rdd2: Add RTK support

By receiving RTCM3 messages through synapse_pb and forwarding them to
the modem to apply corrections.

To build with RTK support: west build -b vmu_rt1170//cm8 app/rdd2 -- \
-DEXTRA_CONF_FILE=overlay-rtk.conf

Signed-off-by: Luis Ubieda <luisf@croxel.com>

Author: ubieda

app/rdd2/sample.yaml

@@ -24,3 +24,11 @@ tests:
       - rdd2
     integration_platforms:
       - mr_navq95a/mimx9596/m7/flash
+  rdd2.vmu_rt1170/rtk:
+    tags:
+      - rdd2
+      - rtk
+    extra_args:
+      - EXTRA_CONF_FILE="overlay-rtk.conf"
+    integration_platforms:
+      - vmu_rt1170/mimxrt1176/cm7

drivers/synapse/eth_rx/src/main.c

@@ -74,6 +74,9 @@ static void handle_frame(synapse_pb_Frame *frame)
 	} else if (frame->which_msg == synapse_pb_Frame_odometry_tag) {
 		msg = &frame->msg.odometry;
 		topic = &topic_odometry_ethernet;
+	} else if (frame->which_msg == synapse_pb_Frame_rtcm3_tag) {
+		msg = &frame->msg.rtcm3;
+		topic = &topic_rtcm3;
 #ifdef CONFIG_CEREBRI_DREAM_HIL
 	} else if (frame->which_msg == synapse_pb_Frame_battery_state_tag) {
 		msg = &frame->msg.battery_state;

drivers/synapse/topic/include/synapse_shell_print.h

@@ -29,6 +29,7 @@ int snprint_pose(char *buf, size_t n, synapse_pb_Pose *m);
 int snprint_pwm(char *buf, size_t n, synapse_pb_Pwm *m);
 int snprint_quaternion(char *buf, size_t n, synapse_pb_Quaternion *m);
 int snprint_rates_sp(char *buf, size_t n, synapse_pb_Vector3 *m);
+int snprint_rtcm3(char *buf, size_t n, synapse_pb_Rtcm3 *m);
 int snprint_safety(char *buf, size_t n, synapse_pb_Safety *m);
 int snprint_status(char *buf, size_t n, synapse_pb_Status *m);
 int snprint_timestamp(char *buf, size_t n, synapse_pb_Timestamp *m);

drivers/synapse/topic/include/synapse_topic_list.h

@@ -20,6 +20,7 @@
 #include <synapse_pb/odometry.pb.h>
 #include <synapse_pb/pwm.pb.h>
 #include <synapse_pb/quaternion.pb.h>
+#include <synapse_pb/rtcm3.pb.h>
 #include <synapse_pb/safety.pb.h>
 #include <synapse_pb/status.pb.h>
 #include <synapse_pb/twist.pb.h>
@@ -71,6 +72,7 @@ ZROS_TOPIC_DECLARE(topic_odometry_ethernet, synapse_pb_Odometry);
 ZROS_TOPIC_DECLARE(topic_orientation_sp, synapse_pb_Vector3);
 ZROS_TOPIC_DECLARE(topic_position_sp, synapse_pb_Vector3);
 ZROS_TOPIC_DECLARE(topic_pwm, synapse_pb_Pwm);
+ZROS_TOPIC_DECLARE(topic_rtcm3, synapse_pb_Rtcm3);
 ZROS_TOPIC_DECLARE(topic_safety, synapse_pb_Safety);
 ZROS_TOPIC_DECLARE(topic_status, synapse_pb_Status);
 ZROS_TOPIC_DECLARE(topic_velocity_sp, synapse_pb_Vector3);

drivers/synapse/topic/src/synapse_shell_print.c

@@ -388,4 +388,9 @@ int snprint_wheel_odometry(char *buf, size_t n, synapse_pb_WheelOdometry *m)
 	return offset;
 }
 
+int snprint_rtcm3(char *buf, size_t n, synapse_pb_Rtcm3 *m)
+{
+	return snprintf_cat(buf, n, "len: %d", m->data.size);
+}
+
 // vi: ts=4 sw=4 et

drivers/synapse/topic/src/synapse_topic.c

@@ -78,6 +78,7 @@ static context_t g_ctx = {.work_item = Z_WORK_INITIALIZER(topic_work_handler),
 		(odometry_ethernet, &topic_odometry_ethernet, "odometry_ethernet"),                \
 		(orientation_sp, &topic_orientation_sp, "orientation_sp"),                         \
 		(position_sp, &topic_position_sp, "position_sp"), (pwm, &topic_pwm, "pwm"),        \
+		(rtcm3, &topic_rtcm3, "rtcm3"),                                                    \
 		(safety, &topic_safety, "safety"), (status, &topic_status, "status"),              \
 		(velocity_sp, &topic_velocity_sp, "velocity_sp"),                                  \
 		(wheel_odometry, &topic_wheel_odometry, "wheel_odometry")

drivers/synapse/topic/src/synapse_topic_list.c

@@ -206,6 +206,7 @@ ZROS_TOPIC_DEFINE(odometry_ethernet, synapse_pb_Odometry);
 ZROS_TOPIC_DEFINE(orientation_sp, synapse_pb_Quaternion);
 ZROS_TOPIC_DEFINE(position_sp, synapse_pb_Vector3);
 ZROS_TOPIC_DEFINE(pwm, synapse_pb_Pwm);
+ZROS_TOPIC_DEFINE(rtcm3, synapse_pb_Rtcm3);
 ZROS_TOPIC_DEFINE(safety, synapse_pb_Safety);
 ZROS_TOPIC_DEFINE(status, synapse_pb_Status);
 ZROS_TOPIC_DEFINE(velocity_sp, synapse_pb_Vector3);
@@ -240,6 +241,7 @@ static struct zros_topic *topic_list[] = {
 	&topic_orientation_sp,
 	&topic_position_sp,
 	&topic_pwm,
+	&topic_rtcm3,
 	&topic_safety,
 	&topic_status,
 	&topic_velocity_sp,

west.yml

@@ -42,15 +42,15 @@ manifest:
       path: modules/lib/cyecca
     - name: synapse_pb
       remote: cognipilot
-      revision: f038dd178faac0481033e5e4c757e31777c1b0be # main 11/10/25
+      revision: pull/7/head
       path: modules/lib/synapse_pb
     - name: hal_nxp
       remote: cognipilot
       revision: cf8f1631e862528ee044850bcc70273975b90771 # master 10/27/25
       path: modules/hal/nxp
     - name: zros_drivers
       remote: cognipilot
-      revision: pull/26/head
+      revision: pull/27/head
       path: modules/lib/zros_drivers
     - name: zephyr_boards
       remote: cognipilot