acassis commented on code in PR #16605:
URL: https://github.com/apache/nuttx/pull/16605#discussion_r2164011453
##########
Documentation/components/drivers/special/sensors/l86xxx.rst:
##########
@@ -0,0 +1,149 @@
+=======
+L86-XXX
+=======
+
+This driver provides support for the L86-XXX family of GNSS modules by
+Quectel via the :doc:`uorb </components/drivers/special/sensors/sensors_uorb>`
interface.
+Functionality for this driver was tested using the Quectel L86-M33.
+
+.. warning::
+ This driver only contains preliminary support for a handful of proprietary
+ 'PMTK' commands There is no support for the entire suite of commands yet
+ CONSIDER THIS DRIVER EXPERIMENTAL.
+
+Application Programming Interface
+=================================
+
+To register the device for use, you will need to enable the standard upper half
+serial drivers (``CONFIG_STANDARD_SERIAL``), since the L86-XXX driver requires
+the path to the UART interface the module is connected to. You will also need
to
+ensure that the baud rate of the UART interface is set to 9600, which is the
default
+baud rate of the L86-XXX series of GNSS modules.
+
+The driver supports changing the default baud rate and update rate of the GNSS
module.
+As a result, you will also need to enable serial TERMIOS support
(``CONFIG_SERIAL_TERMIOS``).
+The baud rate and update rate of the GNSS module can be configured using the
``L86_XXX_BAUD`` and ``L86_XXX_FIX_INT`` options respectively.
+Note that a faster update rate will require a higher baud rate to support it
and the supported baud rates for the L86-XXX series of GNSS modules are: 4800,
9600, 14400, 19200, 38400, 57600 and 115200.
+The baud rate and update rates of the module are changed at registration time.
+
+.. code-block:: c
+
+ #if defined(CONFIG_SENSORS_L86_XXX)
+ #include <nuttx/sensors/l86xxx.h>
+
+ /* Register L86-M33 on USART3 */
+
+ ret = l86xxx_register("/dev/l86m33", "/dev/ttyS2", 0);
+ if (ret < 0) {
+ syslog(LOG_ERR, "Failed to register L86-M33: %d\n", ret);
+ }
+ #endif
+
+One the driver is registered, it starts a thread that continuosly reads raw
output from the specified UART device and
Review Comment:
```suggestion
Once the driver is registered, it starts a thread that continuosly reads raw
output from the specified UART device and
##########
drivers/sensors/l86xxx_uorb.c:
##########
@@ -0,0 +1,675 @@
+/****************************************************************************
+ * drivers/sensors/l86mxx_uorb.c
+ *
+ * NOTE: EXPERIMENTAL DRIVER
+ *
+ * Contributed by Carleton University InSpace
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/nuttx.h>
+#include <debug.h>
+
+#include <errno.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include <unistd.h>
+#include <math.h>
+#include <time.h>
+#include <termios.h>
+
+#include <nuttx/fs/fs.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/kthread.h>
+#include <nuttx/mutex.h>
+#include <nuttx/semaphore.h>
+#include <nuttx/signal.h>
+#include <nuttx/wqueue.h>
+#include <nuttx/sensors/sensor.h>
+#include <minmea/minmea.h>
+
+#include <nuttx/sensors/l86xxx.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#ifndef CONFIG_SENSORS_L86_XXX_THREAD_STACKSIZE
+#define CONFIG_SENSORS_L86_XXX_THREAD_STACKSIZE 10000
+#endif
+
+#ifndef CONFIG_L86_XXX_BAUD
+#define CONFIG_L86_XXX_BAUD 9600
+#endif
+
+#if CONFIG_L86_XXX_BAUD == 4800
+ #define L86_XXX_BAUD_RATE 4800
+#elif CONFIG_L86_XXX_BAUD == 9600
+ #define L86_XXX_BAUD_RATE 9600
+#elif CONFIG_L86_XXX_BAUD == 14400
+ #define L86_XXX_BAUD_RATE 14400
+#elif CONFIG_L86_XXX_BAUD == 19200
+ #define L86_XXX_BAUD_RATE 19200
+#elif CONFIG_L86_XXX_BAUD == 38400
+ #define L86_XXX_BAUD_RATE 38400
+#elif CONFIG_L86_XXX_BAUD == 57600
+ #define L86_XXX_BAUD_RATE 57600
+#elif CONFIG_L86_XXX_BAUD == 115200
+ #define L86_XXX_BAUD_RATE 115200
+#else
+ #error "Invalid baud rate. Supported baud rates are: 4800, 5600, 14400,
19200, 38400, 57600, 115200"
+#endif
+
+#ifdef CONFIG_L86_XXX_FIX_INT
+#define L86_XXX_FIX_INT CONFIG_L86_XXX_FIX_INT
+#endif
+
+/* Helper to get array length */
+
+#define MINMEA_MAX_LENGTH 256
+
+/****************************************************************************
+ * Private Data Types
+ ****************************************************************************/
+
+/* GNSS device struct */
+
+typedef struct
+{
+ FAR struct file uart; /* UART interface */
+ struct sensor_lowerhalf_s lower; /* UORB lower-half */
+ mutex_t devlock; /* Exclusive access */
+ sem_t run; /* Start/stop collection thread */
+ bool enabled; /* If module has started */
+ char buffer[MINMEA_MAX_LENGTH]; /* Buffer for UART interface */
+#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
+ int16_t crefs; /* Number of open references */
+#endif
+} l86xxx_dev_s;
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static int l86xxx_control(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep, int cmd, unsigned long arg);
+static int l86xxx_activate(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep, bool enable);
+static int l86xxx_set_interval(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep,
+ FAR uint32_t *period_us);
+static char calculate_checksum(char* data, int len);
+static int set_baud_rate(l86xxx_dev_s *dev, int br);
+static int send_command(l86xxx_dev_s *dev, L86XXX_PMTK_COMMAND cmd, unsigned
long arg);
+static void read_line(l86xxx_dev_s *dev);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static const struct sensor_ops_s g_sensor_ops =
+{
+ .control = l86xxx_control,
+ .activate = l86xxx_activate,
+ .set_interval = l86xxx_set_interval,
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+/****************************************************************************
+ * Name: calculate_checksum
+ *
+ * Description:
+ * Calculate checksum of PMTK command.
+ *
+ * Arguments:
+ * data - Char pointer to calculate checksum for
+ * len - Length of char string
+ *
+ * Returns:
+ * 1-byte checksum value to be interpreted as a hex byte
+ ****************************************************************************/
+ static char calculate_checksum(char* data, int len){
Review Comment:
Please follow the NuttX Coding Style:
https://nuttx.apache.org/docs/latest/contributing/coding_style.html
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