nrf_modem_gnss.h

Go to the documentation of this file.

/*
 * Copyright (c) 2021 Nordic Semiconductor ASA
 *
 * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
 */
 
#ifndef NRF_MODEM_GNSS_H__
#define NRF_MODEM_GNSS_H__
 
#include <stdint.h>
#include <stdbool.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define NRF_MODEM_GNSS_MAX_SYSTEMS 4
 
#define NRF_MODEM_GNSS_MAX_SIGNALS 4
 
#define NRF_MODEM_GNSS_MAX_SATELLITES 12
 
#define NRF_MODEM_GNSS_NUM_GPS_SATELLITES 32
 
#define NRF_MODEM_GNSS_SYSTEM_INVALID 0
#define NRF_MODEM_GNSS_SYSTEM_GPS     1
#define NRF_MODEM_GNSS_SYSTEM_QZSS    3
#define NRF_MODEM_GNSS_SIGNAL_INVALID    0
#define NRF_MODEM_GNSS_SIGNAL_GPS_L1_CA  1
#define NRF_MODEM_GNSS_SIGNAL_QZSS_L1_CA 3
#define NRF_MODEM_GNSS_SYSTEM_GPS_L1_CA_MASK  0x01
#define NRF_MODEM_GNSS_SYSTEM_QZSS_L1_CA_MASK 0x04
#define NRF_MODEM_GNSS_NMEA_GGA_MASK 0x01
#define NRF_MODEM_GNSS_NMEA_GLL_MASK 0x02
#define NRF_MODEM_GNSS_NMEA_GSA_MASK 0x04
#define NRF_MODEM_GNSS_NMEA_GSV_MASK 0x08
#define NRF_MODEM_GNSS_NMEA_RMC_MASK 0x10
#define NRF_MODEM_GNSS_PSM_DISABLED                 0
#define NRF_MODEM_GNSS_PSM_DUTY_CYCLING_PERFORMANCE 1
#define NRF_MODEM_GNSS_PSM_DUTY_CYCLING_POWER       2
#define NRF_MODEM_GNSS_USE_CASE_MULTIPLE_HOT_START     0x01
#define NRF_MODEM_GNSS_USE_CASE_LOW_ACCURACY           0x02
#define NRF_MODEM_GNSS_USE_CASE_SCHED_DOWNLOAD_DISABLE 0x04
#define NRF_MODEM_GNSS_PVT_FLAG_FIX_VALID              0x01
#define NRF_MODEM_GNSS_PVT_FLAG_LEAP_SECOND_VALID      0x02
#define NRF_MODEM_GNSS_PVT_FLAG_SLEEP_BETWEEN_PVT      0x04
#define NRF_MODEM_GNSS_PVT_FLAG_DEADLINE_MISSED        0x08
#define NRF_MODEM_GNSS_PVT_FLAG_NOT_ENOUGH_WINDOW_TIME 0x10
#define NRF_MODEM_GNSS_PVT_FLAG_VELOCITY_VALID         0x20
#define NRF_MODEM_GNSS_PVT_FLAG_SCHED_DOWNLOAD         0x40
#define NRF_MODEM_GNSS_SV_FLAG_USED_IN_FIX 0x02
#define NRF_MODEM_GNSS_SV_FLAG_UNHEALTHY   0x08
#define NRF_MODEM_GNSS_AGNSS_GPS_UTC_PARAMETERS               1
#define NRF_MODEM_GNSS_AGNSS_GPS_EPHEMERIDES                  2
#define NRF_MODEM_GNSS_AGNSS_GPS_ALMANAC                      3
#define NRF_MODEM_GNSS_AGNSS_KLOBUCHAR_IONOSPHERIC_CORRECTION 4
#define NRF_MODEM_GNSS_AGNSS_NEQUICK_IONOSPHERIC_CORRECTION   5
#define NRF_MODEM_GNSS_AGNSS_GPS_SYSTEM_CLOCK_AND_TOWS        6
#define NRF_MODEM_GNSS_AGNSS_LOCATION                         7
#define NRF_MODEM_GNSS_AGPS_INTEGRITY                         8
#define NRF_MODEM_GNSS_AGNSS_INTEGRITY                        9
#define NRF_MODEM_GNSS_EVT_PVT                 1
#define NRF_MODEM_GNSS_EVT_FIX                 2
#define NRF_MODEM_GNSS_EVT_NMEA                3
#define NRF_MODEM_GNSS_EVT_AGNSS_REQ           4
#define NRF_MODEM_GNSS_EVT_BLOCKED             5
#define NRF_MODEM_GNSS_EVT_UNBLOCKED           6
#define NRF_MODEM_GNSS_EVT_PERIODIC_WAKEUP     7
#define NRF_MODEM_GNSS_EVT_SLEEP_AFTER_TIMEOUT 8
#define NRF_MODEM_GNSS_EVT_SLEEP_AFTER_FIX     9
#define NRF_MODEM_GNSS_EVT_REF_ALT_EXPIRED     10
#define NRF_MODEM_GNSS_DATA_PVT       1
#define NRF_MODEM_GNSS_DATA_NMEA      2
#define NRF_MODEM_GNSS_DATA_AGNSS_REQ 3
struct nrf_modem_gnss_1pps_config {
        uint16_t pulse_interval;
        uint16_t pulse_width;
        bool apply_start_time;
        uint16_t year;
        uint8_t month;
        uint8_t day;
        uint8_t hour;
        uint8_t minute;
        uint8_t second;
};
 
#define NRF_MODEM_GNSS_TIMING_SOURCE_RTC  0
#define NRF_MODEM_GNSS_TIMING_SOURCE_TCXO 1
#define NRF_MODEM_GNSS_QZSS_NMEA_MODE_STANDARD 0
#define NRF_MODEM_GNSS_QZSS_NMEA_MODE_CUSTOM   1
struct nrf_modem_gnss_datetime {
        uint16_t year;
        uint8_t month;
        uint8_t day;
        uint8_t hour;
        uint8_t minute;
        uint8_t seconds;
        uint16_t ms;
};
 
struct nrf_modem_gnss_sv {
        uint16_t sv;
        uint8_t signal;
        uint16_t cn0;
        int16_t elevation;
        int16_t azimuth;
        uint8_t flags;
};
 
struct nrf_modem_gnss_pvt_data_frame {
        double latitude;
        double longitude;
        float altitude;
        float accuracy;
        float altitude_accuracy;
        float speed;
        float speed_accuracy;
        float vertical_speed;
        float vertical_speed_accuracy;
        float heading;
        float heading_accuracy;
        struct nrf_modem_gnss_datetime datetime;
        float pdop;
        float hdop;
        float vdop;
        float tdop;
        uint8_t flags;
        struct nrf_modem_gnss_sv sv[NRF_MODEM_GNSS_MAX_SATELLITES];
        uint32_t execution_time;
};
 
#define NRF_MODEM_GNSS_NMEA_MAX_LEN 83
 
struct nrf_modem_gnss_nmea_data_frame {
        char nmea_str[NRF_MODEM_GNSS_NMEA_MAX_LEN];
};
 
#define NRF_MODEM_GNSS_AGNSS_GPS_UTC_REQUEST                    0x01
#define NRF_MODEM_GNSS_AGNSS_KLOBUCHAR_REQUEST                  0x02
#define NRF_MODEM_GNSS_AGNSS_NEQUICK_REQUEST                    0x04
#define NRF_MODEM_GNSS_AGNSS_GPS_SYS_TIME_AND_SV_TOW_REQUEST    0x08
#define NRF_MODEM_GNSS_AGNSS_POSITION_REQUEST                   0x10
#define NRF_MODEM_GNSS_AGNSS_INTEGRITY_REQUEST                  0x20
struct nrf_modem_gnss_agnss_system_data_need {
        uint8_t system_id;
        uint64_t sv_mask_ephe;
        uint64_t sv_mask_alm;
};
 
struct nrf_modem_gnss_agnss_data_frame {
        uint32_t data_flags;
        uint8_t system_count;
        struct nrf_modem_gnss_agnss_system_data_need system[NRF_MODEM_GNSS_MAX_SYSTEMS];
};
 
#define NRF_MODEM_GNSS_MAX_SV_EXPIRY_TIMES 127
 
struct nrf_modem_gnss_agnss_sv_expiry {
        uint8_t sv_id;
        uint8_t system_id;
        uint16_t ephe_expiry;
        uint16_t alm_expiry;
};
 
struct nrf_modem_gnss_agnss_expiry {
        uint32_t data_flags;
        uint16_t utc_expiry;
        uint16_t klob_expiry;
        uint16_t neq_expiry;
        uint16_t integrity_expiry;
        uint16_t position_expiry;
        uint8_t sv_count;
        struct nrf_modem_gnss_agnss_sv_expiry sv[NRF_MODEM_GNSS_MAX_SV_EXPIRY_TIMES];
};
 
struct nrf_modem_gnss_agnss_gps_data_utc {
        int32_t a1;
        int32_t a0;
        uint8_t tot;
        uint8_t wn_t;
        int8_t delta_tls;
        uint8_t wn_lsf;
        int8_t dn;
        int8_t delta_tlsf;
};
 
struct nrf_modem_gnss_agnss_gps_data_ephemeris {
        uint8_t sv_id;
        uint8_t health;
        uint16_t iodc;
        uint16_t toc;
        int8_t af2;
        int16_t af1;
        int32_t af0;
        int8_t tgd;
        uint8_t ura;
        uint8_t fit_int;
        uint16_t toe;
        int32_t w;
        int16_t delta_n;
        int32_t m0;
        int32_t omega_dot;
        uint32_t e;
        int16_t idot;
        uint32_t sqrt_a;
        int32_t i0;
        int32_t omega0;
        int16_t crs;
        int16_t cis;
        int16_t cus;
        int16_t crc;
        int16_t cic;
        int16_t cuc;
};
 
struct nrf_modem_gnss_agnss_gps_data_almanac {
        uint8_t sv_id;
        uint8_t wn;
        uint8_t toa;
        uint8_t ioda;
        uint16_t e;
        int16_t delta_i;
        int16_t omega_dot;
        uint8_t sv_health;
        uint32_t sqrt_a;
        int32_t omega0;
        int32_t w;
        int32_t m0;
        int16_t af0;
        int16_t af1;
};
 
struct nrf_modem_gnss_agnss_data_klobuchar {
        int8_t alpha0;
        int8_t alpha1;
        int8_t alpha2;
        int8_t alpha3;
        int8_t beta0;
        int8_t beta1;
        int8_t beta2;
        int8_t beta3;
};
 
struct nrf_modem_gnss_agnss_data_nequick {
        int16_t ai0;
        int16_t ai1;
        int16_t ai2;
        uint8_t storm_cond;
        uint8_t storm_valid;
};
 
struct nrf_modem_gnss_agnss_gps_data_tow_element {
        uint16_t tlm;
        uint8_t flags;
};
 
#define NRF_MODEM_GNSS_AGNSS_GPS_MAX_SV_TOW 32
 
struct nrf_modem_gnss_agnss_gps_data_system_time_and_sv_tow {
        uint16_t date_day;
        uint32_t time_full_s;
        uint16_t time_frac_ms;
        uint32_t sv_mask;
        struct nrf_modem_gnss_agnss_gps_data_tow_element
                sv_tow[NRF_MODEM_GNSS_AGNSS_GPS_MAX_SV_TOW];
};
 
struct nrf_modem_gnss_agnss_data_location {
        int32_t latitude;
 
        int32_t longitude;
 
        int16_t altitude;
 
        uint8_t unc_semimajor;
 
        uint8_t unc_semiminor;
 
        uint8_t orientation_major;
 
        uint8_t unc_altitude;
 
        uint8_t confidence;
};
 
struct nrf_modem_gnss_agps_data_integrity {
        uint32_t integrity_mask;
};
 
struct nrf_modem_gnss_agnss_data_signal_integrity {
        uint8_t signal_id;
        uint64_t integrity_mask;
};
 
struct nrf_modem_gnss_agnss_data_integrity {
        uint8_t signal_count;
        struct nrf_modem_gnss_agnss_data_signal_integrity signal[NRF_MODEM_GNSS_MAX_SIGNALS];
};
 
#define NRF_MODEM_GNSS_DELETE_EPHEMERIDES          0x001
#define NRF_MODEM_GNSS_DELETE_ALMANACS             0x002
#define NRF_MODEM_GNSS_DELETE_IONO_CORRECTION_DATA 0x004
#define NRF_MODEM_GNSS_DELETE_LAST_GOOD_FIX        0x008
#define NRF_MODEM_GNSS_DELETE_GPS_TOW              0x010
#define NRF_MODEM_GNSS_DELETE_GPS_WEEK             0x020
#define NRF_MODEM_GNSS_DELETE_UTC_DATA             0x040
#define NRF_MODEM_GNSS_DELETE_TCXO_OFFSET          0x080
#define NRF_MODEM_GNSS_DELETE_GPS_TOW_PRECISION    0x100
#define NRF_MODEM_GNSS_DELETE_EKF                  0x400
#define NRF_MODEM_GNSS_DYNAMICS_GENERAL_PURPOSE 0
#define NRF_MODEM_GNSS_DYNAMICS_STATIONARY      1
#define NRF_MODEM_GNSS_DYNAMICS_PEDESTRIAN      2
#define NRF_MODEM_GNSS_DYNAMICS_AUTOMOTIVE      3
typedef void (*nrf_modem_gnss_event_handler_type_t)(int event);
 
int32_t nrf_modem_gnss_event_handler_set(nrf_modem_gnss_event_handler_type_t handler);
 
int32_t nrf_modem_gnss_signal_mask_set(uint8_t signal_mask);
 
int32_t nrf_modem_gnss_elevation_threshold_set(uint8_t angle);
 
int32_t nrf_modem_gnss_use_case_set(uint8_t use_case);
 
int32_t nrf_modem_gnss_fix_interval_set(uint16_t fix_interval);
 
int32_t nrf_modem_gnss_fix_retry_set(uint16_t fix_retry);
 
int32_t nrf_modem_gnss_nmea_mask_set(uint16_t nmea_mask);
 
int32_t nrf_modem_gnss_power_mode_set(uint8_t power_mode);
 
int32_t nrf_modem_gnss_timing_source_set(uint8_t timing_source);
 
int32_t nrf_modem_gnss_qzss_nmea_mode_set(uint8_t nmea_mode);
 
int32_t nrf_modem_gnss_qzss_prn_mask_set(uint16_t prn_mask);
 
int32_t nrf_modem_gnss_start(void);
 
int32_t nrf_modem_gnss_stop(void);
 
int32_t nrf_modem_gnss_nv_data_delete(uint32_t delete_mask);
 
int32_t nrf_modem_gnss_prio_mode_enable(void);
 
int32_t nrf_modem_gnss_prio_mode_disable(void);
 
int32_t nrf_modem_gnss_dyn_mode_change(uint32_t mode);
 
int32_t nrf_modem_gnss_1pps_enable(const struct nrf_modem_gnss_1pps_config *config);
 
int32_t nrf_modem_gnss_1pps_disable(void);
 
int32_t nrf_modem_gnss_read(void *buf, int32_t buf_len, int type);
 
int32_t nrf_modem_gnss_agnss_write(void *buf, int32_t buf_len, uint16_t type);
 
int32_t nrf_modem_gnss_agnss_expiry_get(struct nrf_modem_gnss_agnss_expiry *agnss_expiry);
 
#ifdef __cplusplus
}
#endif
 
#endif /* NRF_MODEM_GNSS_H__ */