gnss: gnss_emul: manual data update mode

Add an option for the GNSS fix state reported by the emulated GNSS modem
to be manually configured by test code, instead of being hardcoded to
always achieve a fix of hardcoded parameters after 5 seconds.

Signed-off-by: Jordan Yates <[email protected]>

Author: JordanYates

drivers/gnss/Kconfig.emul

@@ -9,3 +9,12 @@ config GNSS_EMUL
 	select TIMEOUT_64BIT
 	help
 	  Enable emulated GNSS driver.
+
+config GNSS_EMUL_MANUAL_UPDATE
+	bool "Internal state manually updated through gnss_emul_set_data"
+	depends on GNSS_EMUL
+	help
+	  The internal state of the GNSS emulator (location, time, etc)
+	  must be updated through gnss_emul_set_data, instead of automatically
+	  transitioning to hardcoded states at hardcoded times. Once the current
+	  time is set, the published time automatically increments.

drivers/gnss/gnss_emul.c

@@ -73,15 +73,6 @@ static void gnss_emul_update_fix_timestamp(const struct device *dev, bool resumi
 	}
 }
 
-static bool gnss_emul_fix_is_acquired(const struct device *dev)
-{
-	struct gnss_emul_data *data = dev->data;
-	int64_t time_since_resume;
-
-	time_since_resume = data->fix_timestamp_ms - data->resume_timestamp_ms;
-	return time_since_resume >= GNSS_EMUL_FIX_ACQUIRE_TIME_MS;
-}
-
 #ifdef CONFIG_PM_DEVICE
 static void gnss_emul_clear_fix_timestamp(const struct device *dev)
 {
@@ -346,23 +337,13 @@ static DEVICE_API(gnss, api) = {
 	.get_supported_systems = gnss_emul_api_get_supported_systems,
 };
 
-static void gnss_emul_clear_data(const struct device *dev)
+void gnss_emul_clear_data(const struct device *dev)
 {
 	struct gnss_emul_data *data = dev->data;
 
 	memset(&data->data, 0, sizeof(data->data));
 }
 
-static void gnss_emul_set_fix(const struct device *dev)
-{
-	struct gnss_emul_data *data = dev->data;
-
-	data->data.info.satellites_cnt = 8;
-	data->data.info.hdop = 100;
-	data->data.info.fix_status = GNSS_FIX_STATUS_GNSS_FIX;
-	data->data.info.fix_quality = GNSS_FIX_QUALITY_GNSS_SPS;
-}
-
 static void gnss_emul_set_utc(const struct device *dev)
 {
 	struct gnss_emul_data *data = dev->data;
@@ -384,6 +365,40 @@ static void gnss_emul_set_utc(const struct device *dev)
 	data->data.utc.century_year = datetime.tm_year % 100;
 }
 
+#ifdef CONFIG_GNSS_EMUL_MANUAL_UPDATE
+
+void gnss_emul_set_data(const struct device *dev, const struct navigation_data *nav,
+			const struct gnss_info *info, int64_t timestamp_ms)
+{
+	struct gnss_emul_data *data = dev->data;
+
+	data->data.nav_data = *nav;
+	data->data.info = *info;
+	data->fix_timestamp_ms = timestamp_ms;
+	gnss_emul_set_utc(dev);
+}
+
+#else
+
+static bool gnss_emul_fix_is_acquired(const struct device *dev)
+{
+	struct gnss_emul_data *data = dev->data;
+	int64_t time_since_resume;
+
+	time_since_resume = data->fix_timestamp_ms - data->resume_timestamp_ms;
+	return time_since_resume >= GNSS_EMUL_FIX_ACQUIRE_TIME_MS;
+}
+
+static void gnss_emul_set_fix(const struct device *dev)
+{
+	struct gnss_emul_data *data = dev->data;
+
+	data->data.info.satellites_cnt = 8;
+	data->data.info.hdop = 100;
+	data->data.info.fix_status = GNSS_FIX_STATUS_GNSS_FIX;
+	data->data.info.fix_quality = GNSS_FIX_QUALITY_GNSS_SPS;
+}
+
 static void gnss_emul_set_nav_data(const struct device *dev)
 {
 	struct gnss_emul_data *data = dev->data;
@@ -395,6 +410,8 @@ static void gnss_emul_set_nav_data(const struct device *dev)
 	data->data.nav_data.altitude = 20000;
 }
 
+#endif /* CONFIG_GNSS_EMUL_MANUAL_UPDATE */
+
 #ifdef CONFIG_GNSS_SATELLITES
 static void gnss_emul_clear_satellites(const struct device *dev)
 {
@@ -444,13 +461,19 @@ static void gnss_emul_work_handler(struct k_work *work)
 	struct gnss_emul_data *data = CONTAINER_OF(dwork, struct gnss_emul_data, data_dwork);
 	const struct device *dev = data->dev;
 
+#ifdef CONFIG_GNSS_EMUL_MANUAL_UPDATE
+	/* Tick the timestamp */
+	gnss_emul_set_utc(dev);
+#else
+	/* Automatically update internal state if not done manually */
 	if (!gnss_emul_fix_is_acquired(dev)) {
 		gnss_emul_clear_data(dev);
 	} else {
 		gnss_emul_set_fix(dev);
 		gnss_emul_set_utc(dev);
 		gnss_emul_set_nav_data(dev);
 	}
+#endif /* CONFIG_GNSS_EMUL_MANUAL_UPDATE */
 
 	gnss_publish_data(dev, &data->data);
 

include/zephyr/drivers/gnss/gnss_emul.h

@@ -0,0 +1,33 @@
+/*
+ * Copyright (c) 2025 Embeint Pty Ltd
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef ZEPHYR_DRIVERS_GNSS_GNSS_EMUL_H_
+#define ZEPHYR_DRIVERS_GNSS_GNSS_EMUL_H_
+
+#include <stdint.h>
+
+#include <zephyr/device.h>
+#include <zephyr/drivers/gnss.h>
+
+/**
+ * @brief Clear all internal GNSS data of the emulator
+ *
+ * @param dev GNSS emulator device
+ */
+void gnss_emul_clear_data(const struct device *dev);
+
+/**
+ * @brief Set the internal GNSS data of the emulator
+ *
+ * @param dev GNSS emulator device
+ * @param nav Updated navigation state
+ * @param info Updated GNSS fix information
+ * @param timestamp_ms Timestamp associated with the GNSS fix
+ */
+void gnss_emul_set_data(const struct device *dev, const struct navigation_data *nav,
+			const struct gnss_info *info, int64_t timestamp_ms);
+
+#endif /* ZEPHYR_DRIVERS_GNSS_GNSS_EMUL_H_ */