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/*
* Copyright (c) 2023 Trackunit Corporation
*
* SPDX-License-Identifier: Apache-2.0
*/
/**
* @file gnss.h
* @brief Public GNSS API.
*/
#ifndef ZEPHYR_INCLUDE_DRIVERS_GNSS_H_
#define ZEPHYR_INCLUDE_DRIVERS_GNSS_H_
/**
* @brief GNSS Interface
* @defgroup gnss_interface GNSS Interface
* @ingroup io_interfaces
* @{
*/
#include <zephyr/types.h>
#include <zephyr/device.h>
#include <zephyr/data/navigation.h>
#include <errno.h>
#ifdef __cplusplus
extern "C" {
#endif
/** GNSS PPS modes */
enum gnss_pps_mode {
/** PPS output disabled */
GNSS_PPS_MODE_DISABLED = 0,
/** PPS output always enabled */
GNSS_PPS_MODE_ENABLED = 1,
/** PPS output enabled from first lock */
GNSS_PPS_MODE_ENABLED_AFTER_LOCK = 2,
/** PPS output enabled while locked */
GNSS_PPS_MODE_ENABLED_WHILE_LOCKED = 3
};
/** API for setting fix rate */
typedef int (*gnss_set_fix_rate_t)(const struct device *dev, uint32_t fix_interval_ms);
/** API for getting fix rate */
typedef int (*gnss_get_fix_rate_t)(const struct device *dev, uint32_t *fix_interval_ms);
/**
* @brief GNSS periodic tracking configuration
*
* @note Setting either active_time or inactive_time to 0 will disable periodic
* function.
*/
struct gnss_periodic_config {
/** The time the GNSS will spend in the active state in ms */
uint32_t active_time_ms;
/** The time the GNSS will spend in the inactive state in ms */
uint32_t inactive_time_ms;
};
/** API for setting periodic tracking configuration */
typedef int (*gnss_set_periodic_config_t)(const struct device *dev,
const struct gnss_periodic_config *periodic_config);
/** API for setting periodic tracking configuration */
typedef int (*gnss_get_periodic_config_t)(const struct device *dev,
struct gnss_periodic_config *periodic_config);
/** GNSS navigation modes */
enum gnss_navigation_mode {
/** Dynamics have no impact on tracking */
GNSS_NAVIGATION_MODE_ZERO_DYNAMICS = 0,
/** Low dynamics have higher impact on tracking */
GNSS_NAVIGATION_MODE_LOW_DYNAMICS = 1,
/** Low and high dynamics have equal impact on tracking */
GNSS_NAVIGATION_MODE_BALANCED_DYNAMICS = 2,
/** High dynamics have higher impact on tracking */
GNSS_NAVIGATION_MODE_HIGH_DYNAMICS = 3
};
/** API for setting navigation mode */
typedef int (*gnss_set_navigation_mode_t)(const struct device *dev,
enum gnss_navigation_mode mode);
/** API for getting navigation mode */
typedef int (*gnss_get_navigation_mode_t)(const struct device *dev,
enum gnss_navigation_mode *mode);
/** Systems contained in gnss_systems_t */
enum gnss_system {
/** Global Positioning System (GPS) */
GNSS_SYSTEM_GPS = BIT(0),
/** GLObal NAvigation Satellite System (GLONASS) */
GNSS_SYSTEM_GLONASS = BIT(1),
/** Galileo */
GNSS_SYSTEM_GALILEO = BIT(2),
/** BeiDou Navigation Satellite System */
GNSS_SYSTEM_BEIDOU = BIT(3),
/** Quasi-Zenith Satellite System (QZSS) */
GNSS_SYSTEM_QZSS = BIT(4),
/** Indian Regional Navigation Satellite System (IRNSS) */
GNSS_SYSTEM_IRNSS = BIT(5),
/** Satellite-Based Augmentation System (SBAS) */
GNSS_SYSTEM_SBAS = BIT(6),
/** Indoor Messaging System (IMES) */
GNSS_SYSTEM_IMES = BIT(7),
};
/** Type storing bitmask of GNSS systems */
typedef uint32_t gnss_systems_t;
/** API for enabling systems */
typedef int (*gnss_set_enabled_systems_t)(const struct device *dev, gnss_systems_t systems);
/** API for getting enabled systems */
typedef int (*gnss_get_enabled_systems_t)(const struct device *dev, gnss_systems_t *systems);
/** API for getting enabled systems */
typedef int (*gnss_get_supported_systems_t)(const struct device *dev, gnss_systems_t *systems);
/** GNSS fix status */
enum gnss_fix_status {
/** No GNSS fix aqcuired */
GNSS_FIX_STATUS_NO_FIX = 0,
/** GNSS fix aqcuired */
GNSS_FIX_STATUS_GNSS_FIX = 1,
/** Differential GNSS fix acquired */
GNSS_FIX_STATUS_DGNSS_FIX = 2,
/** Estimated fix acquired */
GNSS_FIX_STATUS_ESTIMATED_FIX = 3,
};
/** GNSS fix quality */
enum gnss_fix_quality {
/** Invalid fix */
GNSS_FIX_QUALITY_INVALID = 0,
/** Standard positioning service */
GNSS_FIX_QUALITY_GNSS_SPS = 1,
/** Differential GNSS */
GNSS_FIX_QUALITY_DGNSS = 2,
/** Precise positioning service */
GNSS_FIX_QUALITY_GNSS_PPS = 3,
/** Real-time kinematic */
GNSS_FIX_QUALITY_RTK = 4,
/** Floating real-time kinematic */
GNSS_FIX_QUALITY_FLOAT_RTK = 5,
/** Estimated fix */
GNSS_FIX_QUALITY_ESTIMATED = 6,
};
/** GNSS info data structure */
struct gnss_info {
/** Number of satellites being tracked */
uint16_t satellites_cnt;
/** Horizontal dilution of precision in 1/1000 */
uint16_t hdop;
/** The fix status */
enum gnss_fix_status fix_status;
/** The fix quality */
enum gnss_fix_quality fix_quality;
};
/** GNSS time data structure */
struct gnss_time {
/** Hour [0, 23] */
uint8_t hour;
/** Minute [0, 59] */
uint8_t minute;
/** Millisecond [0, 59999] */
uint16_t millisecond;
/** Day of month [1, 31] */
uint8_t month_day;
/** Month [1, 12] */
uint8_t month;
/** Year [0, 99] */
uint8_t century_year;
};
/** GNSS API structure */
__subsystem struct gnss_driver_api {
gnss_set_fix_rate_t set_fix_rate;
gnss_get_fix_rate_t get_fix_rate;
gnss_set_periodic_config_t set_periodic_config;
gnss_get_periodic_config_t get_periodic_config;
gnss_set_navigation_mode_t set_navigation_mode;
gnss_get_navigation_mode_t get_navigation_mode;
gnss_set_enabled_systems_t set_enabled_systems;
gnss_get_enabled_systems_t get_enabled_systems;
gnss_get_supported_systems_t get_supported_systems;
};
/** GNSS data structure */
struct gnss_data {
/** Navigation data acquired */
struct navigation_data nav_data;
/** GNSS info when navigation data was acquired */
struct gnss_info info;
/** UTC time when data was acquired */
struct gnss_time utc;
};
/** Template for GNSS data callback */
typedef void (*gnss_data_callback_t)(const struct device *dev, const struct gnss_data *data);
/** GNSS callback structure */
struct gnss_data_callback {
/** Filter callback to GNSS data from this device if not NULL */
const struct device *dev;
/** Callback called when GNSS data is published */
gnss_data_callback_t callback;
};
/** GNSS satellite structure */
struct gnss_satellite {
/** Pseudo-random noise sequence */
uint8_t prn;
/** Signal-to-noise ratio in dB */
uint8_t snr;
/** Elevation in degrees [0, 90] */
uint8_t elevation;
/** Azimuth relative to True North in degrees [0, 359] */
uint16_t azimuth;
/** System of satellite */
enum gnss_system system;
/** True if satellite is being tracked */
uint8_t is_tracked : 1;
};
/** Template for GNSS satellites callback */
typedef void (*gnss_satellites_callback_t)(const struct device *dev,
const struct gnss_satellite *satellites,
uint16_t size);
/** GNSS callback structure */
struct gnss_satellites_callback {
/** Filter callback to GNSS data from this device if not NULL */
const struct device *dev;
/** Callback called when GNSS satellites is published */
gnss_satellites_callback_t callback;
};
/**
* @brief Set the GNSS fix rate
*
* @param dev Device instance
* @param fix_interval_ms Fix interval to set in milliseconds
*
* @return 0 if successful
* @return -errno negative errno code on failure
*/
__syscall int gnss_set_fix_rate(const struct device *dev, uint32_t fix_interval_ms);
static inline int z_impl_gnss_set_fix_rate(const struct device *dev, uint32_t fix_interval_ms)
{
const struct gnss_driver_api *api = (const struct gnss_driver_api *)dev->api;
if (api->set_fix_rate == NULL) {
return -ENOSYS;
}
return api->set_fix_rate(dev, fix_interval_ms);
}
/**
* @brief Get the GNSS fix rate
*
* @param dev Device instance
* @param fix_interval_ms Destination for fix interval in milliseconds
*
* @return 0 if successful
* @return -errno negative errno code on failure
*/
__syscall int gnss_get_fix_rate(const struct device *dev, uint32_t *fix_interval_ms);
static inline int z_impl_gnss_get_fix_rate(const struct device *dev, uint32_t *fix_interval_ms)
{
const struct gnss_driver_api *api = (const struct gnss_driver_api *)dev->api;
if (api->get_fix_rate == NULL) {
return -ENOSYS;
}
return api->get_fix_rate(dev, fix_interval_ms);
}
/**
* @brief Set the GNSS periodic tracking configuration
*
* @param dev Device instance
* @param config Periodic tracking configuration to set
*
* @return 0 if successful
* @return -errno negative errno code on failure
*/
__syscall int gnss_set_periodic_config(const struct device *dev,
const struct gnss_periodic_config *config);
static inline int z_impl_gnss_set_periodic_config(const struct device *dev,
const struct gnss_periodic_config *config)
{
const struct gnss_driver_api *api = (const struct gnss_driver_api *)dev->api;
if (api->set_periodic_config == NULL) {
return -ENOSYS;
}
return api->set_periodic_config(dev, config);
}
/**
* @brief Get the GNSS periodic tracking configuration
*
* @param dev Device instance
* @param config Destination for periodic tracking configuration
*
* @return 0 if successful
* @return -errno negative errno code on failure
*/
__syscall int gnss_get_periodic_config(const struct device *dev,
struct gnss_periodic_config *config);
static inline int z_impl_gnss_get_periodic_config(const struct device *dev,
struct gnss_periodic_config *config)
{
const struct gnss_driver_api *api = (const struct gnss_driver_api *)dev->api;
if (api->get_periodic_config == NULL) {
return -ENOSYS;
}
return api->get_periodic_config(dev, config);
}
/**
* @brief Set the GNSS navigation mode
*
* @param dev Device instance
* @param mode Navigation mode to set
*
* @return 0 if successful
* @return -errno negative errno code on failure
*/
__syscall int gnss_set_navigation_mode(const struct device *dev,
enum gnss_navigation_mode mode);
static inline int z_impl_gnss_set_navigation_mode(const struct device *dev,
enum gnss_navigation_mode mode)
{
const struct gnss_driver_api *api = (const struct gnss_driver_api *)dev->api;
if (api->set_navigation_mode == NULL) {
return -ENOSYS;
}
return api->set_navigation_mode(dev, mode);
}
/**
* @brief Get the GNSS navigation mode
*
* @param dev Device instance
* @param mode Destination for navigation mode
*
* @return 0 if successful
* @return -errno negative errno code on failure
*/
__syscall int gnss_get_navigation_mode(const struct device *dev,
enum gnss_navigation_mode *mode);
static inline int z_impl_gnss_get_navigation_mode(const struct device *dev,
enum gnss_navigation_mode *mode)
{
const struct gnss_driver_api *api = (const struct gnss_driver_api *)dev->api;
if (api->get_navigation_mode == NULL) {
return -ENOSYS;
}
return api->get_navigation_mode(dev, mode);
}
/**
* @brief Set enabled GNSS systems
*
* @param dev Device instance
* @param systems Systems to enable
*
* @return 0 if successful
* @return -errno negative errno code on failure
*/
__syscall int gnss_set_enabled_systems(const struct device *dev, gnss_systems_t systems);
static inline int z_impl_gnss_set_enabled_systems(const struct device *dev,
gnss_systems_t systems)
{
const struct gnss_driver_api *api = (const struct gnss_driver_api *)dev->api;
if (api->set_enabled_systems == NULL) {
return -ENOSYS;
}
return api->set_enabled_systems(dev, systems);
}
/**
* @brief Get enabled GNSS systems
*
* @param dev Device instance
* @param systems Destination for enabled systems
*
* @return 0 if successful
* @return -errno negative errno code on failure
*/
__syscall int gnss_get_enabled_systems(const struct device *dev, gnss_systems_t *systems);
static inline int z_impl_gnss_get_enabled_systems(const struct device *dev,
gnss_systems_t *systems)
{
const struct gnss_driver_api *api = (const struct gnss_driver_api *)dev->api;
if (api->get_enabled_systems == NULL) {
return -ENOSYS;
}
return api->get_enabled_systems(dev, systems);
}
/**
* @brief Get supported GNSS systems
*
* @param dev Device instance
* @param systems Destination for supported systems
*
* @return 0 if successful
* @return -errno negative errno code on failure
*/
__syscall int gnss_get_supported_systems(const struct device *dev, gnss_systems_t *systems);
static inline int z_impl_gnss_get_supported_systems(const struct device *dev,
gnss_systems_t *systems)
{
const struct gnss_driver_api *api = (const struct gnss_driver_api *)dev->api;
if (api->get_supported_systems == NULL) {
return -ENOSYS;
}
return api->get_supported_systems(dev, systems);
}
/**
* @brief Register a callback structure for GNSS data published
*
* @param _dev Device pointer
* @param _callback The callback function
*/
#if CONFIG_GNSS
#define GNSS_DATA_CALLBACK_DEFINE(_dev, _callback) \
static const STRUCT_SECTION_ITERABLE(gnss_data_callback, \
_gnss_data_callback__##_callback) = { \
.dev = _dev, \
.callback = _callback, \
}
#else
#define GNSS_DATA_CALLBACK_DEFINE(_dev, _callback)
#endif
/**
* @brief Register a callback structure for GNSS satellites published
*
* @param _dev Device pointer
* @param _callback The callback function
*/
#if CONFIG_GNSS_SATELLITES
#define GNSS_SATELLITES_CALLBACK_DEFINE(_dev, _callback) \
static const STRUCT_SECTION_ITERABLE(gnss_satellites_callback, \
_gnss_satellites_callback__##_callback) = { \
.dev = _dev, \
.callback = _callback, \
}
#else
#define GNSS_SATELLITES_CALLBACK_DEFINE(_dev, _callback)
#endif
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#include <syscalls/gnss.h>
#endif /* ZEPHYR_INCLUDE_DRIVERS_GNSS_H_ */