diff --git a/hal-dynalib/src/hal_gnss.c b/hal-dynalib/src/hal_gnss.c
new file mode 100644
index 0000000000..b2d490f112
--- /dev/null
+++ b/hal-dynalib/src/hal_gnss.c
@@ -0,0 +1,6 @@
+#include "hal_platform.h"
+
+#if HAL_PLATFORM_GNSS
+#include "hal_dynalib_gnss.h"
+#endif // HAL_PLATFORM_GNSS
+
diff --git a/hal/inc/gnss_hal.h b/hal/inc/gnss_hal.h
new file mode 100644
index 0000000000..d1697c4990
--- /dev/null
+++ b/hal/inc/gnss_hal.h
@@ -0,0 +1,38 @@
+/*
+ * Copyright (c) 2024 Particle Industries, Inc. All rights reserved.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation, either
+ * version 3 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, see .
+ */
+
+#ifndef GNSS_HAL_H
+#define GNSS_HAL_H
+
+#include "hal_platform.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if HAL_PLATFORM_GNSS
+
+int hal_gnss_init(void* reserved);
+int hal_gnss_pos(void* reserved);
+
+#endif // HAL_PLATFORM_GNSS
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* GNSS_HAL_H */
diff --git a/hal/inc/hal_dynalib_gnss.h b/hal/inc/hal_dynalib_gnss.h
new file mode 100644
index 0000000000..fdd43bb69e
--- /dev/null
+++ b/hal/inc/hal_dynalib_gnss.h
@@ -0,0 +1,43 @@
+/*
+ * Copyright (c) 2024 Particle Industries, Inc. All rights reserved.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation, either
+ * version 3 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, see .
+ */
+
+#pragma once
+
+#include "hal_platform.h"
+#include "dynalib.h"
+
+#if HAL_PLATFORM_GNSS
+
+#ifdef DYNALIB_EXPORT
+#include "gnss_hal.h"
+#endif
+
+// WARNING
+// The order of functions must not be changed or older applications will break
+// when used with newer system firmware.
+// Function signatures shouldn't be changed other than changing pointer types.
+// New HAL functions must be added to the end of this list.
+// GNINRAW
+
+DYNALIB_BEGIN(hal_gnss)
+
+DYNALIB_FN(0, hal_gnss, hal_gnss_init, int(void*))
+DYNALIB_FN(1, hal_gnss, hal_gnss_pos, int(void*))
+
+DYNALIB_END(hal_gnss)
+
+#endif // HAL_PLATFORM_GNSS
diff --git a/hal/inc/hal_platform.h b/hal/inc/hal_platform.h
index 362fa736b5..e5d16bd504 100644
--- a/hal/inc/hal_platform.h
+++ b/hal/inc/hal_platform.h
@@ -622,4 +622,12 @@
#define HAL_PLATFORM_AUTOMATIC_CONNECTION_MANAGEMENT (0)
#endif // HAL_PLATFORM_AUTOMATIC_CONNECTION_MANAGEMENT
+#ifndef HAL_PLATFORM_GNSS
+#define HAL_PLATFORM_GNSS (0)
+#endif // HAL_PLATFORM_GNSS
+
+#ifndef HAL_PLATFORM_GPS_ONE_XTRA
+#define HAL_PLATFORM_GPS_ONE_XTRA (0)
+#endif // HAL_PLATFORM_GPS_ONE_XTRA
+
#endif /* HAL_PLATFORM_H */
diff --git a/hal/network/ncp/gnss/gnss_hal.cpp b/hal/network/ncp/gnss/gnss_hal.cpp
new file mode 100644
index 0000000000..26be5c64fc
--- /dev/null
+++ b/hal/network/ncp/gnss/gnss_hal.cpp
@@ -0,0 +1,60 @@
+/*
+ * Copyright (c) 2024 Particle Industries, Inc. All rights reserved.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation, either
+ * version 3 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHAN'TABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, see .
+ */
+
+#include "check.h"
+#include "delay_hal.h"
+#include "service_debug.h"
+#include "logging.h"
+#include "gnss_hal.h"
+
+#if HAL_PLATFORM_GNSS
+
+#include "network/ncp/cellular/cellular_network_manager.h"
+#include "network/ncp/cellular/cellular_ncp_client.h"
+#include "network/ncp/cellular/ncp.h"
+#include "network/ncp_client/quectel/quectel_ncp_client.h"
+
+using namespace particle;
+
+// Just for testing purposes
+int hal_gnss_init(void* reserved) {
+ const auto mgr = cellularNetworkManager();
+ CHECK_TRUE(mgr, SYSTEM_ERROR_UNKNOWN);
+ const auto client = reinterpret_cast(mgr->ncpClient());
+ CHECK_TRUE(client, SYSTEM_ERROR_UNKNOWN);
+
+ GnssNcpClientConfig config = {};
+ config.enableGpsOneXtra(true);
+ client->gnssConfig(config);
+ client->gnssOn();
+ client->acquireNmeaSentences(GNSS_NMEA_TYPE_GNS, nullptr, 0);
+
+ return 0;
+}
+
+int hal_gnss_pos(void* reserved) {
+ const auto mgr = cellularNetworkManager();
+ CHECK_TRUE(mgr, SYSTEM_ERROR_UNKNOWN);
+ const auto client = reinterpret_cast(mgr->ncpClient());
+ CHECK_TRUE(client, SYSTEM_ERROR_UNKNOWN);
+
+ GnssPositioningInfo info = {};
+ client->acquirePositioningInfo(&info);
+ return 0;
+}
+
+#endif // HAL_PLATFORM_GNSS
diff --git a/hal/network/ncp/gnss/gnss_ncp_client.h b/hal/network/ncp/gnss/gnss_ncp_client.h
new file mode 100644
index 0000000000..b042493884
--- /dev/null
+++ b/hal/network/ncp/gnss/gnss_ncp_client.h
@@ -0,0 +1,100 @@
+/*
+ * Copyright (c) 2024 Particle Industries, Inc. All rights reserved.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation, either
+ * version 3 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, see .
+ */
+
+#pragma once
+
+#include "time.h"
+#include "ncp_client.h"
+#include "hal_platform.h"
+
+#if HAL_PLATFORM_GNSS
+
+namespace particle {
+
+enum GnssState {
+ GNSS_STATE_DISABLED = 0,
+ GNSS_STATE_INIT = 1,
+ GNSS_STATE_ON = 2,
+ GNSS_STATE_OFF = 3,
+ GNSS_STATE_MAX = 4
+};
+
+enum GnssNmeaType {
+ GNSS_NMEA_TYPE_GGA = 0,
+ GNSS_NMEA_TYPE_RMC = 1,
+ GNSS_NMEA_TYPE_GSV = 2,
+ GNSS_NMEA_TYPE_GSA = 3,
+ GNSS_NMEA_TYPE_VTG = 4,
+ GNSS_NMEA_TYPE_GNS = 5,
+ GNSS_NMEA_TYPE_MAX = 6
+};
+
+struct GnssPositioningInfo {
+ uint16_t version;
+ uint16_t size;
+ double latitude;
+ double longitude;
+ float accuracy;
+ float altitude;
+ float cog;
+ float speedKmph;
+ float speedKnots;
+ struct tm utcTime;
+ int satsInView;
+ bool locked;
+ int posMode;
+};
+
+class GnssNcpClientConfig {
+public:
+ GnssNcpClientConfig()
+ : enableGpsOneXtra_(false) {
+ }
+
+ GnssNcpClientConfig& enableGpsOneXtra(bool enable) {
+ enableGpsOneXtra_ = enable;
+ return *this;
+ }
+
+ bool isGpsOneXtraEnabled() const {
+ return enableGpsOneXtra_;
+ }
+
+private:
+ bool enableGpsOneXtra_;
+};
+
+class GnssNcpClient {
+public:
+ virtual int gnssConfig(const GnssNcpClientConfig& conf) = 0;
+ virtual int gnssOn() = 0;
+ virtual int gnssOff() = 0;
+ virtual int acquirePositioningInfo(GnssPositioningInfo* info) = 0;
+ virtual int acquireNmeaSentences(GnssNmeaType type, char* buf, size_t len) = 0;
+ virtual uint32_t getTtff() = 0;
+ virtual GnssState gnssState() = 0;
+
+#if HAL_PLATFORM_GPS_ONE_XTRA
+ virtual int injectGpsOneXtraTimeAndData(const uint8_t* buf, size_t size) = 0;
+ virtual bool isGpsOneXtraEnabled() = 0;
+ virtual bool isGpsOneXtraDataValid() = 0;
+#endif // HAL_PLATFORM_GPS_ONE_XTRA
+};
+
+} // particle
+
+#endif // HAL_PLATFORM_GNSS
diff --git a/hal/network/ncp_client/quectel/quectel_ncp_client.cpp b/hal/network/ncp_client/quectel/quectel_ncp_client.cpp
index d531290956..4858ffa204 100644
--- a/hal/network/ncp_client/quectel/quectel_ncp_client.cpp
+++ b/hal/network/ncp_client/quectel/quectel_ncp_client.cpp
@@ -44,6 +44,7 @@ LOG_SOURCE_CATEGORY("ncp.client");
#include
#include
#include
+#include "rtc_hal.h"
#undef LOG_COMPILE_TIME_LEVEL
#define LOG_COMPILE_TIME_LEVEL LOG_LEVEL_ALL
@@ -99,9 +100,11 @@ const auto QUECTEL_NCP_KEEPALIVE_MAX_MISSED = 5;
// FIXME: for now using a very large buffer
const auto QUECTEL_NCP_AT_CHANNEL_RX_BUFFER_SIZE = 4096;
const auto QUECTEL_NCP_PPP_CHANNEL_RX_BUFFER_SIZE = 256;
+const auto QUECTEL_NCP_GNSS_CHANNEL_RX_BUFFER_SIZE = 256;
const auto QUECTEL_NCP_AT_CHANNEL = 1;
const auto QUECTEL_NCP_PPP_CHANNEL = 2;
+const auto QUECTEL_NCP_GNSS_CHANNEL = 3;
const auto QUECTEL_NCP_SIM_SELECT_PIN = 23;
@@ -153,7 +156,6 @@ int QuectelNcpClient::init(const NcpClientConfig& conf) {
modemInit();
conf_ = static_cast(conf);
-
// Initialize serial stream
std::unique_ptr serial(new (std::nothrow) SerialStream(HAL_PLATFORM_CELLULAR_SERIAL, QUECTEL_NCP_DEFAULT_SERIAL_BAUDRATE, getDefaultSerialConfig()));
CHECK_TRUE(serial, SYSTEM_ERROR_NO_MEMORY);
@@ -177,6 +179,17 @@ int QuectelNcpClient::init(const NcpClientConfig& conf) {
parserError_ = 0;
ready_ = false;
registrationTimeout_ = REGISTRATION_TIMEOUT;
+
+#if HAL_PLATFORM_GNSS
+ decltype(muxerGnssStream_) muxGnssStrm(new(std::nothrow) decltype(muxerGnssStream_)::element_type(&muxer_, QUECTEL_NCP_GNSS_CHANNEL));
+ CHECK_TRUE(muxGnssStrm, SYSTEM_ERROR_NO_MEMORY);
+ CHECK(muxGnssStrm->init(QUECTEL_NCP_GNSS_CHANNEL_RX_BUFFER_SIZE));
+ muxerGnssStream_ = std::move(muxGnssStrm);
+ gnssState_ = GNSS_STATE_DISABLED;
+ preGnssState_ = GNSS_STATE_DISABLED;
+ gnssTtffThread_ = nullptr;
+#endif // HAL_PLATFORM_GNSS
+
resetRegistrationState();
if (modemPowerState()) {
serial_->on(true);
@@ -188,6 +201,289 @@ int QuectelNcpClient::init(const NcpClientConfig& conf) {
return SYSTEM_ERROR_NONE;
}
+#if HAL_PLATFORM_GNSS
+#include "xtra3grcej.h"
+
+int QuectelNcpClient::gnssConfig(const GnssNcpClientConfig& conf) {
+ const NcpClientLock lock(this);
+ CHECK_TRUE(gnssState_ == GNSS_STATE_DISABLED, SYSTEM_ERROR_NONE);
+
+ SCOPE_GUARD({
+ if (gnssState_ == GNSS_STATE_DISABLED) {
+ LOG(TRACE, "Failed to configure GNSS!");
+ }
+ });
+
+ gnssConf_ = conf;
+
+ if (muxer_.isRunning()) {
+ LOG(TRACE, "Muxer is running");
+ } else {
+ LOG(TRACE, "Turning on the modem");
+ CHECK(on());
+ }
+
+ int r = muxer_.openChannel(QUECTEL_NCP_GNSS_CHANNEL, muxerGnssStream_->channelDataCb, muxerGnssStream_.get());
+ if (r) {
+ LOG(ERROR, "Failed to open GNSS channel");
+ ready_ = false;
+ return SYSTEM_ERROR_UNKNOWN;
+ }
+
+ auto parserConf = AtParserConfig().stream(muxerGnssStream_.get()).commandTerminator(AtCommandTerminator::CRLF);
+ gnssParser_.destroy();
+ CHECK(gnssParser_.init(std::move(parserConf)));
+
+ skipAll(muxerGnssStream_.get());
+ muxerGnssStream_->enabled(true);
+
+ CHECK(waitAtResponse(gnssParser_, 1000));
+
+ // Turn off the GNSS, otherwise, we may get "+CME ERROR:504" when configuring nmeasrc.
+ gnssParser_.execCommand("AT+QGPSEND");
+
+ // GPS is always on.
+ // EG91: 1:Enable the support of GLONASS, Galileo and Beidou constellations.
+ // BG95: 1:Enable the support of GLONASS constellation.
+ CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSCFG=\"gnssconfig\",1"));
+
+ // Close NMEA sentences output
+ CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSCFG=\"outport\",\"none\""));
+
+ // Enable acquisition of NMEA sentences via AT+QGPSGNMEA
+ CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSCFG=\"nmeasrc\",1"));
+
+ // Configure NMEA sentences output type
+ CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSCFG=\"gpsnmeatype\",31")); // GGA + RMC + GSV + GSA + VTG
+ CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSCFG=\"beidounmeatype\",3")); // GSA + GSV
+ if (ncpId() == PLATFORM_NCP_QUECTEL_EG91_EX) {
+ CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSCFG=\"glonassnmeatype\",7")); // GSA + GSV + GNS
+ CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSCFG=\"galileonmeatype\",1")); // It only supports GSV
+ } else {
+ CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSCFG=\"glonassnmeatype\",3")); // GSA + GSV
+ CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSCFG=\"galileonmeatype\",3")); // GSA + GSV
+ }
+
+ gnssState_ = GNSS_STATE_INIT;
+
+ if (conf.isGpsOneXtraEnabled()) {
+ // Enable gpsOneXtra assistance function
+ injectGpsOneXtraTimeAndData(xtra2, 58715);
+ } else {
+ // Disable gpsOneXtra assistance function
+ CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSXTRA=0"));
+ }
+
+ return SYSTEM_ERROR_NONE;
+}
+
+void QuectelNcpClient::calculateTtffThread(void *context) {
+ QuectelNcpClient* client = (QuectelNcpClient*)context;
+ uint32_t start = hal_timer_millis(nullptr);
+ client->gnssTtffMs_ = 0xFFFFFFFF;
+ while (client->gnssTtffMs_ == 0xFFFFFFFF) {
+ {
+ const NcpClientLock lock(client);
+ if (client->gnssState_ != GNSS_STATE_ON) {
+ break;
+ }
+ auto resp = client->gnssParser_.sendCommand("AT+QGPSLOC=2");
+ if (resp.readResult() == AtResponse::OK) {
+ client->gnssTtffMs_ = hal_timer_millis(nullptr) - start;
+ break;
+ }
+ }
+ HAL_Delay_Milliseconds(1000);
+ }
+ LOG(TRACE, "Exiting TTFF thread");
+ client->gnssTtffThread_ = nullptr;
+ os_thread_exit(nullptr);
+}
+
+int QuectelNcpClient::gnssOn() {
+ const NcpClientLock lock(this);
+ CHECK_TRUE(gnssState_ != GNSS_STATE_DISABLED, SYSTEM_ERROR_INVALID_STATE);
+ CHECK_TRUE(gnssState_ != GNSS_STATE_ON, SYSTEM_ERROR_NONE);
+ CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPS=1"));
+ gnssState_ = GNSS_STATE_ON;
+ if (!gnssTtffThread_) {
+ LOG(TRACE, "Starting TTFF thread");
+ CHECK_TRUE(os_thread_create(&gnssTtffThread_, "ttffThread", OS_THREAD_PRIORITY_NETWORK, calculateTtffThread, this, 2048) == 0, SYSTEM_ERROR_INTERNAL);
+ }
+ return SYSTEM_ERROR_NONE;
+}
+
+int QuectelNcpClient::gnssOff() {
+ const NcpClientLock lock(this);
+ CHECK_TRUE(gnssState_ != GNSS_STATE_DISABLED, SYSTEM_ERROR_INVALID_STATE);
+ CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSEND"));
+ muxerGnssStream_->enabled(false);
+ gnssState_ = GNSS_STATE_OFF;
+ return SYSTEM_ERROR_NONE;
+}
+
+uint32_t QuectelNcpClient::getTtff() {
+ return gnssTtffMs_;
+}
+
+GnssState QuectelNcpClient::gnssState() {
+ return gnssState_;
+}
+
+int QuectelNcpClient::acquirePositioningInfo(GnssPositioningInfo* info) {
+ const NcpClientLock lock(this);
+ CHECK_TRUE(info, SYSTEM_ERROR_INVALID_ARGUMENT);
+ CHECK_TRUE(gnssState_ != GNSS_STATE_DISABLED, SYSTEM_ERROR_INVALID_STATE);
+
+ info->locked = false;
+
+ auto resp = gnssParser_.sendCommand("AT+QGPSLOC=2");
+
+ int r = resp.scanf("+QGPSLOC: %02d%02d%02d.%*03d,%lf,%lf,%f,%f,%d,%f,%f,%f,%02d%02d%02d,%d",
+ &info->utcTime.tm_hour, &info->utcTime.tm_min, &info->utcTime.tm_sec,
+ &info->latitude, &info->longitude, &info->accuracy, &info->altitude,
+ &info->posMode, &info->cog, &info->speedKmph, &info->speedKnots,
+ &info->utcTime.tm_mday, &info->utcTime.tm_mon, &info->utcTime.tm_year,
+ &info->satsInView);
+ CHECK_TRUE(r == 15, SYSTEM_ERROR_BAD_DATA);
+ if (resp.readResult() != AtResponse::OK) {
+ return SYSTEM_ERROR_INVALID_STATE;
+ }
+ LOG(TRACE, "Pos time: %02d/%02d/%02d %02d:%02d:%02d", info->utcTime.tm_year, info->utcTime.tm_mon, info->utcTime.tm_mday,
+ info->utcTime.tm_hour, info->utcTime.tm_min, info->utcTime.tm_sec);
+ LOG(TRACE, "Pos: %.5lf%c, %.5lf%c, %.1f", info->latitude, (info->latitude < 0) ? 'S' : 'N',
+ info->longitude, (info->longitude < 0) ? 'W' : 'E',
+ info->altitude);
+ LOG(TRACE, "%d sats in view", info->satsInView);
+
+ info->locked = true;
+
+ return SYSTEM_ERROR_NONE;
+}
+
+int QuectelNcpClient::acquireNmeaSentences(GnssNmeaType type, char* buf, size_t len) {
+ const NcpClientLock lock(this);
+ CHECK_TRUE(gnssState_ != GNSS_STATE_DISABLED, SYSTEM_ERROR_INVALID_STATE);
+ CHECK_TRUE(type < GNSS_NMEA_TYPE_MAX, SYSTEM_ERROR_INVALID_ARGUMENT);
+
+ if (type == GNSS_NMEA_TYPE_GNS && ncpId() != PLATFORM_NCP_QUECTEL_EG91_EX) {
+ return SYSTEM_ERROR_NOT_SUPPORTED;
+ }
+
+ const char* nmeaType[GNSS_NMEA_TYPE_MAX] = {
+ "GGA", "RMC", "GSV", "GSA", "VTG", "GNS"
+ };
+ auto resp = gnssParser_.sendCommand(5000, "AT+QGPSGNMEA=\"%s\"", nmeaType[type]);
+ const size_t n = CHECK_PARSER(resp.readLine(buf, len));
+ CHECK_PARSER_OK(resp.readResult());
+ return n;
+}
+
+#if HAL_PLATFORM_GPS_ONE_XTRA
+bool QuectelNcpClient::isGpsOneXtraEnabled() {
+ const NcpClientLock lock(this);
+ CHECK_TRUE_RETURN(gnssState_ != GNSS_STATE_DISABLED, false);
+ auto resp = gnssParser_.sendCommand("AT+QGPSXTRA?");
+ int enabled;
+ int r = resp.scanf("+QGPSXTRA: %d", &enabled);
+ CHECK_TRUE_RETURN(r == 1, false);
+ if (resp.readResult() != AtResponse::OK) {
+ return false;
+ }
+ return (enabled == 1);
+}
+
+bool QuectelNcpClient::isGpsOneXtraDataValid() {
+ const NcpClientLock lock(this);
+ CHECK_TRUE_RETURN(gnssState_ != GNSS_STATE_DISABLED, false);
+ auto resp = gnssParser_.sendCommand("AT+QGPSXTRADATA?");
+ int validMinutes;
+ int r = resp.scanf("+QGPSXTRADATA: %d, \"%*19[^\"]\"", &validMinutes);
+ CHECK_TRUE_RETURN(r == 1, false);
+ if (resp.readResult() != AtResponse::OK) {
+ return false;
+ }
+ return (validMinutes != 0);
+}
+
+int QuectelNcpClient::injectGpsOneXtraTimeAndData(const uint8_t* buf, size_t len) {
+ const NcpClientLock lock(this);
+ CHECK_TRUE(gnssState_ != GNSS_STATE_DISABLED, SYSTEM_ERROR_INVALID_STATE);
+ LOG(TRACE, "Injecting gpsOneXtra data");
+
+ struct timeval tv = {};
+ struct tm calendar;
+ CHECK(hal_rtc_get_time(&tv, nullptr));
+ gmtime_r(&tv.tv_sec, &calendar);
+ calendar.tm_year += 1900;
+ calendar.tm_mon += 1;
+ char timeStr[32] = {};
+ sprintf(timeStr, "%02d/%02d/%02d,%02d:%02d:%02d", calendar.tm_year % 100, calendar.tm_mon, calendar.tm_mday, calendar.tm_hour, calendar.tm_min, calendar.tm_sec);
+
+ // Set UTC
+ if (ncpId() == PLATFORM_NCP_QUECTEL_EG91_EX) {
+ CHECK_PARSER_OK(gnssParser_.execCommand("AT+CCLK=\"%s\"+32", timeStr));
+ }
+
+ // Delete the file if it is already existed. Ignore the error in case the file is not existed.
+ gnssParser_.execCommand("AT+QFDEL=\"xtra2.bin\"");
+
+ // Upload xtra file to module's UFS. Reference: Quectel_LTE_Standard_FILE_Application_Note_V1.1.pdf
+ // After the command is executed, the COM port enters data mode automatically
+ auto resp = gnssParser_.sendCommand("AT+QFUPL=\"xtra2.bin\",%d,5,1", len);
+ const char connectResponse[] = "CONNECT";
+ char temp[64] = {};
+ CHECK(resp.readLine(temp, sizeof(temp)));
+ if (strncmp(temp, connectResponse, sizeof(connectResponse) - 1)) {
+ LOG(TRACE, "Failed to enter data mode");
+ return SYSTEM_ERROR_UNKNOWN;
+ }
+
+ LOG(TRACE, "Start uploading gpsOneXtra file");
+ skipAll(muxerGnssStream_.get());
+ for (size_t i = 0; i < len; i = i) {
+ size_t available = muxerGnssStream_->availForWrite();
+ size_t toWrite = std::min(available, len - i);
+ toWrite = std::min(toWrite, (size_t)1024);
+ muxerGnssStream_->write((const char*)&buf[i], toWrite);
+ i += toWrite;
+ if (i < len) {
+ while (!muxerGnssStream_->availForRead()) { // TODO: timeout
+ HAL_Delay_Milliseconds(1);
+ }
+ char resp;
+ muxerGnssStream_->read(&resp, 1);
+ if (resp != 'A') {
+ // FIXME: it may fail on BG95
+ LOG(TRACE, "Failed to upload gpsOneXtra file");
+ waitAtResponse(gnssParser_, 10000);
+ return SYSTEM_ERROR_INTERNAL;
+ }
+ }
+ }
+ skipAll(muxerGnssStream_.get());
+ gnssParser_.reset();
+ CHECK(waitAtResponse(gnssParser_, 5000));
+ LOG(TRACE, "Successfully uploaded gpsOneXtra file");
+
+ // Enable gpsOneXtra assistance function
+ // FIXME: This doesn't seams to take effect on BG95
+ CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSXTRA=1"));
+
+ // Inject gpsOneXtra time. Ignore the error in case the time is currently valid.
+ sprintf(timeStr, "%d/%02d/%02d,%02d:%02d:%02d", calendar.tm_year, calendar.tm_mon, calendar.tm_mday, calendar.tm_hour, calendar.tm_min, calendar.tm_sec);
+ gnssParser_.execCommand("AT+QGPSXTRATIME=0,\"%s\",1,1,3500", timeStr);
+
+ // Inject gpsOneXtra data
+ CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSXTRADATA=\"UFS:xtra2.bin\""));
+
+ gnssParser_.execCommand("AT+QFDEL=\"xtra2.bin\"");
+
+ return SYSTEM_ERROR_NONE;
+}
+#endif // HAL_PLATFORM_GPS_ONE_XTRA
+#endif // HAL_PLATFORM_GNSS
+
void QuectelNcpClient::destroy() {
if (ncpState_ != NcpState::OFF) {
ncpState_ = NcpState::OFF;
@@ -195,10 +491,15 @@ void QuectelNcpClient::destroy() {
}
parser_.destroy();
muxerAtStream_.reset();
+ muxerDataStream_.reset();
+#if HAL_PLATFORM_GNSS
+ muxerGnssStream_.reset();
+#endif // HAL_PLATFORM_GNSS
serial_.reset();
}
int QuectelNcpClient::initParser(Stream* stream) {
+ LOG(TRACE, "Initializing AT parser");
// Initialize AT parser
auto parserConf = AtParserConfig().stream(stream).commandTerminator(AtCommandTerminator::CRLF);
parser_.destroy();
@@ -354,6 +655,19 @@ int QuectelNcpClient::on() {
return r;
}
CHECK(waitReady(r == SYSTEM_ERROR_NONE /* powerOn */));
+
+#if HAL_PLATFORM_GNSS
+ if (preGnssState_ != GNSS_STATE_DISABLED) {
+ if (gnssConfig(gnssConf_) != SYSTEM_ERROR_NONE) {
+ LOG(ERROR, "Failed to configure GNSS");
+ }
+ if (preGnssState_ == GNSS_STATE_ON) {
+ if (gnssOn() != SYSTEM_ERROR_NONE) {
+ LOG(ERROR, "Failed to turn on GNSS");
+ }
+ }
+ }
+#endif // HAL_PLATFORM_GNSS
return SYSTEM_ERROR_NONE;
}
@@ -385,6 +699,13 @@ int QuectelNcpClient::off() {
LOG(TRACE, "Deinit modem serial.");
serial_->on(false);
+#if HAL_PLATFORM_GNSS
+ if (gnssState_ != GNSS_STATE_DISABLED) {
+ preGnssState_ = gnssState_;
+ gnssState_ = GNSS_STATE_DISABLED;
+ }
+#endif // HAL_PLATFORM_GNSS
+
ready_ = false;
ncpState(NcpState::OFF);
return SYSTEM_ERROR_NONE;
@@ -414,6 +735,9 @@ void QuectelNcpClient::disable() {
serial_->enabled(false);
muxerAtStream_->enabled(false);
muxerDataStream_->enabled(false);
+#if HAL_PLATFORM_GNSS
+ muxerGnssStream_->enabled(false);
+#endif // HAL_PLATFORM_GNSS
}
NcpState QuectelNcpClient::ncpState() {
@@ -1956,6 +2280,10 @@ int QuectelNcpClient::modemInit() const {
conf.value = 1;
CHECK(hal_gpio_configure(BGDTR, &conf, nullptr));
+#if PLATFORM_ID == PLATFORM_MSOM
+ CHECK(hal_gpio_configure(GNSS_ANT_PWR, &conf, nullptr));
+#endif
+
LOG(TRACE, "Modem low level initialization OK");
return SYSTEM_ERROR_NONE;
diff --git a/hal/network/ncp_client/quectel/quectel_ncp_client.h b/hal/network/ncp_client/quectel/quectel_ncp_client.h
index e3fea0c638..dda2bbb248 100644
--- a/hal/network/ncp_client/quectel/quectel_ncp_client.h
+++ b/hal/network/ncp_client/quectel/quectel_ncp_client.h
@@ -20,6 +20,7 @@
#include
#include "network/ncp/cellular/cellular_ncp_client.h"
+#include "network/ncp/gnss/gnss_ncp_client.h"
#include "platform_ncp.h"
#include "at_parser.h"
@@ -34,7 +35,11 @@ namespace particle {
class SerialStream;
-class QuectelNcpClient: public CellularNcpClient {
+class QuectelNcpClient: public CellularNcpClient
+#if HAL_PLATFORM_GNSS
+ , public GnssNcpClient
+#endif
+{
public:
QuectelNcpClient();
~QuectelNcpClient();
@@ -76,6 +81,22 @@ class QuectelNcpClient: public CellularNcpClient {
virtual int startNcpFwUpdate(bool update) override;
virtual int dataModeError(int error) override;
+#if HAL_PLATFORM_GNSS
+ // Reimplemented from GnssNcpClient
+ int gnssConfig(const GnssNcpClientConfig& conf) override;
+ int gnssOn() override;
+ int gnssOff() override;
+ int acquirePositioningInfo(GnssPositioningInfo* info) override;
+ int acquireNmeaSentences(GnssNmeaType type, char* buf, size_t len) override;
+ uint32_t getTtff() override;
+ GnssState gnssState() override;
+#if HAL_PLATFORM_GPS_ONE_XTRA
+ int injectGpsOneXtraTimeAndData(const uint8_t* buf, size_t size) override;
+ bool isGpsOneXtraEnabled() override;
+ bool isGpsOneXtraDataValid() override;
+#endif
+#endif // HAL_PLATFORM_GNSS
+
auto getMuxer() {
return &muxer_;
}
@@ -117,6 +138,18 @@ class QuectelNcpClient: public CellularNcpClient {
volatile bool inFlowControl_ = false;
bool checkImsi_ = false;
+#if HAL_PLATFORM_GNSS
+ AtParser gnssParser_;
+ std::unique_ptr > muxerGnssStream_;
+ volatile GnssState gnssState_ = GNSS_STATE_DISABLED;
+ volatile GnssState preGnssState_ = GNSS_STATE_DISABLED;
+ GnssNcpClientConfig gnssConf_;
+ os_thread_t gnssTtffThread_ = nullptr;
+ volatile uint32_t gnssTtffMs_ = 0xFFFFFFFF;
+
+ static void calculateTtffThread(void *context);
+#endif // HAL_PLATFORM_GNSS
+
int queryAndParseAtCops(CellularSignalQuality* qual);
int initParser(Stream* stream);
int waitReady(bool powerOn = false);
diff --git a/hal/network/ncp_client/quectel/xtra3grcej.h b/hal/network/ncp_client/quectel/xtra3grcej.h
new file mode 100644
index 0000000000..29ec75bdc4
--- /dev/null
+++ b/hal/network/ncp_client/quectel/xtra3grcej.h
@@ -0,0 +1,3673 @@
+// array size is 58715
+static const uint8_t xtra2[] = {
+ 0x01, 0x34, 0x08, 0x06, 0x00, 0x10, 0x02, 0x45, 0xb7, 0x1d, 0x09, 0x00, 0x00, 0xe5, 0x5b, 0x08,
+ 0xfa, 0x12, 0x4f, 0x49, 0x63, 0x08, 0xfa, 0x11, 0xcf, 0x53, 0x80, 0x0c, 0x0e, 0x06, 0x08, 0xfa,
+ 0x11, 0xcf, 0x53, 0x80, 0x0c, 0x0e, 0x80, 0x18, 0x02, 0x00, 0x52, 0xdb, 0x86, 0x00, 0x80, 0x18,
+ 0x02, 0x00, 0x52, 0xdb, 0x86, 0x00, 0x08, 0x00, 0x36, 0x14, 0x0d, 0x11, 0x10, 0x12, 0x11, 0x11,
+ 0x0f, 0x0e, 0x0d, 0x0c, 0x0b, 0x0a, 0x09, 0x07, 0x16, 0x46, 0x0d, 0x10, 0x10, 0x11, 0x10, 0x0f,
+ 0x0e, 0x0d, 0x0b, 0x0b, 0x0a, 0x0a, 0x0a, 0x09, 0x15, 0x46, 0x0d, 0x15, 0x11, 0x10, 0x10, 0x0e,
+ 0x0e, 0x0d, 0x0b, 0x0a, 0x09, 0x09, 0x09, 0x09, 0x15, 0x46, 0x03, 0x12, 0x0a, 0x04, 0x04, 0x11,
+ 0x07, 0xff, 0x1f, 0x01, 0x42, 0x4b, 0x96, 0x52, 0xe8, 0x25, 0x25, 0x2a, 0xd1, 0x06, 0xba, 0x9f,
+ 0xb4, 0xa1, 0x10, 0x2f, 0xd4, 0xaf, 0x09, 0xc7, 0xfe, 0xff, 0xff, 0xa8, 0x62, 0x28, 0xab, 0x95,
+ 0xc3, 0x28, 0x5a, 0x86, 0x94, 0x02, 0xe4, 0xff, 0xba, 0xff, 0x55, 0x2e, 0x55, 0x0a, 0x4c, 0x08,
+ 0x87, 0x02, 0xba, 0x03, 0x08, 0xfa, 0x00, 0x00, 0x3f, 0x0b, 0x00, 0x42, 0x4b, 0x96, 0x00, 0x00,
+ 0x0b, 0x00, 0x05, 0x79, 0x5c, 0x02, 0x09, 0x4b, 0x96, 0xbd, 0xea, 0xf5, 0x5a, 0x2f, 0x95, 0x08,
+ 0x5a, 0xa3, 0x45, 0xa1, 0x0f, 0x2d, 0xbc, 0xaa, 0xcd, 0x38, 0xd0, 0xff, 0xff, 0xa5, 0x8a, 0xcc,
+ 0xd7, 0x3b, 0xc3, 0x27, 0x6b, 0x4e, 0xb6, 0x03, 0x38, 0xff, 0xbd, 0x00, 0xb6, 0x2b, 0xb1, 0x0d,
+ 0x2f, 0x0c, 0x65, 0x04, 0x45, 0x03, 0x08, 0xfa, 0x00, 0x00, 0x00, 0xda, 0x00, 0x09, 0x4b, 0x96,
+ 0x00, 0x00, 0x32, 0xff, 0xef, 0xbe, 0x70, 0x03, 0xb6, 0x4b, 0x96, 0x2c, 0x8b, 0xa1, 0x04, 0x2c,
+ 0x04, 0x02, 0x97, 0x83, 0x40, 0xa1, 0x0e, 0x5b, 0xdb, 0xd8, 0xf8, 0xd4, 0xe1, 0xff, 0xff, 0xa7,
+ 0x8a, 0x2b, 0xb8, 0x1b, 0x29, 0x28, 0x08, 0x0a, 0x42, 0xfd, 0x68, 0xff, 0xdb, 0x00, 0x21, 0x28,
+ 0x3f, 0xf0, 0xba, 0xf2, 0x70, 0x07, 0x54, 0x03, 0x08, 0xfa, 0x00, 0x01, 0x00, 0x04, 0x00, 0xb6,
+ 0x4b, 0x96, 0x00, 0x00, 0xdd, 0x00, 0x04, 0xd6, 0xfb, 0x04, 0x79, 0x4b, 0x96, 0xa4, 0xcd, 0xeb,
+ 0xe6, 0x2d, 0x36, 0x01, 0x70, 0x41, 0xf4, 0xa1, 0x0c, 0xc6, 0xe3, 0x04, 0xf2, 0xa6, 0xa4, 0xff,
+ 0xff, 0xac, 0x9d, 0x85, 0xa5, 0x59, 0xff, 0x27, 0x4d, 0x47, 0x51, 0x05, 0x23, 0xff, 0xe8, 0xff,
+ 0xf4, 0x14, 0x39, 0xf7, 0x82, 0xf8, 0x5e, 0x18, 0x41, 0x03, 0x08, 0xfa, 0x00, 0x00, 0x00, 0xf6,
+ 0x00, 0x79, 0x4b, 0x96, 0x00, 0x00, 0x55, 0x00, 0x08, 0xfc, 0x87, 0x05, 0x78, 0x4b, 0x96, 0xbb,
+ 0xfe, 0xbf, 0x79, 0x2e, 0xd5, 0x02, 0xf4, 0x38, 0x2f, 0xa1, 0x0e, 0x62, 0xcf, 0xd6, 0xf2, 0x31,
+ 0x8a, 0xff, 0xff, 0xa7, 0x2f, 0x32, 0x26, 0x76, 0x38, 0x27, 0x80, 0x06, 0x09, 0xfd, 0xff, 0x00,
+ 0x50, 0x00, 0x25, 0x29, 0x84, 0xf1, 0x88, 0xf3, 0xbf, 0x05, 0x17, 0x03, 0x08, 0xfa, 0x00, 0x00,
+ 0x00, 0xe8, 0x00, 0x78, 0x4b, 0x96, 0x00, 0xff, 0xf3, 0xff, 0xfa, 0xc8, 0xcb, 0x06, 0x49, 0x4b,
+ 0x96, 0x60, 0x3e, 0x1a, 0x02, 0x2b, 0x02, 0x01, 0x9b, 0x3a, 0x0f, 0xa1, 0x0c, 0x6b, 0x85, 0xae,
+ 0xb2, 0x50, 0x29, 0xff, 0xff, 0xa8, 0x2d, 0xdf, 0x63, 0x24, 0x46, 0x28, 0x51, 0x69, 0x26, 0x02,
+ 0x6a, 0x00, 0x00, 0xff, 0xfa, 0x2e, 0x4c, 0x0b, 0x06, 0x09, 0xdb, 0x02, 0x9b, 0x03, 0x08, 0xfa,
+ 0x00, 0x00, 0x00, 0x08, 0x00, 0x49, 0x4b, 0x96, 0x00, 0xff, 0x87, 0x00, 0x0e, 0x32, 0xbb, 0x07,
+ 0x3d, 0x4b, 0x96, 0x3b, 0x9f, 0x30, 0x12, 0x39, 0x57, 0x09, 0x22, 0x5d, 0xa4, 0xa1, 0x0d, 0x58,
+ 0x79, 0x2e, 0x3b, 0xf8, 0x49, 0xff, 0xff, 0xa4, 0x83, 0xa8, 0x2f, 0x23, 0x50, 0x26, 0xb4, 0xa7,
+ 0xda, 0x03, 0xdc, 0xff, 0x1d, 0x00, 0x01, 0x1f, 0xdf, 0x01, 0xe6, 0x01, 0x83, 0x0d, 0xb5, 0x03,
+ 0x08, 0xfa, 0x00, 0x00, 0x00, 0xe8, 0x00, 0x3d, 0x4b, 0x96, 0x00, 0xff, 0xae, 0xff, 0xfe, 0x85,
+ 0x1e, 0x08, 0x13, 0x4b, 0x96, 0xae, 0xe2, 0x8a, 0x36, 0x2e, 0x9c, 0x04, 0xbc, 0x42, 0xc8, 0xa1,
+ 0x0c, 0xa8, 0x3c, 0x82, 0x3e, 0x91, 0x7f, 0xff, 0xff, 0xab, 0xac, 0x0c, 0x77, 0x55, 0xdc, 0x26,
+ 0xed, 0xb6, 0xbe, 0xfe, 0xcd, 0x00, 0x03, 0xff, 0xc4, 0x17, 0x78, 0x0b, 0xd7, 0x0a, 0x19, 0x14,
+ 0xd6, 0x03, 0x08, 0xfa, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x13, 0x4b, 0x96, 0x00, 0xff, 0xf0, 0xff,
+ 0xfa, 0xa3, 0x37, 0x09, 0x55, 0x4b, 0x96, 0xc1, 0xce, 0xd0, 0xd8, 0x2f, 0x69, 0x01, 0x75, 0xa1,
+ 0x6e, 0xa1, 0x0d, 0xf1, 0x8b, 0x02, 0x90, 0x17, 0x31, 0xff, 0xff, 0xab, 0x4f, 0x51, 0xe6, 0x70,
+ 0x83, 0x27, 0x09, 0x69, 0xea, 0x04, 0x76, 0xff, 0xda, 0x00, 0x2a, 0x14, 0x2d, 0xf5, 0xda, 0xf7,
+ 0x4d, 0x18, 0x10, 0x03, 0x08, 0xfa, 0x00, 0x00, 0x00, 0x03, 0x00, 0x55, 0x4b, 0x96, 0x00, 0x00,
+ 0x6d, 0x00, 0x02, 0x44, 0xa9, 0x0a, 0x06, 0x4b, 0x95, 0x01, 0x01, 0x3e, 0x5e, 0x2c, 0x60, 0x04,
+ 0xc2, 0x65, 0xaa, 0xa1, 0x0d, 0x86, 0xdb, 0xd8, 0xdd, 0xf2, 0x82, 0xff, 0xff, 0xa7, 0x1c, 0x9e,
+ 0xd0, 0xc5, 0xca, 0x28, 0x04, 0xc9, 0xa6, 0xfe, 0x0f, 0x00, 0x02, 0x00, 0x46, 0x28, 0x38, 0xf3,
+ 0x2c, 0xf4, 0xd3, 0x07, 0x99, 0x03, 0x08, 0xfa, 0x00, 0x00, 0x00, 0x05, 0x00, 0x06, 0x4b, 0x95,
+ 0x00, 0xff, 0xf3, 0xff, 0xfd, 0xaf, 0xda, 0x0b, 0x2c, 0x4b, 0x96, 0x8e, 0x9a, 0x50, 0xb4, 0x30,
+ 0x37, 0x00, 0xa6, 0x1a, 0x1b, 0xa1, 0x0d, 0x3f, 0xb1, 0xb0, 0x28, 0x37, 0xf0, 0xff, 0xff, 0xa5,
+ 0x30, 0x9b, 0x84, 0xb4, 0x50, 0x27, 0x5b, 0x57, 0x47, 0x02, 0xb7, 0xff, 0xeb, 0xff, 0xf3, 0x2d,
+ 0x7a, 0x0a, 0x7f, 0x09, 0x3e, 0x01, 0xdd, 0x03, 0x08, 0xfa, 0x00, 0x00, 0x00, 0xee, 0x02, 0x2c,
+ 0x4b, 0x96, 0x00, 0xff, 0x88, 0xff, 0xed, 0xed, 0x7e, 0x0c, 0x4c, 0x4b, 0x96, 0x1f, 0x1f, 0xa4,
+ 0x96, 0x32, 0xb9, 0x04, 0x93, 0xeb, 0x72, 0xa1, 0x0d, 0xb6, 0xe7, 0x5b, 0xb2, 0x46, 0xba, 0xff,
+ 0xff, 0xa8, 0x21, 0x39, 0x5b, 0x32, 0xfa, 0x27, 0x3d, 0x9e, 0x69, 0xf8, 0x78, 0xff, 0xb4, 0xff,
+ 0xee, 0x1c, 0x79, 0xfe, 0xa3, 0xfe, 0xaa, 0x10, 0xcd, 0x03, 0x08, 0xfa, 0x00, 0x00, 0x00, 0xe5,
+ 0x00, 0x4c, 0x4b, 0x96, 0x00, 0xff, 0xdf, 0xff, 0xf0, 0x90, 0x28, 0x0d, 0x2f, 0x4b, 0x96, 0xa2,
+ 0xb0, 0x8e, 0xbd, 0x2c, 0x0e, 0x03, 0xfb, 0x56, 0x4f, 0xa1, 0x0d, 0x4d, 0x76, 0x09, 0x3e, 0x08,
+ 0x8f, 0xff, 0xff, 0xae, 0x51, 0x26, 0x7b, 0x62, 0x6b, 0x27, 0x92, 0xd7, 0x03, 0x05, 0xfb, 0x00,
+ 0x42, 0xff, 0xef, 0x15, 0xc0, 0xf8, 0xe4, 0xf9, 0x9f, 0x16, 0xc9, 0x03, 0x08, 0xfa, 0x00, 0x00,
+ 0x00, 0xe8, 0x00, 0x2f, 0x4b, 0x96, 0x00, 0x00, 0x20, 0x00, 0x14, 0x48, 0x4c, 0x0e, 0xc8, 0x4b,
+ 0x96, 0x1f, 0x56, 0x61, 0x2b, 0x37, 0x50, 0x01, 0xfe, 0x4d, 0x94, 0xa1, 0x0d, 0x71, 0x9c, 0x59,
+ 0xf7, 0x1c, 0x19, 0xff, 0xff, 0xa6, 0xaf, 0x87, 0x24, 0xdf, 0x18, 0x26, 0x8f, 0x65, 0xa2, 0xf8,
+ 0x6e, 0x00, 0x17, 0xff, 0xfd, 0x1d, 0x09, 0xfe, 0xd7, 0xff, 0x00, 0x0e, 0xf8, 0x03, 0x08, 0xfa,
+ 0x00, 0x00, 0x00, 0xef, 0x02, 0xc8, 0x4b, 0x96, 0x00, 0x00, 0x59, 0x00, 0x0a, 0x11, 0x93, 0x0f,
+ 0x3d, 0x4b, 0x96, 0x87, 0x5f, 0xef, 0xb5, 0x33, 0xc4, 0x07, 0xe8, 0x17, 0x96, 0xa1, 0x0c, 0xd5,
+ 0xa5, 0xfd, 0x7c, 0x2d, 0xde, 0xff, 0xff, 0xab, 0x61, 0x34, 0x6c, 0xd5, 0x63, 0x26, 0x16, 0x23,
+ 0xe5, 0x03, 0x43, 0x00, 0x8a, 0xff, 0xcc, 0x14, 0xf4, 0xf3, 0x9d, 0xf4, 0xe3, 0x15, 0x23, 0x03,
+ 0x08, 0xfa, 0x00, 0x00, 0x00, 0xea, 0x00, 0x3d, 0x4b, 0x96, 0x00, 0x00, 0x22, 0x00, 0x03, 0xf2,
+ 0xfe, 0x10, 0x60, 0x4b, 0x96, 0xd7, 0xad, 0x33, 0x37, 0x32, 0x13, 0x07, 0x27, 0x0f, 0x72, 0xa1,
+ 0x0d, 0xbb, 0x93, 0x5c, 0x6e, 0x14, 0xe8, 0xff, 0xff, 0xa9, 0x22, 0x21, 0x66, 0xe6, 0x44, 0x27,
+ 0x39, 0x23, 0xfb, 0xf9, 0x1e, 0x00, 0x83, 0x00, 0x91, 0x1d, 0x17, 0xff, 0x59, 0xff, 0xb2, 0x0f,
+ 0xee, 0x03, 0x08, 0xfa, 0x00, 0x00, 0x00, 0xea, 0x00, 0x60, 0x4b, 0x96, 0x00, 0x00, 0x46, 0xff,
+ 0xf3, 0xa1, 0x15, 0x11, 0x25, 0x4b, 0x96, 0xb1, 0x23, 0x91, 0x8f, 0x2a, 0x36, 0x06, 0xfb, 0xcd,
+ 0xda, 0xa1, 0x0d, 0x57, 0x05, 0x86, 0x05, 0x99, 0x6e, 0xff, 0xff, 0xad, 0x5c, 0xc9, 0x4c, 0xe0,
+ 0x03, 0x27, 0x91, 0xc7, 0x88, 0xfd, 0xe3, 0x00, 0x30, 0x00, 0xb3, 0x18, 0x43, 0x0f, 0xfa, 0x0e,
+ 0x19, 0x15, 0x1b, 0x03, 0x08, 0xfa, 0x00, 0x00, 0x00, 0xe8, 0x00, 0x25, 0x4b, 0x96, 0x00, 0xff,
+ 0xf6, 0x00, 0x17, 0x8f, 0xe1, 0x12, 0x0e, 0x4b, 0x96, 0x5b, 0xef, 0x54, 0xe6, 0x2e, 0xe5, 0x01,
+ 0xf5, 0xee, 0x74, 0xa1, 0x0d, 0x0b, 0xd9, 0xae, 0xef, 0x36, 0xa4, 0xff, 0xff, 0xa6, 0xa7, 0x85,
+ 0x26, 0x01, 0xa6, 0x27, 0xb2, 0xac, 0xa1, 0x02, 0x20, 0xff, 0xdd, 0x00, 0x23, 0x2c, 0xb0, 0x0a,
+ 0x1f, 0x08, 0xd4, 0x03, 0x2c, 0x03, 0x08, 0xfa, 0x00, 0x00, 0x00, 0xee, 0x00, 0x0e, 0x4b, 0x96,
+ 0x00, 0xff, 0xb1, 0xff, 0xee, 0x50, 0x69, 0x13, 0x51, 0x4b, 0x96, 0x04, 0x56, 0xce, 0x04, 0x2b,
+ 0xdd, 0x04, 0xd5, 0x4a, 0xe4, 0xa1, 0x0d, 0x7e, 0x19, 0x87, 0xd4, 0x5f, 0xa0, 0xff, 0xff, 0xaa,
+ 0x5a, 0x64, 0xc7, 0xe1, 0x4a, 0x27, 0x88, 0xe5, 0x4e, 0xfe, 0x38, 0x00, 0x3b, 0xff, 0xaf, 0x18,
+ 0x6f, 0x0e, 0xec, 0x0c, 0xc2, 0x15, 0x2a, 0x03, 0x08, 0xfa, 0x00, 0x00, 0x00, 0xdf, 0x00, 0x51,
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+ 0xfd, 0xc1, 0x7f, 0xa7, 0xbf, 0x07, 0x60, 0x10, 0x90, 0x1b, 0xb0, 0x0f, 0x9f, 0xf4, 0xd7, 0xb7,
+ 0xc0, 0x49, 0x08, 0x4f, 0xe7, 0xee, 0x02, 0xff, 0xf8, 0x00, 0xcb, 0x3f, 0xc3, 0xbf, 0xe7, 0x54,
+ 0x00, 0x34, 0x05, 0xee, 0x02, 0xbf, 0xf2, 0xc0, 0x10, 0x00, 0x13, 0xef, 0x80, 0x68, 0x20, 0x00,
+ 0xe0, 0x7f, 0x6c, 0xff, 0xf9, 0x70, 0x3c, 0x57, 0xf9, 0x58, 0x0b, 0x00, 0x08, 0xf7, 0xd1, 0xbf,
+ 0xb7, 0x01, 0x98, 0x08, 0x7f, 0x60, 0x0a, 0xff, 0x51, 0x3f, 0xb0, 0x0b, 0xfe, 0xcf, 0x7e, 0xfb,
+ 0xff, 0x60, 0x10, 0x40, 0x18, 0x1d, 0xb4, 0x02, 0xab, 0xe2, 0xff, 0xdf, 0x21, 0x0c, 0x03, 0xef,
+ 0xa5, 0xf8, 0x06, 0xff, 0xc8, 0x00, 0xb0, 0xbf, 0xa1, 0x6f, 0xea, 0x7c, 0x05, 0xa4, 0x05, 0xe3,
+ 0xfc, 0x63, 0xf5, 0x00, 0x17, 0xff, 0x14, 0x00, 0x01, 0xcf, 0xfd, 0x01, 0x56, 0xbf, 0x8e, 0x80,
+ 0x5a, 0xc0, 0x31, 0xf7, 0xf6, 0x80, 0x0d, 0xef, 0xf9, 0xff, 0xc9, 0xa0, 0x2c, 0x02, 0x17, 0xfb,
+ 0x3f, 0xc0, 0x03, 0xff, 0x4e, 0xbf, 0xb0, 0x0b, 0x00, 0x2d, 0x7e, 0x9c, 0x7f, 0xcc, 0x20, 0x5d,
+ 0xd8, 0x14, 0x1f, 0xf2, 0x07, 0xe3, 0x90, 0x1c, 0x21, 0x14, 0xfd, 0x1f, 0xa6, 0x08, 0x05, 0xff,
+ 0x83, 0x00, 0x70, 0xbf, 0x80, 0x9f, 0xf1, 0x98, 0x0a, 0x3e, 0x02, 0x39, 0xf8, 0x07, 0xfd, 0xe0,
+ 0x0c, 0x7f, 0xbc, 0x10, 0xc0, 0x37, 0xde, 0x01, 0x92, 0xbf, 0xbc, 0xc0, 0xa7, 0x00, 0x19, 0xcf,
+ 0xf4, 0xd8, 0x05, 0xef, 0xed, 0xd7, 0xeb, 0x40, 0x88, 0x80, 0x8f, 0xf2, 0x3f, 0xd7, 0xf7, 0xff,
+ 0x4c, 0x5f, 0xb0, 0x0d, 0x01, 0x49, 0xfe, 0x85, 0x80, 0x38, 0x50, 0x67, 0x40, 0x01, 0x0b, 0xe7,
+ 0x37, 0xf6, 0x60, 0x46, 0x60, 0x63, 0xf8, 0x8f, 0xe4, 0x11, 0x01, 0xff, 0x45, 0x80, 0x16, 0x3f,
+ 0x5e, 0x4f, 0xfd, 0xc0, 0x0a, 0xaf, 0xfc, 0xfb, 0xf9, 0x64, 0x07, 0xb0, 0x0f, 0x80, 0xe0, 0x05,
+ 0xfe, 0x6f, 0xf9, 0x01, 0x8d, 0x40, 0x1d, 0xc0, 0xbb, 0xcf, 0xf8, 0x97, 0xf2, 0x5f, 0xf7, 0x3f,
+ 0xee, 0x18, 0x1d, 0x60, 0x6c, 0xfe, 0xa7, 0xf6, 0x00, 0x10, 0x0b, 0xff, 0x49, 0xff, 0xb0, 0x0e,
+ 0x02, 0x57, 0x7e, 0xc4, 0x00, 0x97, 0x60, 0x5b, 0x77, 0xeb, 0x5b, 0xe9, 0x0c, 0x0f, 0xe8, 0x41,
+ 0x9f, 0x72, 0xf9, 0x40, 0x32, 0x0e, 0xfd, 0xff, 0x1a, 0x7f, 0xac, 0x3f, 0x4e, 0x50, 0x0c, 0x84,
+ 0x07, 0xc7, 0xfa, 0x03, 0xfe, 0xdc, 0x0d, 0xb0, 0x1e, 0x80, 0x77, 0xf2, 0xbf, 0x48, 0x19, 0x01,
+ 0x2a, 0x40, 0x5e, 0xc0, 0x95, 0x4f, 0xd7, 0x87, 0xec, 0xcf, 0xec, 0xff, 0xfb, 0x60, 0x37, 0x60,
+ 0x05, 0x7e, 0x34, 0x01, 0xc0, 0xd8, 0x0d, 0xff, 0x47, 0x9f, 0xb0, 0x0f, 0x03, 0x42, 0x7f, 0x24,
+ 0xc0, 0xee, 0xc0, 0x3d, 0x8f, 0xdb, 0x23, 0xf6, 0x78, 0x20, 0x40, 0x12, 0x1e, 0xe2, 0xfe, 0xa0,
+ 0x5e, 0x01, 0xfb, 0xff, 0x7c, 0xff, 0x1c, 0x7f, 0x67, 0x80, 0x1b, 0x50, 0x02, 0xf5, 0xfb, 0x28,
+ 0x04, 0xf0, 0x0d, 0x70, 0x01, 0x7e, 0xdf, 0xf4, 0x40, 0xf0, 0x0d, 0x00, 0x8a, 0x80, 0x99, 0xe0,
+ 0x3f, 0x5f, 0xbf, 0xe7, 0xe7, 0x37, 0xf1, 0xe0, 0x0d, 0x20, 0x29, 0xbf, 0xb5, 0xff, 0x44, 0x0b,
+ 0x40, 0x87, 0xee, 0xff, 0x45, 0x1f, 0xb0, 0x10, 0x04, 0x1b, 0x7f, 0xe1, 0x41, 0x36, 0xe0, 0x0f,
+ 0x5f, 0xd6, 0x8c, 0x08, 0x28, 0x1d, 0x0f, 0xd6, 0xff, 0x14, 0x04, 0xe0, 0x49, 0xf4, 0xfc, 0x00,
+ 0x91, 0x7e, 0xd5, 0xbf, 0xb5, 0x20, 0x25, 0x77, 0xff, 0x59, 0xfe, 0x78, 0x07, 0x2c, 0x02, 0xdf,
+ 0xb5, 0xfe, 0x8c, 0x06, 0x81, 0x0f, 0xf4, 0xff, 0xf5, 0x00, 0xa4, 0xff, 0xe0, 0xbf, 0xb7, 0xc7,
+ 0xeb, 0xa0, 0x06, 0x70, 0x16, 0x58, 0x04, 0xff, 0xa5, 0x00, 0x68, 0x07, 0x3f, 0x1f, 0xf0, 0xff,
+ 0x42, 0xbf, 0xb0, 0x10, 0x04, 0xa9, 0x00, 0xb4, 0x81, 0x5c, 0x4f, 0xd7, 0x47, 0xdd, 0x78, 0x14,
+ 0x3c, 0x09, 0x3f, 0xb7, 0x3f, 0xe6, 0x07, 0xe0, 0x01, 0xf0, 0x01, 0x02, 0x06, 0x7e, 0xb5, 0xc0,
+ 0x26, 0x80, 0x26, 0x5f, 0xfc, 0xf2, 0x01, 0x38, 0x04, 0x5b, 0xf0, 0xff, 0x9c, 0x80, 0x70, 0x12,
+ 0xc0, 0x07, 0xf6, 0xff, 0x9f, 0xc0, 0x93, 0xbf, 0x99, 0xdf, 0xbc, 0x6f, 0xfe, 0x48, 0x1d, 0x28,
+ 0x0f, 0xff, 0xde, 0x1f, 0xc3, 0x80, 0xb3, 0xfb, 0x3f, 0x60, 0x16, 0xff, 0x40, 0x5f, 0xb0, 0x0f,
+ 0x04, 0x29, 0x18, 0x04, 0x04, 0x7d, 0x7e, 0xbc, 0x41, 0x36, 0xa0, 0x45, 0xf7, 0xe0, 0x60, 0x0f,
+ 0x50, 0x09, 0x6f, 0xa8, 0x3f, 0xd6, 0x0a, 0x20, 0x11, 0xea, 0xfe, 0x00, 0x56, 0x00, 0x32, 0x40,
+ 0x0b, 0x7f, 0xf9, 0x5b, 0xfc, 0x52, 0x02, 0xac, 0x07, 0xb7, 0xf6, 0x7f, 0x9c, 0x00, 0xc0, 0x0b,
+ 0x7f, 0x3f, 0xff, 0x01, 0x64, 0x40, 0x99, 0x60, 0x54, 0xbf, 0xbd, 0xe7, 0xef, 0x00, 0x12, 0xa0,
+ 0x01, 0xc7, 0xee, 0x20, 0x1b, 0x00, 0x9b, 0xf5, 0x3f, 0xb0, 0x12, 0xff, 0x5e, 0x5f, 0x90, 0x04,
+ 0x05, 0xce, 0x7f, 0xc0, 0x01, 0x90, 0x10, 0x07, 0x8f, 0xe5, 0xd0, 0x0f, 0x07, 0xf0, 0x8f, 0xbe,
+ 0x60, 0xe3, 0x07, 0x8f, 0xb5, 0xef, 0x04, 0x00, 0x7d, 0x00, 0x14, 0x80, 0x14, 0x6f, 0xfe, 0x37,
+ 0xfe, 0x96, 0x04, 0xa6, 0x02, 0x47, 0xe8, 0x6f, 0xe6, 0x01, 0xf4, 0x00, 0xbf, 0x60, 0x0c, 0x01,
+ 0x3e, 0x80, 0xa3, 0x20, 0x0a, 0x1f, 0xb6, 0x18, 0x03, 0x28, 0x16, 0xff, 0xfb, 0xf7, 0xef, 0x00,
+ 0x22, 0xff, 0xab, 0xf8, 0xc0, 0xe8, 0x08, 0xff, 0x5a, 0xdf, 0x90, 0x04, 0x05, 0xaa, 0x80, 0xf2,
+ 0x41, 0x83, 0xef, 0xc4, 0x37, 0xed, 0x08, 0x06, 0x37, 0xe5, 0x7f, 0xfa, 0x41, 0x54, 0x00, 0x8f,
+ 0x89, 0xfe, 0x07, 0x01, 0x04, 0x00, 0x05, 0xc0, 0x31, 0xe0, 0x01, 0x78, 0x00, 0x00, 0x03, 0xc7,
+ 0xfb, 0xab, 0xec, 0xb0, 0x52, 0x81, 0x67, 0xf3, 0x3f, 0xb8, 0x01, 0x00, 0xf9, 0x40, 0x98, 0xdf,
+ 0xc6, 0x0f, 0xbc, 0x98, 0x18, 0x78, 0x12, 0x07, 0xf4, 0x37, 0xf5, 0xc0, 0x21, 0x7f, 0x9c, 0x05,
+ 0x00, 0xa7, 0xef, 0xff, 0x57, 0x7f, 0x90, 0x04, 0x04, 0x43, 0x01, 0xf3, 0x81, 0x08, 0x6f, 0x8d,
+ 0x2f, 0xf3, 0x0f, 0xfd, 0x23, 0xee, 0x48, 0x33, 0xc0, 0xe6, 0xf9, 0x9f, 0xac, 0x0e, 0x05, 0x01,
+ 0x81, 0x80, 0x35, 0x00, 0x52, 0x90, 0x00, 0x30, 0x00, 0x7e, 0x00, 0xd7, 0xf8, 0x20, 0x00, 0x70,
+ 0x76, 0x7f, 0x57, 0xf0, 0xc0, 0x38, 0x06, 0x00, 0xb8, 0x00, 0x74, 0x7f, 0x84, 0xef, 0xcf, 0x80,
+ 0x27, 0x78, 0x02, 0xc7, 0xf0, 0x70, 0x07, 0x40, 0x24, 0x00, 0x24, 0x05, 0x3f, 0x47, 0xf4, 0xff,
+ 0x53, 0xff, 0x90, 0x05, 0x01, 0xd6, 0x02, 0x60, 0x40, 0x47, 0x7f, 0x73, 0x37, 0xf8, 0xf7, 0xfa,
+ 0xbc, 0x02, 0xe0, 0x47, 0x1f, 0xee, 0xf7, 0x10, 0x04, 0x15, 0x00, 0x01, 0xc7, 0x00, 0x67, 0x00,
+ 0x61, 0x7f, 0xfa, 0x73, 0xfe, 0xe5, 0xfd, 0x9d, 0xfa, 0xd0, 0x12, 0x00, 0x28, 0x7e, 0x03, 0xfe,
+ 0xc1, 0x08, 0x0a, 0x00, 0x53, 0x40, 0x37, 0xff, 0x57, 0x8f, 0xeb, 0x58, 0x28, 0xa7, 0xf1, 0x5f,
+ 0xf5, 0x20, 0x1c, 0xc0, 0x27, 0xff, 0xf7, 0xf9, 0x3f, 0x60, 0x11, 0xff, 0x50, 0x9f, 0x90, 0x05,
+ 0xff, 0x64, 0x02, 0x3d, 0x3f, 0x7e, 0x1f, 0x7b, 0xf0, 0x01, 0x08, 0x01, 0x28, 0x14, 0x80, 0x28,
+ 0x5f, 0x11, 0xfa, 0xa0, 0x54, 0x0d, 0xfb, 0x01, 0x9a, 0x00, 0xb3, 0x80, 0x4d, 0x8f, 0xf2, 0xcb,
+ 0xfc, 0xcb, 0xfc, 0x2c, 0x01, 0x3c, 0x13, 0x4f, 0xc5, 0xfe, 0xe0, 0x0f, 0x40, 0xd7, 0xef, 0x00,
+ 0x21, 0xbf, 0xf2, 0xff, 0x3e, 0x90, 0x0c, 0x50, 0x1c, 0xef, 0xe8, 0xf8, 0x01, 0x60, 0x27, 0xa0,
+ 0x08, 0xff, 0x03, 0xf8, 0x00, 0xc0, 0x0f, 0xff, 0x4d, 0x1f, 0x90, 0x06, 0xfd, 0xab, 0x01, 0x6e,
+ 0x7e, 0xec, 0xef, 0xa5, 0x58, 0x0c, 0x48, 0x0b, 0x10, 0x16, 0xcf, 0xef, 0x3e, 0xdf, 0x01, 0x90,
+ 0x69, 0xfc, 0xfa, 0x01, 0x14, 0x80, 0xd3, 0x80, 0x1f, 0xef, 0xea, 0xf7, 0xfa, 0xf9, 0xfe, 0xaa,
+ 0x06, 0xf8, 0x05, 0xaf, 0xae, 0x00, 0xd0, 0x0e, 0x3f, 0x07, 0xe7, 0x00, 0x04, 0x3f, 0xa2, 0x1f,
+ 0x5b, 0x80, 0x2c, 0x00, 0x0c, 0x47, 0xee, 0x90, 0x0d, 0xe8, 0x1d, 0x3f, 0xbd, 0xfe, 0xa0, 0x05,
+ 0xc0, 0xe7, 0xf0, 0xff, 0x49, 0xbf, 0x90, 0x06, 0xfd, 0x13, 0x80, 0x71, 0xbe, 0xb9, 0x2f, 0xe1,
+ 0x90, 0x18, 0xc8, 0x10, 0xa4, 0x07, 0x9f, 0xc2, 0x9f, 0x74, 0x07, 0x10, 0x35, 0xef, 0xfd, 0x00,
+ 0x8b, 0x80, 0xe5, 0xbf, 0xeb, 0x1f, 0xe7, 0xdb, 0xfc, 0x2e, 0x03, 0x22, 0x07, 0x6f, 0xf6, 0xaf,
+ 0xde, 0x01, 0x6b, 0xf9, 0x7e, 0x70, 0x0f, 0x00, 0x55, 0x7f, 0x76, 0x3f, 0xa2, 0xf0, 0x40, 0xd7,
+ 0xfe, 0x07, 0xfc, 0xa0, 0x11, 0x77, 0xf8, 0xbf, 0x8a, 0x7f, 0xe0, 0x0e, 0xff, 0xbf, 0xf2, 0xff,
+ 0x46, 0x3f, 0x90, 0x07, 0xfd, 0xb2, 0x7f, 0x5f, 0x3e, 0xdf, 0x90, 0x21, 0x70, 0x21, 0x00, 0x0c,
+ 0x0f, 0xf1, 0x3f, 0xc0, 0xc0, 0x65, 0x07, 0x6f, 0xdf, 0xef, 0x02, 0x00, 0x30, 0x80, 0xbe, 0xff,
+ 0xc2, 0x7f, 0xe7, 0xb8, 0x00, 0xd4, 0x06, 0xd0, 0x02, 0x13, 0xee, 0xd0, 0x15, 0x00, 0x43, 0xee,
+ 0xc0, 0x80, 0x23, 0x00, 0xb8, 0xff, 0x5a, 0xa0, 0x11, 0x60, 0x45, 0xa7, 0xf4, 0x90, 0x08, 0x80,
+ 0x09, 0x57, 0xd1, 0x5f, 0xb8, 0x01, 0xd0, 0x08, 0xbf, 0x40, 0x0a, 0xff, 0x42, 0xdf, 0x90, 0x07,
+ 0xfe, 0xe5, 0x7e, 0xa0, 0xff, 0x47, 0x60, 0x55, 0xd0, 0x1f, 0xef, 0xfe, 0x13, 0xe2, 0x9f, 0xea,
+ 0xe1, 0x0c, 0x02, 0xcf, 0xa5, 0xfb, 0x06, 0x00, 0x12, 0x80, 0x99, 0xff, 0xa5, 0xbf, 0xed, 0x24,
+ 0x06, 0x74, 0x05, 0xfb, 0xfa, 0xd3, 0xf3, 0x40, 0x26, 0xff, 0x43, 0xff, 0xc1, 0xc7, 0xf9, 0x01,
+ 0x3e, 0xff, 0x87, 0x60, 0x78, 0x70, 0x36, 0xaf, 0xef, 0xd8, 0x0b, 0x57, 0xfa, 0xc7, 0xcc, 0xe0,
+ 0x33, 0x02, 0x13, 0xf8, 0xff, 0xa0, 0x04, 0xff, 0x3f, 0x5f, 0x90, 0x07, 0x00, 0x71, 0xfe, 0x36,
+ 0xbf, 0xc5, 0xf0, 0x75, 0x10, 0x12, 0xfb, 0xed, 0xff, 0xe6, 0x68, 0x25, 0x20, 0xf8, 0xfc, 0x4f,
+ 0xae, 0x09, 0x04, 0xff, 0xeb, 0x80, 0x57, 0xbf, 0x8f, 0x0f, 0xf5, 0xc8, 0x0a, 0x76, 0x01, 0x6d,
+ 0xf6, 0xab, 0xff, 0xa0, 0x1f, 0x7f, 0xbc, 0x0e, 0x40, 0x07, 0xde, 0x01, 0x8a, 0x3f, 0xc1, 0x80,
+ 0xc3, 0xe0, 0x19, 0x77, 0xec, 0xd8, 0x04, 0x5f, 0xf0, 0x4f, 0xf0, 0xa0, 0x83, 0x80, 0x47, 0xf0,
+ 0xff, 0xf7, 0xfb, 0xff, 0x3b, 0xff, 0x90, 0x08, 0x01, 0xc2, 0x7e, 0x23, 0xc0, 0x46, 0x30, 0x7c,
+ 0x77, 0xfd, 0x37, 0xe4, 0xf7, 0xfb, 0x00, 0x48, 0xc0, 0x3b, 0xf8, 0x6f, 0xf0, 0x11, 0x00, 0xff,
+ 0xd1, 0x00, 0x03, 0x7f, 0x79, 0x30, 0x01, 0xe8, 0x09, 0xbf, 0xfb, 0xcb, 0xf9, 0x24, 0x0b, 0xe0,
+ 0x19, 0x80, 0x88, 0x03, 0x3e, 0x97, 0xff, 0x01, 0x99, 0xc0, 0x2c, 0x80, 0xd3, 0x0f, 0xf4, 0x07,
+ 0xea, 0x5f, 0xf8, 0x8f, 0xf2, 0x18, 0x1d, 0xe0, 0x57, 0x7e, 0x77, 0xf8, 0x40, 0x58, 0x0b, 0xff,
+ 0x38, 0x7f, 0x90, 0x08, 0x03, 0x04, 0x7e, 0x71, 0x40, 0xb7, 0xf0, 0x6b, 0x9f, 0xe6, 0x2f, 0xe8,
+ 0xfc, 0x14, 0x20, 0x3c, 0xdf, 0x51, 0xf9, 0xd0, 0x3c, 0x0d, 0xfd, 0xff, 0xc7, 0xff, 0xab, 0x7f,
+ 0x75, 0x10, 0x0e, 0xdc, 0x05, 0xb3, 0xf9, 0x1b, 0xff, 0xe4, 0x11, 0x90, 0x14, 0x00, 0x03, 0xf4,
+ 0x3f, 0xb0, 0x19, 0x01, 0x55, 0x00, 0x74, 0xa0, 0xa6, 0x7f, 0xd0, 0x4f, 0xe6, 0xef, 0xf2, 0x27,
+ 0xfe, 0xd0, 0x2f, 0x3f, 0xef, 0xfe, 0x70, 0x05, 0xc0, 0xd0, 0x05, 0xff, 0x35, 0x1f, 0x90, 0x09,
+ 0x04, 0x17, 0x7e, 0xee, 0xc1, 0x1d, 0xc0, 0x46, 0x6f, 0xd5, 0xfb, 0xf8, 0x0c, 0x22, 0x58, 0x09,
+ 0x5e, 0xd6, 0xff, 0x70, 0x60, 0x00, 0xfb, 0x00, 0x3e, 0x7f, 0x36, 0xbf, 0x95, 0x70, 0x1a, 0x24,
+ 0x00, 0x3d, 0xfb, 0x02, 0x06, 0xb0, 0x0e, 0x3f, 0xe8, 0x7e, 0xd3, 0xf9, 0x80, 0xf8, 0x04, 0x00,
+ 0xe1, 0x80, 0xb5, 0xe0, 0x4c, 0x1f, 0xb7, 0x77, 0xe5, 0x77, 0xf9, 0x98, 0x0d, 0x48, 0x1b, 0xbf,
+ 0xb4, 0x7f, 0xc8, 0x0c, 0x00, 0x17, 0xec, 0xff, 0x31, 0x9f, 0x90
+};
\ No newline at end of file
diff --git a/hal/src/msom/hal_platform_config.h b/hal/src/msom/hal_platform_config.h
index c2f60b9604..eae1b54a5f 100644
--- a/hal/src/msom/hal_platform_config.h
+++ b/hal/src/msom/hal_platform_config.h
@@ -45,3 +45,6 @@
#endif // HAL_PLATFORM_ETHERNET
#define HAL_PLATFORM_AUTOMATIC_CONNECTION_MANAGEMENT (1)
+
+#define HAL_PLATFORM_GNSS (1)
+#define HAL_PLATFORM_GPS_ONE_XTRA (1)
diff --git a/hal/src/msom/sources.mk b/hal/src/msom/sources.mk
index 7618652a2b..54f7243f93 100644
--- a/hal/src/msom/sources.mk
+++ b/hal/src/msom/sources.mk
@@ -23,5 +23,8 @@ CPPSRC += $(call here_files,$(HAL_MODULE_PATH)/network/lwip/realtek/,*.cpp)
CSRC += $(call here_files,$(HAL_MODULE_PATH)/network/ncp_client/realtek/,*.c)
CPPSRC += $(call here_files,$(HAL_MODULE_PATH)/network/ncp_client/realtek/,*.cpp)
+CSRC += $(call here_files,$(HAL_MODULE_PATH)/network/ncp/gnss/,*.c)
+CPPSRC += $(call here_files,$(HAL_MODULE_PATH)/network/ncp/gnss/,*.cpp)
+
include $(HAL_PLATFORM_SRC_PATH)/../rtl872x/sources.mk
diff --git a/hal/src/rtl872x/hal_dynalib_export.cpp b/hal/src/rtl872x/hal_dynalib_export.cpp
index 0c4751cc19..025e265c7e 100644
--- a/hal/src/rtl872x/hal_dynalib_export.cpp
+++ b/hal/src/rtl872x/hal_dynalib_export.cpp
@@ -56,3 +56,4 @@
#include "hal_dynalib_storage.h"
#include "hal_dynalib_backup_ram.h"
+#include "hal_dynalib_gnss.h"
diff --git a/modules/msom/system-part1/module_system_part1_export.ld b/modules/msom/system-part1/module_system_part1_export.ld
index a4bdb08ba0..77a63712d9 100644
--- a/modules/msom/system-part1/module_system_part1_export.ld
+++ b/modules/msom/system-part1/module_system_part1_export.ld
@@ -29,4 +29,5 @@ PROVIDE (link_dynalib_location_offset_hal_storage = 104);
PROVIDE (link_dynalib_location_offset_hal_cellular = 108);
PROVIDE (link_dynalib_location_offset_hal_watchdog = 112);
PROVIDE (link_dynalib_location_offset_hal_backup_ram = 116);
-PROVIDE (link_dynalib_location_offset_system_asset_manager = 120);
\ No newline at end of file
+PROVIDE (link_dynalib_location_offset_system_asset_manager = 120);
+PROVIDE (link_dynalib_location_offset_hal_gnss = 124);
\ No newline at end of file
diff --git a/modules/shared/rtl872x/inc/system-part1/module_system_part1.inc b/modules/shared/rtl872x/inc/system-part1/module_system_part1.inc
index 659a78034a..71b9d9154b 100644
--- a/modules/shared/rtl872x/inc/system-part1/module_system_part1.inc
+++ b/modules/shared/rtl872x/inc/system-part1/module_system_part1.inc
@@ -50,6 +50,9 @@ DYNALIB_TABLE_EXTERN(hal_watchdog);
#endif // HAL_PLATFORM_HW_WATCHDOG
DYNALIB_TABLE_EXTERN(hal_backup_ram);
DYNALIB_TABLE_EXTERN(system_asset_manager);
+#if HAL_PLATFORM_GNSS
+DYNALIB_TABLE_EXTERN(hal_gnss);
+#endif // HAL_PLATFORM_GNSS
// strange that this is needed given that the entire block is scoped extern "C"
// without it, the section name doesn't match *.system_part2_module as expected in the linker script
@@ -99,6 +102,9 @@ extern "C" __attribute__((externally_visible)) const void* const system_part1_mo
#endif // HAL_PLATFORM_HW_WATCHDOG
, DYNALIB_TABLE_NAME(hal_backup_ram),
DYNALIB_TABLE_NAME(system_asset_manager)
+#if HAL_PLATFORM_GNSS
+ , DYNALIB_TABLE_NAME(hal_gnss)
+#endif // HAL_PLATFORM_GNSS
};
#include "system_part1_loader.c"
diff --git a/user/tests/app/blank/blank.cpp b/user/tests/app/blank/blank.cpp
index 8bca70dfe0..fc8e5abf1c 100644
--- a/user/tests/app/blank/blank.cpp
+++ b/user/tests/app/blank/blank.cpp
@@ -16,13 +16,58 @@
*/
#include "application.h"
+#include "gnss_hal.h"
+#include "rtc_hal.h"
+
+SYSTEM_MODE(SEMI_AUTOMATIC);
+
+Serial1LogHandler l(115200, LOG_LEVEL_ALL);
+
+uint32_t counter = 0;
+
+void gnssThread() {
+ while (true) {
+ hal_gnss_pos(nullptr);
+ delay(500);
+ }
+}
/* executes once at startup */
void setup() {
+ Log.info("Application started");
+
+ Cellular.on();
+ waitUntil(Cellular.isOn);
+
+ // Cellular.command(1000, "AT+QGPSCFG=\"priority\",1,0\r\n");
+ // delay(3s);
+ // Cellular.command(1000, "AT+QGPSCFG=\"priority\"\r\n");
+ // delay(3s);
+ hal_gnss_init(nullptr);
+
+ Cellular.off();
+ delay(10s);
+
+ Cellular.on();
+ waitUntil(Cellular.isOn);
+
+ delay(10s);
+
+ Particle.connect();
+ waitUntil(Particle.connected);
+
+ static Thread *thread = new Thread("gnss", gnssThread, OS_THREAD_PRIORITY_DEFAULT);
}
/* executes continuously after setup() runs */
void loop() {
-
+ if (Particle.connected()) {
+ counter++;
+ char temp[32];
+ sprintf(temp, "%ld", counter);
+ Particle.publish("GH-GNSS", temp);
+ Log.info("counter: %ld", counter);
+ delay(1000);
+ }
}