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arch/nrf91: defer GNSS start until the modem is GNSS-capable

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When the GNSS sensor is opened before the LTE stack has powered the modem
on, the modem is not yet in a GNSS-capable functional mode. Instead of
failing the activate with -EACCES, remember the request (priv->pending)
and let the GNSS thread poll the modem functional mode (AT+CFUN?) and
start GNSS once it becomes GNSS-capable. The LTE stack keeps ownership of
modem power.

Extract the configure/start sequence into nrf91_gnss_start() so it can be
used both from nrf91_gnss_enable() and from the thread's CFUN poll.

Signed-off-by: raiden00pl <raiden00@railab.me>
This commit is contained in:
raiden00pl 2026-06-12 19:15:30 +02:00 • committed by Xiang Xiao
parent cf9c51d144
commit 2bcc59b42f
1 changed files with 104 additions and 30 deletions
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134
arch/arm/src/nrf91/nrf91_modem_gnss.c
View file

@ -28,7 +28,10 @@
#include <nuttx/kthread.h>
#include <nuttx/clock.h>
#include <nuttx/debug.h>
#include <nuttx/semaphore.h>
#include <errno.h>
#include <string.h>
#include <sys/param.h>
#include <time.h>
@ -70,6 +73,12 @@
/* Shorten some names */
/* While a start is deferred (modem not yet GNSS-capable), the GNSS thread
* re-checks the modem functional mode at this interval.
*/
#define NRF91_GNSS_CFUN_POLL_TICKS (SEC2TICK(2))
#define NRF_GNSS_PVT_FRAME_LEN (sizeof(struct nrf_modem_gnss_pvt_data_frame))
#define NRF_GNSS_NMEA_FRAME_LEN (sizeof(struct nrf_modem_gnss_nmea_data_frame))
#define NRF_GNSS_AGPS_FRAME_LEN (sizeof(struct nrf_modem_gnss_agps_data_frame))
@ -84,6 +93,7 @@ struct nrf91_gnss_s
struct gnss_lowerhalf_s lower;
bool running;
bool pending;
bool singlefix;
int notime_cntr;
sem_t rx_sem;
@ -208,6 +218,40 @@ static bool nrf91_gnss_isactive(int cfun)
* Name: nrf91_gnss_enable
****************************************************************************/
/****************************************************************************
* Name: nrf91_gnss_start
*
* Description:
* Configure and start the GNSS engine. The caller must have verified that
* the modem is in a GNSS-capable functional mode (see nrf91_gnss_isactive).
*
****************************************************************************/
static int nrf91_gnss_start(struct nrf91_gnss_s *priv)
{
int ret;
/* Configure GNSS modem */
ret = nrf91_gnss_configure();
if (ret < 0)
{
snerr("nrf91_gnss_configure failed %d\n", ret);
return ret;
}
ret = nrf_modem_gnss_start();
if (ret < 0)
{
snerr("nrf_modem_gnss_start failed %d", ret);
return ret;
}
priv->pending = false;
priv->running = true;
return OK;
}
static int nrf91_gnss_enable(struct nrf91_gnss_s *priv, bool enable)
{
int ret = OK;
@ -224,43 +268,44 @@ static int nrf91_gnss_enable(struct nrf91_gnss_s *priv, bool enable)
goto errout;
}
/* GNSS must be active */
/* The modem must be in a GNSS-capable functional mode before GNSS can
* be started. When the sensor is opened early (e.g. before the LTE
* stack has powered the modem on), it is not yet active. Rather than
* failing the open, remember the request and let the GNSS thread start
* GNSS once the modem reaches a GNSS-capable mode (see CFUN poll in
* nrf91_gnss_thread). The LTE stack keeps ownership of modem power.
*/
if (!nrf91_gnss_isactive(cfun))
{
snerr("GNSS is not activated!");
ret = -EACCES;
goto errout;
sninfo("GNSS not yet active (CFUN=%d); deferring start\n", cfun);
priv->pending = true;
/* Kick the thread so it enters its CFUN-poll wait */
nxsem_post(&priv->rx_sem);
return OK;
}
/* Configure GNSS modem */
ret = nrf91_gnss_configure();
if (ret < 0)
{
snerr("nrf91_gnss_configure failed %d\n", ret);
return ret;
}
ret = nrf_modem_gnss_start();
if (ret < 0)
{
snerr("nrf_modem_gnss_start failed %d", ret);
goto errout;
}
priv->running = true;
ret = nrf91_gnss_start(priv);
}
else
{
ret = nrf_modem_gnss_stop();
if (ret < 0)
{
snerr("nrf_modem_gnss_stop failed %d", ret);
goto errout;
}
/* Cancel any pending deferred start */
priv->running = false;
priv->pending = false;
if (priv->running)
{
ret = nrf_modem_gnss_stop();
if (ret < 0)
{
snerr("nrf_modem_gnss_stop failed %d", ret);
goto errout;
}
priv->running = false;
}
}
errout:
@ -624,9 +669,38 @@ static int nrf91_gnss_thread(int argc, char** argv)
while (true)
{
/* Read data */
/* While a start is deferred, wait with a timeout and poll the modem
* functional mode; start GNSS once the modem becomes GNSS-capable
* (e.g. after the LTE stack has powered it on). Otherwise wait
* indefinitely for the next GNSS event.
*/
if (priv->pending && !priv->running)
{
ret = nxsem_tickwait(&priv->rx_sem, NRF91_GNSS_CFUN_POLL_TICKS);
if (ret == -ETIMEDOUT)
{
int cfun = 0;
if (priv->pending && !priv->running &&
nrf_modem_at_scanf("AT+CFUN?", "+CFUN: %d", &cfun) >= 0 &&
nrf91_gnss_isactive(cfun))
{
sninfo("modem GNSS-capable (CFUN=%d); starting GNSS\n",
cfun);
nrf91_gnss_start(priv);
}
continue;
}
}
else
{
/* Read data */
ret = nxsem_wait(&priv->rx_sem);
}
ret = nxsem_wait(&priv->rx_sem);
if (ret < 0)
{
return ret;