Merge pull request #24 from ARK3r/spartn-key-f9p-d9s

Spartn configuration / monitoring support
aussierobots · Sep 11, 2024 · 0c37a48 · 0c37a48
2 parents e9a2507 + 36f0805
commit 0c37a48
Showing 1 changed file with 22 additions and 0 deletions.
diff --git a/ublox_dgnss_node/include/ublox_dgnss_node/ubx/ubx_cfg_item.hpp b/ublox_dgnss_node/include/ublox_dgnss_node/ubx/ubx_cfg_item.hpp
@@ -129,10 +129,20 @@ enum CFG_INFMSG_ENUM
 const ubx_cfg_item_t CFG_UART1INPROT_UBX = {"CFG_UART1INPROT_UBX", 0x10730001, L, 1, NA};
 const ubx_cfg_item_t CFG_UART1INPROT_NMEA = {"CFG_UART1INPROT_NMEA", 0x10730002, L, 1, NA};
 const ubx_cfg_item_t CFG_UART1INPROT_RTCM3X = {"CFG_UART1INPROT_RTCM3X", 0x10730004, L, 1, NA};
+const ubx_cfg_item_t CFG_UART1INPROT_SPARTN = {"CFG_UART1INPROT_SPARTN", 0x10730005, L, 1, NA};
 const ubx_cfg_item_t CFG_UART1OUTPROT_UBX = {"CFG_UART1OUTPROT_UBX", 0x10740001, L, 1, NA};
 const ubx_cfg_item_t CFG_UART1OUTPROT_NMEA = {"CFG_UART1OUTPROT_NMEA", 0x10740002, L, 1, NA};
 const ubx_cfg_item_t CFG_UART1OUTPROT_RTCM3X = {"CFG_UART1OUTPROT_RTCM3X", 0x10740004, L, 1, NA};
 
+// cfg uart2
+const ubx_cfg_item_t CFG_UART2INPROT_UBX = {"CFG_UART2INPROT_UBX", 0x10750001, L, 1, NA};
+const ubx_cfg_item_t CFG_UART2INPROT_NMEA = {"CFG_UART2INPROT_NMEA", 0x10750002, L, 1, NA};
+const ubx_cfg_item_t CFG_UART2INPROT_RTCM3X = {"CFG_UART2INPROT_RTCM3X", 0x10750004, L, 1, NA};
+const ubx_cfg_item_t CFG_UART2INPROT_SPARTN = {"CFG_UART2INPROT_SPARTN", 0x10750005, L, 1, NA};
+const ubx_cfg_item_t CFG_UART2OUTPROT_UBX = {"CFG_UART2OUTPROT_UBX", 0x10760001, L, 1, NA};
+const ubx_cfg_item_t CFG_UART2OUTPROT_NMEA = {"CFG_UART2OUTPROT_NMEA", 0x10760002, L, 1, NA};
+const ubx_cfg_item_t CFG_UART2OUTPROT_RTCM3X = {"CFG_UART2OUTPROT_RTCM3X", 0x10760004, L, 1, NA};
+
 // cfg usb
 const ubx_cfg_item_t CFG_USBINPROT_UBX = {"CFG_USBINPROT_UBX", 0x10770001, L, 1, NA};
 const ubx_cfg_item_t CFG_USBINPROT_NMEA = {"CFG_USBINPROT_NMEA", 0x10770002, L, 1, NA};
@@ -141,6 +151,9 @@ const ubx_cfg_item_t CFG_USBOUTPROT_UBX = {"CFG_USBOUTPROT_UBX", 0x10780001, L,
 const ubx_cfg_item_t CFG_USBOUTPROT_NMEA = {"CFG_USBOUTPROT_NMEA", 0x10780002, L, 1, NA};
 const ubx_cfg_item_t CFG_USBOUTPROT_RTCM3X = {"CFG_USBOUTPROT_RTCM3X", 0x10780004, L, 1, NA};
 
+// cfg spartn
+const ubx_cfg_item_t CFG_SPARTN_USE_SOURCE = {"CFG_SPARTN_USE_SOURCE", 0x20a70001, E1, 1, NA};
+
 // cfg tmode - time mode configuration
 const ubx_cfg_item_t CFG_TMODE_MODE = {"CFG_TMODE_MODE", 0x20030001, E1, 1, NA};
 enum CFG_TMODE_MODE_ENUM {DISABLED = 0, SURVEY_IN = 1, FIXED = 2};
@@ -327,15 +340,24 @@ std::map<ubx_key_id_t, ubx_cfg_item_t> ubxKeyCfgItemMap = {
   {CFG_UART1INPROT_UBX.ubx_key_id, CFG_UART1INPROT_UBX},
   {CFG_UART1INPROT_NMEA.ubx_key_id, CFG_UART1INPROT_NMEA},
   {CFG_UART1INPROT_RTCM3X.ubx_key_id, CFG_UART1INPROT_RTCM3X},
+  {CFG_UART1INPROT_SPARTN.ubx_key_id, CFG_UART1INPROT_SPARTN},
   {CFG_UART1OUTPROT_UBX.ubx_key_id, CFG_UART1OUTPROT_UBX},
   {CFG_UART1OUTPROT_NMEA.ubx_key_id, CFG_UART1OUTPROT_NMEA},
   {CFG_UART1OUTPROT_RTCM3X.ubx_key_id, CFG_UART1OUTPROT_RTCM3X},
+  {CFG_UART2INPROT_UBX.ubx_key_id, CFG_UART2INPROT_UBX},
+  {CFG_UART2INPROT_NMEA.ubx_key_id, CFG_UART2INPROT_NMEA},
+  {CFG_UART2INPROT_RTCM3X.ubx_key_id, CFG_UART2INPROT_RTCM3X},
+  {CFG_UART2INPROT_SPARTN.ubx_key_id, CFG_UART2INPROT_SPARTN},
+  {CFG_UART2OUTPROT_UBX.ubx_key_id, CFG_UART2OUTPROT_UBX},
+  {CFG_UART2OUTPROT_NMEA.ubx_key_id, CFG_UART2OUTPROT_NMEA},
+  {CFG_UART2OUTPROT_RTCM3X.ubx_key_id, CFG_UART2OUTPROT_RTCM3X},
   {CFG_USBINPROT_UBX.ubx_key_id, CFG_USBINPROT_UBX},
   {CFG_USBINPROT_NMEA.ubx_key_id, CFG_USBINPROT_NMEA},
   {CFG_USBINPROT_RTCM3X.ubx_key_id, CFG_USBINPROT_RTCM3X},
   {CFG_USBOUTPROT_UBX.ubx_key_id, CFG_USBOUTPROT_UBX},
   {CFG_USBOUTPROT_NMEA.ubx_key_id, CFG_USBOUTPROT_NMEA},
   {CFG_USBOUTPROT_RTCM3X.ubx_key_id, CFG_USBOUTPROT_RTCM3X},
+  {CFG_SPARTN_USE_SOURCE.ubx_key_id, CFG_SPARTN_USE_SOURCE},
   {CFG_TMODE_MODE.ubx_key_id, CFG_TMODE_MODE},
   {CFG_TMODE_POS_TYPE.ubx_key_id, CFG_TMODE_POS_TYPE},
   {CFG_NAVHPG_DGNSSMODE.ubx_key_id, CFG_NAVHPG_DGNSSMODE},