GNSS O Features according to go/o-gps-hal
Added "Tow Known" as a possible gnss measurement state. As well added Automatic Gain Control (AGC)
to allow jammer detection. Also added the GNSS carrier frequeny to SV status. Also adedd vertical
GPS position uncertainty, speed uncertainty and bearing uncertainty. Also propagate locaton new
fields to geofence engine.
Test: Existing unit tests still pass.
Change-Id: I26784a17e82c044002395e1929f8862cc9de63cb
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;