                 0660   media      media
 /dev/video31                                                                 0660   media      media
+
+/dev/ttyACM0                                                                 0660   gps        gps
diff --git a/vendor.prop b/vendor.prop
index c5fd75c..9b05a96 100644
--- a/vendor.prop
+++ b/vendor.prop
@@ -79,3 +79,5 @@ ro.vendor.v4l2_codec2.encode_concurrent_instances=8
 # Wifi
 wifi.interface=wlan0

+# GPS
+ro.kernel.android.gps=ttyACM0
dat-tran-halo commented 7 months ago

@KonstaT, your suggestion for the permission file worked perfectly. Thanks again for your help.