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Adding septentrio configuration commands #106

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Merged
aidan-laracy-HBK merged 1 commit into from
May 18, 2026
Merged

Adding septentrio configuration commands #106

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9 changes: 9 additions & 0 deletions config/params.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -161,6 +161,15 @@ gnss_glonass_enable : True
gnss_galileo_enable : True
gnss_beidou_enable : True

# ******************************************************************
# Septentrio Aiding settings for 7-Series and Nova Development Board
# ******************************************************************

# If enabled, the septentrio_input_port will have Septentrio Binary Protocol input enabled,
# and have the baudrate configured to 4000000 baud which is required for Septentrio aiding.
#
septentrio_input_enable : False # Enable Sepentrio Binary Protocol input on a specified port (If )
septentrio_input_port : 0x13 # Port to enable Sepntrio Binary protocol on, default value of UART3 (0x13) for use with Nova Development Board

# ******************************************************************
# RTK Settings (only applicable for devices with RTK support (e.g. GQ7) )
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26 changes: 26 additions & 0 deletions src/config.cpp
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Expand Up @@ -1356,6 +1356,32 @@ bool Config::configureSystem(RosNodeType* node)
rtcm_on_main_port_ = false;
}

// Configure Septentrio input on a given port if enabled.

bool septentrio_input_enable;
uint8_t septentrio_input_port;
getParam<bool>(node, "septentrio_input_enable", septentrio_input_enable, false);
getParam<uint8_t>(node, "septentrio_input_port", septentrio_input_port, false);

// Enable Septentrio input on the provided port
uint32_t septentrio_protocol = 0x20000000;

if (septentrio_input_enable)
{
MICROSTRAIN_DEBUG(node, "Configuring port %#X for Septentrio Binary Protocol input", septentrio_input_port);
if (!(mip_cmd_result = mip::commands_system::writeInterfaceControl(*mip_device_, static_cast<mip::commands_system::CommsInterface>(septentrio_input_port), static_cast<mip::commands_system::CommsProtocol>(septentrio_protocol), mip::commands_system::CommsProtocol::NONE)))
{
MICROSTRAIN_MIP_SDK_ERROR(node_, mip_cmd_result, "Failed to enable Septentrio Binary Protocol Input");
}
}

// Configure the baud rate to be 4000000 on the selected port
MICROSTRAIN_DEBUG(node, "Configuring port %#X for 4000000 baud", septentrio_input_port);
if (!(mip_cmd_result = mip::commands_base::writeCommSpeed(*mip_device_, septentrio_input_port, 0x003d0900)))
{
MICROSTRAIN_MIP_SDK_ERROR(node_, mip_cmd_result, "Failed to set baudrate for port %#X", septentrio_input_port);
}

return true;
}

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