drivers/gnss/septentrio : 1.15-compatible extracted septentrio driver…

…, with new features and fixes (#23386)

Co-authored-by: Chiara de Saint Giniez <[email protected]>

boards/cuav/nora/default.px4board

@@ -14,6 +14,7 @@ CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y

boards/cubepilot/cubeorange/default.px4board

@@ -15,6 +15,7 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y

boards/cubepilot/cubeorangeplus/default.px4board

@@ -15,6 +15,7 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y

boards/mro/pixracerpro/default.px4board

@@ -13,6 +13,7 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI085=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y

boards/px4/fmu-v2/default.px4board

@@ -10,6 +10,7 @@ CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_ST_L3GD20=y

boards/px4/fmu-v3/default.px4board

@@ -15,6 +15,7 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y

boards/px4/fmu-v4/default.px4board

@@ -15,6 +15,7 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y

msg/GpsDump.msg

@@ -1,12 +1,10 @@
 # This message is used to dump the raw gps communication to the log.
-# Set the parameter GPS_DUMP_COMM to 1 to use this.
 
-uint64 timestamp		# time since system start (microseconds)
+uint64 timestamp # time since system start (microseconds)
 
-uint8 instance 		# Instance of GNSS receiver
-
-uint8 len			# length of data, MSB bit set = message to the gps device,
-				# clear = message from the device
-uint8[79] data		# data to write to the log
+uint8 instance   # Instance of GNSS receiver
+uint8 len        # length of data, MSB bit set = message to the gps device,
+                 # clear = message from the device
+uint8[79] data   # data to write to the log
 
 uint8 ORB_QUEUE_LENGTH = 8

msg/SensorGps.msg

@@ -12,7 +12,14 @@ float64 altitude_ellipsoid_m	# Altitude above Ellipsoid, meters
 
 float32 s_variance_m_s		# GPS speed accuracy estimate, (metres/sec)
 float32 c_variance_rad		# GPS course accuracy estimate, (radians)
-uint8 fix_type # 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
+uint8 FIX_TYPE_NONE                   = 1       # Value 0 is also valid to represent no fix.
+uint8 FIX_TYPE_2D                     = 2
+uint8 FIX_TYPE_3D                     = 3
+uint8 FIX_TYPE_RTCM_CODE_DIFFERENTIAL = 4
+uint8 FIX_TYPE_RTK_FLOAT              = 5
+uint8 FIX_TYPE_RTK_FIXED              = 6
+uint8 FIX_TYPE_EXTRAPOLATED           = 8
+uint8 fix_type                  # Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
 
 float32 eph			# GPS horizontal position accuracy (metres)
 float32 epv			# GPS vertical position accuracy (metres)

src/drivers/gnss/Kconfig

@@ -0,0 +1 @@
+rsource "*/Kconfig"

src/drivers/gnss/septentrio/CMakeLists.txt

@@ -0,0 +1,50 @@
+############################################################################
+#
+#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE driver__septentrio
+	MAIN septentrio
+	COMPILE_FLAGS
+		# -DDEBUG_BUILD           # Enable during development of the module
+		-DSEP_LOG_ERROR         # Enable module-level error logs
+		# -DSEP_LOG_WARN          # Enable module-level warning logs
+		# -DSEP_LOG_INFO          # Enable module-level info logs
+		# -DSEP_LOG_TRACE_PARSING # Tracing of parsing steps
+	SRCS
+		septentrio.cpp
+		util.cpp
+		rtcm.cpp
+		sbf/decoder.cpp
+	MODULE_CONFIG
+		module.yaml
+	)

src/drivers/gnss/septentrio/Kconfig

@@ -0,0 +1,5 @@
+menuconfig DRIVERS_GNSS_SEPTENTRIO
+	bool "Septentrio GNSS receivers"
+	default n
+	---help---
+		Enable support for Septentrio receivers

src/drivers/gnss/septentrio/README.md

@@ -0,0 +1,6 @@
+# Septentrio GNSS Driver
+
+## SBF Library
+
+The `sbf/` directory contains all the logic required to work with SBF, including message
+definitions, block IDs and a simple parser for the messages used by PX4.

src/drivers/gnss/septentrio/module.h

@@ -0,0 +1,80 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file module.h
+ *
+ * Module functionality for the Septentrio GNSS driver.
+ *
+ * @author Thomas Frans
+*/
+
+#pragma once
+
+#include <px4_platform_common/log.h>
+
+#ifdef DEBUG_BUILD
+#ifndef SEP_LOG_ERROR
+#define SEP_LOG_ERROR
+#endif
+#ifndef SEP_LOG_WARN
+#define SEP_LOG_WARN
+#endif
+#ifndef SEP_LOG_INFO
+#define SEP_LOG_INFO
+#endif
+#endif
+
+#ifdef SEP_LOG_ERROR
+#define SEP_ERR(...)            {PX4_ERR(__VA_ARGS__);}
+#else
+#define SEP_ERR(...)            {}
+#endif
+
+#ifdef SEP_LOG_WARN
+#define SEP_WARN(...)           {PX4_WARN(__VA_ARGS__);}
+#else
+#define SEP_WARN(...)           {}
+#endif
+
+#ifdef SEP_LOG_INFO
+#define SEP_INFO(...)           {PX4_INFO(__VA_ARGS__);}
+#else
+#define SEP_INFO(...)           {}
+#endif
+
+#ifdef SEP_LOG_TRACE_PARSING
+#define SEP_TRACE_PARSING(...)  {PX4_DEBUG(__VA_ARGS__);}
+#else
+#define SEP_TRACE_PARSING(...)  {}
+#endif