drivers/gnss/gnss_luatos_air530z.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /*
  * Copyright (c) 2024 Jerónimo Agulló
  *
  * SPDX-License-Identifier: Apache-2.0
  */

 #include <zephyr/drivers/gnss.h>
 #include <zephyr/drivers/gnss/gnss_publish.h>
 #include <zephyr/modem/chat.h>
 #include <zephyr/modem/backend/uart.h>
 #include <zephyr/kernel.h>
 #include <zephyr/pm/device.h>
 #include <zephyr/drivers/gpio.h>
 #include <string.h>

 #include "gnss_nmea0183.h"
 #include "gnss_nmea0183_match.h"
 #include "gnss_parse.h"

 #include <zephyr/logging/log.h>
 LOG_MODULE_REGISTER(luatos_air530z, CONFIG_GNSS_LOG_LEVEL);

 #define DT_DRV_COMPAT luatos_air530z

 #define UART_RECV_BUF_SZ 128
 #define UART_TRANS_BUF_SZ 64

 #define CHAT_RECV_BUF_SZ 256
 #define CHAT_ARGV_SZ 32

 MODEM_CHAT_SCRIPT_CMDS_DEFINE(init_script_cmds,
 #if CONFIG_GNSS_SATELLITES
 	/* receive only GGA, RMC and GSV NMEA messages */
 	MODEM_CHAT_SCRIPT_CMD_RESP_NONE("$PCAS03,1,0,0,1,1,0,0,0,0,0,0,0,0*1F", 10),
 #else
 	/* receive only GGA and RMC NMEA messages */
 	MODEM_CHAT_SCRIPT_CMD_RESP_NONE("$PCAS03,1,0,0,0,1,0,0,0,0,0,0,0,0*1E", 10),
 #endif
 );

 MODEM_CHAT_SCRIPT_NO_ABORT_DEFINE(init_script, init_script_cmds, NULL, 5);

 struct gnss_luatos_air530z_config {
 	const struct device *uart;
 	const struct gpio_dt_spec on_off_gpio;
 	const int uart_baudrate;
 };

 struct gnss_luatos_air530z_data {
 	struct gnss_nmea0183_match_data match_data;
 #if CONFIG_GNSS_SATELLITES
 	struct gnss_satellite satellites[CONFIG_GNSS_LUATOS_AIR530Z_SATELLITES_COUNT];
 #endif

 	/* UART backend */
 	struct modem_pipe *uart_pipe;
 	struct modem_backend_uart uart_backend;
 	uint8_t uart_backend_receive_buf[UART_RECV_BUF_SZ];
 	uint8_t uart_backend_transmit_buf[UART_TRANS_BUF_SZ];

 	/* Modem chat */
 	struct modem_chat chat;
 	uint8_t chat_receive_buf[CHAT_RECV_BUF_SZ];
 	uint8_t chat_delimiter[2];
 	uint8_t *chat_argv[CHAT_ARGV_SZ];

 	/* Dynamic chat script */
 	uint8_t dynamic_separators_buf[2];
 	uint8_t dynamic_request_buf[32];
 	struct modem_chat_script_chat dynamic_script_chat;
 	struct modem_chat_script dynamic_script;

 	struct k_sem lock;
 };

 MODEM_CHAT_MATCHES_DEFINE(unsol_matches,
 	MODEM_CHAT_MATCH_WILDCARD("$??GGA,", ",*", gnss_nmea0183_match_gga_callback),
 	MODEM_CHAT_MATCH_WILDCARD("$??RMC,", ",*", gnss_nmea0183_match_rmc_callback),
 #if CONFIG_GNSS_SATELLITES
 	MODEM_CHAT_MATCH_WILDCARD("$??GSV,", ",*", gnss_nmea0183_match_gsv_callback),
 #endif
 );

 static void luatos_air530z_lock(const struct device *dev)
 {
 	struct gnss_luatos_air530z_data *data = dev->data;

 	(void)k_sem_take(&data->lock, K_FOREVER);
 }

 static void luatos_air530z_unlock(const struct device *dev)
 {
 	struct gnss_luatos_air530z_data *data = dev->data;

 	k_sem_give(&data->lock);
 }

 static int gnss_luatos_air530z_init_nmea0183_match(const struct device *dev)
 {
 	struct gnss_luatos_air530z_data *data = dev->data;

 	const struct gnss_nmea0183_match_config match_config = {
 		.gnss = dev,
 #if CONFIG_GNSS_SATELLITES
 		.satellites = data->satellites,
 		.satellites_size = ARRAY_SIZE(data->satellites),
 #endif
 	};

 	return gnss_nmea0183_match_init(&data->match_data, &match_config);
 }

 static void gnss_luatos_air530z_init_pipe(const struct device *dev)
 {
 	const struct gnss_luatos_air530z_config *config = dev->config;
 	struct gnss_luatos_air530z_data *data = dev->data;

 	const struct modem_backend_uart_config uart_backend_config = {
 		.uart = config->uart,
 		.receive_buf = data->uart_backend_receive_buf,
 		.receive_buf_size = sizeof(data->uart_backend_receive_buf),
 		.transmit_buf = data->uart_backend_transmit_buf,
 		.transmit_buf_size = ARRAY_SIZE(data->uart_backend_transmit_buf),
 	};

 	data->uart_pipe = modem_backend_uart_init(&data->uart_backend, &uart_backend_config);
 }

 static int gnss_luatos_air530z_init_chat(const struct device *dev)
 {
 	struct gnss_luatos_air530z_data *data = dev->data;

 	const struct modem_chat_config chat_config = {
 		.user_data = data,
 		.receive_buf = data->chat_receive_buf,
 		.receive_buf_size = sizeof(data->chat_receive_buf),
 		.delimiter = data->chat_delimiter,
 		.delimiter_size = ARRAY_SIZE(data->chat_delimiter),
 		.filter = NULL,
 		.filter_size = 0,
 		.argv = data->chat_argv,
 		.argv_size = ARRAY_SIZE(data->chat_argv),
 		.unsol_matches = unsol_matches,
 		.unsol_matches_size = ARRAY_SIZE(unsol_matches),
 	};

 	return modem_chat_init(&data->chat, &chat_config);
 }

 static void luatos_air530z_init_dynamic_script(const struct device *dev)
 {
 	struct gnss_luatos_air530z_data *data = dev->data;

 	/* Air530z doesn't respond to commands. Thus, response_matches_size = 0; */
 	data->dynamic_script_chat.request = data->dynamic_request_buf;
 	data->dynamic_script_chat.response_matches = NULL;
 	data->dynamic_script_chat.response_matches_size = 0;
 	data->dynamic_script_chat.timeout = 0;

 	data->dynamic_script.name = "PCAS";
 	data->dynamic_script.script_chats = &data->dynamic_script_chat;
 	data->dynamic_script.script_chats_size = 1;
 	data->dynamic_script.abort_matches = NULL;
 	data->dynamic_script.abort_matches_size = 0;
 	data->dynamic_script.callback = NULL;
 	data->dynamic_script.timeout = 5;
 }

 static int gnss_luatos_air530z_init(const struct device *dev)
 {
 	struct gnss_luatos_air530z_data *data = dev->data;
 	const struct gnss_luatos_air530z_config *config = dev->config;
 	int ret;

 	k_sem_init(&data->lock, 1, 1);

 	ret = gnss_luatos_air530z_init_nmea0183_match(dev);
 	if (ret < 0) {
 		return ret;
 	}

 	gnss_luatos_air530z_init_pipe(dev);

 	ret = gnss_luatos_air530z_init_chat(dev);
 	if (ret < 0) {
 		return ret;
 	}

 	luatos_air530z_init_dynamic_script(dev);

 	ret = modem_pipe_open(data->uart_pipe, K_SECONDS(10));
 	if (ret < 0) {
 		return ret;
 	}

 	ret = modem_chat_attach(&data->chat, data->uart_pipe);
 	if (ret < 0) {
 		modem_pipe_close(data->uart_pipe, K_SECONDS(10));
 		return ret;
 	}

 	ret = modem_chat_run_script(&data->chat, &init_script);
 	if (ret < 0) {
 		LOG_ERR("Failed to run init_script");
 		modem_pipe_close(data->uart_pipe, K_SECONDS(10));
 		return ret;
 	}

 	/* setup on-off gpio for power management */
 	if (!gpio_is_ready_dt(&config->on_off_gpio)) {
 		LOG_ERR("on-off GPIO device not ready");
 		return -ENODEV;
 	}

 	gpio_pin_configure_dt(&config->on_off_gpio, GPIO_OUTPUT_HIGH);

 	return 0;
 }

 static int luatos_air530z_pm_resume(const struct device *dev)
 {
 	struct gnss_luatos_air530z_data *data = dev->data;
 	int ret;

 	ret = modem_pipe_open(data->uart_pipe, K_SECONDS(10));
 	if (ret < 0) {
 		return ret;
 	}

 	ret = modem_chat_attach(&data->chat, data->uart_pipe);
 	if (ret < 0) {
 		modem_pipe_close(data->uart_pipe, K_SECONDS(10));
 		return ret;
 	}

 	ret = modem_chat_run_script(&data->chat, &init_script);
 	if (ret < 0) {
 		modem_pipe_close(data->uart_pipe, K_SECONDS(10));
 		return ret;
 	}

 	return 0;
 }

 static int luatos_air530z_pm_action(const struct device *dev, enum pm_device_action action)
 {
 	struct gnss_luatos_air530z_data *data = dev->data;
 	const struct gnss_luatos_air530z_config *config = dev->config;
 	int ret = -ENOTSUP;

 	switch (action) {
 	case PM_DEVICE_ACTION_SUSPEND:
 		gpio_pin_set_dt(&config->on_off_gpio, 0);
 		ret = modem_pipe_close(data->uart_pipe, K_SECONDS(10));
 		break;

 	case PM_DEVICE_ACTION_RESUME:
 		gpio_pin_set_dt(&config->on_off_gpio, 1);
 		ret = luatos_air530z_pm_resume(dev);
 		break;

 	default:
 		break;
 	}

 	return ret;
 }

 static int luatos_air530z_set_fix_rate(const struct device *dev, uint32_t fix_interval_ms)
 {
 	struct gnss_luatos_air530z_data *data = dev->data;
 	int ret;

 	if (fix_interval_ms < 100 || fix_interval_ms > 1000) {
 		return -EINVAL;
 	}

 	luatos_air530z_lock(dev);

 	ret = gnss_nmea0183_snprintk(data->dynamic_request_buf, sizeof(data->dynamic_request_buf),
 				    "PCAS02,%u", fix_interval_ms);

 	data->dynamic_script_chat.request_size = ret;

 	ret = modem_chat_run_script(&data->chat, &data->dynamic_script);
 	if (ret < 0) {
 		goto unlock_return;
 	}

 unlock_return:
 	luatos_air530z_unlock(dev);
 	return ret;
 }

 static int luatos_air530z_set_enabled_systems(const struct device *dev, gnss_systems_t systems)
 {
 	struct gnss_luatos_air530z_data *data = dev->data;
 	gnss_systems_t supported_systems;
 	uint8_t encoded_systems = 0;
 	int ret;

 	supported_systems = (GNSS_SYSTEM_GPS | GNSS_SYSTEM_GLONASS | GNSS_SYSTEM_BEIDOU);

 	if ((~supported_systems) & systems) {
 		return -EINVAL;
 	}

 	luatos_air530z_lock(dev);

 	WRITE_BIT(encoded_systems, 0, systems & GNSS_SYSTEM_GPS);
 	WRITE_BIT(encoded_systems, 1, systems & GNSS_SYSTEM_GLONASS);
 	WRITE_BIT(encoded_systems, 2, systems & GNSS_SYSTEM_BEIDOU);

 	ret = gnss_nmea0183_snprintk(data->dynamic_request_buf, sizeof(data->dynamic_request_buf),
 					"PCAS04,%u", encoded_systems);
 	if (ret < 0) {
 		goto unlock_return;
 	}

 	data->dynamic_script_chat.request_size = ret;

 	ret = modem_chat_run_script(&data->chat, &data->dynamic_script);
 	if (ret < 0) {
 		goto unlock_return;
 	}

 unlock_return:
 	luatos_air530z_unlock(dev);
 	return ret;

 }

 static int luatos_air530z_get_supported_systems(const struct device *dev, gnss_systems_t *systems)
 {
 	*systems = (GNSS_SYSTEM_GPS | GNSS_SYSTEM_GLONASS | GNSS_SYSTEM_BEIDOU);
 	return 0;
 }

 static const struct gnss_driver_api gnss_api = {
 	.set_fix_rate = luatos_air530z_set_fix_rate,
 	.set_enabled_systems = luatos_air530z_set_enabled_systems,
 	.get_supported_systems = luatos_air530z_get_supported_systems,
 };

 #define LUATOS_AIR530Z(inst)									\
 	static const struct gnss_luatos_air530z_config gnss_luatos_air530z_cfg_##inst = {	\
 		.uart = DEVICE_DT_GET(DT_INST_BUS(inst)),					\
 		.on_off_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, on_off_gpios, { 0 }),		\
 	};											\
 												\
 	static struct gnss_luatos_air530z_data gnss_luatos_air530z_data_##inst = {		\
 		.chat_delimiter = {'\r', '\n'},							\
 		.dynamic_separators_buf = {',', '*'},						\
 	};											\
 												\
 	PM_DEVICE_DT_INST_DEFINE(inst, luatos_air530z_pm_action);				\
 												\
 	DEVICE_DT_INST_DEFINE(inst, gnss_luatos_air530z_init,					\
 		PM_DEVICE_DT_INST_GET(inst),							\
 		&gnss_luatos_air530z_data_##inst,						\
 		&gnss_luatos_air530z_cfg_##inst,						\
 		POST_KERNEL, CONFIG_GNSS_INIT_PRIORITY, &gnss_api);

 DT_INST_FOREACH_STATUS_OKAY(LUATOS_AIR530Z)
	/*
	* Copyright (c) 2024 Jerónimo Agulló
	*
	* SPDX-License-Identifier: Apache-2.0
	*/

	#include <zephyr/drivers/gnss.h>
	#include <zephyr/drivers/gnss/gnss_publish.h>
	#include <zephyr/modem/chat.h>
	#include <zephyr/modem/backend/uart.h>
	#include <zephyr/kernel.h>
	#include <zephyr/pm/device.h>
	#include <zephyr/drivers/gpio.h>
	#include <string.h>

	#include "gnss_nmea0183.h"
	#include "gnss_nmea0183_match.h"
	#include "gnss_parse.h"

	#include <zephyr/logging/log.h>
	LOG_MODULE_REGISTER(luatos_air530z, CONFIG_GNSS_LOG_LEVEL);

	#define DT_DRV_COMPAT luatos_air530z

	#define UART_RECV_BUF_SZ 128
	#define UART_TRANS_BUF_SZ 64

	#define CHAT_RECV_BUF_SZ 256
	#define CHAT_ARGV_SZ 32

	MODEM_CHAT_SCRIPT_CMDS_DEFINE(init_script_cmds,
	#if CONFIG_GNSS_SATELLITES
	/* receive only GGA, RMC and GSV NMEA messages */
	MODEM_CHAT_SCRIPT_CMD_RESP_NONE("$PCAS03,1,0,0,1,1,0,0,0,0,0,0,0,0*1F", 10),
	#else
	/* receive only GGA and RMC NMEA messages */
	MODEM_CHAT_SCRIPT_CMD_RESP_NONE("$PCAS03,1,0,0,0,1,0,0,0,0,0,0,0,0*1E", 10),
	#endif
	);

	MODEM_CHAT_SCRIPT_NO_ABORT_DEFINE(init_script, init_script_cmds, NULL, 5);

	struct gnss_luatos_air530z_config {
	const struct device *uart;
	const struct gpio_dt_spec on_off_gpio;
	const int uart_baudrate;
	};

	struct gnss_luatos_air530z_data {
	struct gnss_nmea0183_match_data match_data;
	#if CONFIG_GNSS_SATELLITES
	struct gnss_satellite satellites[CONFIG_GNSS_LUATOS_AIR530Z_SATELLITES_COUNT];
	#endif

	/* UART backend */
	struct modem_pipe *uart_pipe;
	struct modem_backend_uart uart_backend;
	uint8_t uart_backend_receive_buf[UART_RECV_BUF_SZ];
	uint8_t uart_backend_transmit_buf[UART_TRANS_BUF_SZ];

	/* Modem chat */
	struct modem_chat chat;
	uint8_t chat_receive_buf[CHAT_RECV_BUF_SZ];
	uint8_t chat_delimiter[2];
	uint8_t *chat_argv[CHAT_ARGV_SZ];

	/* Dynamic chat script */
	uint8_t dynamic_separators_buf[2];
	uint8_t dynamic_request_buf[32];
	struct modem_chat_script_chat dynamic_script_chat;
	struct modem_chat_script dynamic_script;

	struct k_sem lock;
	};

	MODEM_CHAT_MATCHES_DEFINE(unsol_matches,
	MODEM_CHAT_MATCH_WILDCARD("$??GGA,", ",*", gnss_nmea0183_match_gga_callback),
	MODEM_CHAT_MATCH_WILDCARD("$??RMC,", ",*", gnss_nmea0183_match_rmc_callback),
	#if CONFIG_GNSS_SATELLITES
	MODEM_CHAT_MATCH_WILDCARD("$??GSV,", ",*", gnss_nmea0183_match_gsv_callback),
	#endif
	);

	static void luatos_air530z_lock(const struct device *dev)
	{
	struct gnss_luatos_air530z_data *data = dev->data;

	(void)k_sem_take(&data->lock, K_FOREVER);
	}

	static void luatos_air530z_unlock(const struct device *dev)
	{
	struct gnss_luatos_air530z_data *data = dev->data;

	k_sem_give(&data->lock);
	}

	static int gnss_luatos_air530z_init_nmea0183_match(const struct device *dev)
	{
	struct gnss_luatos_air530z_data *data = dev->data;

	const struct gnss_nmea0183_match_config match_config = {
	.gnss = dev,
	#if CONFIG_GNSS_SATELLITES
	.satellites = data->satellites,
	.satellites_size = ARRAY_SIZE(data->satellites),
	#endif
	};

	return gnss_nmea0183_match_init(&data->match_data, &match_config);
	}

	static void gnss_luatos_air530z_init_pipe(const struct device *dev)
	{
	const struct gnss_luatos_air530z_config *config = dev->config;
	struct gnss_luatos_air530z_data *data = dev->data;

	const struct modem_backend_uart_config uart_backend_config = {
	.uart = config->uart,
	.receive_buf = data->uart_backend_receive_buf,
	.receive_buf_size = sizeof(data->uart_backend_receive_buf),
	.transmit_buf = data->uart_backend_transmit_buf,
	.transmit_buf_size = ARRAY_SIZE(data->uart_backend_transmit_buf),
	};

	data->uart_pipe = modem_backend_uart_init(&data->uart_backend, &uart_backend_config);
	}

	static int gnss_luatos_air530z_init_chat(const struct device *dev)
	{
	struct gnss_luatos_air530z_data *data = dev->data;

	const struct modem_chat_config chat_config = {
	.user_data = data,
	.receive_buf = data->chat_receive_buf,
	.receive_buf_size = sizeof(data->chat_receive_buf),
	.delimiter = data->chat_delimiter,
	.delimiter_size = ARRAY_SIZE(data->chat_delimiter),
	.filter = NULL,
	.filter_size = 0,
	.argv = data->chat_argv,
	.argv_size = ARRAY_SIZE(data->chat_argv),
	.unsol_matches = unsol_matches,
	.unsol_matches_size = ARRAY_SIZE(unsol_matches),
	};

	return modem_chat_init(&data->chat, &chat_config);
	}

	static void luatos_air530z_init_dynamic_script(const struct device *dev)
	{
	struct gnss_luatos_air530z_data *data = dev->data;

	/* Air530z doesn't respond to commands. Thus, response_matches_size = 0; */
	data->dynamic_script_chat.request = data->dynamic_request_buf;
	data->dynamic_script_chat.response_matches = NULL;
	data->dynamic_script_chat.response_matches_size = 0;
	data->dynamic_script_chat.timeout = 0;

	data->dynamic_script.name = "PCAS";
	data->dynamic_script.script_chats = &data->dynamic_script_chat;
	data->dynamic_script.script_chats_size = 1;
	data->dynamic_script.abort_matches = NULL;
	data->dynamic_script.abort_matches_size = 0;
	data->dynamic_script.callback = NULL;
	data->dynamic_script.timeout = 5;
	}

	static int gnss_luatos_air530z_init(const struct device *dev)
	{
	struct gnss_luatos_air530z_data *data = dev->data;
	const struct gnss_luatos_air530z_config *config = dev->config;
	int ret;

	k_sem_init(&data->lock, 1, 1);

	ret = gnss_luatos_air530z_init_nmea0183_match(dev);
	if (ret < 0) {
	return ret;
	}

	gnss_luatos_air530z_init_pipe(dev);

	ret = gnss_luatos_air530z_init_chat(dev);
	if (ret < 0) {
	return ret;
	}

	luatos_air530z_init_dynamic_script(dev);

	ret = modem_pipe_open(data->uart_pipe, K_SECONDS(10));
	if (ret < 0) {
	return ret;
	}

	ret = modem_chat_attach(&data->chat, data->uart_pipe);
	if (ret < 0) {
	modem_pipe_close(data->uart_pipe, K_SECONDS(10));
	return ret;
	}

	ret = modem_chat_run_script(&data->chat, &init_script);
	if (ret < 0) {
	LOG_ERR("Failed to run init_script");
	modem_pipe_close(data->uart_pipe, K_SECONDS(10));
	return ret;
	}

	/* setup on-off gpio for power management */
	if (!gpio_is_ready_dt(&config->on_off_gpio)) {
	LOG_ERR("on-off GPIO device not ready");
	return -ENODEV;
	}

	gpio_pin_configure_dt(&config->on_off_gpio, GPIO_OUTPUT_HIGH);

	return 0;
	}

	static int luatos_air530z_pm_resume(const struct device *dev)
	{
	struct gnss_luatos_air530z_data *data = dev->data;
	int ret;

	ret = modem_pipe_open(data->uart_pipe, K_SECONDS(10));
	if (ret < 0) {
	return ret;
	}

	ret = modem_chat_attach(&data->chat, data->uart_pipe);
	if (ret < 0) {
	modem_pipe_close(data->uart_pipe, K_SECONDS(10));
	return ret;
	}

	ret = modem_chat_run_script(&data->chat, &init_script);
	if (ret < 0) {
	modem_pipe_close(data->uart_pipe, K_SECONDS(10));
	return ret;
	}

	return 0;
	}

	static int luatos_air530z_pm_action(const struct device *dev, enum pm_device_action action)
	{
	struct gnss_luatos_air530z_data *data = dev->data;
	const struct gnss_luatos_air530z_config *config = dev->config;
	int ret = -ENOTSUP;

	switch (action) {
	case PM_DEVICE_ACTION_SUSPEND:
	gpio_pin_set_dt(&config->on_off_gpio, 0);
	ret = modem_pipe_close(data->uart_pipe, K_SECONDS(10));
	break;

	case PM_DEVICE_ACTION_RESUME:
	gpio_pin_set_dt(&config->on_off_gpio, 1);
	ret = luatos_air530z_pm_resume(dev);
	break;

	default:
	break;
	}

	return ret;
	}

	static int luatos_air530z_set_fix_rate(const struct device *dev, uint32_t fix_interval_ms)
	{
	struct gnss_luatos_air530z_data *data = dev->data;
	int ret;

	if (fix_interval_ms < 100 \|\| fix_interval_ms > 1000) {
	return -EINVAL;
	}

	luatos_air530z_lock(dev);

	ret = gnss_nmea0183_snprintk(data->dynamic_request_buf, sizeof(data->dynamic_request_buf),
	"PCAS02,%u", fix_interval_ms);

	data->dynamic_script_chat.request_size = ret;

	ret = modem_chat_run_script(&data->chat, &data->dynamic_script);
	if (ret < 0) {
	goto unlock_return;
	}

	unlock_return:
	luatos_air530z_unlock(dev);
	return ret;
	}

	static int luatos_air530z_set_enabled_systems(const struct device *dev, gnss_systems_t systems)
	{
	struct gnss_luatos_air530z_data *data = dev->data;
	gnss_systems_t supported_systems;
	uint8_t encoded_systems = 0;
	int ret;

	supported_systems = (GNSS_SYSTEM_GPS \| GNSS_SYSTEM_GLONASS \| GNSS_SYSTEM_BEIDOU);

	if ((~supported_systems) & systems) {
	return -EINVAL;
	}

	luatos_air530z_lock(dev);

	WRITE_BIT(encoded_systems, 0, systems & GNSS_SYSTEM_GPS);
	WRITE_BIT(encoded_systems, 1, systems & GNSS_SYSTEM_GLONASS);
	WRITE_BIT(encoded_systems, 2, systems & GNSS_SYSTEM_BEIDOU);

	ret = gnss_nmea0183_snprintk(data->dynamic_request_buf, sizeof(data->dynamic_request_buf),
	"PCAS04,%u", encoded_systems);
	if (ret < 0) {
	goto unlock_return;
	}

	data->dynamic_script_chat.request_size = ret;

	ret = modem_chat_run_script(&data->chat, &data->dynamic_script);
	if (ret < 0) {
	goto unlock_return;
	}

	unlock_return:
	luatos_air530z_unlock(dev);
	return ret;

	}

	static int luatos_air530z_get_supported_systems(const struct device dev, gnss_systems_t systems)
	{
	*systems = (GNSS_SYSTEM_GPS \| GNSS_SYSTEM_GLONASS \| GNSS_SYSTEM_BEIDOU);
	return 0;
	}

	static const struct gnss_driver_api gnss_api = {
	.set_fix_rate = luatos_air530z_set_fix_rate,
	.set_enabled_systems = luatos_air530z_set_enabled_systems,
	.get_supported_systems = luatos_air530z_get_supported_systems,
	};

	#define LUATOS_AIR530Z(inst) \
	static const struct gnss_luatos_air530z_config gnss_luatos_air530z_cfg_##inst = { \
	.uart = DEVICE_DT_GET(DT_INST_BUS(inst)), \
	.on_off_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, on_off_gpios, { 0 }), \
	}; \
	\
	static struct gnss_luatos_air530z_data gnss_luatos_air530z_data_##inst = { \
	.chat_delimiter = {'\r', '\n'}, \
	.dynamic_separators_buf = {',', '*'}, \
	}; \
	\
	PM_DEVICE_DT_INST_DEFINE(inst, luatos_air530z_pm_action); \
	\
	DEVICE_DT_INST_DEFINE(inst, gnss_luatos_air530z_init, \
	PM_DEVICE_DT_INST_GET(inst), \
	&gnss_luatos_air530z_data_##inst, \
	&gnss_luatos_air530z_cfg_##inst, \
	POST_KERNEL, CONFIG_GNSS_INIT_PRIORITY, &gnss_api);

	DT_INST_FOREACH_STATUS_OKAY(LUATOS_AIR530Z)