gnss: gnss_emul: functionality extensions

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

@@ -35,10 +35,12 @@ struct gnss_emul_data {
 	struct k_sem lock;
 	int64_t resume_timestamp_ms;
 	int64_t fix_timestamp_ms;
+	int64_t boot_realtime_ms;
 	uint32_t fix_interval_ms;
 	enum gnss_navigation_mode nav_mode;
 	gnss_systems_t enabled_systems;
 	struct gnss_data data;
+	bool active;
 
 #ifdef CONFIG_GNSS_SATELLITES
 	struct gnss_satellite satellites[GNSS_EMUL_SUPPORTED_SYSTEMS_COUNT];
@@ -73,24 +75,6 @@ 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)
-{
-	struct gnss_emul_data *data = dev->data;
-
-	data->fix_timestamp_ms = 0;
-}
-#endif
-
 static void gnss_emul_schedule_work(const struct device *dev)
 {
 	struct gnss_emul_data *data = dev->data;
@@ -110,7 +94,7 @@ static bool gnss_emul_is_resumed(const struct device *dev)
 {
 	struct gnss_emul_data *data = dev->data;
 
-	return data->fix_timestamp_ms > 0;
+	return data->active;
 }
 
 static void gnss_emul_lock(const struct device *dev)
@@ -140,7 +124,7 @@ static int gnss_emul_set_fix_rate(const struct device *dev, uint32_t fix_interva
 	return 0;
 }
 
-static int gnss_emul_get_fix_rate(const struct device *dev, uint32_t *fix_interval_ms)
+int gnss_emul_get_fix_rate(const struct device *dev, uint32_t *fix_interval_ms)
 {
 	struct gnss_emul_data *data = dev->data;
 
@@ -161,8 +145,7 @@ static int gnss_emul_set_navigation_mode(const struct device *dev,
 	return 0;
 }
 
-static int gnss_emul_get_navigation_mode(const struct device *dev,
-					 enum gnss_navigation_mode *mode)
+int gnss_emul_get_navigation_mode(const struct device *dev, enum gnss_navigation_mode *mode)
 {
 	struct gnss_emul_data *data = dev->data;
 
@@ -182,50 +165,14 @@ static int gnss_emul_set_enabled_systems(const struct device *dev, gnss_systems_
 	return 0;
 }
 
-static int gnss_emul_get_enabled_systems(const struct device *dev, gnss_systems_t *systems)
+int gnss_emul_get_enabled_systems(const struct device *dev, gnss_systems_t *systems)
 {
 	struct gnss_emul_data *data = dev->data;
 
 	*systems = data->enabled_systems;
 	return 0;
 }
 
-#ifdef CONFIG_PM_DEVICE
-static void gnss_emul_resume(const struct device *dev)
-{
-	gnss_emul_update_fix_timestamp(dev, true);
-}
-
-static void gnss_emul_suspend(const struct device *dev)
-{
-	gnss_emul_clear_fix_timestamp(dev);
-}
-
-static int gnss_emul_pm_action(const struct device *dev, enum pm_device_action action)
-{
-	int ret = 0;
-
-	gnss_emul_lock(dev);
-
-	switch (action) {
-	case PM_DEVICE_ACTION_SUSPEND:
-		gnss_emul_suspend(dev);
-		break;
-
-	case PM_DEVICE_ACTION_RESUME:
-		gnss_emul_resume(dev);
-		break;
-
-	default:
-		ret = -ENOTSUP;
-		break;
-	}
-
-	gnss_emul_unlock(dev);
-	return ret;
-}
-#endif
-
 static int gnss_emul_api_set_fix_rate(const struct device *dev, uint32_t fix_interval_ms)
 {
 	int ret = -ENODEV;
@@ -346,35 +293,26 @@ 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;
+	int64_t timestamp_realtime;
 	time_t timestamp;
 	struct tm datetime;
 	uint16_t millisecond;
 
-	timestamp = (time_t)(data->fix_timestamp_ms / 1000);
+	timestamp_realtime = data->boot_realtime_ms + data->fix_timestamp_ms;
+	timestamp = (time_t)(timestamp_realtime / 1000);
 	gmtime_r(&timestamp, &datetime);
 
-	millisecond = (uint16_t)(data->fix_timestamp_ms % 1000)
-		    + (uint16_t)(datetime.tm_sec * 1000);
+	millisecond = (uint16_t)(timestamp_realtime % 1000) + (uint16_t)(datetime.tm_sec * 1000);
 
 	data->data.utc.hour = datetime.tm_hour;
 	data->data.utc.millisecond = millisecond;
@@ -384,6 +322,40 @@ 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 boot_realtime_ms)
+{
+	struct gnss_emul_data *data = dev->data;
+
+	data->data.nav_data = *nav;
+	data->data.info = *info;
+	data->boot_realtime_ms = boot_realtime_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 +367,8 @@ 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 +418,19 @@ 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);
 
@@ -463,27 +443,57 @@ static void gnss_emul_work_handler(struct k_work *work)
 	gnss_emul_schedule_work(dev);
 }
 
-static void gnss_emul_init_data(const struct device *dev)
+static void gnss_emul_resume(const struct device *dev)
 {
 	struct gnss_emul_data *data = dev->data;
 
-	data->dev = dev;
-	k_sem_init(&data->lock, 1, 1);
-	k_work_init_delayable(&data->data_dwork, gnss_emul_work_handler);
+	data->active = true;
+	gnss_emul_update_fix_timestamp(dev, true);
+	gnss_emul_schedule_work(dev);
 }
 
-static int gnss_emul_init(const struct device *dev)
+static void gnss_emul_suspend(const struct device *dev)
 {
-	gnss_emul_init_data(dev);
+	struct gnss_emul_data *data = dev->data;
 
-	if (pm_device_is_powered(dev)) {
-		gnss_emul_update_fix_timestamp(dev, true);
-		gnss_emul_schedule_work(dev);
-	} else {
-		pm_device_init_off(dev);
+	data->active = false;
+	gnss_emul_cancel_work(dev);
+	gnss_emul_clear_data(dev);
+}
+
+static int gnss_emul_pm_action(const struct device *dev, enum pm_device_action action)
+{
+	int ret = 0;
+
+	gnss_emul_lock(dev);
+
+	switch (action) {
+	case PM_DEVICE_ACTION_SUSPEND:
+		gnss_emul_suspend(dev);
+		break;
+
+	case PM_DEVICE_ACTION_RESUME:
+		gnss_emul_resume(dev);
+		break;
+
+	default:
+		ret = -ENOTSUP;
+		break;
 	}
 
-	return pm_device_runtime_enable(dev);
+	gnss_emul_unlock(dev);
+	return ret;
+}
+
+static int gnss_emul_init(const struct device *dev)
+{
+	struct gnss_emul_data *data = dev->data;
+
+	data->dev = dev;
+	k_sem_init(&data->lock, 1, 1);
+	k_work_init_delayable(&data->data_dwork, gnss_emul_work_handler);
+
+	return pm_device_driver_init(dev, gnss_emul_pm_action);
 }
 
 #define GNSS_EMUL_NAME(inst, name) _CONCAT(name, inst)

dts/bindings/gnss/zephyr,gnss-emul.yaml

@@ -4,3 +4,5 @@
 description: Zephyr emulated GNSS device
 
 compatible: "zephyr,gnss-emul"
+
+include: base.yaml

include/zephyr/drivers/gnss/gnss_emul.h

@@ -0,0 +1,63 @@
+/*
+ * 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 boot_realtime_ms Unix timestamp associated with system boot
+ */
+void gnss_emul_set_data(const struct device *dev, const struct navigation_data *nav,
+			const struct gnss_info *info, int64_t boot_realtime_ms);
+
+/**
+ * @brief Retrieve the last configured fix rate, regardless of PM state
+ *
+ * @param dev GNSS emulator device
+ * @param fix_interval_ms Output fix interval
+ *
+ * @retval 0 On success
+ */
+int gnss_emul_get_fix_rate(const struct device *dev, uint32_t *fix_interval_ms);
+
+/**
+ * @brief Retrieve the last configured navigation mode, regardless of PM state
+ *
+ * @param dev GNSS emulator device
+ * @param mode Output navigation mode
+ *
+ * @retval 0 On success
+ */
+int gnss_emul_get_navigation_mode(const struct device *dev, enum gnss_navigation_mode *mode);
+
+/**
+ * @brief Retrieve the last configured systems, regardless of PM state
+ *
+ * @param dev GNSS emulator device
+ * @param systems Output GNSS systems
+ *
+ * @retval 0 On success
+ */
+int gnss_emul_get_enabled_systems(const struct device *dev, gnss_systems_t *systems);
+
+#endif /* ZEPHYR_DRIVERS_GNSS_GNSS_EMUL_H_ */

tests/drivers/gnss/gnss_emul/CMakeLists.txt

@@ -0,0 +1,12 @@
+# Copyright (c) 2025 Embeint Pty Ltd
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+
+project(gnss_emul)
+
+target_sources(app PRIVATE
+	src/main.c
+)