Merge "GNSS O Features according to go/o-gps-hal"
diff --git a/gnss/1.0/IGnssCallback.hal b/gnss/1.0/IGnssCallback.hal
index b072807..eb66d78 100644
--- a/gnss/1.0/IGnssCallback.hal
+++ b/gnss/1.0/IGnssCallback.hal
@@ -29,21 +29,21 @@
* If this is not set, then the framework will use 1000ms for
* minInterval and will call start() and stop() to schedule the GNSS.
*/
- SCHEDULING = 1 << 0,
+ SCHEDULING = 1 << 0,
/** GNSS supports MS-Based AGNSS mode */
- MSB = 1 << 1,
+ MSB = 1 << 1,
/** GNSS supports MS-Assisted AGNSS mode */
- MSA = 1 << 2,
+ MSA = 1 << 2,
/** GNSS supports single-shot fixes */
- SINGLE_SHOT = 1 << 3,
+ SINGLE_SHOT = 1 << 3,
/** GNSS supports on demand time injection */
- ON_DEMAND_TIME = 1 << 4,
+ ON_DEMAND_TIME = 1 << 4,
/** GNSS supports Geofencing */
- GEOFENCING = 1 << 5,
- /** GNSS supports Measurements. */
- MEASUREMENTS = 1 << 6,
+ GEOFENCING = 1 << 5,
+ /** GNSS supports Measurements for at least GPS. */
+ MEASUREMENTS = 1 << 6,
/** GNSS supports Navigation Messages */
- NAV_MESSAGES = 1 << 7,
+ NAV_MESSAGES = 1 << 7
};
/* GNSS status event values. */
@@ -64,10 +64,11 @@
* Flags that indicate information about the satellite
*/
enum GnssSvFlags : uint8_t {
- NONE = 0,
- HAS_EPHEMERIS_DATA = 1 << 0,
- HAS_ALMANAC_DATA = 1 << 1,
- USED_IN_FIX = 1 << 2
+ NONE = 0,
+ HAS_EPHEMERIS_DATA = 1 << 0,
+ HAS_ALMANAC_DATA = 1 << 1,
+ USED_IN_FIX = 1 << 2,
+ HAS_CARRIER_FREQUENCY = 1 << 3
};
struct GnssSvInfo {
@@ -109,6 +110,17 @@
float azimuthDegrees;
/*
+ * Carrier frequency of the signal tracked, for example it can be the
+ * GPS L1 = 1.57542e9 Hz, or L2, L5, varying GLO channels, etc. If
+ * the field is not set, it is the primary common use frequency,
+ * e.g. L1 for GPS.
+ *
+ * If the data is available, gnssClockFlags must contain
+ * HAS_CARRIER_FREQUENCY.
+ */
+ float carrierFrequencyHz;
+
+ /*
* Contains additional data about the given SV.
*/
bitfield<GnssSvFlags> svFlag;
diff --git a/gnss/1.0/IGnssDebug.hal b/gnss/1.0/IGnssDebug.hal
index ff9ea9f..8784d1a 100644
--- a/gnss/1.0/IGnssDebug.hal
+++ b/gnss/1.0/IGnssDebug.hal
@@ -45,11 +45,28 @@
double longitudeDegrees;
/* Altitude above ellipsoid expressed in meters */
float altitudeMeters;
+ /* Represents 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 accuracyMeters;
+ 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.
@@ -103,7 +120,7 @@
TimeDebug time;
/*
* Provides a list of the decoded satellite ephemeris.
- * Should provide a complete list for all constellations device can track,
+ * Must provide a complete list for all constellations device can track,
* including GnssConstellationType UNKNOWN.
*/
vec<SatelliteData> satelliteDataArray;
diff --git a/gnss/1.0/IGnssMeasurementCallback.hal b/gnss/1.0/IGnssMeasurementCallback.hal
index 9685942..de640ae 100644
--- a/gnss/1.0/IGnssMeasurementCallback.hal
+++ b/gnss/1.0/IGnssMeasurementCallback.hal
@@ -51,7 +51,9 @@
/** A valid 'carrier phase' is stored in the data structure. */
HAS_CARRIER_PHASE = 1 << 11,
/** A valid 'carrier phase uncertainty' is stored in the data structure. */
- HAS_CARRIER_PHASE_UNCERTAINTY = 1 << 12
+ HAS_CARRIER_PHASE_UNCERTAINTY = 1 << 12,
+ /** A valid automatic gain control is stored in the data structure. */
+ HAS_AUTOMATIC_GAIN_CONTROL = 1 << 13
};
/*
@@ -95,7 +97,9 @@
STATE_GAL_E1BC_CODE_LOCK = 1 << 10,
STATE_GAL_E1C_2ND_CODE_LOCK = 1 << 11,
STATE_GAL_E1B_PAGE_SYNC = 1 << 12,
- STATE_SBAS_SYNC = 1 << 13
+ STATE_SBAS_SYNC = 1 << 13,
+ STATE_TOW_KNOWN = 1 << 14,
+ STATE_GLO_TOD_KNOWN = 1 << 15,
};
/*
@@ -321,6 +325,11 @@
* Bit sync : [ 0 20ms ] : STATE_BIT_SYNC set
* Subframe sync : [ 0 6s ] : STATE_SUBFRAME_SYNC set
* TOW decoded : [ 0 1week ] : STATE_TOW_DECODED set
+ * TOW Known : [ 0 1week ] : STATE_TOW_KNOWN set
+ *
+ * Note: TOW Known refers to the case where TOW is possibly not decoded
+ * over the air but has been determined from other sources. If TOW
+ * decoded is set then TOW Known must also be set.
*
* Note: If there is any ambiguity in integer millisecond,
* GNSS_MEASUREMENT_STATE_MSEC_AMBIGUOUS must be set accordingly, in the
@@ -333,33 +342,48 @@
*
* Given the highest sync state that can be achieved, per each satellite,
* valid range for this field can be:
- * Searching : [ 0 ] : STATE_UNKNOWN set
- * C/A code lock : [ 0 1ms ] : STATE_CODE_LOCK set
- * Symbol sync : [ 0 10ms ] : STATE_SYMBOL_SYNC set
- * Bit sync : [ 0 20ms ] : STATE_BIT_SYNC set
- * String sync : [ 0 2s ] : STATE_GLO_STRING_SYNC set
- * Time of day : [ 0 1day ] : STATE_GLO_TOW_DECODED set
+ * Searching : [ 0 ] : STATE_UNKNOWN set
+ * C/A code lock : [ 0 1ms ] : STATE_CODE_LOCK set
+ * Symbol sync : [ 0 10ms ] : STATE_SYMBOL_SYNC set
+ * Bit sync : [ 0 20ms ] : STATE_BIT_SYNC set
+ * String sync : [ 0 2s ] : STATE_GLO_STRING_SYNC set
+ * Time of day decoded : [ 0 1day ] : STATE_GLO_TOD_DECODED set
+ * Time of day known : [ 0 1day ] : STATE_GLO_TOD_KNOWN set
+ *
+ * Note: Time of day known refers to the case where it is possibly not
+ * decoded over the air but has been determined from other sources. If
+ * Time of day decoded is set then Time of day known must also be set.
*
* For Beidou, this is the received Beidou time of week,
* at the measurement time in nanoseconds.
*
* Given the highest sync state that can be achieved, per each satellite,
* valid range for this field can be:
- * Searching : [ 0 ] : STATE_UNKNOWN set.
- * C/A code lock: [ 0 1ms ] : STATE_CODE_LOCK set.
- * Bit sync (D2): [ 0 2ms ] : STATE_BDS_D2_BIT_SYNC set.
- * Bit sync (D1): [ 0 20ms ] : STATE_BIT_SYNC set.
- * Subframe (D2): [ 0 0.6s ] : STATE_BDS_D2_SUBFRAME_SYNC set.
- * Subframe (D1): [ 0 6s ] : STATE_SUBFRAME_SYNC set.
- * Time of week : [ 0 1week ] : STATE_TOW_DECODED set.
+ * Searching : [ 0 ] : STATE_UNKNOWN set.
+ * C/A code lock : [ 0 1ms ] : STATE_CODE_LOCK set.
+ * Bit sync (D2) : [ 0 2ms ] : STATE_BDS_D2_BIT_SYNC set.
+ * Bit sync (D1) : [ 0 20ms ] : STATE_BIT_SYNC set.
+ * Subframe (D2) : [ 0 0.6s ] : STATE_BDS_D2_SUBFRAME_SYNC set.
+ * Subframe (D1) : [ 0 6s ] : STATE_SUBFRAME_SYNC set.
+ * Time of week decoded : [ 0 1week ] : STATE_TOW_DECODED set.
+ * Time of week known : [ 0 1week ] : STATE_TOW_KNOWN set
+ *
+ * Note: TOW Known refers to the case where TOW is possibly not decoded
+ * over the air but has been determined from other sources. If TOW
+ * decoded is set then TOW Known must also be set.
*
* For Galileo, this is the received Galileo time of week,
* at the measurement time in nanoseconds.
*
- * E1BC code lock : [ 0 4ms ] : STATE_GAL_E1BC_CODE_LOCK set.
- * E1C 2nd code lock: [ 0 100ms] : STATE_GAL_E1C_2ND_CODE_LOCK set.
- * E1B page : [ 0 2s ] : STATE_GAL_E1B_PAGE_SYNC set.
- * Time of week : [ 0 1week] : STATE_TOW_DECODED is set.
+ * E1BC code lock : [ 0 4ms ] : STATE_GAL_E1BC_CODE_LOCK set.
+ * E1C 2nd code lock : [ 0 100ms] : STATE_GAL_E1C_2ND_CODE_LOCK set.
+ * E1B page : [ 0 2s ] : STATE_GAL_E1B_PAGE_SYNC set.
+ * Time of week decoded : [ 0 1week] : STATE_TOW_DECODED is set.
+ * Time of week known : [ 0 1week] : STATE_TOW_KNOWN set
+ *
+ * Note: TOW Known refers to the case where TOW is possibly not decoded
+ * over the air but has been determined from other sources. If TOW
+ * decoded is set then TOW Known must also be set.
*
* For SBAS, this is received SBAS time, at the measurement time in
* nanoseconds.
@@ -455,9 +479,10 @@
double accumulatedDeltaRangeUncertaintyM;
/*
- * Carrier frequency at which codes and messages are modulated, it can
- * be L1 or L2. If the field is not set, the carrier frequency is
- * assumed to be L1.
+ * Carrier frequency of the signal tracked, for example it can be the
+ * GPS L1 = 1.57542e9 Hz, or L2, L5, varying GLO channels, etc. If the
+ * field is not set, it is the primary common use frequency,
+ * e.g. L1 for GPS.
*
* If the data is available, gnssClockFlags must contain
* HAS_CARRIER_FREQUENCY.
@@ -524,6 +549,24 @@
* observed noise floor" to "the noise RMS".
*/
double snrDb;
+
+ /*
+ * Automatic gain control (AGC) level. AGC acts as a variable gain
+ * amplifier adjusting the power of the incoming signal to minimize the
+ * quantization losses. The AGC level may be used to indicate potential
+ * interference. When AGC is at a nominal level, this value
+ * must be set as 0. Higher gain (and/or lower input power) must be
+ * output as a positive number. Hence in cases of strong jamming, in the
+ * band of this signal, this value must go more negative.
+ *
+ * Note: Different hardware designs (e.g. antenna, pre-amplification, or
+ * other RF HW components) may also affect the typical output of of this
+ * value on any given hardware design in an open sky test - the
+ * important aspect of this output is that changes in this value are
+ * indicative of changes on input signal power in the frequency band for
+ * this measurement.
+ */
+ double agcLevelDb;
};
/*
diff --git a/gnss/1.0/default/Gnss.cpp b/gnss/1.0/default/Gnss.cpp
index 28a1950..19e22c2 100644
--- a/gnss/1.0/default/Gnss.cpp
+++ b/gnss/1.0/default/Gnss.cpp
@@ -121,7 +121,10 @@
.cN0Dbhz = svInfo.c_n0_dbhz,
.elevationDegrees = svInfo.elevation,
.azimuthDegrees = svInfo.azimuth,
- .svFlag = svInfo.flags
+ .svFlag = svInfo.flags,
+ // Older chipsets do not provide carrier frequency, hence HAS_CARRIER_FREQUENCY flag
+ // is not set and the carrierFrequencyHz field is set to zero
+ .carrierFrequencyHz = 0
};
svStatus.gnssSvList[i] = gnssSvInfo;
}
diff --git a/gnss/1.0/default/GnssMeasurement.cpp b/gnss/1.0/default/GnssMeasurement.cpp
index 0d11636..67f6d8d 100644
--- a/gnss/1.0/default/GnssMeasurement.cpp
+++ b/gnss/1.0/default/GnssMeasurement.cpp
@@ -51,12 +51,19 @@
for (size_t i = 0; i < gnssData.measurementCount; i++) {
auto entry = legacyGnssData->measurements[i];
+ auto state = static_cast<GnssMeasurementState>(entry.state);
+ if (state & IGnssMeasurementCallback::GnssMeasurementState::STATE_TOW_DECODED) {
+ state |= IGnssMeasurementCallback::GnssMeasurementState::STATE_TOW_KNOWN;
+ }
+ if (state & IGnssMeasurementCallback::GnssMeasurementState::STATE_GLO_TOD_DECODED) {
+ state |= IGnssMeasurementCallback::GnssMeasurementState::STATE_GLO_TOD_KNOWN;
+ }
gnssData.measurements[i] = {
.flags = entry.flags,
.svid = entry.svid,
.constellation = static_cast<GnssConstellationType>(entry.constellation),
.timeOffsetNs = entry.time_offset_ns,
- .state = entry.state,
+ .state = state,
.receivedSvTimeInNs = entry.received_sv_time_in_ns,
.receivedSvTimeUncertaintyInNs = entry.received_sv_time_uncertainty_in_ns,
.cN0DbHz = entry.c_n0_dbhz,
diff --git a/gnss/1.0/default/GnssUtils.cpp b/gnss/1.0/default/GnssUtils.cpp
index 9f7e356..4b3ca44 100644
--- a/gnss/1.0/default/GnssUtils.cpp
+++ b/gnss/1.0/default/GnssUtils.cpp
@@ -34,7 +34,13 @@
.altitudeMeters = location->altitude,
.speedMetersPerSec = location->speed,
.bearingDegrees = location->bearing,
- .accuracyMeters = location->accuracy,
+ .horizontalAccuracyMeters = location->accuracy,
+ // Older chipsets do not provide the following 3 fields, hence the flags
+ // HAS_VERTICAL_ACCURACY, HAS_SPEED_ACCURACY and HAS_BEARING_ACCURACY are
+ // not set and the field are set to zeros.
+ .verticalAccuracyMeters = 0,
+ .speedAccuracyMetersPerSecond = 0,
+ .bearingAccuracyDegrees = 0,
.timestamp = location->timestamp
};
}
diff --git a/gnss/1.0/types.hal b/gnss/1.0/types.hal
index ea104c5..2721d44 100644
--- a/gnss/1.0/types.hal
+++ b/gnss/1.0/types.hal
@@ -40,15 +40,21 @@
/** Bit mask to indicate which values are valid in a GnssLocation object. */
enum GnssLocationFlags : uint16_t {
/** GnssLocation has valid latitude and longitude. */
- HAS_LAT_LONG = 0x0001,
+ HAS_LAT_LONG = 0x0001,
/** GnssLocation has valid altitude. */
- HAS_ALTITUDE = 0x0002,
+ HAS_ALTITUDE = 0x0002,
/** GnssLocation has valid speed. */
- HAS_SPEED = 0x0004,
+ HAS_SPEED = 0x0004,
/** GnssLocation has valid bearing. */
- HAS_BEARING = 0x0008,
- /** GnssLocation has valid accuracy. */
- HAS_ACCURACY = 0x0010
+ HAS_BEARING = 0x0008,
+ /** GpsLocation has valid horizontal accuracy. */
+ HAS_HORIZONTAL_ACCURACY = 0x0010,
+ /** GpsLocation has valid vertical accuracy. */
+ HAS_VERTICAL_ACCURACY = 0x0020,
+ /** GpsLocation has valid speed accuracy. */
+ HAS_SPEED_ACCURACY = 0x0040,
+ /** GpsLocation has valid bearing accuracy. */
+ HAS_BEARING_ACCURACY = 0x0080
};
/* Represents a location. */
@@ -73,8 +79,29 @@
/* Represents heading in degrees. */
float bearingDegrees;
- /* Represents expected accuracy in meters. */
- float accuracyMeters;
+ /*
+ * Represents expected horizontal position accuracy, radial, in meters
+ * (68% confidence).
+ */
+ float horizontalAccuracyMeters;
+
+ /*
+ * Represents expected vertical position accuracy in meters
+ * (68% confidence).
+ */
+ float verticalAccuracyMeters;
+
+ /*
+ * Represents expected speed accuracy in meter per seconds
+ * (68% confidence).
+ */
+ float speedAccuracyMetersPerSecond;
+
+ /*
+ * Represents expected bearing accuracy in degrees
+ * (68% confidence).
+ */
+ float bearingAccuracyDegrees;
/* Timestamp for the location fix. */
GnssUtcTime timestamp;