Merge pull request #3042 from kamtom480/gnss

Add gnss module

17 files changed, 896 insertions, 1 deletions

diff --git a/locale/circuitpython.pot b/locale/circuitpython.pot
index 11ecb99e8..f125c2cc4 100644
--- a/locale/circuitpython.pot
+++ b/locale/circuitpython.pot
@@ -8,7 +8,7 @@ msgid ""
 msgstr ""
 "Project-Id-Version: PACKAGE VERSION\n"
 "Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2020-06-01 17:10-0700\n"
+"POT-Creation-Date: 2020-06-24 11:10+0200\n"
 "PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
 "Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
 "Language-Team: LANGUAGE <LL@li.org>\n"
@@ -572,6 +572,10 @@ msgstr ""
 msgid "Corrupt raw code"
 msgstr ""
 
+#: ports/cxd56/common-hal/gnss/GNSS.c
+msgid "Could not initialize GNSS"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 msgid "Could not initialize UART"
 msgstr ""
@@ -1425,6 +1429,10 @@ msgstr ""
 msgid "Supply at least one UART pin"
 msgstr ""
 
+#: shared-bindings/gnss/GNSS.c
+msgid "System entry must be gnss.SatelliteSystem"
+msgstr ""
+
 #: ports/stm/common-hal/microcontroller/Processor.c
 msgid "Temperature read timed out"
 msgstr ""
@@ -1611,6 +1619,7 @@ msgid ""
 msgstr ""
 
 #: ports/atmel-samd/common-hal/busio/I2C.c ports/cxd56/common-hal/busio/I2C.c
+#: ports/stm/common-hal/busio/I2C.c
 msgid "Unsupported baudrate"
 msgstr ""
 
diff --git a/ports/cxd56/common-hal/gnss/GNSS.c b/ports/cxd56/common-hal/gnss/GNSS.c
new file mode 100644
index 000000000..c0aaa3cfb
--- /dev/null
+++ b/ports/cxd56/common-hal/gnss/GNSS.c
@@ -0,0 +1,135 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright 2020 Sony Semiconductor Solutions Corporation
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <fcntl.h>
+#include <string.h>
+#include <sys/ioctl.h>
+
+#include "py/runtime.h"
+
+#include "shared-bindings/gnss/GNSS.h"
+
+typedef struct {
+    const char* devpath;
+    int fd;
+} gnss_dev_t;
+
+STATIC gnss_dev_t gnss_dev = {"/dev/gps", -1};
+
+static gnss_positionfix_t fix_to_positionfix_type(uint8_t fix) {
+    switch (fix) {
+        case CXD56_GNSS_PVT_POSFIX_2D:
+            return POSITIONFIX_2D;
+        case CXD56_GNSS_PVT_POSFIX_3D:
+            return POSITIONFIX_3D;
+        case CXD56_GNSS_PVT_POSFIX_INVALID:
+        default:
+            return POSITIONFIX_INVALID;
+    }
+}
+
+void common_hal_gnss_construct(gnss_obj_t *self, unsigned long selection) {
+    if (gnss_dev.fd < 0) {
+        gnss_dev.fd = open(gnss_dev.devpath, O_RDONLY);
+        if (gnss_dev.fd < 0) {
+            mp_raise_ValueError(translate("Could not initialize GNSS"));
+        }
+    }
+
+    self->satellite_system = 0;
+    self->fix = POSITIONFIX_INVALID;
+
+    unsigned long sel = 0;
+
+    if (selection & SATELLITESYSTEM_GPS) {
+        sel |= CXD56_GNSS_SAT_GPS;
+    } else if (selection & SATELLITESYSTEM_GLONASS) {
+        sel |= CXD56_GNSS_SAT_GLONASS;
+    } else if (selection & SATELLITESYSTEM_SBAS) {
+        sel |= CXD56_GNSS_SAT_SBAS;
+    } else if (selection & SATELLITESYSTEM_QZSS_L1CA) {
+        sel |= CXD56_GNSS_SAT_QZ_L1CA;
+    } else if (selection & SATELLITESYSTEM_QZSS_L1S) {
+        sel |= CXD56_GNSS_SAT_QZ_L1S;
+    }
+
+    ioctl(gnss_dev.fd, CXD56_GNSS_IOCTL_SELECT_SATELLITE_SYSTEM, sel);
+    ioctl(gnss_dev.fd, CXD56_GNSS_IOCTL_START, CXD56_GNSS_STMOD_COLD);
+}
+
+void common_hal_gnss_deinit(gnss_obj_t *self) {
+    if (common_hal_gnss_deinited(self)) {
+        return;
+    }
+
+    close(gnss_dev.fd);
+    gnss_dev.fd = -1;
+}
+
+bool common_hal_gnss_deinited(gnss_obj_t *self) {
+    return gnss_dev.fd < 0;
+}
+
+void common_hal_gnss_update(gnss_obj_t *self) {
+    struct cxd56_gnss_positiondata_s positiondata;
+
+    read(gnss_dev.fd, &positiondata, sizeof(struct cxd56_gnss_positiondata_s));
+
+    if (positiondata.receiver.pos_dataexist) {
+        self->fix = positiondata.receiver.pos_fixmode;
+        self->latitude = positiondata.receiver.latitude;
+        self->longitude = positiondata.receiver.longitude;
+        self->altitude = positiondata.receiver.altitude;
+        memcpy(&self->date, &positiondata.receiver.date, sizeof(struct cxd56_gnss_date_s));
+        memcpy(&self->time, &positiondata.receiver.time, sizeof(struct cxd56_gnss_time_s));
+    }
+}
+
+mp_float_t common_hal_gnss_get_latitude(gnss_obj_t *self) {
+    return (mp_float_t) self->latitude;
+}
+
+mp_float_t common_hal_gnss_get_longitude(gnss_obj_t *self) {
+    return (mp_float_t) self->longitude;
+}
+
+mp_float_t common_hal_gnss_get_altitude(gnss_obj_t *self) {
+    return (mp_float_t) self->altitude;
+}
+
+void common_hal_gnss_get_timestamp(gnss_obj_t *self, timeutils_struct_time_t *tm) {
+    tm->tm_year = self->date.year;
+    tm->tm_mon = self->date.month;
+    tm->tm_mday = self->date.day;
+    tm->tm_hour = self->time.hour;
+    tm->tm_min = self->time.minute;
+    tm->tm_sec = self->time.sec;
+}
+
+gnss_positionfix_t common_hal_gnss_get_fix(gnss_obj_t *self) {
+    return fix_to_positionfix_type(self->fix);
+}
diff --git a/ports/cxd56/common-hal/gnss/GNSS.h b/ports/cxd56/common-hal/gnss/GNSS.h
new file mode 100644
index 000000000..e22610449
--- /dev/null
+++ b/ports/cxd56/common-hal/gnss/GNSS.h
@@ -0,0 +1,45 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright 2020 Sony Semiconductor Solutions Corporation
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MICROPY_INCLUDED_CXD56_COMMON_HAL_GNSS_GNSS_H
+#define MICROPY_INCLUDED_CXD56_COMMON_HAL_GNSS_GNSS_H
+
+#include <arch/chip/gnss.h>
+
+#include "py/obj.h"
+
+typedef struct {
+    mp_obj_base_t base;
+    unsigned long satellite_system;
+    uint8_t fix;
+    double latitude;
+    double longitude;
+    double altitude;
+    struct cxd56_gnss_date_s date;
+    struct cxd56_gnss_time_s time;
+} gnss_obj_t;
+
+#endif // MICROPY_INCLUDED_CXD56_COMMON_HAL_GNSS_GNSS_H
diff --git a/ports/cxd56/common-hal/gnss/PositionFix.c b/ports/cxd56/common-hal/gnss/PositionFix.c
new file mode 100644
index 000000000..e69de29bb
--- /dev/null
+++ b/ports/cxd56/common-hal/gnss/PositionFix.c
diff --git a/ports/cxd56/common-hal/gnss/SatelliteSystem.c b/ports/cxd56/common-hal/gnss/SatelliteSystem.c
new file mode 100644
index 000000000..e69de29bb
--- /dev/null
+++ b/ports/cxd56/common-hal/gnss/SatelliteSystem.c
diff --git a/ports/cxd56/common-hal/gnss/__init__.c b/ports/cxd56/common-hal/gnss/__init__.c
new file mode 100644
index 000000000..e69de29bb
--- /dev/null
+++ b/ports/cxd56/common-hal/gnss/__init__.c
diff --git a/ports/cxd56/mpconfigport.mk b/ports/cxd56/mpconfigport.mk
index d91458aca..c60bb83e7 100644
--- a/ports/cxd56/mpconfigport.mk
+++ b/ports/cxd56/mpconfigport.mk
@@ -13,6 +13,7 @@ CIRCUITPY_COUNTIO = 0
 CIRCUITPY_DISPLAYIO = 0
 CIRCUITPY_FREQUENCYIO = 0
 CIRCUITPY_GAMEPAD = 0
+CIRCUITPY_GNSS = 1
 CIRCUITPY_I2CSLAVE = 0
 CIRCUITPY_NEOPIXEL_WRITE = 0
 CIRCUITPY_NVM = 0
diff --git a/py/circuitpy_defns.mk b/py/circuitpy_defns.mk
index fb8f46bd8..95824be1e 100644
--- a/py/circuitpy_defns.mk
+++ b/py/circuitpy_defns.mk
@@ -162,6 +162,9 @@ endif
 ifeq ($(CIRCUITPY_GAMEPADSHIFT),1)
 SRC_PATTERNS += gamepadshift/%
 endif
+ifeq ($(CIRCUITPY_GNSS),1)
+SRC_PATTERNS += gnss/%
+endif
 ifeq ($(CIRCUITPY_I2CSLAVE),1)
 SRC_PATTERNS += i2cslave/%
 endif
@@ -283,6 +286,10 @@ SRC_COMMON_HAL_ALL = \
 	displayio/ParallelBus.c \
 	frequencyio/FrequencyIn.c \
 	frequencyio/__init__.c \
+	gnss/__init__.c \
+	gnss/GNSS.c \
+	gnss/PositionFix.c \
+	gnss/SatelliteSystem.c \
 	i2cslave/I2CSlave.c \
 	i2cslave/__init__.c \
 	microcontroller/Pin.c \
diff --git a/py/circuitpy_mpconfig.h b/py/circuitpy_mpconfig.h
index 3fbb46900..4b054b83c 100644
--- a/py/circuitpy_mpconfig.h
+++ b/py/circuitpy_mpconfig.h
@@ -401,6 +401,13 @@ extern const struct _mp_obj_module_t gamepadshift_module;
 #define GAMEPAD_ROOT_POINTERS
 #endif
 
+#if CIRCUITPY_GNSS
+extern const struct _mp_obj_module_t gnss_module;
+#define GNSS_MODULE        { MP_OBJ_NEW_QSTR(MP_QSTR_gnss), (mp_obj_t)&gnss_module },
+#else
+#define GNSS_MODULE
+#endif
+
 #if CIRCUITPY_I2CSLAVE
 extern const struct _mp_obj_module_t i2cslave_module;
 #define I2CSLAVE_MODULE        { MP_OBJ_NEW_QSTR(MP_QSTR_i2cslave), (mp_obj_t)&i2cslave_module },
@@ -682,6 +689,7 @@ extern const struct _mp_obj_module_t watchdog_module;
     FREQUENCYIO_MODULE \
     GAMEPAD_MODULE \
     GAMEPADSHIFT_MODULE \
+    GNSS_MODULE \
     I2CSLAVE_MODULE \
     JSON_MODULE \
     MATH_MODULE \
diff --git a/py/circuitpy_mpconfig.mk b/py/circuitpy_mpconfig.mk
index 865654a0d..ac7d2ec30 100644
--- a/py/circuitpy_mpconfig.mk
+++ b/py/circuitpy_mpconfig.mk
@@ -109,6 +109,9 @@ CFLAGS += -DCIRCUITPY_GAMEPAD=$(CIRCUITPY_GAMEPAD)
 CIRCUITPY_GAMEPADSHIFT ?= 0
 CFLAGS += -DCIRCUITPY_GAMEPADSHIFT=$(CIRCUITPY_GAMEPADSHIFT)
 
+CIRCUITPY_GNSS ?= 0
+CFLAGS += -DCIRCUITPY_GNSS=$(CIRCUITPY_GNSS)
+
 CIRCUITPY_I2CSLAVE ?= $(CIRCUITPY_FULL_BUILD)
 CFLAGS += -DCIRCUITPY_I2CSLAVE=$(CIRCUITPY_I2CSLAVE)
 
diff --git a/shared-bindings/gnss/GNSS.c b/shared-bindings/gnss/GNSS.c
new file mode 100644
index 000000000..929e02ab8
--- /dev/null
+++ b/shared-bindings/gnss/GNSS.c
@@ -0,0 +1,227 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright 2020 Sony Semiconductor Solutions Corporation
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "shared-bindings/gnss/GNSS.h"
+#include "shared-bindings/time/__init__.h"
+#include "shared-bindings/util.h"
+
+#include "py/objproperty.h"
+#include "py/runtime.h"
+
+//| class GNSS:
+//|     """Get updated positioning information from Global Navigation Satellite System (GNSS)
+//|
+//|     Usage::
+//|
+//|         import gnss
+//|         import time
+//|
+//|         nav = gnss.GNSS([gnss.SatelliteSystem.GPS, gnss.SatelliteSystem.GLONASS])
+//|         last_print = time.monotonic()
+//|         while True:
+//|             nav.update()
+//|             current = time.monotonic()
+//|             if current - last_print >= 1.0:
+//|                 last_print = current
+//|                 if nav.fix is gnss.PositionFix.INVALID:
+//|                     print("Waiting for fix...")
+//|                     continue
+//|                 print("Latitude: {0:.6f} degrees".format(nav.latitude))
+//|                 print("Longitude: {0:.6f} degrees".format(nav.longitude))"""
+//|
+
+//|     def __init__(self, ):
+//|         """Turn on the GNSS.
+//|
+//|         :param gnss.SatelliteSystem system: satellite system to use"""
+//|         ...
+//|
+STATIC mp_obj_t gnss_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
+    gnss_obj_t *self = m_new_obj(gnss_obj_t);
+    self->base.type = &gnss_type;
+    enum { ARG_system };
+    static const mp_arg_t allowed_args[] = {
+        { MP_QSTR_system, MP_ARG_REQUIRED | MP_ARG_OBJ },
+    };
+    mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
+    mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
+
+    unsigned long selection = 0;
+    if (MP_OBJ_IS_TYPE(args[ARG_system].u_obj, &gnss_satellitesystem_type)) {
+        selection |= gnss_satellitesystem_obj_to_type(args[ARG_system].u_obj);
+    } else if (MP_OBJ_IS_TYPE(args[ARG_system].u_obj, &mp_type_list)) {
+        size_t systems_size = 0;
+        mp_obj_t *systems;
+        mp_obj_list_get(args[ARG_system].u_obj, &systems_size, &systems);
+        for (size_t i = 0; i < systems_size; ++i) {
+            if (!MP_OBJ_IS_TYPE(systems[i], &gnss_satellitesystem_type)) {
+                mp_raise_TypeError(translate("System entry must be gnss.SatelliteSystem"));
+            }
+            selection |= gnss_satellitesystem_obj_to_type(systems[i]);
+        }
+    } else {
+        mp_raise_TypeError(translate("System entry must be gnss.SatelliteSystem"));
+    }
+
+    common_hal_gnss_construct(self, selection);
+    return MP_OBJ_FROM_PTR(self);
+}
+
+//|     def deinit(self, ) -> Any:
+//|         """Turn off the GNSS."""
+//|         ...
+//|
+STATIC mp_obj_t gnss_obj_deinit(mp_obj_t self_in) {
+    gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    common_hal_gnss_deinit(self);
+    return mp_const_none;
+}
+MP_DEFINE_CONST_FUN_OBJ_1(gnss_deinit_obj, gnss_obj_deinit);
+
+STATIC void check_for_deinit(gnss_obj_t *self) {
+    if (common_hal_gnss_deinited(self)) {
+        raise_deinited_error();
+    }
+}
+
+//|     def update(self, ) -> Any:
+//|         """Update GNSS positioning information."""
+//|         ...
+//|
+STATIC mp_obj_t gnss_obj_update(mp_obj_t self_in) {
+    gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    check_for_deinit(self);
+
+    common_hal_gnss_update(self);
+    return mp_const_none;
+}
+MP_DEFINE_CONST_FUN_OBJ_1(gnss_update_obj, gnss_obj_update);
+
+//|     latitude: Any = ...
+//|     """Latitude of current position in degrees (float)."""
+//|
+STATIC mp_obj_t gnss_obj_get_latitude(mp_obj_t self_in) {
+    gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    check_for_deinit(self);
+    return mp_obj_new_float(common_hal_gnss_get_latitude(self));
+}
+MP_DEFINE_CONST_FUN_OBJ_1(gnss_get_latitude_obj, gnss_obj_get_latitude);
+
+const mp_obj_property_t gnss_latitude_obj = {
+    .base.type = &mp_type_property,
+    .proxy = {(mp_obj_t)&gnss_get_latitude_obj,
+              (mp_obj_t)&mp_const_none_obj,
+              (mp_obj_t)&mp_const_none_obj},
+};
+
+//|     longitude: Any = ...
+//|     """Longitude of current position in degrees (float)."""
+//|
+STATIC mp_obj_t gnss_obj_get_longitude(mp_obj_t self_in) {
+    gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    check_for_deinit(self);
+    return mp_obj_new_float(common_hal_gnss_get_longitude(self));
+}
+MP_DEFINE_CONST_FUN_OBJ_1(gnss_get_longitude_obj, gnss_obj_get_longitude);
+
+const mp_obj_property_t gnss_longitude_obj = {
+    .base.type = &mp_type_property,
+    .proxy = {(mp_obj_t)&gnss_get_longitude_obj,
+              (mp_obj_t)&mp_const_none_obj,
+              (mp_obj_t)&mp_const_none_obj},
+};
+
+//|     altitude: Any = ...
+//|     """Altitude of current position in meters (float)."""
+//|
+STATIC mp_obj_t gnss_obj_get_altitude(mp_obj_t self_in) {
+    gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    check_for_deinit(self);
+    return mp_obj_new_float(common_hal_gnss_get_altitude(self));
+}
+MP_DEFINE_CONST_FUN_OBJ_1(gnss_get_altitude_obj, gnss_obj_get_altitude);
+
+const mp_obj_property_t gnss_altitude_obj = {
+    .base.type = &mp_type_property,
+    .proxy = {(mp_obj_t)&gnss_get_altitude_obj,
+              (mp_obj_t)&mp_const_none_obj,
+              (mp_obj_t)&mp_const_none_obj},
+};
+
+//|     timestamp: Any = ...
+//|     """Time when the position data was updated."""
+//|
+STATIC mp_obj_t gnss_obj_get_timestamp(mp_obj_t self_in) {
+    gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    check_for_deinit(self);
+    timeutils_struct_time_t tm;
+    common_hal_gnss_get_timestamp(self, &tm);
+    return struct_time_from_tm(&tm);
+}
+MP_DEFINE_CONST_FUN_OBJ_1(gnss_get_timestamp_obj, gnss_obj_get_timestamp);
+
+const mp_obj_property_t gnss_timestamp_obj = {
+    .base.type = &mp_type_property,
+    .proxy = {(mp_obj_t)&gnss_get_timestamp_obj,
+              (mp_obj_t)&mp_const_none_obj,
+              (mp_obj_t)&mp_const_none_obj},
+};
+
+//|     fix: Any = ...
+//|     """Fix mode."""
+//|
+STATIC mp_obj_t gnss_obj_get_fix(mp_obj_t self_in) {
+    gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    check_for_deinit(self);
+    return gnss_positionfix_type_to_obj(common_hal_gnss_get_fix(self));
+}
+MP_DEFINE_CONST_FUN_OBJ_1(gnss_get_fix_obj, gnss_obj_get_fix);
+
+const mp_obj_property_t gnss_fix_obj = {
+    .base.type = &mp_type_property,
+    .proxy = {(mp_obj_t)&gnss_get_fix_obj,
+              (mp_obj_t)&mp_const_none_obj,
+              (mp_obj_t)&mp_const_none_obj},
+};
+
+STATIC const mp_rom_map_elem_t gnss_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&gnss_deinit_obj) },
+    { MP_ROM_QSTR(MP_QSTR_update), MP_ROM_PTR(&gnss_update_obj) },
+
+    { MP_ROM_QSTR(MP_QSTR_latitude), MP_ROM_PTR(&gnss_latitude_obj) },
+    { MP_ROM_QSTR(MP_QSTR_longitude), MP_ROM_PTR(&gnss_longitude_obj) },
+    { MP_ROM_QSTR(MP_QSTR_altitude), MP_ROM_PTR(&gnss_altitude_obj) },
+    { MP_ROM_QSTR(MP_QSTR_timestamp), MP_ROM_PTR(&gnss_timestamp_obj) },
+    { MP_ROM_QSTR(MP_QSTR_fix), MP_ROM_PTR(&gnss_fix_obj) }
+};
+STATIC MP_DEFINE_CONST_DICT(gnss_locals_dict, gnss_locals_dict_table);
+
+const mp_obj_type_t gnss_type = {
+   { &mp_type_type },
+   .name = MP_QSTR_GNSS,
+   .make_new = gnss_make_new,
+   .locals_dict = (mp_obj_dict_t*)&gnss_locals_dict,
+};
diff --git a/shared-bindings/gnss/GNSS.h b/shared-bindings/gnss/GNSS.h
new file mode 100644
index 000000000..61ae35b12
--- /dev/null
+++ b/shared-bindings/gnss/GNSS.h
@@ -0,0 +1,49 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright 2020 Sony Semiconductor Solutions Corporation
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_GNSS_H
+#define MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_GNSS_H
+
+#include "common-hal/gnss/GNSS.h"
+#include "shared-bindings/gnss/SatelliteSystem.h"
+#include "shared-bindings/gnss/PositionFix.h"
+
+#include "lib/timeutils/timeutils.h"
+
+extern const mp_obj_type_t gnss_type;
+
+void common_hal_gnss_construct(gnss_obj_t *self, unsigned long selection);
+void common_hal_gnss_deinit(gnss_obj_t *self);
+bool common_hal_gnss_deinited(gnss_obj_t *self);
+void common_hal_gnss_update(gnss_obj_t *self);
+
+mp_float_t common_hal_gnss_get_latitude(gnss_obj_t *self);
+mp_float_t common_hal_gnss_get_longitude(gnss_obj_t *self);
+mp_float_t common_hal_gnss_get_altitude(gnss_obj_t *self);
+void common_hal_gnss_get_timestamp(gnss_obj_t *self, timeutils_struct_time_t *tm);
+gnss_positionfix_t common_hal_gnss_get_fix(gnss_obj_t *self);
+
+#endif // MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_GNSS_H
diff --git a/shared-bindings/gnss/PositionFix.c b/shared-bindings/gnss/PositionFix.c
new file mode 100644
index 000000000..106a28c34
--- /dev/null
+++ b/shared-bindings/gnss/PositionFix.c
@@ -0,0 +1,108 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright 2020 Sony Semiconductor Solutions Corporation
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "shared-bindings/gnss/PositionFix.h"
+
+//| class PositionFix:
+//|     """Position fix mode"""
+//|
+//|     def __init__(self, ):
+//|         """Enum-like class to define the position fix mode."""
+//|
+//|     INVALID: Any = ...
+//|     """No measurement.
+//|
+//|     :type gnss.PositionFix:"""
+//|
+//|     FIX_2D: Any = ...
+//|     """2D fix.
+//|
+//|     :type gnss.PositionFix:"""
+//|
+//|     FIX_3D: Any = ...
+//|     """3D fix.
+//|
+//|     :type gnss.PositionFix:"""
+//|
+const mp_obj_type_t gnss_positionfix_type;
+
+const gnss_positionfix_obj_t gnss_positionfix_invalid_obj = {
+    { &gnss_positionfix_type },
+};
+
+const gnss_positionfix_obj_t gnss_positionfix_fix2d_obj = {
+    { &gnss_positionfix_type },
+};
+
+const gnss_positionfix_obj_t gnss_positionfix_fix3d_obj = {
+    { &gnss_positionfix_type },
+};
+
+gnss_positionfix_t gnss_positionfix_obj_to_type(mp_obj_t obj) {
+    gnss_positionfix_t posfix = POSITIONFIX_INVALID;
+    if (obj == MP_ROM_PTR(&gnss_positionfix_fix2d_obj)) {
+        posfix = POSITIONFIX_2D;
+    } else if (obj == MP_ROM_PTR(&gnss_positionfix_fix3d_obj)) {
+        posfix = POSITIONFIX_3D;
+    }
+    return posfix;
+}
+
+mp_obj_t gnss_positionfix_type_to_obj(gnss_positionfix_t posfix) {
+    switch (posfix) {
+        case POSITIONFIX_2D:
+            return (mp_obj_t)MP_ROM_PTR(&gnss_positionfix_fix2d_obj);
+        case POSITIONFIX_3D:
+            return (mp_obj_t)MP_ROM_PTR(&gnss_positionfix_fix3d_obj);
+        case POSITIONFIX_INVALID:
+        default:
+            return (mp_obj_t)MP_ROM_PTR(&gnss_positionfix_invalid_obj);
+    }
+}
+
+STATIC const mp_rom_map_elem_t gnss_positionfix_locals_dict_table[] = {
+    {MP_ROM_QSTR(MP_QSTR_INVALID), MP_ROM_PTR(&gnss_positionfix_invalid_obj)},
+    {MP_ROM_QSTR(MP_QSTR_FIX_2D), MP_ROM_PTR(&gnss_positionfix_fix2d_obj)},
+    {MP_ROM_QSTR(MP_QSTR_FIX_3D), MP_ROM_PTR(&gnss_positionfix_fix3d_obj)},
+};
+STATIC MP_DEFINE_CONST_DICT(gnss_positionfix_locals_dict, gnss_positionfix_locals_dict_table);
+
+STATIC void gnss_positionfix_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
+    qstr posfix = MP_QSTR_INVALID;
+    if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&gnss_positionfix_fix2d_obj)) {
+        posfix = MP_QSTR_FIX_2D;
+    } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&gnss_positionfix_fix3d_obj)) {
+        posfix = MP_QSTR_FIX_3D;
+    }
+    mp_printf(print, "%q.%q.%q", MP_QSTR_gnss, MP_QSTR_PositionFix, posfix);
+}
+
+const mp_obj_type_t gnss_positionfix_type = {
+    { &mp_type_type },
+    .name = MP_QSTR_PositionFix,
+    .print = gnss_positionfix_print,
+    .locals_dict = (mp_obj_t)&gnss_positionfix_locals_dict,
+};
diff --git a/shared-bindings/gnss/PositionFix.h b/shared-bindings/gnss/PositionFix.h
new file mode 100644
index 000000000..64497cb59
--- /dev/null
+++ b/shared-bindings/gnss/PositionFix.h
@@ -0,0 +1,50 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright 2020 Sony Semiconductor Solutions Corporation
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_POSITIONFIX_H
+#define MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_POSITIONFIX_H
+
+#include "py/obj.h"
+
+typedef enum {
+    POSITIONFIX_INVALID,
+    POSITIONFIX_2D,
+    POSITIONFIX_3D,
+} gnss_positionfix_t;
+
+const mp_obj_type_t gnss_positionfix_type;
+
+gnss_positionfix_t gnss_positionfix_obj_to_type(mp_obj_t obj);
+mp_obj_t gnss_positionfix_type_to_obj(gnss_positionfix_t mode);
+
+typedef struct {
+    mp_obj_base_t base;
+} gnss_positionfix_obj_t;
+extern const gnss_positionfix_obj_t gnss_positionfix_invalid_obj;
+extern const gnss_positionfix_obj_t gnss_positionfix_fix2d_obj;
+extern const gnss_positionfix_obj_t gnss_positionfix_fix3d_obj;
+
+#endif // MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_POSITIONFIX_H
diff --git a/shared-bindings/gnss/SatelliteSystem.c b/shared-bindings/gnss/SatelliteSystem.c
new file mode 100644
index 000000000..badc02b96
--- /dev/null
+++ b/shared-bindings/gnss/SatelliteSystem.c
@@ -0,0 +1,145 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright 2020 Sony Semiconductor Solutions Corporation
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "shared-bindings/gnss/SatelliteSystem.h"
+
+//| class SatelliteSystem:
+//|     """Satellite system type"""
+//|
+//|     def __init__(self, ):
+//|         """Enum-like class to define the satellite system type."""
+//|
+//|     GPS: Any = ...
+//|     """Global Positioning System.
+//|
+//|     :type gnss.SatelliteSystem:"""
+//|
+//|     GLONASS: Any = ...
+//|     """GLObal NAvigation Satellite System.
+//|
+//|     :type gnss.SatelliteSystem:"""
+//|
+//|     SBAS: Any = ...
+//|     """Satellite Based Augmentation System.
+//|
+//|     :type gnss.SatelliteSystem:"""
+//|
+//|     QZSS_L1CA: Any = ...
+//|     """Quasi-Zenith Satellite System L1C/A.
+//|
+//|     :type gnss.SatelliteSystem:"""
+//|
+//|     QZSS_L1S: Any = ...
+//|     """Quasi-Zenith Satellite System L1S.
+//|
+//|     :type gnss.SatelliteSystem:"""
+//|
+const mp_obj_type_t gnss_satellitesystem_type;
+
+const gnss_satellitesystem_obj_t gnss_satellitesystem_gps_obj = {
+    { &gnss_satellitesystem_type },
+};
+
+const gnss_satellitesystem_obj_t gnss_satellitesystem_glonass_obj = {
+    { &gnss_satellitesystem_type },
+};
+
+const gnss_satellitesystem_obj_t gnss_satellitesystem_sbas_obj = {
+    { &gnss_satellitesystem_type },
+};
+
+const gnss_satellitesystem_obj_t gnss_satellitesystem_qzss_l1ca_obj = {
+    { &gnss_satellitesystem_type },
+};
+
+const gnss_satellitesystem_obj_t gnss_satellitesystem_qzss_l1s_obj = {
+    { &gnss_satellitesystem_type },
+};
+
+gnss_satellitesystem_t gnss_satellitesystem_obj_to_type(mp_obj_t obj) {
+    if (obj == MP_ROM_PTR(&gnss_satellitesystem_gps_obj)) {
+        return SATELLITESYSTEM_GPS;
+    } else if (obj == MP_ROM_PTR(&gnss_satellitesystem_glonass_obj)) {
+        return SATELLITESYSTEM_GLONASS;
+    } else if (obj == MP_ROM_PTR(&gnss_satellitesystem_sbas_obj)) {
+        return SATELLITESYSTEM_SBAS;
+    } else if (obj == MP_ROM_PTR(&gnss_satellitesystem_qzss_l1ca_obj)) {
+        return SATELLITESYSTEM_QZSS_L1CA;
+    } else if (obj == MP_ROM_PTR(&gnss_satellitesystem_qzss_l1s_obj)) {
+        return SATELLITESYSTEM_QZSS_L1S;
+    }
+    return SATELLITESYSTEM_NONE;
+}
+
+mp_obj_t gnss_satellitesystem_type_to_obj(gnss_satellitesystem_t system) {
+    switch (system) {
+        case SATELLITESYSTEM_GPS:
+            return (mp_obj_t)MP_ROM_PTR(&gnss_satellitesystem_gps_obj);
+        case SATELLITESYSTEM_GLONASS:
+            return (mp_obj_t)MP_ROM_PTR(&gnss_satellitesystem_glonass_obj);
+        case SATELLITESYSTEM_SBAS:
+            return (mp_obj_t)MP_ROM_PTR(&gnss_satellitesystem_sbas_obj);
+        case SATELLITESYSTEM_QZSS_L1CA:
+            return (mp_obj_t)MP_ROM_PTR(&gnss_satellitesystem_qzss_l1ca_obj);
+        case SATELLITESYSTEM_QZSS_L1S:
+            return (mp_obj_t)MP_ROM_PTR(&gnss_satellitesystem_qzss_l1s_obj);
+        case SATELLITESYSTEM_NONE:
+        default:
+            return (mp_obj_t)MP_ROM_PTR(&mp_const_none_obj);
+    }
+}
+
+STATIC const mp_rom_map_elem_t gnss_satellitesystem_locals_dict_table[] = {
+    {MP_ROM_QSTR(MP_QSTR_GPS), MP_ROM_PTR(&gnss_satellitesystem_gps_obj)},
+    {MP_ROM_QSTR(MP_QSTR_GLONASS), MP_ROM_PTR(&gnss_satellitesystem_glonass_obj)},
+    {MP_ROM_QSTR(MP_QSTR_SBAS), MP_ROM_PTR(&gnss_satellitesystem_sbas_obj)},
+    {MP_ROM_QSTR(MP_QSTR_QZSS_L1CA), MP_ROM_PTR(&gnss_satellitesystem_qzss_l1ca_obj)},
+    {MP_ROM_QSTR(MP_QSTR_QZSS_L1S), MP_ROM_PTR(&gnss_satellitesystem_qzss_l1s_obj)},
+};
+STATIC MP_DEFINE_CONST_DICT(gnss_satellitesystem_locals_dict, gnss_satellitesystem_locals_dict_table);
+
+STATIC void gnss_satellitesystem_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
+    qstr system = MP_QSTR_None;
+    if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&gnss_satellitesystem_gps_obj)) {
+        system = MP_QSTR_GPS;
+    } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&gnss_satellitesystem_glonass_obj)) {
+        system = MP_QSTR_GLONASS;
+    } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&gnss_satellitesystem_sbas_obj)) {
+        system = MP_QSTR_SBAS;
+    } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&gnss_satellitesystem_qzss_l1ca_obj)) {
+        system = MP_QSTR_QZSS_L1CA;
+    } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&gnss_satellitesystem_qzss_l1s_obj)) {
+        system = MP_QSTR_QZSS_L1S;
+    }
+    mp_printf(print, "%q.%q.%q", MP_QSTR_gnss, MP_QSTR_SatelliteSystem, system);
+}
+
+const mp_obj_type_t gnss_satellitesystem_type = {
+    { &mp_type_type },
+    .name = MP_QSTR_SatelliteSystem,
+    .print = gnss_satellitesystem_print,
+    .locals_dict = (mp_obj_t)&gnss_satellitesystem_locals_dict,
+};
diff --git a/shared-bindings/gnss/SatelliteSystem.h b/shared-bindings/gnss/SatelliteSystem.h
new file mode 100644
index 000000000..484e861ab
--- /dev/null
+++ b/shared-bindings/gnss/SatelliteSystem.h
@@ -0,0 +1,55 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright 2020 Sony Semiconductor Solutions Corporation
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_SATELLITESYSTEM_H
+#define MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_SATELLITESYSTEM_H
+
+#include "py/obj.h"
+
+typedef enum {
+    SATELLITESYSTEM_NONE       = 0,
+    SATELLITESYSTEM_GPS        = (1U << 0),
+    SATELLITESYSTEM_GLONASS    = (1U << 1),
+    SATELLITESYSTEM_SBAS       = (1U << 2),
+    SATELLITESYSTEM_QZSS_L1CA  = (1U << 3),
+    SATELLITESYSTEM_QZSS_L1S   = (1U << 4),
+} gnss_satellitesystem_t;
+
+const mp_obj_type_t gnss_satellitesystem_type;
+
+gnss_satellitesystem_t gnss_satellitesystem_obj_to_type(mp_obj_t obj);
+mp_obj_t gnss_satellitesystem_type_to_obj(gnss_satellitesystem_t mode);
+
+typedef struct {
+    mp_obj_base_t base;
+} gnss_satellitesystem_obj_t;
+extern const gnss_satellitesystem_obj_t gnss_satellitesystem_gps_obj;
+extern const gnss_satellitesystem_obj_t gnss_satellitesystem_glonass_obj;
+extern const gnss_satellitesystem_obj_t gnss_satellitesystem_sbas_obj;
+extern const gnss_satellitesystem_obj_t gnss_satellitesystem_qzss_l1ca_obj;
+extern const gnss_satellitesystem_obj_t gnss_satellitesystem_qzss_l1s_obj;
+
+#endif // MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_SATELLITESYSTEM_H
diff --git a/shared-bindings/gnss/__init__.c b/shared-bindings/gnss/__init__.c
new file mode 100644
index 000000000..b3cf722f1
--- /dev/null
+++ b/shared-bindings/gnss/__init__.c
@@ -0,0 +1,53 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright 2020 Sony Semiconductor Solutions Corporation
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "py/obj.h"
+#include "py/runtime.h"
+#include "py/mphal.h"
+#include "shared-bindings/gnss/GNSS.h"
+#include "shared-bindings/gnss/SatelliteSystem.h"
+#include "shared-bindings/gnss/PositionFix.h"
+#include "shared-bindings/util.h"
+
+//| """Global Navigation Satellite System
+//|
+//| The `gnss` module contains classes to control the GNSS and acquire positioning information."""
+//|
+STATIC const mp_rom_map_elem_t gnss_module_globals_table[] = {
+    { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_gnss) },
+    { MP_ROM_QSTR(MP_QSTR_GNSS), MP_ROM_PTR(&gnss_type) },
+
+    // Enum-like Classes.
+    { MP_ROM_QSTR(MP_QSTR_SatelliteSystem), MP_ROM_PTR(&gnss_satellitesystem_type) },
+    { MP_ROM_QSTR(MP_QSTR_PositionFix), MP_ROM_PTR(&gnss_positionfix_type) },
+};
+
+STATIC MP_DEFINE_CONST_DICT(gnss_module_globals, gnss_module_globals_table);
+
+const mp_obj_module_t gnss_module = {
+    .base = { &mp_type_module },
+    .globals = (mp_obj_dict_t*)&gnss_module_globals,
+};