GNSS RTK: Add basic integration #90890

ubieda · 2025-05-30T21:19:56Z

Description

This PR introduces RTK (Real Time Kinematics) to GNSS modems by providing a path to feed RTK correction data (proposed on #90363).

Detailed changes:

Add APIs so RTK clients can be added (basic Serial client is added to demo).
Add APIs to allow RTK clients to publish correction data, and for GNSS drivers to feed such data to their modems (applied to UBX F9P driver).
Add RTCM3 protocol decoder (framing detection, validated with unit-test suite).
Add GNSS RTK sample with python script to convert a PC in a Base-Station (requires a F9P module USB-connected), which feeds data to a Zephyr-powered board (over Serial port).

Note

This PR depends on F9P driver introduction: gnss: Add UBX F9P driver #90027
This PR will be submitted to present at the Architecture WG.
Adding DNM until both conditions are resolved.

subsys/rtk/protocol/rtcm3_crc.h

sonarqubecloud · 2025-06-04T20:16:06Z

Quality Gate passed

Issues
4 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
6.3% Duplication on New Code

See analysis details on SonarQube Cloud

ubieda

Comments captured from Arch WG review 250701

subsys/rtk/Kconfig

ubieda · 2025-07-01T15:29:28Z

subsys/rtk/CMakeLists.txt

Suggestion: Move to drivers/gnss/*

Moved to subsys/gnss instead.

bperseghetti

This is a really great contribution!

subsys/gnss/rtk/protocol/rtcm3.c

subsys/gnss/rtk/serial/serial.c

subsys/CMakeLists.txt

include/zephyr/modem/ubx/protocol.h

Copilot

Pull Request Overview

This PR integrates basic Real Time Kinematics (RTK) support into the GNSS subsystem by adding RTCM3 decoding, an RTK publish/subscribe API, and a serial client, along with corresponding driver updates, tests, and samples.

Added RTCM3 CRC-24Q checksumming and frame-extraction API with unit tests.
Introduced gnss_rtk_publish_data and iterable callbacks to distribute correction data, plus a serial client to feed corrections.
Extended the UBX F9P driver and GNSS samples to consume and display RTK data, and added necessary Kconfig/CMake updates.

Reviewed Changes

Copilot reviewed 42 out of 42 changed files in this pull request and generated 3 comments.

Show a summary per file

File	Description
tests/unit/crc/main.c	Added `test_crc24q_rtcm3` unit test
tests/subsys/gnss/rtk/rtcm3/testcase.yaml	Defined native_sim test harness for RTCM3 decoder
tests/subsys/gnss/rtk/rtcm3/src/main.c	Implemented frame-detection and CRC tests
subsys/gnss/rtk/decoder.h	Declared RTK decoder API
subsys/gnss/rtk/rtk.c	Implemented `gnss_rtk_publish_data` semaphore logic
subsys/gnss/rtk/protocol/rtcm3.c	RTCM3 framing, length parsing, and CRC check
subsys/gnss/rtk/serial/serial.c	Serial client ISR, ring buffer, work handler
include/zephyr/gnss/rtk/rtk.h	Defined RTK data callback macros and types
include/zephyr/modem/ubx/protocol.h	Added UBX DGNSS/RTK mode and flag constants
drivers/gnss/gnss_u_blox_f9p.c	Hooked RTK data callback into UBX F9P init sequence
samples/drivers/gnss/src/main.c	Updated sample to count and print RTK-corrected sats

subsys/gnss/rtk/decoder.h

Copilot · 2025-07-10T12:44:23Z

drivers/gnss/gnss_u_blox_f9p.c

+	 * it or not depending on the RTCM3 message type and its alignment with what the
+	 * GNSS modem has observed.
+	 */
+	(void)ubx_f9p_msg_send(dev, (const void *)data->data, data->len, false);


The cast to const void * may conflict with the expected const struct ubx_frame * parameter of ubx_f9p_msg_send. Use (const struct ubx_frame *)data->data to avoid pointer-type mismatch warnings.

Suggested change

(void)ubx_f9p_msg_send(dev, (const void *)data->data, data->len, false);

(void)ubx_f9p_msg_send(dev, (const struct ubx_frame *)data->data, data->len, false);

I don't think we should cast this to an UBX frame, as it's an RTCM3 msg. See commit:
modem: ubx: Change request buffer to be void

subsys/gnss/rtk/rtk.c

Incorporate the basic RTK API as well as a basic client integration (serial) as a way to receive and publish the RTK data. Signed-off-by: Luis Ubieda <luisf@croxel.com>

MAINTAINERS.yml

To be covered by existing Drivers: GNSS, as per requested during the review process. Added myself as a collaborator to follow-up with RTK-related changes. Signed-off-by: Luis Ubieda <luisf@croxel.com>

To capture framing capabilities (only API so far). Signed-off-by: Luis Ubieda <luisf@croxel.com>

So this API can be used to send frames with a different encoding than UBX. This enables UBX drivers to send RTCM3 correction frames using UBX API, without having to switch over modem pipes. Signed-off-by: Luis Ubieda <luisf@croxel.com>

Enable driver to consume RTK data-correction messages published in order to enhance GNSS Navigation results. Signed-off-by: Luis Ubieda <luisf@croxel.com>

Expand this sample to also work with GNSS_RTK through a serial client. Make this compatible to work with VMU_RT1170 which requires using the F9P, instead of the M8 UBX module. Signed-off-by: Luis Ubieda <luisf@croxel.com>

sonarqubecloud · 2025-07-10T14:00:55Z

Quality Gate passed

Issues
6 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.3% Duplication on New Code

See analysis details on SonarQube Cloud

bjarki-andreasen

Nice work!

ubieda added the DNM This PR should not be merged (Do Not Merge) label May 30, 2025

ubieda commented May 30, 2025

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subsys/rtk/protocol/rtcm3_crc.h Outdated Show resolved Hide resolved

ubieda mentioned this pull request May 30, 2025

RFC: GNSS: Integrate RTK data-correction to GNSS modems #90363

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ubieda force-pushed the gnss/rtk-integration branch 5 times, most recently from e333b76 to a7984f5 Compare June 4, 2025 19:51

ubieda commented Jul 1, 2025

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ubieda force-pushed the gnss/rtk-integration branch 2 times, most recently from 9f187bf to 799ef56 Compare July 7, 2025 17:38

ubieda removed the DNM This PR should not be merged (Do Not Merge) label Jul 7, 2025

ubieda force-pushed the gnss/rtk-integration branch 3 times, most recently from 175d489 to 9e8bc2c Compare July 7, 2025 20:03

ubieda added the area: GNSS label Jul 7, 2025

ubieda force-pushed the gnss/rtk-integration branch from 9e8bc2c to 5a345fa Compare July 7, 2025 20:37

ubieda marked this pull request as ready for review July 7, 2025 21:22

github-actions bot added area: Base OS Base OS Library (lib/os) area: Modem area: Build System area: Utilities area: Linker Scripts area: Samples Samples labels Jul 7, 2025

github-actions bot requested review from 57300, andyross, bjarki-andreasen, dcpleung and fabiobaltieri July 7, 2025 21:23

ubieda force-pushed the gnss/rtk-integration branch from ff6359a to e365290 Compare July 9, 2025 16:15

ubieda requested a review from fabiobaltieri July 9, 2025 16:30

bperseghetti previously approved these changes Jul 9, 2025

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fabiobaltieri reviewed Jul 10, 2025

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subsys/gnss/rtk/protocol/rtcm3.c Outdated Show resolved Hide resolved

subsys/gnss/rtk/serial/serial.c Outdated Show resolved Hide resolved

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include/zephyr/modem/ubx/protocol.h Outdated Show resolved Hide resolved

ubieda dismissed bperseghetti’s stale review via 551859b July 10, 2025 12:39

ubieda force-pushed the gnss/rtk-integration branch from e365290 to 551859b Compare July 10, 2025 12:39

github-actions bot added the area: Process label Jul 10, 2025

github-actions bot requested a review from MaureenHelm July 10, 2025 12:40

ubieda requested a review from fabiobaltieri July 10, 2025 12:40

kartben requested a review from Copilot July 10, 2025 12:40

Copilot AI reviewed Jul 10, 2025

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gnss: rtk: Add basic integration

373dbb6

Incorporate the basic RTK API as well as a basic client integration (serial) as a way to receive and publish the RTK data. Signed-off-by: Luis Ubieda <luisf@croxel.com>

ubieda force-pushed the gnss/rtk-integration branch 2 times, most recently from 5bfe1a8 to 6167f47 Compare July 10, 2025 12:58

fabiobaltieri reviewed Jul 10, 2025

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ubieda force-pushed the gnss/rtk-integration branch from 6167f47 to a1b1bb3 Compare July 10, 2025 13:26

fabiobaltieri previously approved these changes Jul 10, 2025

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ubieda added 5 commits July 10, 2025 09:35

maintainers: Add GNSS Subsystem entries

373437a

To be covered by existing Drivers: GNSS, as per requested during the review process. Added myself as a collaborator to follow-up with RTK-related changes. Signed-off-by: Luis Ubieda <luisf@croxel.com>

tests: gnss: rtk: Add testsuite to validate RTCM3 protocol

c967460

To capture framing capabilities (only API so far). Signed-off-by: Luis Ubieda <luisf@croxel.com>

modem: ubx: Change request buffer to be void

d3e84f7

So this API can be used to send frames with a different encoding than UBX. This enables UBX drivers to send RTCM3 correction frames using UBX API, without having to switch over modem pipes. Signed-off-by: Luis Ubieda <luisf@croxel.com>

gnss: u-blox f9p: Add RTK integration to driver

e7e985b

Enable driver to consume RTK data-correction messages published in order to enhance GNSS Navigation results. Signed-off-by: Luis Ubieda <luisf@croxel.com>

samples: gnss: Add ability to enable RTK

f62d3db

Expand this sample to also work with GNSS_RTK through a serial client. Make this compatible to work with VMU_RT1170 which requires using the F9P, instead of the M8 UBX module. Signed-off-by: Luis Ubieda <luisf@croxel.com>

ubieda dismissed fabiobaltieri’s stale review via f62d3db July 10, 2025 13:35

ubieda force-pushed the gnss/rtk-integration branch from a1b1bb3 to f62d3db Compare July 10, 2025 13:35

fabiobaltieri approved these changes Jul 10, 2025

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bperseghetti approved these changes Jul 10, 2025

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bjarki-andreasen approved these changes Jul 11, 2025

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danieldegrasse added this to the v4.3.0 milestone Jul 11, 2025

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	(void)ubx_f9p_msg_send(dev, (const void *)data->data, data->len, false);
	(void)ubx_f9p_msg_send(dev, (const struct ubx_frame *)data->data, data->len, false);

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Pull Request Overview

Reviewed Changes

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