xref: /aosp_15_r20/hardware/interfaces/gnss/2.1/IGnssMeasurementCallback.hal (revision 4d7e907c777eeecc4c5bd7cf640a754fac206ff7)

/*
 * Copyright (C) 2019 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 [email protected];

import @1.0::IGnssMeasurementCallback;
import @2.0::IGnssMeasurementCallback;
import @2.0::ElapsedRealtime;
import GnssSignalType;

/**
 * The callback interface to report measurements from the HAL.
 */
interface IGnssMeasurementCallback extends @2.0::IGnssMeasurementCallback {
    /**
     * Flags to indicate what fields in GnssMeasurement are valid.
     */
    enum GnssMeasurementFlags : @1.0::IGnssMeasurementCallback.GnssMeasurementFlags {
        /**
         * A valid full inter-signal bias is stored in the data structure.
         */
        HAS_FULL_ISB = 1 << 16,
        /**
         * A valid full inter-signal bias uncertainty is stored in the data structure.
         */
        HAS_FULL_ISB_UNCERTAINTY = 1 << 17,
        /**
         * A valid satellite inter-signal bias is stored in the data structure.
         */
        HAS_SATELLITE_ISB = 1 << 18,
        /**
         * A valid satellite inter-signal bias uncertainty is stored in the data structure.
         */
        HAS_SATELLITE_ISB_UNCERTAINTY = 1 << 19,
    };

    /**
     * Extends a GNSS Measurement, adding basebandCN0DbHz, GnssMeasurementFlags,
     * receiverInterSignalBiasNs, receiverInterSignalBiasUncertaintyNs, satelliteInterSignalBiasNs
     * and satelliteInterSignalBiasUncertaintyNs.
     */
    struct GnssMeasurement {
        /**
         * GNSS measurement information for a single satellite and frequency, as in the 2.0 version
         * of the HAL.
         *
         * In this version of the HAL, the field 'flags' in the v2_0.v1_1.v1_0 struct is deprecated,
         * and is no longer used by the framework. The GNSS measurement flags are instead reported
         * in @2.1::IGnssMeasurementCallback.GnssMeasurement.flags.
         *
         */
        @2.0::IGnssMeasurementCallback.GnssMeasurement v2_0;

        /**
         * A set of flags indicating the validity of the fields in this data
         * structure.
         *
         * Fields for which there is no corresponding flag must be filled in
         * with a valid value.  For convenience, these are marked as mandatory.
         *
         * Others fields may have invalid information in them, if not marked as
         * valid by the corresponding bit in flags.
         */
        bitfield<GnssMeasurementFlags> flags;

        /**
         * The full inter-signal bias (ISB) in nanoseconds.
         *
         * This value is the sum of the estimated receiver-side and the space-segment-side
         * inter-system bias, inter-frequency bias and inter-code bias, including
         *
         * - Receiver inter-constellation bias (with respect to the constellation in
         *   GnssClock.referenceSignalTypeForIsb)
         * - Receiver inter-frequency bias (with respect to the carrier frequency in
         *   GnssClock.referenceSignalTypeForIsb)
         * - Receiver inter-code bias (with respect to the code type in
         *   GnssClock.referenceSignalTypeForIsb)
         * - Master clock bias (e.g., GPS-GAL Time Offset (GGTO), GPS-UTC Time Offset
         *   (TauGps), BDS-GLO Time Offset (BGTO)) (with respect to the constellation in
         *   GnssClock.referenceSignalTypeForIsb)
         * - Group delay (e.g., Total Group Delay (TGD))
         * - Satellite inter-frequency bias (GLO only) (with respect to the carrier frequency in
         *   GnssClock.referenceSignalTypeForIsb)
         * - Satellite inter-code bias (e.g., Differential Code Bias (DCB)) (with respect to the
         *   code type in GnssClock.referenceSignalTypeForIsb)
         *
         * If a component of the above is already compensated in the provided
         * GnssMeasurement.receivedSvTimeInNs, then it must not be included in the reported full
         * ISB.
         *
         * The value does not include the inter-frequency Ionospheric bias.
         *
         * The sign of the value is defined by the following equation:
         *      corrected pseudorange = raw pseudorange - fullInterSignalBias
         *
         * The full ISB of GnssClock.referenceSignalTypeForIsb is defined to be 0.0 nanoseconds.
         */
        double fullInterSignalBiasNs;

        /**
         * 1-sigma uncertainty associated with the full inter-signal bias in nanoseconds.
         */
        double fullInterSignalBiasUncertaintyNs;

        /**
         * The satellite inter-signal bias in nanoseconds.
         *
         * This value is the sum of the space-segment-side inter-system bias, inter-frequency bias
         * and inter-code bias, including
         *
         * - Master clock bias (e.g., GPS-GAL Time Offset (GGTO), GPS-UTC Time Offset
         *   (TauGps), BDS-GLO Time Offset (BGTO)) (with respect to the constellation in
         *   GnssClock.referenceSignalTypeForIsb)
         * - Group delay (e.g., Total Group Delay (TGD))
         * - Satellite inter-frequency bias (GLO only) (with respect to the carrier frequency in
         *   GnssClock.referenceSignalTypeForIsb)
         * - Satellite inter-code bias (e.g., Differential Code Bias (DCB)) (with respect to the
         *   code type in GnssClock.referenceSignalTypeForIsb)
         *
         * The sign of the value is defined by the following equation:
         *      corrected pseudorange = raw pseudorange - satelliteInterSignalBias
         *
         * The satellite ISB of GnssClock.referenceSignalTypeForIsb is defined to be 0.0
         * nanoseconds.
         */
        double satelliteInterSignalBiasNs;

        /**
         * 1-sigma uncertainty associated with the satellite inter-signal bias in nanoseconds.
         */
        double satelliteInterSignalBiasUncertaintyNs;

        /**
         * Baseband Carrier-to-noise density in dB-Hz, typically in the range [0, 63]. It contains
         * the measured C/N0 value for the signal measured at the baseband.
         *
         * This is typically a few dB weaker than the value estimated for C/N0 at the antenna port,
         * which is reported in cN0DbHz.
         *
         * If a signal has separate components (e.g. Pilot and Data channels) and the receiver only
         * processes one of the components, then the reported basebandCN0DbHz reflects only the
         * component that is processed.
         *
         * This value is mandatory.
         */
        double basebandCN0DbHz;
    };

    /**
     * Extends a GNSS clock time, adding a referenceSignalTypeForIsb.
     */
    struct GnssClock {
        /**
         * GNSS clock time information, as in the 1.0 version of the HAL.
         */
        @1.0::IGnssMeasurementCallback.GnssClock v1_0;

        /**
         * Reference GNSS signal type for inter-signal bias.
         */
        GnssSignalType referenceSignalTypeForIsb;
    };

    /**
     * Complete set of GNSS Measurement data, same as 2.0 with additional fields in measurements.
     */
    struct GnssData {
        /**
         * The full set of satellite measurement observations.
         */
        vec<GnssMeasurement> measurements;

        /**
         * The GNSS clock time reading.
         */
        GnssClock clock;

        /**
         * Timing information of the GNSS data synchronized with SystemClock.elapsedRealtimeNanos()
         * clock.
         */
        ElapsedRealtime elapsedRealtime;
    };

    /**
     * Callback for the hal to pass a GnssData structure back to the client.
     *
     * @param data Contains a reading of GNSS measurements.
     */
    gnssMeasurementCb_2_1(GnssData data);
};