drivers/gps: extract Septentrio into new standalone drivers/gnss/sept…

…entrio module (PX4#22904)

Having a generic interface over the GPS drivers makes dedicated
functionality for each driver harder. Move the Septentrio driver into
its own module under the `gnss` driver directory, and let it have its
own parameters for only the functionality it requires. This also helps
with adding new features because they only need to be implemented for
the driver that wants it, simplifying testing.

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_WARN(__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