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gnss: rtk: Add basic integration
This patch incorporates the basic RTK API as well as a basic client integration (Serial) as a way to receive and publish the RTK data. Specifically, this patch includes: - API additions. - RTCM3 frame decoding. - Unit testsuite for RTCM3 frame decoding. - Serial client to receive and publish RTK data corrections. - GNSS RTK sample with simple base-station script over serial and Zephyr app displaying data-corrections applied. Signed-off-by: Luis Ubieda <luisf@croxel.com>
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‎cmake/linker_script/common/common-rom.cmake

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if(CONFIG_GNSS_SATELLITES)
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zephyr_iterable_section(NAME gnss_satellites_callback KVMA RAM_REGION GROUP RODATA_REGION SUBALIGN ${CONFIG_LINKER_ITERABLE_SUBALIGN})
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endif()
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if(CONFIG_GNSS_RTK)
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zephyr_iterable_section(NAME rtk_data_callback KVMA RAM_REGION GROUP RODATA_REGION SUBALIGN ${CONFIG_LINKER_ITERABLE_SUBALIGN})
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endif()

‎include/zephyr/linker/common-rom/common-rom-misc.ld

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#if defined(CONFIG_GNSS_SATELLITES)
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ITERABLE_SECTION_ROM(gnss_satellites_callback, Z_LINK_ITERABLE_SUBALIGN)
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#endif
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#if defined(CONFIG_GNSS_RTK)
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ITERABLE_SECTION_ROM(rtk_data_callback, Z_LINK_ITERABLE_SUBALIGN)
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#endif

‎include/zephyr/rtk/decoder.h

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/*
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* Copyright (c) 2025 Croxel Inc.
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* Copyright (c) 2025 CogniPilot Foundation
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#ifndef ZEPHYR_INCLUDE_RTK_DECODER_H_
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#define ZEPHYR_INCLUDE_RTK_DECODER_H_
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#include <stdint.h>
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#include <stddef.h>
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/**
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* @brief Get an RTK frame from buffer
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*
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* Used by RTK clients to extract frames from a data-buffer.
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*
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* @param[in] buf Buffer holding encoded data.
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* @param[in] buf_len Buffer length.
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* @param[out] data Pointer to the decoded frame.
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* @param[out] data_len Length of the decoded frame
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*
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* @return Zero if successful.
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* @return -ENOENT if no frames have been decoded successfully.
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* @return -EAGAIN if there's an incomplete frame starting at the data pointer.
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* @return Other negative error code if decoding failed.
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*/
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int rtk_decoder_frame_get(uint8_t *buf, size_t buf_len,
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uint8_t **data, size_t *data_len);
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#endif /* ZEPHYR_INCLUDE_RTK_DECODER_H_ */

‎include/zephyr/rtk/rtk.h

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/*
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* Copyright (c) 2023 Trackunit Corporation
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* Copyright (c) 2025 Croxel Inc.
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* Copyright (c) 2025 CogniPilot Foundation
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#ifndef ZEPHYR_INCLUDE_RTK_RTK_H_
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#define ZEPHYR_INCLUDE_RTK_RTK_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdint.h>
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#include <stddef.h>
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struct rtk_data {
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const uint8_t *data;
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size_t len;
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};
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typedef void (*rtk_data_callback_t)(const struct device *dev, const struct rtk_data *data);
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struct rtk_data_callback {
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const struct device *dev;
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rtk_data_callback_t callback;
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};
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#if CONFIG_GNSS_RTK
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#define RTK_DATA_CALLBACK_DEFINE(_dev, _callback) \
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static const STRUCT_SECTION_ITERABLE(rtk_data_callback, \
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_rtk_data_callback__##_callback) = { \
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.dev = _dev, \
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.callback = _callback, \
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}
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#else
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#define RTK_DATA_CALLBACK_DEFINE(_dev, _callback)
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#endif
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/**
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* @}
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*/
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#ifdef __cplusplus
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}
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#endif
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#endif /* ZEPHYR_INCLUDE_RTK_RTK_H_ */

‎include/zephyr/rtk/rtk_publish.h

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/*
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* Copyright (c) 2025 Croxel Inc.
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* Copyright (c) 2025 CogniPilot Foundation
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#ifndef ZEPHYR_INCLUDE_RTK_RTK_PUBLISH_H_
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#define ZEPHYR_INCLUDE_RTK_RTK_PUBLISH_H_
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#include <stdint.h>
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#include <stddef.h>
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#include <zephyr/rtk/rtk.h>
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/* Internal function used by RTK clients to publish data-correction. */
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void rtk_publish_data(const struct rtk_data *data);
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#endif /* ZEPHYR_INCLUDE_RTK_RTK_H_ */

‎samples/drivers/gnss_rtk/CMakeLists.txt

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# Copyright (c) 2023 Trackunit Corporation
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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.20.0)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(gnss_sample)
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target_sources(app PRIVATE src/main.c)

‎samples/drivers/gnss_rtk/base_station_f9p.py

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# Copyright (c) 2025, Croxel Inc
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# Copyright (c) 2025, CogniPilot Foundation
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#
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# SPDX-License-Identifier: Apache-2.0
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import pyrtcm
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import pyubx2
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import serial
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def enableBaseStationMode(serialEndpoint: serial.Serial):
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frame = pyubx2.UBXMessage.config_set(layers=1, transaction=0,
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cfgData=[
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("CFG_MSGOUT_RTCM_3X_TYPE1005_USB", 1),
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("CFG_MSGOUT_RTCM_3X_TYPE1074_USB", 1),
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("CFG_MSGOUT_RTCM_3X_TYPE1077_USB", 1),
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("CFG_MSGOUT_RTCM_3X_TYPE1084_USB", 1),
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("CFG_MSGOUT_RTCM_3X_TYPE1087_USB", 1),
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("CFG_MSGOUT_RTCM_3X_TYPE1094_USB", 1),
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("CFG_MSGOUT_RTCM_3X_TYPE1097_USB", 1),
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("CFG_MSGOUT_RTCM_3X_TYPE1124_USB", 1),
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("CFG_MSGOUT_RTCM_3X_TYPE1127_USB", 1),
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("CFG_MSGOUT_RTCM_3X_TYPE1230_USB", 1)])
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serialEndpoint.write(frame.serialize())
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frame = pyubx2.UBXMessage.config_set(layers=1, transaction=0,
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cfgData=[
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("CFG_TMODE_MODE", 1),
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("CFG_TMODE_SVIN_ACC_LIMIT", 250),
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("CFG_TMODE_SVIN_MIN_DUR", 60)])
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serialEndpoint.write(frame.serialize())
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with serial.Serial("/dev/ttyACM0", 115200) as serialIn, \
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serial.Serial("/dev/ttyUSB0", 115200) as serialOut:
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enableBaseStationMode(serialIn)
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for raw, parsed in pyrtcm.RTCMReader(serialIn):
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print(parsed)
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serialOut.write(raw)

‎samples/drivers/gnss_rtk/boards/vmu_rt1170_mimxrt1176_cm7.conf

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CONFIG_SHELL=n

‎samples/drivers/gnss_rtk/boards/vmu_rt1170_mimxrt1176_cm7.overlay

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/*
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* Copyright 2024 (c) NXP
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* Copyright 2025 (c) Croxel Inc.
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* Copyright 2025 (c) CogniPilot Foundation
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/ {
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aliases {
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gnss = &gnss;
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};
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chosen {
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zephyr,rtk-serial = &lpuart1;
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};
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};
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&lpuart3 {
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status = "okay";
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current-speed = <115200>;
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gnss: gnss {
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status = "okay";
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compatible = "u-blox,f9p";
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};
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};

‎samples/drivers/gnss_rtk/prj.conf

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# Copyright (c) 2023 Trackunit Corporation
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# SPDX-License-Identifier: Apache-2.0
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CONFIG_GNSS=y
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CONFIG_GNSS_SATELLITES=y
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CONFIG_GNSS_RTK=y
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CONFIG_GNSS_RTK_SERIAL=y
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CONFIG_LOG=y
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CONFIG_LOG_BUFFER_SIZE=8192
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CONFIG_GNSS_DUMP_TO_LOG=y
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CONFIG_GNSS_DUMP_TO_LOG_BUF_SIZE=1024
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CONFIG_GNSS_LOG_LEVEL_DBG=y
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CONFIG_MODEM_MODULES_LOG_LEVEL_DBG=y

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