C++ API

Updated on Apr 8, 2026

Include <jimmypaputto/GnssHat.hpp>, namespace JimmyPaputto.

IGnssHat Interface

The main API. Obtain an instance via the factory method:

auto* hat = IGnssHat::create();

Method	Return	Description
`IGnssHat::create()`	`IGnssHat*`	Factory — detects HAT variant and returns the correct implementation
`start(const GnssConfig& config)`	`bool`	Configure the u-blox module and start data acquisition. Returns `false` on validation or communication failure
`name()`	`std::string_view`	HAT product name (e.g. `"L1 GNSS HAT"`, `"L1/L5 GNSS TIME HAT"`)

Method	Return	Description
`waitAndGetFreshNavigation()`	`Navigation`	Block until new navigation data arrives, then return it
`navigation()`	`Navigation`	Return the last known navigation data immediately (non-blocking)

Method	Return	Description
`softResetUbloxSom_HotStart()`	`void`	Soft reset — preserves ephemeris and almanac for fast TTFF
`hardResetUbloxSom_ColdStart()`	`void`	Full cold reset — clears all stored satellite data

Method	Return	Description
`rtk()`	`IRtk*`	RTK interface. Non-null only on the RTK HAT

Method	Return	Description
`enableTimepulse()`	`bool`	Enable timepulse interrupt on GPIO 5
`disableTimepulse()`	`void`	Disable timepulse interrupt
`timepulse()`	`void`	Block until the next timepulse edge

Method	Return	Description
`timeMark()`	`std::optional<TimeMark>`	Return last TimeMark or `std::nullopt` (non-blocking)
`waitAndGetFreshTimeMark()`	`TimeMark`	Block until a new TimeMark event arrives
`enableTimeMarkTrigger()`	`bool`	Enable EXTINT pin (GPIO 17) as output for software triggers
`disableTimeMarkTrigger()`	`void`	Disable EXTINT trigger
`triggerTimeMark(edge)`	`void`	Toggle/raise/lower EXTINT pin. Default: `ETimeMarkTriggerEdge::Toggle`

Method	Return	Description
`startForwardForGpsd()`	`bool`	Create virtual serial port and start NMEA forwarding thread
`stopForwardForGpsd()`	`void`	Stop forwarding and remove virtual device
`joinForwardForGpsd()`	`void`	Block until the forwarder thread finishes
`getGpsdDevicePath()`	`std::string`	Path to the virtual serial port (e.g. `/dev/jimmypaputto/gnss`)

Accessed via hat->rtk(). Returns nullptr on non-RTK HATs.

IRtk* rtk = hat->rtk();
IBase* base = rtk->base();
IRover* rover = rtk->rover();

Method	Return	Description
`getFullCorrections()`	`vector<vector<uint8_t>>`	Full RTCM3 correction set (M7M)
`getTinyCorrections()`	`vector<vector<uint8_t>>`	Compact RTCM3 correction set (M4M)
`getRtcm3Frame(uint16_t id)`	`vector<uint8_t>`	Specific RTCM3 message by ID

Method	Return	Description
`applyCorrections(const vector<vector<uint8_t>>& corrections)`	`void`	Inject RTCM3 corrections from a base station

Namespace JimmyPaputto::Utils:

Function	Return	Description
`eFixQuality2string(EFixQuality)`	`std::string`	Fix quality to human-readable string
`eFixStatus2string(EFixStatus)`	`std::string`	Fix status to string
`eFixType2string(EFixType)`	`std::string`	Fix type to string
`jammingState2string(EJammingState)`	`std::string`	Jamming state to string
`antennaStatus2string(EAntennaStatus)`	`std::string`	Antenna status to string
`antennaPower2string(EAntennaPower)`	`std::string`	Antenna power to string
`eBand2string(EGnssBand)`	`std::string`	GNSS band to string
`geofencingStatus2string(EGeofencingStatus)`	`std::string`	Geofencing status to string
`geofenceStatus2string(EGeofenceStatus)`	`std::string`	Per-fence status to string
`gnssId2string(EGnssId)`	`std::string`	Constellation to string
`svQuality2string(ESvQuality)`	`std::string`	Signal quality to string
`timeMarkMode2string(ETimeMarkMode)`	`std::string`	Time mark mode to string
`timeMarkRun2string(ETimeMarkRun)`	`std::string`	Time mark run state to string
`timeMarkTimeBase2string(ETimeMarkTimeBase)`	`std::string`	Time base to string
`utcTimeFromGnss_ISO8601(const PositionVelocityTime&)`	`std::string`	UTC time as ISO 8601 string