From 8e5a55e8291fcf22b4e2ce3f9c3d3b39dc21b369 Mon Sep 17 00:00:00 2001
From: XuGuohui <xghui999@126.com>
Date: Tue, 30 Jan 2024 21:20:25 +0800
Subject: [PATCH 1/3] [gen4] support built-in GNSS in NCP client.

---
 hal-dynalib/src/hal_gnss.c                    |    1 +
 hal/inc/gnss_hal.h                            |   31 +
 hal/inc/hal_dynalib_gnss.h                    |   38 +
 hal/inc/hal_platform.h                        |    4 +
 hal/network/ncp/gnss/gnss_hal.cpp             |   43 +
 hal/network/ncp/gnss/gnss_ncp_client.h        |   75 +
 .../ncp_client/quectel/quectel_ncp_client.cpp |  248 ++
 .../ncp_client/quectel/quectel_ncp_client.h   |   17 +-
 hal/network/ncp_client/quectel/xtra3grcej.h   | 3673 +++++++++++++++++
 hal/src/msom/hal_platform_config.h            |    2 +
 hal/src/msom/sources.mk                       |    3 +
 hal/src/rtl872x/hal_dynalib_export.cpp        |    1 +
 .../module_system_part1_export.ld             |    3 +-
 .../inc/system-part1/module_system_part1.inc  |    4 +-
 user/tests/app/blank/blank.cpp                |   12 +
 15 files changed, 4152 insertions(+), 3 deletions(-)
 create mode 100644 hal-dynalib/src/hal_gnss.c
 create mode 100644 hal/inc/gnss_hal.h
 create mode 100644 hal/inc/hal_dynalib_gnss.h
 create mode 100644 hal/network/ncp/gnss/gnss_hal.cpp
 create mode 100644 hal/network/ncp/gnss/gnss_ncp_client.h
 create mode 100644 hal/network/ncp_client/quectel/xtra3grcej.h

diff --git a/hal-dynalib/src/hal_gnss.c b/hal-dynalib/src/hal_gnss.c
new file mode 100644
index 0000000000..32907d1376
--- /dev/null
+++ b/hal-dynalib/src/hal_gnss.c
@@ -0,0 +1 @@
+#include "hal_dynalib_gnss.h"
diff --git a/hal/inc/gnss_hal.h b/hal/inc/gnss_hal.h
new file mode 100644
index 0000000000..bf374b1e03
--- /dev/null
+++ b/hal/inc/gnss_hal.h
@@ -0,0 +1,31 @@
+/*
+ * 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 <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef GNSS_HAL_H
+#define GNSS_HAL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int hal_gnss_init(void* reserved);
+
+#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..769008efda
--- /dev/null
+++ b/hal/inc/hal_dynalib_gnss.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 <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "hal_platform.h"
+#include "dynalib.h"
+
+#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_END(hal_gnss)
diff --git a/hal/inc/hal_platform.h b/hal/inc/hal_platform.h
index 362fa736b5..8fe3dd1ed7 100644
--- a/hal/inc/hal_platform.h
+++ b/hal/inc/hal_platform.h
@@ -622,4 +622,8 @@
 #define HAL_PLATFORM_AUTOMATIC_CONNECTION_MANAGEMENT (0)
 #endif // HAL_PLATFORM_AUTOMATIC_CONNECTION_MANAGEMENT
 
+#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..b5f4bee8e6
--- /dev/null
+++ b/hal/network/ncp/gnss/gnss_hal.cpp
@@ -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
+ * 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 <http://www.gnu.org/licenses/>.
+ */
+
+#include "check.h"
+#include "delay_hal.h"
+#include "service_debug.h"
+#include "logging.h"
+#include "gnss_hal.h"
+
+#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<QuectelNcpClient*>(mgr->ncpClient());
+    CHECK_TRUE(client, SYSTEM_ERROR_UNKNOWN);
+
+    GnssNcpClientConfig config = {};
+    config.enableGpsOneXtra(true);
+    client->gnssConfig(config);
+
+    return 0;
+}
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..f2960d270b
--- /dev/null
+++ b/hal/network/ncp/gnss/gnss_ncp_client.h
@@ -0,0 +1,75 @@
+/*
+ * 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 <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "time.h"
+#include "ncp_client.h"
+#include "wifi_network_manager.h"
+
+namespace particle {
+
+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;
+
+#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
diff --git a/hal/network/ncp_client/quectel/quectel_ncp_client.cpp b/hal/network/ncp_client/quectel/quectel_ncp_client.cpp
index d531290956..377d74db44 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 <algorithm>
 #include <limits>
 #include <lwip/memp.h>
+#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;
 
@@ -166,9 +169,13 @@ int QuectelNcpClient::init(const NcpClientConfig& conf) {
     decltype(muxerDataStream_) muxDataStrm(new(std::nothrow) decltype(muxerDataStream_)::element_type(&muxer_, QUECTEL_NCP_PPP_CHANNEL));
     CHECK_TRUE(muxDataStrm, SYSTEM_ERROR_NO_MEMORY);
     CHECK(muxDataStrm->init(QUECTEL_NCP_PPP_CHANNEL_RX_BUFFER_SIZE));
+    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));
     serial_ = std::move(serial);
     muxerAtStream_ = std::move(muxStrm);
     muxerDataStream_ = std::move(muxDataStrm);
+    muxerGnssStream_ = std::move(muxGnssStrm);
     ncpState_ = NcpState::OFF;
     prevNcpState_ = NcpState::OFF;
     connState_ = NcpConnectionState::DISCONNECTED;
@@ -176,6 +183,7 @@ int QuectelNcpClient::init(const NcpClientConfig& conf) {
     regCheckTime_ = 0;
     parserError_ = 0;
     ready_ = false;
+    gnssReady_ = false;
     registrationTimeout_ = REGISTRATION_TIMEOUT;
     resetRegistrationState();
     if (modemPowerState()) {
@@ -188,6 +196,238 @@ int QuectelNcpClient::init(const NcpClientConfig& conf) {
     return SYSTEM_ERROR_NONE;
 }
 
+#include "xtra3grcej.h"
+
+int QuectelNcpClient::gnssConfig(const GnssNcpClientConfig& conf) {
+    const NcpClientLock lock(this);
+
+    LOG(TRACE, "Initializing GNSS");
+    if (muxer_.isRunning()) {
+        LOG(TRACE, "Muxer is running");
+    } else {
+        LOG(TRACE, "Turning on the modem");
+        CHECK(on());
+    }
+
+    LOG(TRACE, "Opening GNSS channel");
+    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;
+    }
+
+    LOG(TRACE, "Configure GNSS AT parser");
+    auto parserConf = AtParserConfig().stream(muxerGnssStream_.get()).commandTerminator(AtCommandTerminator::CRLF);
+    gnssParser_.destroy();
+    CHECK(gnssParser_.init(std::move(parserConf)));
+
+    skipAll(muxerGnssStream_.get());
+    muxerGnssStream_->enabled(true);
+
+    CHECK_PARSER_OK(gnssParser_.execCommand(1000, "AT"));
+
+    // 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\",8")); // GSA
+    CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSCFG=\"glonassnmeatype\",2")); // GSA
+    CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSCFG=\"galileonmeatype\",1")); // GSV
+    CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSCFG=\"beidounmeatype\",1")); // GSA
+
+    if (conf.isGpsOneXtraEnabled()) {
+        // Enable gpsOneXtra assistance function
+        injectGpsOneXtraTimeAndData(xtra2, 58715);
+    } else {
+        // Disable gpsOneXtra assistance function
+        CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSXTRA=0"));
+    }
+
+    // Remove the following test routine from this function
+
+    // Turn on GNSS
+    CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPS=1"));
+
+    // Obtain positioning information
+    uint32_t start = hal_timer_millis(nullptr);
+    auto resp = gnssParser_.sendCommand("AT+QGPSLOC=2");
+    while (resp.readResult() != AtResponse::OK) {
+        resp = gnssParser_.sendCommand("AT+QGPSLOC=2");
+        HAL_Delay_Milliseconds(500);
+    }
+    uint32_t end = hal_timer_millis(nullptr);
+    LOG(TRACE, "TTFF: %ldms", end - start);
+
+    GnssPositioningInfo info = {};
+    acquirePositioningInfo(&info);
+
+    gnssReady_ = true;
+
+    return SYSTEM_ERROR_NONE;
+}
+
+int QuectelNcpClient::gnssOn() {
+    const NcpClientLock lock(this);
+    CHECK_TRUE(ready_, SYSTEM_ERROR_INVALID_STATE);
+    CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPS=1"));
+    return SYSTEM_ERROR_NONE;
+}
+
+int QuectelNcpClient::gnssOff() {
+    const NcpClientLock lock(this);
+    CHECK_TRUE(ready_, SYSTEM_ERROR_INVALID_STATE);
+    CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSEND"));
+    muxerGnssStream_->enabled(false);
+    return SYSTEM_ERROR_NONE;
+}
+
+int QuectelNcpClient::acquirePositioningInfo(GnssPositioningInfo* info) {
+    const NcpClientLock lock(this);
+    CHECK_TRUE(info, SYSTEM_ERROR_INVALID_ARGUMENT);
+    CHECK_TRUE(ready_, 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;
+}
+
+#if HAL_PLATFORM_GPS_ONE_XTRA
+bool QuectelNcpClient::isGpsOneXtraEnabled() {
+    const NcpClientLock lock(this);
+    CHECK_TRUE_RETURN(ready_, 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(ready_, 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(ready_, 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
+
 void QuectelNcpClient::destroy() {
     if (ncpState_ != NcpState::OFF) {
         ncpState_ = NcpState::OFF;
@@ -195,10 +435,13 @@ void QuectelNcpClient::destroy() {
     }
     parser_.destroy();
     muxerAtStream_.reset();
+    muxerDataStream_.reset();
+    muxerGnssStream_.reset();
     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();
@@ -414,6 +657,7 @@ void QuectelNcpClient::disable() {
     serial_->enabled(false);
     muxerAtStream_->enabled(false);
     muxerDataStream_->enabled(false);
+    muxerGnssStream_->enabled(false);
 }
 
 NcpState QuectelNcpClient::ncpState() {
@@ -1956,6 +2200,10 @@ 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..39679c21be 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 <cstdlib>
 
 #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 +35,7 @@ namespace particle {
 
 class SerialStream;
 
-class QuectelNcpClient: public CellularNcpClient {
+class QuectelNcpClient: public CellularNcpClient, public GnssNcpClient {
 public:
     QuectelNcpClient();
     ~QuectelNcpClient();
@@ -76,6 +77,17 @@ class QuectelNcpClient: public CellularNcpClient {
     virtual int startNcpFwUpdate(bool update) override;
     virtual int dataModeError(int error) override;
 
+    // Reimplemented from GnssNcpClient
+    int gnssConfig(const GnssNcpClientConfig& conf) override;
+    int gnssOn() override;
+    int gnssOff() override;
+    int acquirePositioningInfo(GnssPositioningInfo* info) override;
+#if HAL_PLATFORM_GPS_ONE_XTRA
+    int injectGpsOneXtraTimeAndData(const uint8_t* buf, size_t size) override;
+    bool isGpsOneXtraEnabled() override;
+    bool isGpsOneXtraDataValid() override;
+#endif
+
     auto getMuxer() {
         return &muxer_;
     }
@@ -83,6 +95,7 @@ class QuectelNcpClient: public CellularNcpClient {
 private:
     AtParser parser_;
     AtParser dataParser_;
+    AtParser gnssParser_;
     std::unique_ptr<SerialStream> serial_;
     RecursiveMutex mutex_;
     CellularNcpClientConfig conf_;
@@ -92,9 +105,11 @@ class QuectelNcpClient: public CellularNcpClient {
     volatile NcpPowerState pwrState_ = NcpPowerState::UNKNOWN;
     int parserError_ = 0;
     bool ready_ = false;
+    bool gnssReady_ = false;
     gsm0710::Muxer<EventGroupBasedStream, StaticRecursiveMutex> muxer_;
     std::unique_ptr<particle::MuxerChannelStream<decltype(muxer_)> > muxerAtStream_;
     std::unique_ptr<particle::MuxerChannelStream<decltype(muxer_)> > muxerDataStream_;
+    std::unique_ptr<particle::MuxerChannelStream<decltype(muxer_)> > muxerGnssStream_;
     CellularNetworkConfig netConf_;
     CellularGlobalIdentity cgi_ = {};
     CellularAccessTechnology act_ = CellularAccessTechnology::NONE;
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, 
+  0x4b, 0x96, 0x00, 0x00, 0x2e, 0x00, 0x0e, 0x1f, 0x70, 0x14, 0x09, 0x4b, 0x95, 0x75, 0x01, 0x57, 
+  0x88, 0x33, 0x65, 0x02, 0x04, 0xa2, 0xf4, 0xa1, 0x0d, 0xaa, 0x05, 0xd1, 0xc8, 0x4b, 0x5a, 0xff, 
+  0xff, 0xa4, 0x31, 0x93, 0xc3, 0x49, 0xd5, 0x26, 0xc8, 0xa7, 0x87, 0xfd, 0xff, 0xff, 0xee, 0xff, 
+  0xf6, 0x2c, 0x55, 0xf2, 0xfa, 0xf4, 0xb1, 0x02, 0x1b, 0x03, 0x08, 0xfa, 0x00, 0x00, 0x00, 0xee, 
+  0x00, 0x09, 0x4b, 0x95, 0x00, 0xff, 0xf3, 0x00, 0x0c, 0xc8, 0xd2, 0x15, 0x09, 0x4b, 0x95, 0xad, 
+  0xcf, 0xf9, 0x06, 0x30, 0x38, 0x0c, 0xef, 0xba, 0x82, 0xa1, 0x0d, 0xd8, 0xb5, 0xaa, 0x89, 0xe1, 
+  0x56, 0xff, 0xff, 0xa6, 0x41, 0xe5, 0xbb, 0x66, 0x22, 0x27, 0x2f, 0xae, 0x6c, 0x03, 0x92, 0xfe, 
+  0xff, 0x00, 0x77, 0x2a, 0xb7, 0x0d, 0x31, 0x0c, 0x21, 0x05, 0x41, 0x03, 0x08, 0xfa, 0x00, 0x00, 
+  0x00, 0xea, 0x00, 0x09, 0x4b, 0x95, 0x00, 0xff, 0xf5, 0x00, 0x04, 0x80, 0x22, 0x16, 0x66, 0x4b, 
+  0x96, 0xc6, 0x3b, 0x86, 0x9c, 0x32, 0xee, 0x07, 0x7a, 0x22, 0x54, 0xa1, 0x0d, 0xba, 0xd3, 0x5c, 
+  0x90, 0x84, 0x91, 0xff, 0xff, 0xa7, 0xe8, 0xd1, 0x54, 0x0c, 0x7e, 0x27, 0x31, 0xc6, 0x51, 0xf8, 
+  0xa7, 0xff, 0x3e, 0x00, 0x19, 0x1c, 0x41, 0xff, 0x9b, 0xff, 0xb0, 0x11, 0x0e, 0x03, 0x08, 0xfa, 
+  0x00, 0x00, 0x00, 0xe8, 0x00, 0x66, 0x4b, 0x96, 0x00, 0xff, 0xc8, 0x00, 0x01, 0x67, 0x17, 0x17, 
+  0x39, 0x4b, 0x96, 0x30, 0x23, 0x9a, 0xa5, 0x2d, 0x8d, 0x02, 0x06, 0x72, 0xac, 0xa1, 0x0d, 0xa8, 
+  0x15, 0xd7, 0xb5, 0xc5, 0x9d, 0xff, 0xff, 0xa7, 0xca, 0x86, 0xd4, 0x26, 0x10, 0x27, 0xd1, 0xea, 
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+  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..d99fb87873 100644
--- a/hal/src/msom/hal_platform_config.h
+++ b/hal/src/msom/hal_platform_config.h
@@ -45,3 +45,5 @@
 #endif // HAL_PLATFORM_ETHERNET
 
 #define HAL_PLATFORM_AUTOMATIC_CONNECTION_MANAGEMENT (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..5513718153 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 +50,7 @@ DYNALIB_TABLE_EXTERN(hal_watchdog);
 #endif // HAL_PLATFORM_HW_WATCHDOG
 DYNALIB_TABLE_EXTERN(hal_backup_ram);
 DYNALIB_TABLE_EXTERN(system_asset_manager);
+DYNALIB_TABLE_EXTERN(hal_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
@@ -98,7 +99,8 @@ extern "C" __attribute__((externally_visible)) const void* const system_part1_mo
     , DYNALIB_TABLE_NAME(hal_watchdog)
 #endif // HAL_PLATFORM_HW_WATCHDOG
     , DYNALIB_TABLE_NAME(hal_backup_ram),
-    DYNALIB_TABLE_NAME(system_asset_manager)
+    DYNALIB_TABLE_NAME(system_asset_manager),
+    DYNALIB_TABLE_NAME(hal_gnss)
 };
 
 #include "system_part1_loader.c"
diff --git a/user/tests/app/blank/blank.cpp b/user/tests/app/blank/blank.cpp
index 8bca70dfe0..307ff5540c 100644
--- a/user/tests/app/blank/blank.cpp
+++ b/user/tests/app/blank/blank.cpp
@@ -16,10 +16,22 @@
  */
 
 #include "application.h"
+#include "gnss_hal.h"
+#include "rtc_hal.h"
+
+SYSTEM_MODE(MANUAL);
+
+Serial1LogHandler l(115200, LOG_LEVEL_ALL);
 
 /* executes once at startup */
 void setup() {
+    Log.info("Application started");
+
+    Cellular.on();
+    waitUntil(Cellular.isOn);
+    // waitUntil(Particle.connected);
 
+    hal_gnss_init(nullptr);
 }
 
 /* executes continuously after setup() runs */

From 62ee10006cbec76dfd769b6b2e197f3bdea01177 Mon Sep 17 00:00:00 2001
From: XuGuohui <xghui999@126.com>
Date: Thu, 22 Feb 2024 23:10:05 +0800
Subject: [PATCH 2/3] [msom] Improves built-in GNSS

---
 hal-dynalib/src/hal_gnss.c                    |   5 +
 hal/inc/gnss_hal.h                            |   7 +
 hal/inc/hal_dynalib_gnss.h                    |   5 +
 hal/inc/hal_platform.h                        |   4 +
 hal/network/ncp/gnss/gnss_hal.cpp             |  17 ++
 hal/network/ncp/gnss/gnss_ncp_client.h        |  26 +++
 .../ncp_client/quectel/quectel_ncp_client.cpp | 156 +++++++++++++-----
 .../ncp_client/quectel/quectel_ncp_client.h   |  26 ++-
 hal/src/msom/hal_platform_config.h            |   1 +
 .../inc/system-part1/module_system_part1.inc  |   8 +-
 user/tests/app/blank/blank.cpp                |  39 ++++-
 11 files changed, 247 insertions(+), 47 deletions(-)

diff --git a/hal-dynalib/src/hal_gnss.c b/hal-dynalib/src/hal_gnss.c
index 32907d1376..b2d490f112 100644
--- a/hal-dynalib/src/hal_gnss.c
+++ b/hal-dynalib/src/hal_gnss.c
@@ -1 +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
index bf374b1e03..d1697c4990 100644
--- a/hal/inc/gnss_hal.h
+++ b/hal/inc/gnss_hal.h
@@ -18,11 +18,18 @@
 #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
 }
diff --git a/hal/inc/hal_dynalib_gnss.h b/hal/inc/hal_dynalib_gnss.h
index 769008efda..fdd43bb69e 100644
--- a/hal/inc/hal_dynalib_gnss.h
+++ b/hal/inc/hal_dynalib_gnss.h
@@ -20,6 +20,8 @@
 #include "hal_platform.h"
 #include "dynalib.h"
 
+#if HAL_PLATFORM_GNSS
+
 #ifdef DYNALIB_EXPORT
 #include "gnss_hal.h"
 #endif
@@ -34,5 +36,8 @@
 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 8fe3dd1ed7..e5d16bd504 100644
--- a/hal/inc/hal_platform.h
+++ b/hal/inc/hal_platform.h
@@ -622,6 +622,10 @@
 #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
diff --git a/hal/network/ncp/gnss/gnss_hal.cpp b/hal/network/ncp/gnss/gnss_hal.cpp
index b5f4bee8e6..26be5c64fc 100644
--- a/hal/network/ncp/gnss/gnss_hal.cpp
+++ b/hal/network/ncp/gnss/gnss_hal.cpp
@@ -21,6 +21,8 @@
 #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"
@@ -38,6 +40,21 @@ int hal_gnss_init(void* reserved) {
     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<QuectelNcpClient*>(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
index f2960d270b..a3a90ca517 100644
--- a/hal/network/ncp/gnss/gnss_ncp_client.h
+++ b/hal/network/ncp/gnss/gnss_ncp_client.h
@@ -20,9 +20,30 @@
 #include "time.h"
 #include "ncp_client.h"
 #include "wifi_network_manager.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;
@@ -64,6 +85,9 @@ class GnssNcpClient {
     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;
@@ -73,3 +97,5 @@ class GnssNcpClient {
 };
 
 } // 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 377d74db44..4858ffa204 100644
--- a/hal/network/ncp_client/quectel/quectel_ncp_client.cpp
+++ b/hal/network/ncp_client/quectel/quectel_ncp_client.cpp
@@ -156,7 +156,6 @@ int QuectelNcpClient::init(const NcpClientConfig& conf) {
     modemInit();
     conf_ = static_cast<const CellularNcpClientConfig&>(conf);
 
-
     // Initialize serial stream
     std::unique_ptr<SerialStream> serial(new (std::nothrow) SerialStream(HAL_PLATFORM_CELLULAR_SERIAL, QUECTEL_NCP_DEFAULT_SERIAL_BAUDRATE, getDefaultSerialConfig()));
     CHECK_TRUE(serial, SYSTEM_ERROR_NO_MEMORY);
@@ -169,13 +168,9 @@ int QuectelNcpClient::init(const NcpClientConfig& conf) {
     decltype(muxerDataStream_) muxDataStrm(new(std::nothrow) decltype(muxerDataStream_)::element_type(&muxer_, QUECTEL_NCP_PPP_CHANNEL));
     CHECK_TRUE(muxDataStrm, SYSTEM_ERROR_NO_MEMORY);
     CHECK(muxDataStrm->init(QUECTEL_NCP_PPP_CHANNEL_RX_BUFFER_SIZE));
-    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));
     serial_ = std::move(serial);
     muxerAtStream_ = std::move(muxStrm);
     muxerDataStream_ = std::move(muxDataStrm);
-    muxerGnssStream_ = std::move(muxGnssStrm);
     ncpState_ = NcpState::OFF;
     prevNcpState_ = NcpState::OFF;
     connState_ = NcpConnectionState::DISCONNECTED;
@@ -183,8 +178,18 @@ int QuectelNcpClient::init(const NcpClientConfig& conf) {
     regCheckTime_ = 0;
     parserError_ = 0;
     ready_ = false;
-    gnssReady_ = 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);
@@ -196,12 +201,21 @@ 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;
 
-    LOG(TRACE, "Initializing GNSS");
     if (muxer_.isRunning()) {
         LOG(TRACE, "Muxer is running");
     } else {
@@ -209,7 +223,6 @@ int QuectelNcpClient::gnssConfig(const GnssNcpClientConfig& conf) {
         CHECK(on());
     }
 
-    LOG(TRACE, "Opening GNSS channel");
     int r = muxer_.openChannel(QUECTEL_NCP_GNSS_CHANNEL, muxerGnssStream_->channelDataCb, muxerGnssStream_.get());
     if (r) {
         LOG(ERROR, "Failed to open GNSS channel");
@@ -217,7 +230,6 @@ int QuectelNcpClient::gnssConfig(const GnssNcpClientConfig& conf) {
         return SYSTEM_ERROR_UNKNOWN;
     }
 
-    LOG(TRACE, "Configure GNSS AT parser");
     auto parserConf = AtParserConfig().stream(muxerGnssStream_.get()).commandTerminator(AtCommandTerminator::CRLF);
     gnssParser_.destroy();
     CHECK(gnssParser_.init(std::move(parserConf)));
@@ -225,7 +237,7 @@ int QuectelNcpClient::gnssConfig(const GnssNcpClientConfig& conf) {
     skipAll(muxerGnssStream_.get());
     muxerGnssStream_->enabled(true);
 
-    CHECK_PARSER_OK(gnssParser_.execCommand(1000, "AT"));
+    CHECK(waitAtResponse(gnssParser_, 1000));
 
     // Turn off the GNSS, otherwise, we may get "+CME ERROR:504" when configuring nmeasrc.
     gnssParser_.execCommand("AT+QGPSEND");
@@ -242,10 +254,17 @@ int QuectelNcpClient::gnssConfig(const GnssNcpClientConfig& conf) {
     CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSCFG=\"nmeasrc\",1"));
 
     // Configure NMEA sentences output type
-    CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSCFG=\"gpsnmeatype\",8")); // GSA
-    CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSCFG=\"glonassnmeatype\",2")); // GSA
-    CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSCFG=\"galileonmeatype\",1")); // GSV
-    CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSCFG=\"beidounmeatype\",1")); // GSA
+    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
@@ -255,48 +274,66 @@ int QuectelNcpClient::gnssConfig(const GnssNcpClientConfig& conf) {
         CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPSXTRA=0"));
     }
 
-    // Remove the following test routine from this function
-
-    // Turn on GNSS
-    CHECK_PARSER_OK(gnssParser_.execCommand("AT+QGPS=1"));
+    return SYSTEM_ERROR_NONE;
+}
 
-    // Obtain positioning information
+void QuectelNcpClient::calculateTtffThread(void *context) {
+    QuectelNcpClient* client = (QuectelNcpClient*)context;
     uint32_t start = hal_timer_millis(nullptr);
-    auto resp = gnssParser_.sendCommand("AT+QGPSLOC=2");
-    while (resp.readResult() != AtResponse::OK) {
-        resp = gnssParser_.sendCommand("AT+QGPSLOC=2");
-        HAL_Delay_Milliseconds(500);
+    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);
     }
-    uint32_t end = hal_timer_millis(nullptr);
-    LOG(TRACE, "TTFF: %ldms", end - start);
-
-    GnssPositioningInfo info = {};
-    acquirePositioningInfo(&info);
-
-    gnssReady_ = true;
-
-    return SYSTEM_ERROR_NONE;
+    LOG(TRACE, "Exiting TTFF thread");
+    client->gnssTtffThread_ = nullptr;
+    os_thread_exit(nullptr);
 }
 
 int QuectelNcpClient::gnssOn() {
     const NcpClientLock lock(this);
-    CHECK_TRUE(ready_, SYSTEM_ERROR_INVALID_STATE);
+    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(ready_, SYSTEM_ERROR_INVALID_STATE);
+    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(ready_, SYSTEM_ERROR_INVALID_STATE);
+    CHECK_TRUE(gnssState_ != GNSS_STATE_DISABLED, SYSTEM_ERROR_INVALID_STATE);
 
     info->locked = false;
 
@@ -324,10 +361,28 @@ int QuectelNcpClient::acquirePositioningInfo(GnssPositioningInfo* info) {
     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(ready_, false);
+    CHECK_TRUE_RETURN(gnssState_ != GNSS_STATE_DISABLED, false);
     auto resp = gnssParser_.sendCommand("AT+QGPSXTRA?");
     int enabled;
     int r = resp.scanf("+QGPSXTRA: %d", &enabled);
@@ -340,7 +395,7 @@ bool QuectelNcpClient::isGpsOneXtraEnabled() {
 
 bool QuectelNcpClient::isGpsOneXtraDataValid() {
     const NcpClientLock lock(this);
-    CHECK_TRUE_RETURN(ready_, false); 
+    CHECK_TRUE_RETURN(gnssState_ != GNSS_STATE_DISABLED, false); 
     auto resp = gnssParser_.sendCommand("AT+QGPSXTRADATA?");
     int validMinutes;
     int r = resp.scanf("+QGPSXTRADATA: %d, \"%*19[^\"]\"", &validMinutes);
@@ -353,7 +408,7 @@ bool QuectelNcpClient::isGpsOneXtraDataValid() {
 
 int QuectelNcpClient::injectGpsOneXtraTimeAndData(const uint8_t* buf, size_t len) {
     const NcpClientLock lock(this);
-    CHECK_TRUE(ready_, SYSTEM_ERROR_INVALID_STATE); 
+    CHECK_TRUE(gnssState_ != GNSS_STATE_DISABLED, SYSTEM_ERROR_INVALID_STATE); 
     LOG(TRACE, "Injecting gpsOneXtra data");
 
     struct timeval tv = {};
@@ -427,6 +482,7 @@ int QuectelNcpClient::injectGpsOneXtraTimeAndData(const uint8_t* buf, size_t len
     return SYSTEM_ERROR_NONE;
 }
 #endif // HAL_PLATFORM_GPS_ONE_XTRA
+#endif // HAL_PLATFORM_GNSS
 
 void QuectelNcpClient::destroy() {
     if (ncpState_ != NcpState::OFF) {
@@ -436,7 +492,9 @@ void QuectelNcpClient::destroy() {
     parser_.destroy();
     muxerAtStream_.reset();
     muxerDataStream_.reset();
+#if HAL_PLATFORM_GNSS
     muxerGnssStream_.reset();
+#endif // HAL_PLATFORM_GNSS
     serial_.reset();
 }
 
@@ -597,6 +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;
 }
 
@@ -628,6 +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;
@@ -657,7 +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() {
diff --git a/hal/network/ncp_client/quectel/quectel_ncp_client.h b/hal/network/ncp_client/quectel/quectel_ncp_client.h
index 39679c21be..dda2bbb248 100644
--- a/hal/network/ncp_client/quectel/quectel_ncp_client.h
+++ b/hal/network/ncp_client/quectel/quectel_ncp_client.h
@@ -35,7 +35,11 @@ namespace particle {
 
 class SerialStream;
 
-class QuectelNcpClient: public CellularNcpClient, public GnssNcpClient {
+class QuectelNcpClient: public CellularNcpClient
+#if HAL_PLATFORM_GNSS
+                      , public GnssNcpClient
+#endif
+{
 public:
     QuectelNcpClient();
     ~QuectelNcpClient();
@@ -77,16 +81,21 @@ class QuectelNcpClient: public CellularNcpClient, public GnssNcpClient {
     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_;
@@ -95,7 +104,6 @@ class QuectelNcpClient: public CellularNcpClient, public GnssNcpClient {
 private:
     AtParser parser_;
     AtParser dataParser_;
-    AtParser gnssParser_;
     std::unique_ptr<SerialStream> serial_;
     RecursiveMutex mutex_;
     CellularNcpClientConfig conf_;
@@ -105,11 +113,9 @@ class QuectelNcpClient: public CellularNcpClient, public GnssNcpClient {
     volatile NcpPowerState pwrState_ = NcpPowerState::UNKNOWN;
     int parserError_ = 0;
     bool ready_ = false;
-    bool gnssReady_ = false;
     gsm0710::Muxer<EventGroupBasedStream, StaticRecursiveMutex> muxer_;
     std::unique_ptr<particle::MuxerChannelStream<decltype(muxer_)> > muxerAtStream_;
     std::unique_ptr<particle::MuxerChannelStream<decltype(muxer_)> > muxerDataStream_;
-    std::unique_ptr<particle::MuxerChannelStream<decltype(muxer_)> > muxerGnssStream_;
     CellularNetworkConfig netConf_;
     CellularGlobalIdentity cgi_ = {};
     CellularAccessTechnology act_ = CellularAccessTechnology::NONE;
@@ -132,6 +138,18 @@ class QuectelNcpClient: public CellularNcpClient, public GnssNcpClient {
     volatile bool inFlowControl_ = false;
     bool checkImsi_ = false;
 
+#if HAL_PLATFORM_GNSS
+    AtParser gnssParser_;
+    std::unique_ptr<particle::MuxerChannelStream<decltype(muxer_)> > 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/src/msom/hal_platform_config.h b/hal/src/msom/hal_platform_config.h
index d99fb87873..eae1b54a5f 100644
--- a/hal/src/msom/hal_platform_config.h
+++ b/hal/src/msom/hal_platform_config.h
@@ -46,4 +46,5 @@
 
 #define HAL_PLATFORM_AUTOMATIC_CONNECTION_MANAGEMENT (1)
 
+#define HAL_PLATFORM_GNSS (1)
 #define HAL_PLATFORM_GPS_ONE_XTRA (1)
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 5513718153..71b9d9154b 100644
--- a/modules/shared/rtl872x/inc/system-part1/module_system_part1.inc
+++ b/modules/shared/rtl872x/inc/system-part1/module_system_part1.inc
@@ -50,7 +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
@@ -99,8 +101,10 @@ extern "C" __attribute__((externally_visible)) const void* const system_part1_mo
     , DYNALIB_TABLE_NAME(hal_watchdog)
 #endif // HAL_PLATFORM_HW_WATCHDOG
     , DYNALIB_TABLE_NAME(hal_backup_ram),
-    DYNALIB_TABLE_NAME(system_asset_manager),
-    DYNALIB_TABLE_NAME(hal_gnss)
+    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 307ff5540c..fc8e5abf1c 100644
--- a/user/tests/app/blank/blank.cpp
+++ b/user/tests/app/blank/blank.cpp
@@ -19,22 +19,55 @@
 #include "gnss_hal.h"
 #include "rtc_hal.h"
 
-SYSTEM_MODE(MANUAL);
+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);
-    // waitUntil(Particle.connected);
+
+    // 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);
+    }
 }

From 1e241ac3b370ae302ad93517d27365b64519bde5 Mon Sep 17 00:00:00 2001
From: XuGuohui <xghui999@126.com>
Date: Fri, 23 Feb 2024 00:26:13 +0800
Subject: [PATCH 3/3] minor fix

---
 hal/network/ncp/gnss/gnss_ncp_client.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/hal/network/ncp/gnss/gnss_ncp_client.h b/hal/network/ncp/gnss/gnss_ncp_client.h
index a3a90ca517..b042493884 100644
--- a/hal/network/ncp/gnss/gnss_ncp_client.h
+++ b/hal/network/ncp/gnss/gnss_ncp_client.h
@@ -19,7 +19,6 @@
 
 #include "time.h"
 #include "ncp_client.h"
-#include "wifi_network_manager.h"
 #include "hal_platform.h"
 
 #if HAL_PLATFORM_GNSS