diff --git a/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnss.aidl b/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnss.aidl
index ea98030..9df7fe5 100644
--- a/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnss.aidl
+++ b/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnss.aidl
@@ -44,6 +44,7 @@
   @nullable android.hardware.gnss.IGnssGeofence getExtensionGnssGeofence();
   @nullable android.hardware.gnss.IGnssNavigationMessageInterface getExtensionGnssNavigationMessage();
   android.hardware.gnss.IAGnss getExtensionAGnss();
+  android.hardware.gnss.IGnssDebug getExtensionGnssDebug();
   const int ERROR_INVALID_ARGUMENT = 1;
   const int ERROR_ALREADY_INIT = 2;
   const int ERROR_GENERIC = 3;
diff --git a/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnssDebug.aidl b/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnssDebug.aidl
new file mode 100644
index 0000000..27d9887
--- /dev/null
+++ b/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnssDebug.aidl
@@ -0,0 +1,94 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.gnss;
+@VintfStability
+interface IGnssDebug {
+  android.hardware.gnss.IGnssDebug.DebugData getDebugData();
+  @Backing(type="int") @VintfStability
+  enum SatelliteEphemerisType {
+    EPHEMERIS = 0,
+    ALMANAC_ONLY = 1,
+    NOT_AVAILABLE = 2,
+  }
+  @Backing(type="int") @VintfStability
+  enum SatelliteEphemerisSource {
+    DEMODULATED = 0,
+    SUPL_PROVIDED = 1,
+    OTHER_SERVER_PROVIDED = 2,
+    OTHER = 3,
+  }
+  @Backing(type="int") @VintfStability
+  enum SatelliteEphemerisHealth {
+    GOOD = 0,
+    BAD = 1,
+    UNKNOWN = 2,
+  }
+  @VintfStability
+  parcelable TimeDebug {
+    long timeEstimateMs;
+    float timeUncertaintyNs;
+    float frequencyUncertaintyNsPerSec;
+  }
+  @VintfStability
+  parcelable PositionDebug {
+    boolean valid;
+    double latitudeDegrees;
+    double longitudeDegrees;
+    float altitudeMeters;
+    float speedMetersPerSec;
+    float bearingDegrees;
+    double horizontalAccuracyMeters;
+    double verticalAccuracyMeters;
+    double speedAccuracyMetersPerSecond;
+    double bearingAccuracyDegrees;
+    float ageSeconds;
+  }
+  @VintfStability
+  parcelable SatelliteData {
+    int svid;
+    android.hardware.gnss.GnssConstellationType constellation;
+    android.hardware.gnss.IGnssDebug.SatelliteEphemerisType ephemerisType;
+    android.hardware.gnss.IGnssDebug.SatelliteEphemerisSource ephemerisSource;
+    android.hardware.gnss.IGnssDebug.SatelliteEphemerisHealth ephemerisHealth;
+    float ephemerisAgeSeconds;
+    boolean serverPredictionIsAvailable;
+    float serverPredictionAgeSeconds;
+  }
+  @VintfStability
+  parcelable DebugData {
+    android.hardware.gnss.IGnssDebug.PositionDebug position;
+    android.hardware.gnss.IGnssDebug.TimeDebug time;
+    List<android.hardware.gnss.IGnssDebug.SatelliteData> satelliteDataArray;
+  }
+}
diff --git a/gnss/aidl/android/hardware/gnss/IGnss.aidl b/gnss/aidl/android/hardware/gnss/IGnss.aidl
index 91403ca..2751521 100644
--- a/gnss/aidl/android/hardware/gnss/IGnss.aidl
+++ b/gnss/aidl/android/hardware/gnss/IGnss.aidl
@@ -20,6 +20,7 @@
 import android.hardware.gnss.IGnssBatching;
 import android.hardware.gnss.IGnssCallback;
 import android.hardware.gnss.IGnssConfiguration;
+import android.hardware.gnss.IGnssDebug;
 import android.hardware.gnss.IGnssGeofence;
 import android.hardware.gnss.IGnssMeasurementInterface;
 import android.hardware.gnss.IGnssNavigationMessageInterface;
@@ -134,4 +135,13 @@
      * @return The IAGnss interface.
      */
     IAGnss getExtensionAGnss();
+
+    /**
+     * This method returns the IGnssDebug interface.
+     *
+     * This method must return non-null.
+     *
+     * @return Handle to the IGnssDebug interface.
+     */
+    IGnssDebug getExtensionGnssDebug();
 }
diff --git a/gnss/aidl/android/hardware/gnss/IGnssDebug.aidl b/gnss/aidl/android/hardware/gnss/IGnssDebug.aidl
new file mode 100644
index 0000000..475a4a3
--- /dev/null
+++ b/gnss/aidl/android/hardware/gnss/IGnssDebug.aidl
@@ -0,0 +1,208 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package android.hardware.gnss;
+
+import android.hardware.gnss.GnssConstellationType;
+
+/**
+ * Extended interface for GNSS Debug support
+ *
+ * This information is used for debugging purpose, e.g., shown in a bugreport to
+ * describe the chipset states including time, position, and satellite data.
+ */
+@VintfStability
+interface IGnssDebug {
+    /** Satellite's ephemeris type */
+    @VintfStability
+    @Backing(type="int")
+    enum SatelliteEphemerisType {
+        EPHEMERIS = 0,
+        ALMANAC_ONLY = 1,
+        NOT_AVAILABLE = 2,
+    }
+
+    /** Satellite's ephemeris source */
+    @VintfStability
+    @Backing(type="int")
+    enum SatelliteEphemerisSource {
+        DEMODULATED = 0,
+        SUPL_PROVIDED = 1,
+        OTHER_SERVER_PROVIDED = 2,
+        OTHER = 3,
+    }
+
+    /** Satellite's ephemeris health */
+    @VintfStability
+    @Backing(type="int")
+    enum SatelliteEphemerisHealth {
+        GOOD = 0,
+        BAD = 1,
+        UNKNOWN = 2,
+    }
+
+    /**
+     * Provides the current best known UTC time estimate.
+     * If no fresh information is available, e.g. after a delete all,
+     * then whatever the effective defaults are on the device must be
+     * provided (e.g. Jan. 1, 2017, with an uncertainty of 5 years) expressed
+     * in the specified units.
+     */
+    @VintfStability
+    parcelable TimeDebug {
+        /** UTC time estimate in milliseconds. */
+        long timeEstimateMs;
+
+        /** 68% time error estimate in nanoseconds. */
+        float timeUncertaintyNs;
+
+        /**
+         * 68% error estimate in local clock drift,
+         * in nanoseconds per second (also known as parts per billion - ppb.)
+         */
+        float frequencyUncertaintyNsPerSec;
+    }
+
+    @VintfStability
+    parcelable PositionDebug {
+        /**
+         * Validity of the data in this struct. False only if no
+         * latitude/longitude information is known.
+         */
+        boolean valid;
+
+        /** Latitude expressed in degrees */
+        double latitudeDegrees;
+
+        /** Longitude expressed in degrees */
+        double longitudeDegrees;
+
+        /** Altitude above ellipsoid expressed in meters */
+        float altitudeMeters;
+
+        /** Represents horizontal speed in meters per second. */
+        float speedMetersPerSec;
+
+        /** Represents heading in degrees. */
+        float bearingDegrees;
+
+        /**
+         * Estimated horizontal accuracy of position expressed in meters,
+         * radial, 68% confidence.
+         */
+        double horizontalAccuracyMeters;
+
+        /**
+         * Estimated vertical accuracy of position expressed in meters, with
+         * 68% confidence.
+         */
+        double verticalAccuracyMeters;
+
+        /**
+         * Estimated speed accuracy in meters per second with 68% confidence.
+         */
+        double speedAccuracyMetersPerSecond;
+
+        /**
+         * Estimated bearing accuracy degrees with 68% confidence.
+         */
+        double bearingAccuracyDegrees;
+
+        /**
+         * Time duration before this report that this position information was
+         * valid.  This can, for example, be a previous injected location with
+         * an age potentially thousands of seconds old, or
+         * extrapolated to the current time (with appropriately increased
+         * accuracy estimates), with a (near) zero age.
+         */
+        float ageSeconds;
+    }
+
+    @VintfStability
+    parcelable SatelliteData {
+        /** Satellite vehicle ID number */
+        int svid;
+
+        /** Defines the constellation type of the given SV. */
+        GnssConstellationType constellation;
+
+        /**
+         * Defines the standard broadcast ephemeris or almanac availability for
+         * the satellite.  To report status of predicted orbit and clock
+         * information, see the serverPrediction fields below.
+         */
+        SatelliteEphemerisType ephemerisType;
+
+        /** Defines the ephemeris source of the satellite. */
+        SatelliteEphemerisSource ephemerisSource;
+
+        /**
+         * Defines whether the satellite is known healthy
+         * (safe for use in location calculation.)
+         */
+        SatelliteEphemerisHealth ephemerisHealth;
+
+        /**
+         * Time duration from this report (current time), minus the
+         * effective time of the ephemeris source (e.g. TOE, TOA.)
+         * Set to 0 when ephemerisType is NOT_AVAILABLE.
+         */
+        float ephemerisAgeSeconds;
+
+        /**
+         * True if a server has provided a predicted orbit and clock model for
+         * this satellite.
+         */
+        boolean serverPredictionIsAvailable;
+
+        /**
+         * Time duration from this report (current time) minus the time of the
+         * start of the server predicted information.  For example, a 1 day
+         * old prediction would be reported as 86400 seconds here.
+         */
+        float serverPredictionAgeSeconds;
+    }
+
+    /**
+     * Provides a set of debug information that is filled by the GNSS chipset
+     * when the method getDebugData() is invoked.
+     */
+    @VintfStability
+    parcelable DebugData {
+        /** Current best known position. */
+        PositionDebug position;
+
+        /** Current best know time estimate */
+        TimeDebug time;
+
+        /**
+         * Provides a list of the available satellite data, for all
+         * satellites and constellations the device can track,
+         * including GnssConstellationType UNKNOWN.
+         */
+        List<SatelliteData> satelliteDataArray;
+    }
+
+    /**
+     * This methods requests position, time and satellite ephemeris debug information
+     * from the HAL.
+     *
+     * @return ret debugData information from GNSS Hal that contains the current best
+     * known position, best known time estimate and a complete list of
+     * constellations that the device can track.
+     */
+    DebugData getDebugData();
+}
diff --git a/gnss/aidl/default/Android.bp b/gnss/aidl/default/Android.bp
index 1236714..24569ae 100644
--- a/gnss/aidl/default/Android.bp
+++ b/gnss/aidl/default/Android.bp
@@ -58,6 +58,7 @@
         "AGnss.cpp",
         "Gnss.cpp",
         "GnssBatching.cpp",
+        "GnssDebug.cpp",
         "GnssGeofence.cpp",
         "GnssHidlHal.cpp",
         "GnssNavigationMessageInterface.cpp",
diff --git a/gnss/aidl/default/Gnss.cpp b/gnss/aidl/default/Gnss.cpp
index 0e3cdd3..45d6b1d 100644
--- a/gnss/aidl/default/Gnss.cpp
+++ b/gnss/aidl/default/Gnss.cpp
@@ -21,6 +21,7 @@
 #include "AGnss.h"
 #include "GnssBatching.h"
 #include "GnssConfiguration.h"
+#include "GnssDebug.h"
 #include "GnssGeofence.h"
 #include "GnssMeasurementInterface.h"
 #include "GnssNavigationMessageInterface.h"
@@ -120,4 +121,11 @@
     return ndk::ScopedAStatus::ok();
 }
 
+ndk::ScopedAStatus Gnss::getExtensionGnssDebug(std::shared_ptr<IGnssDebug>* iGnssDebug) {
+    ALOGD("Gnss::getExtensionGnssDebug");
+
+    *iGnssDebug = SharedRefBase::make<GnssDebug>();
+    return ndk::ScopedAStatus::ok();
+}
+
 }  // namespace aidl::android::hardware::gnss
diff --git a/gnss/aidl/default/Gnss.h b/gnss/aidl/default/Gnss.h
index 4feb781..f59607f 100644
--- a/gnss/aidl/default/Gnss.h
+++ b/gnss/aidl/default/Gnss.h
@@ -20,6 +20,7 @@
 #include <aidl/android/hardware/gnss/BnGnss.h>
 #include <aidl/android/hardware/gnss/BnGnssBatching.h>
 #include <aidl/android/hardware/gnss/BnGnssConfiguration.h>
+#include <aidl/android/hardware/gnss/BnGnssDebug.h>
 #include <aidl/android/hardware/gnss/BnGnssMeasurementInterface.h>
 #include <aidl/android/hardware/gnss/BnGnssPowerIndication.h>
 #include <aidl/android/hardware/gnss/BnGnssPsds.h>
@@ -46,6 +47,7 @@
     ndk::ScopedAStatus getExtensionGnssNavigationMessage(
             std::shared_ptr<IGnssNavigationMessageInterface>* iGnssNavigationMessage) override;
     ndk::ScopedAStatus getExtensionAGnss(std::shared_ptr<IAGnss>* iAGnss) override;
+    ndk::ScopedAStatus getExtensionGnssDebug(std::shared_ptr<IGnssDebug>* iGnssDebug) override;
 
     std::shared_ptr<GnssConfiguration> mGnssConfiguration;
     std::shared_ptr<GnssPowerIndication> mGnssPowerIndication;
diff --git a/gnss/aidl/default/GnssDebug.cpp b/gnss/aidl/default/GnssDebug.cpp
new file mode 100644
index 0000000..f40c0bc
--- /dev/null
+++ b/gnss/aidl/default/GnssDebug.cpp
@@ -0,0 +1,50 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#define LOG_TAG "GnssDebugAidl"
+
+#include "GnssDebug.h"
+#include <log/log.h>
+#include "MockLocation.h"
+
+namespace aidl::android::hardware::gnss {
+
+ndk::ScopedAStatus GnssDebug::getDebugData(DebugData* debugData) {
+    ALOGD("GnssDebug::getDebugData");
+
+    PositionDebug positionDebug = {.valid = true,
+                                   .latitudeDegrees = 37.4219999,
+                                   .longitudeDegrees = -122.0840575,
+                                   .altitudeMeters = 1.60062531,
+                                   .speedMetersPerSec = 0,
+                                   .bearingDegrees = 0,
+                                   .horizontalAccuracyMeters = 5,
+                                   .verticalAccuracyMeters = 5,
+                                   .speedAccuracyMetersPerSecond = 1,
+                                   .bearingAccuracyDegrees = 90,
+                                   .ageSeconds = 0.99};
+    TimeDebug timeDebug = {.timeEstimateMs = 1519930775453L,
+                           .timeUncertaintyNs = 1000,
+                           .frequencyUncertaintyNsPerSec = 5.0e4};
+    std::vector<SatelliteData> satelliteDataArrayDebug = {};
+    debugData->position = positionDebug;
+    debugData->time = timeDebug;
+    debugData->satelliteDataArray = satelliteDataArrayDebug;
+
+    return ndk::ScopedAStatus::ok();
+}
+
+}  // namespace aidl::android::hardware::gnss
diff --git a/gnss/aidl/default/GnssDebug.h b/gnss/aidl/default/GnssDebug.h
new file mode 100644
index 0000000..001d47c
--- /dev/null
+++ b/gnss/aidl/default/GnssDebug.h
@@ -0,0 +1,28 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <aidl/android/hardware/gnss/BnGnssDebug.h>
+
+namespace aidl::android::hardware::gnss {
+
+struct GnssDebug : public BnGnssDebug {
+  public:
+    ndk::ScopedAStatus getDebugData(DebugData* debugData) override;
+};
+
+}  // namespace aidl::android::hardware::gnss
diff --git a/gnss/aidl/vts/gnss_hal_test_cases.cpp b/gnss/aidl/vts/gnss_hal_test_cases.cpp
index aac59db..36be631 100644
--- a/gnss/aidl/vts/gnss_hal_test_cases.cpp
+++ b/gnss/aidl/vts/gnss_hal_test_cases.cpp
@@ -19,10 +19,12 @@
 #include <android/hardware/gnss/IAGnss.h>
 #include <android/hardware/gnss/IGnss.h>
 #include <android/hardware/gnss/IGnssBatching.h>
+#include <android/hardware/gnss/IGnssDebug.h>
 #include <android/hardware/gnss/IGnssMeasurementCallback.h>
 #include <android/hardware/gnss/IGnssMeasurementInterface.h>
 #include <android/hardware/gnss/IGnssPowerIndication.h>
 #include <android/hardware/gnss/IGnssPsds.h>
+#include <cutils/properties.h>
 #include "AGnssCallbackAidl.h"
 #include "GnssBatchingCallback.h"
 #include "GnssGeofenceCallback.h"
@@ -43,6 +45,7 @@
 using android::hardware::gnss::IGnssBatching;
 using android::hardware::gnss::IGnssBatchingCallback;
 using android::hardware::gnss::IGnssConfiguration;
+using android::hardware::gnss::IGnssDebug;
 using android::hardware::gnss::IGnssGeofence;
 using android::hardware::gnss::IGnssGeofenceCallback;
 using android::hardware::gnss::IGnssMeasurementCallback;
@@ -55,6 +58,12 @@
 
 using GnssConstellationTypeAidl = android::hardware::gnss::GnssConstellationType;
 
+static bool IsAutomotiveDevice() {
+    char buffer[PROPERTY_VALUE_MAX] = {0};
+    property_get("ro.hardware.type", buffer, "");
+    return strncmp(buffer, "automotive", PROPERTY_VALUE_MAX) == 0;
+}
+
 /*
  * SetupTeardownCreateCleanup:
  * Requests the gnss HAL then calls cleanup
@@ -820,3 +829,50 @@
     status = iAGnss->setServer(AGnssType::SUPL, String16("supl.google.com"), 7275);
     ASSERT_TRUE(status.isOk());
 }
+
+/*
+ * GnssDebugValuesSanityTest:
+ * Ensures that GnssDebug values make sense.
+ */
+TEST_P(GnssHalTest, GnssDebugValuesSanityTest) {
+    if (aidl_gnss_hal_->getInterfaceVersion() == 1) {
+        return;
+    }
+    sp<IGnssDebug> iGnssDebug;
+    auto status = aidl_gnss_hal_->getExtensionGnssDebug(&iGnssDebug);
+    ASSERT_TRUE(status.isOk());
+
+    if (!IsAutomotiveDevice() && gnss_cb_->info_cbq_.calledCount() > 0) {
+        ASSERT_TRUE(iGnssDebug != nullptr);
+
+        IGnssDebug::DebugData data;
+        auto status = iGnssDebug->getDebugData(&data);
+        ASSERT_TRUE(status.isOk());
+
+        if (data.position.valid) {
+            ASSERT_TRUE(data.position.latitudeDegrees >= -90 &&
+                        data.position.latitudeDegrees <= 90);
+            ASSERT_TRUE(data.position.longitudeDegrees >= -180 &&
+                        data.position.longitudeDegrees <= 180);
+            ASSERT_TRUE(data.position.altitudeMeters >= -1000 &&  // Dead Sea: -414m
+                        data.position.altitudeMeters <= 20000);   // Mount Everest: 8850m
+            ASSERT_TRUE(data.position.speedMetersPerSec >= 0 &&
+                        data.position.speedMetersPerSec <= 600);
+            ASSERT_TRUE(data.position.bearingDegrees >= -360 &&
+                        data.position.bearingDegrees <= 360);
+            ASSERT_TRUE(data.position.horizontalAccuracyMeters > 0 &&
+                        data.position.horizontalAccuracyMeters <= 20000000);
+            ASSERT_TRUE(data.position.verticalAccuracyMeters > 0 &&
+                        data.position.verticalAccuracyMeters <= 20000);
+            ASSERT_TRUE(data.position.speedAccuracyMetersPerSecond > 0 &&
+                        data.position.speedAccuracyMetersPerSecond <= 500);
+            ASSERT_TRUE(data.position.bearingAccuracyDegrees > 0 &&
+                        data.position.bearingAccuracyDegrees <= 180);
+            ASSERT_TRUE(data.position.ageSeconds >= 0);
+        }
+        ASSERT_TRUE(data.time.timeEstimateMs >= 1483228800000);  // Jan 01 2017 00:00:00 GMT.
+        ASSERT_TRUE(data.time.timeUncertaintyNs > 0);
+        ASSERT_TRUE(data.time.frequencyUncertaintyNsPerSec > 0 &&
+                    data.time.frequencyUncertaintyNsPerSec <= 2.0e5);  // 200 ppm
+    }
+}