Zephyr API Documentation  3.7.0-rc2
A Scalable Open Source RTOS
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gnss.h
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1/*
2 * Copyright (c) 2023 Trackunit Corporation
3 *
4 * SPDX-License-Identifier: Apache-2.0
5 */
6
12#ifndef ZEPHYR_INCLUDE_DRIVERS_GNSS_H_
13#define ZEPHYR_INCLUDE_DRIVERS_GNSS_H_
14
24#include <zephyr/types.h>
25#include <zephyr/device.h>
27#include <errno.h>
28
29#ifdef __cplusplus
30extern "C" {
31#endif
32
43};
44
46typedef int (*gnss_set_fix_rate_t)(const struct device *dev, uint32_t fix_interval_ms);
47
49typedef int (*gnss_get_fix_rate_t)(const struct device *dev, uint32_t *fix_interval_ms);
50
62};
63
65typedef int (*gnss_set_periodic_config_t)(const struct device *dev,
66 const struct gnss_periodic_config *periodic_config);
67
69typedef int (*gnss_get_periodic_config_t)(const struct device *dev,
70 struct gnss_periodic_config *periodic_config);
71
82};
83
85typedef int (*gnss_set_navigation_mode_t)(const struct device *dev,
86 enum gnss_navigation_mode mode);
87
89typedef int (*gnss_get_navigation_mode_t)(const struct device *dev,
90 enum gnss_navigation_mode *mode);
91
110};
111
114
116typedef int (*gnss_set_enabled_systems_t)(const struct device *dev, gnss_systems_t systems);
117
119typedef int (*gnss_get_enabled_systems_t)(const struct device *dev, gnss_systems_t *systems);
120
122typedef int (*gnss_get_supported_systems_t)(const struct device *dev, gnss_systems_t *systems);
123
134};
135
152};
153
155struct gnss_info {
164};
165
167struct gnss_time {
180};
181
183__subsystem struct gnss_driver_api {
193};
194
196struct gnss_data {
203};
204
206typedef void (*gnss_data_callback_t)(const struct device *dev, const struct gnss_data *data);
207
211 const struct device *dev;
214};
215
230};
231
233typedef void (*gnss_satellites_callback_t)(const struct device *dev,
234 const struct gnss_satellite *satellites,
235 uint16_t size);
236
240 const struct device *dev;
243};
244
254__syscall int gnss_set_fix_rate(const struct device *dev, uint32_t fix_interval_ms);
255
256static inline int z_impl_gnss_set_fix_rate(const struct device *dev, uint32_t fix_interval_ms)
257{
258 const struct gnss_driver_api *api = (const struct gnss_driver_api *)dev->api;
259
260 if (api->set_fix_rate == NULL) {
261 return -ENOSYS;
262 }
263
264 return api->set_fix_rate(dev, fix_interval_ms);
265}
266
276__syscall int gnss_get_fix_rate(const struct device *dev, uint32_t *fix_interval_ms);
277
278static inline int z_impl_gnss_get_fix_rate(const struct device *dev, uint32_t *fix_interval_ms)
279{
280 const struct gnss_driver_api *api = (const struct gnss_driver_api *)dev->api;
281
282 if (api->get_fix_rate == NULL) {
283 return -ENOSYS;
284 }
285
286 return api->get_fix_rate(dev, fix_interval_ms);
287}
288
298__syscall int gnss_set_periodic_config(const struct device *dev,
299 const struct gnss_periodic_config *config);
300
301static inline int z_impl_gnss_set_periodic_config(const struct device *dev,
302 const struct gnss_periodic_config *config)
303{
304 const struct gnss_driver_api *api = (const struct gnss_driver_api *)dev->api;
305
306 if (api->set_periodic_config == NULL) {
307 return -ENOSYS;
308 }
309
310 return api->set_periodic_config(dev, config);
311}
312
322__syscall int gnss_get_periodic_config(const struct device *dev,
323 struct gnss_periodic_config *config);
324
325static inline int z_impl_gnss_get_periodic_config(const struct device *dev,
326 struct gnss_periodic_config *config)
327{
328 const struct gnss_driver_api *api = (const struct gnss_driver_api *)dev->api;
329
330 if (api->get_periodic_config == NULL) {
331 return -ENOSYS;
332 }
333
334 return api->get_periodic_config(dev, config);
335}
336
346__syscall int gnss_set_navigation_mode(const struct device *dev,
347 enum gnss_navigation_mode mode);
348
349static inline int z_impl_gnss_set_navigation_mode(const struct device *dev,
350 enum gnss_navigation_mode mode)
351{
352 const struct gnss_driver_api *api = (const struct gnss_driver_api *)dev->api;
353
354 if (api->set_navigation_mode == NULL) {
355 return -ENOSYS;
356 }
357
358 return api->set_navigation_mode(dev, mode);
359}
360
370__syscall int gnss_get_navigation_mode(const struct device *dev,
371 enum gnss_navigation_mode *mode);
372
373static inline int z_impl_gnss_get_navigation_mode(const struct device *dev,
374 enum gnss_navigation_mode *mode)
375{
376 const struct gnss_driver_api *api = (const struct gnss_driver_api *)dev->api;
377
378 if (api->get_navigation_mode == NULL) {
379 return -ENOSYS;
380 }
381
382 return api->get_navigation_mode(dev, mode);
383}
384
394__syscall int gnss_set_enabled_systems(const struct device *dev, gnss_systems_t systems);
395
396static inline int z_impl_gnss_set_enabled_systems(const struct device *dev,
397 gnss_systems_t systems)
398{
399 const struct gnss_driver_api *api = (const struct gnss_driver_api *)dev->api;
400
401 if (api->set_enabled_systems == NULL) {
402 return -ENOSYS;
403 }
404
405 return api->set_enabled_systems(dev, systems);
406}
407
417__syscall int gnss_get_enabled_systems(const struct device *dev, gnss_systems_t *systems);
418
419static inline int z_impl_gnss_get_enabled_systems(const struct device *dev,
420 gnss_systems_t *systems)
421{
422 const struct gnss_driver_api *api = (const struct gnss_driver_api *)dev->api;
423
424 if (api->get_enabled_systems == NULL) {
425 return -ENOSYS;
426 }
427
428 return api->get_enabled_systems(dev, systems);
429}
430
440__syscall int gnss_get_supported_systems(const struct device *dev, gnss_systems_t *systems);
441
442static inline int z_impl_gnss_get_supported_systems(const struct device *dev,
443 gnss_systems_t *systems)
444{
445 const struct gnss_driver_api *api = (const struct gnss_driver_api *)dev->api;
446
447 if (api->get_supported_systems == NULL) {
448 return -ENOSYS;
449 }
450
451 return api->get_supported_systems(dev, systems);
452}
453
460#if CONFIG_GNSS
461#define GNSS_DATA_CALLBACK_DEFINE(_dev, _callback) \
462 static const STRUCT_SECTION_ITERABLE(gnss_data_callback, \
463 _gnss_data_callback__##_callback) = { \
464 .dev = _dev, \
465 .callback = _callback, \
466 }
467#else
468#define GNSS_DATA_CALLBACK_DEFINE(_dev, _callback)
469#endif
470
477#if CONFIG_GNSS_SATELLITES
478#define GNSS_SATELLITES_CALLBACK_DEFINE(_dev, _callback) \
479 static const STRUCT_SECTION_ITERABLE(gnss_satellites_callback, \
480 _gnss_satellites_callback__##_callback) = { \
481 .dev = _dev, \
482 .callback = _callback, \
483 }
484#else
485#define GNSS_SATELLITES_CALLBACK_DEFINE(_dev, _callback)
486#endif
487
492#ifdef __cplusplus
493}
494#endif
495
496#include <zephyr/syscalls/gnss.h>
497
498#endif /* ZEPHYR_INCLUDE_DRIVERS_GNSS_H_ */
System error numbers.
void(* gnss_data_callback_t)(const struct device *dev, const struct gnss_data *data)
Template for GNSS data callback.
Definition: gnss.h:206
int gnss_get_enabled_systems(const struct device *dev, gnss_systems_t *systems)
Get enabled GNSS systems.
gnss_fix_status
GNSS fix status.
Definition: gnss.h:125
int gnss_set_fix_rate(const struct device *dev, uint32_t fix_interval_ms)
Set the GNSS fix rate.
int(* gnss_set_periodic_config_t)(const struct device *dev, const struct gnss_periodic_config *periodic_config)
API for setting periodic tracking configuration.
Definition: gnss.h:65
gnss_pps_mode
GNSS PPS modes.
Definition: gnss.h:34
int gnss_get_periodic_config(const struct device *dev, struct gnss_periodic_config *config)
Get the GNSS periodic tracking configuration.
int gnss_get_supported_systems(const struct device *dev, gnss_systems_t *systems)
Get supported GNSS systems.
int(* gnss_get_fix_rate_t)(const struct device *dev, uint32_t *fix_interval_ms)
API for getting fix rate.
Definition: gnss.h:49
uint32_t gnss_systems_t
Type storing bitmask of GNSS systems.
Definition: gnss.h:113
int(* gnss_set_fix_rate_t)(const struct device *dev, uint32_t fix_interval_ms)
API for setting fix rate.
Definition: gnss.h:46
int(* gnss_get_periodic_config_t)(const struct device *dev, struct gnss_periodic_config *periodic_config)
API for setting periodic tracking configuration.
Definition: gnss.h:69
int gnss_set_periodic_config(const struct device *dev, const struct gnss_periodic_config *config)
Set the GNSS periodic tracking configuration.
void(* gnss_satellites_callback_t)(const struct device *dev, const struct gnss_satellite *satellites, uint16_t size)
Template for GNSS satellites callback.
Definition: gnss.h:233
int gnss_set_enabled_systems(const struct device *dev, gnss_systems_t systems)
Set enabled GNSS systems.
int gnss_get_fix_rate(const struct device *dev, uint32_t *fix_interval_ms)
Get the GNSS fix rate.
int(* gnss_set_enabled_systems_t)(const struct device *dev, gnss_systems_t systems)
API for enabling systems.
Definition: gnss.h:116
gnss_system
Systems contained in gnss_systems_t.
Definition: gnss.h:93
int(* gnss_get_navigation_mode_t)(const struct device *dev, enum gnss_navigation_mode *mode)
API for getting navigation mode.
Definition: gnss.h:89
int gnss_set_navigation_mode(const struct device *dev, enum gnss_navigation_mode mode)
Set the GNSS navigation mode.
gnss_fix_quality
GNSS fix quality.
Definition: gnss.h:137
int(* gnss_get_enabled_systems_t)(const struct device *dev, gnss_systems_t *systems)
API for getting enabled systems.
Definition: gnss.h:119
gnss_navigation_mode
GNSS navigation modes.
Definition: gnss.h:73
int gnss_get_navigation_mode(const struct device *dev, enum gnss_navigation_mode *mode)
Get the GNSS navigation mode.
int(* gnss_set_navigation_mode_t)(const struct device *dev, enum gnss_navigation_mode mode)
API for setting navigation mode.
Definition: gnss.h:85
int(* gnss_get_supported_systems_t)(const struct device *dev, gnss_systems_t *systems)
API for getting enabled systems.
Definition: gnss.h:122
@ GNSS_FIX_STATUS_ESTIMATED_FIX
Estimated fix acquired.
Definition: gnss.h:133
@ GNSS_FIX_STATUS_DGNSS_FIX
Differential GNSS fix acquired.
Definition: gnss.h:131
@ GNSS_FIX_STATUS_NO_FIX
No GNSS fix acquired.
Definition: gnss.h:127
@ GNSS_FIX_STATUS_GNSS_FIX
GNSS fix acquired.
Definition: gnss.h:129
@ GNSS_PPS_MODE_ENABLED_AFTER_LOCK
PPS output enabled from first lock.
Definition: gnss.h:40
@ GNSS_PPS_MODE_DISABLED
PPS output disabled.
Definition: gnss.h:36
@ GNSS_PPS_MODE_ENABLED
PPS output always enabled.
Definition: gnss.h:38
@ GNSS_PPS_MODE_ENABLED_WHILE_LOCKED
PPS output enabled while locked.
Definition: gnss.h:42
@ GNSS_SYSTEM_GALILEO
Galileo.
Definition: gnss.h:99
@ GNSS_SYSTEM_BEIDOU
BeiDou Navigation Satellite System.
Definition: gnss.h:101
@ GNSS_SYSTEM_SBAS
Satellite-Based Augmentation System (SBAS)
Definition: gnss.h:107
@ GNSS_SYSTEM_IMES
Indoor Messaging System (IMES)
Definition: gnss.h:109
@ GNSS_SYSTEM_GLONASS
GLObal NAvigation Satellite System (GLONASS)
Definition: gnss.h:97
@ GNSS_SYSTEM_IRNSS
Indian Regional Navigation Satellite System (IRNSS)
Definition: gnss.h:105
@ GNSS_SYSTEM_GPS
Global Positioning System (GPS)
Definition: gnss.h:95
@ GNSS_SYSTEM_QZSS
Quasi-Zenith Satellite System (QZSS)
Definition: gnss.h:103
@ GNSS_FIX_QUALITY_GNSS_SPS
Standard positioning service.
Definition: gnss.h:141
@ GNSS_FIX_QUALITY_RTK
Real-time kinematic.
Definition: gnss.h:147
@ GNSS_FIX_QUALITY_DGNSS
Differential GNSS.
Definition: gnss.h:143
@ GNSS_FIX_QUALITY_INVALID
Invalid fix.
Definition: gnss.h:139
@ GNSS_FIX_QUALITY_ESTIMATED
Estimated fix.
Definition: gnss.h:151
@ GNSS_FIX_QUALITY_GNSS_PPS
Precise positioning service.
Definition: gnss.h:145
@ GNSS_FIX_QUALITY_FLOAT_RTK
Floating real-time kinematic.
Definition: gnss.h:149
@ GNSS_NAVIGATION_MODE_HIGH_DYNAMICS
High dynamics have higher impact on tracking.
Definition: gnss.h:81
@ GNSS_NAVIGATION_MODE_ZERO_DYNAMICS
Dynamics have no impact on tracking.
Definition: gnss.h:75
@ GNSS_NAVIGATION_MODE_BALANCED_DYNAMICS
Low and high dynamics have equal impact on tracking.
Definition: gnss.h:79
@ GNSS_NAVIGATION_MODE_LOW_DYNAMICS
Low dynamics have higher impact on tracking.
Definition: gnss.h:77
#define BIT(n)
Unsigned integer with bit position n set (signed in assembly language).
Definition: util_macro.h:44
#define ENOSYS
Function not implemented.
Definition: errno.h:83
__UINT32_TYPE__ uint32_t
Definition: stdint.h:90
__UINT8_TYPE__ uint8_t
Definition: stdint.h:88
__UINT16_TYPE__ uint16_t
Definition: stdint.h:89
Runtime device structure (in ROM) per driver instance.
Definition: device.h:403
const void * api
Address of the API structure exposed by the device instance.
Definition: device.h:409
GNSS callback structure.
Definition: gnss.h:209
gnss_data_callback_t callback
Callback called when GNSS data is published.
Definition: gnss.h:213
const struct device * dev
Filter callback to GNSS data from this device if not NULL.
Definition: gnss.h:211
GNSS data structure.
Definition: gnss.h:196
struct navigation_data nav_data
Navigation data acquired.
Definition: gnss.h:198
struct gnss_info info
GNSS info when navigation data was acquired.
Definition: gnss.h:200
struct gnss_time utc
UTC time when data was acquired.
Definition: gnss.h:202
GNSS API structure.
Definition: gnss.h:183
gnss_set_fix_rate_t set_fix_rate
Definition: gnss.h:184
gnss_set_enabled_systems_t set_enabled_systems
Definition: gnss.h:190
gnss_set_periodic_config_t set_periodic_config
Definition: gnss.h:186
gnss_get_navigation_mode_t get_navigation_mode
Definition: gnss.h:189
gnss_set_navigation_mode_t set_navigation_mode
Definition: gnss.h:188
gnss_get_periodic_config_t get_periodic_config
Definition: gnss.h:187
gnss_get_enabled_systems_t get_enabled_systems
Definition: gnss.h:191
gnss_get_fix_rate_t get_fix_rate
Definition: gnss.h:185
gnss_get_supported_systems_t get_supported_systems
Definition: gnss.h:192
GNSS info data structure.
Definition: gnss.h:155
enum gnss_fix_quality fix_quality
The fix quality.
Definition: gnss.h:163
uint32_t hdop
Horizontal dilution of precision in 1/1000.
Definition: gnss.h:159
enum gnss_fix_status fix_status
The fix status.
Definition: gnss.h:161
uint16_t satellites_cnt
Number of satellites being tracked.
Definition: gnss.h:157
GNSS periodic tracking configuration.
Definition: gnss.h:57
uint32_t active_time_ms
The time the GNSS will spend in the active state in ms.
Definition: gnss.h:59
uint32_t inactive_time_ms
The time the GNSS will spend in the inactive state in ms.
Definition: gnss.h:61
GNSS satellite structure.
Definition: gnss.h:217
uint8_t prn
Pseudo-random noise sequence.
Definition: gnss.h:219
uint16_t azimuth
Azimuth relative to True North in degrees [0, 359].
Definition: gnss.h:225
uint8_t elevation
Elevation in degrees [0, 90].
Definition: gnss.h:223
uint8_t snr
Signal-to-noise ratio in dB.
Definition: gnss.h:221
enum gnss_system system
System of satellite.
Definition: gnss.h:227
uint8_t is_tracked
True if satellite is being tracked.
Definition: gnss.h:229
GNSS callback structure.
Definition: gnss.h:238
const struct device * dev
Filter callback to GNSS data from this device if not NULL.
Definition: gnss.h:240
gnss_satellites_callback_t callback
Callback called when GNSS satellites is published.
Definition: gnss.h:242
GNSS time data structure.
Definition: gnss.h:167
uint8_t month
Month [1, 12].
Definition: gnss.h:177
uint16_t millisecond
Millisecond [0, 59999].
Definition: gnss.h:173
uint8_t minute
Minute [0, 59].
Definition: gnss.h:171
uint8_t century_year
Year [0, 99].
Definition: gnss.h:179
uint8_t hour
Hour [0, 23].
Definition: gnss.h:169
uint8_t month_day
Day of month [1, 31].
Definition: gnss.h:175
Navigation data structure.
Definition: navigation.h:25