Add support for Quectel LC29H-BS

Signed-off-by: Alastair D'Silva <[email protected]>

configure_gps.sh

@@ -0,0 +1,15 @@
+#!/bin/bash
+#
+# configure_gps.sh: script to provide GPS modules with commands
+# that are not saved in flash on the module (ie. they must be provided
+# each time the module is started).
+
+
+BASEDIR="$(dirname "$0")"
+source <( grep -v '^#' "${BASEDIR}"/settings.conf | grep '=' ) #import settings
+
+if [[ "${receiver}" = "Quectel LC29HBS" ]]; then
+  speed="${com_port_settings%%:*}"
+  python3 "${BASEDIR}"/tools/nmea.py --file "${BASEDIR}"/receiver_cfg/LC29HBS_Configure.txt /dev/"${com_port}" "${speed}" 3
+  echo Configuring Quectel LC29HBS on /dev/"${com_port}" at speed "${speed}"
+fi

receiver_cfg/LC29HBS_Configure.txt

@@ -0,0 +1,35 @@
+#Enable MSM7 messages
+$PAIR432,1
+
+#Enable Station Reference Message 1005
+$PAIR434,1
+
+#Enable Ephemeris messages
+$PAIR436,1
+
+#Enable NMEA GGA Time, position, and fix related data
+$PAIR062,0,1
+
+#Enable NMEA GLL Position data: position fix, time of position fix, and status
+$PAIR062,1,1
+
+#Enable NMEA GSA GPS DOP and active satellites
+$PAIR062,2,1
+
+#Enable NMEA GSV Satellite information
+$PAIR062,3,1
+
+#Enable NMEA RMC Position, velocity, and time
+$PAIR062,4,1
+
+#Enable NMEA VTG Track made good and speed over ground
+$PAIR062,5,1
+
+#Enable NMEA ZDA UTC day, month, and year, and local time zone offset
+$PAIR062,6,1
+
+#Enable NMEA GRS GRS range residuals
+$PAIR062,7,1
+
+#Enable NMEA GST Position error statistics
+$PAIR062,8,1

receiver_cfg/LC29HBS_Factory_Defaults.txt

@@ -0,0 +1,2 @@
+# Restore factory defaults
+$PQTMRESTOREPAR

receiver_cfg/LC29HBS_Reboot.txt

@@ -0,0 +1,9 @@
+#Power off the GNSS
+$PAIR003
+
+#SLEEP# 1000
+
+#Power on the GNSS
+$PAIR002
+
+#SLEEP# 5000

receiver_cfg/LC29HBS_Save.txt

@@ -0,0 +1,2 @@
+#Save parameters
+$PQTMSAVEPAR

receiver_cfg/LC29HBS_Set_Baud.txt

@@ -0,0 +1,2 @@
+#Crank the baud rate up (Could also go 3000000)
+$PAIR864,0,0,921600

receiver_cfg/LC29HBS_Version.txt

@@ -0,0 +1,2 @@
+# Get the model and firmware version
+$PQTMVERNO

tools/install.sh

@@ -421,13 +421,23 @@ detect_gnss() {
         echo '################################'
         systemctl is-active --quiet str2str_tcp.service && sudo systemctl stop str2str_tcp.service && echo 'Stopping str2str_tcp service'
         for port in ttyS1 serial0 ttyS2 ttyS3 ttyS0; do
-            for port_speed in 115200 57600 38400 19200 9600; do
+            for port_speed in 3000000 921600 115200 57600 38400 19200 9600; do
                 echo 'DETECTION ON ' $port ' at ' $port_speed
+                # Detect u-blox ZED-F9P receivers
                 if [[ $(python3 "${rtkbase_path}"/tools/ubxtool -f /dev/$port -s $port_speed -p MON-VER -w 5 2>/dev/null) =~ 'ZED-F9P' ]]; then
                     detected_gnss[0]=$port
                     detected_gnss[1]='u-blox'
                     detected_gnss[2]=$port_speed
-                    #echo 'U-blox ZED-F9P DETECTED ON '$port $port_speed
+                    #echo 'U-blox ZED-F9P DETECTED ON ' $port ' at ' $port_speed
+                    break
+                fi
+
+                # Detect Quectel LC29H-BS receivers using nmea.py
+                if [[ $(python3 "${rtkbase_path}"/tools/nmea.py --file "${rtkbase_path}"/receiver_cfg/LC29HBS_Version.txt /dev/$port $port_speed 3 2>/dev/null) =~ 'LC29HBS' ]]; then
+                    detected_gnss[0]=$port
+                    detected_gnss[1]='LC29H-BS'
+                    detected_gnss[2]=$port_speed
+                    #echo 'Quectel LC29H-BS DETECTED ON ' $port ' at ' $port_speed
                     break
                 fi
                 sleep 1
@@ -536,11 +546,30 @@ configure_gnss(){
             sudo -u "${RTKBASE_USER}" sed -i s/^receiver=.*/receiver=\'Septentrio_Mosaic-X5\'/ "${rtkbase_path}"/settings.conf                                && \
             sudo -u "${RTKBASE_USER}" sed -i s/^receiver_format=.*/receiver_format=\'sbf\'/ "${rtkbase_path}"/settings.conf
             return $?
+          elif [[ $(python3 "${rtkbase_path}"/tools/nmea.py --file "${rtkbase_path}"/receiver_cfg/LC29HBS_Version.txt /dev/"${com_port}" ${com_port_settings%%:*} 3 2>/dev/null) =~ 'LC29HBS' ]]; then
+            # Factory reset and configure the module
+            python3 "${rtkbase_path}"/tools/nmea.py --verbose --file "${rtkbase_path}"/receiver_cfg/LC29HBS_Factory_Defaults.txt /dev/"${com_port}" ${com_port_settings%%:*} 3 >>"${rtkbase_path}"/logs/LC29HBS_Configure.log && \
+            python3 "${rtkbase_path}"/tools/nmea.py --verbose --file "${rtkbase_path}"/receiver_cfg/LC29HBS_Set_Baud.txt /dev/"${com_port}" ${com_port_settings%%:*} 3 >>"${rtkbase_path}"/logs/LC29HBS_Configure.log && \
+            python3 "${rtkbase_path}"/tools/nmea.py --verbose --file "${rtkbase_path}"/receiver_cfg/LC29HBS_Save.txt /dev/"${com_port}" ${com_port_settings%%:*} 3 >>"${rtkbase_path}"/logs/LC29HBS_Configure.log && \
+            python3 "${rtkbase_path}"/tools/nmea.py --verbose --file "${rtkbase_path}"/receiver_cfg/LC29HBS_Reboot.txt /dev/"${com_port}" ${com_port_settings%%:*} 3 >>"${rtkbase_path}"/logs/LC29HBS_Configure.log && \
+
+            # Speed has now been configured to 921600
+            speed=921600
+            version_str="$(python3 "${rtkbase_path}"/tools/nmea.py --file "${rtkbase_path}"/receiver_cfg/LC29HBS_Version.txt /dev/"${com_port}" ${speed} 3 2>/dev/null)"
+            firmware="`echo "$version_str" | cut -d , -f 2`"
+            if [[ -z "$version_str" ]]; then
+              echo "Could not get LC29HBS version string after rebooting the module, try power cycling the module."
+              return 1
+            fi
+            sudo -u "${RTKBASE_USER}" sed -i s/^receiver_firmware=.*/receiver_firmware=\'${firmware}\'/ "${rtkbase_path}"/settings.conf && \
+            sudo -u "${RTKBASE_USER}" sed -i s/^com_port_settings=.*/com_port_settings=\'921600:8:n:1\'/ "${rtkbase_path}"/settings.conf && \
+            sudo -u "${RTKBASE_USER}" sed -i s/^receiver=.*/receiver=\'Quectel LC29HBS\'/ "${rtkbase_path}"/settings.conf && \
+            sudo -u "${RTKBASE_USER}" sed -i s/^receiver_format=.*/receiver_format=\'rtcm3\'/ "${rtkbase_path}"/settings.conf
+            return $?
           else
             echo 'Failed to configure the Gnss receiver'
             return 1
           fi
-
         else
           echo 'No Gnss receiver has been set. We can'\''t configure'
           return 1
@@ -611,6 +640,7 @@ start_services() {
   systemctl daemon-reload
   systemctl enable --now rtkbase_web.service
   systemctl enable --now str2str_tcp.service
+  systemctl enable --now configure_gps.service
   systemctl restart gpsd.service
   systemctl restart chrony.service
   systemctl enable --now rtkbase_archive.timer

tools/nmea.py

@@ -0,0 +1,107 @@
+#!/usr/bin/env python3
+
+import argparse
+import serial
+import time
+
+# Function to calculate NMEA checksum
+def calculate_nmea_checksum(nmea_sentence):
+    checksum = 0
+    # Iterate through each character after the starting '$' and before '*'
+    for char in nmea_sentence[1:]:
+        checksum ^= ord(char)
+    return f"{nmea_sentence}*{checksum:02X}"
+
+# Function to append checksum if not provided
+def append_checksum_if_missing(nmea_sentence):
+    if '*' not in nmea_sentence:
+        # Calculate and append checksum if '*' is missing
+        return calculate_nmea_checksum(nmea_sentence)
+    return nmea_sentence
+
+# Function to handle serial communication
+def send_nmea_command(port, speed, timeout, nmea_command, verbose):
+    # Open serial port
+    try:
+        with serial.Serial(port, baudrate=speed, timeout=timeout) as ser:
+            # Append checksum if missing
+            nmea_command_with_checksum = append_checksum_if_missing(nmea_command)
+
+            # Write NMEA command to the serial port
+            ser.write((nmea_command_with_checksum + '\r\n').encode('ascii'))
+            if verbose:
+                print(f"Sent command: {nmea_command_with_checksum}")
+
+            # Wait for the response
+            start_time = time.time()
+            while time.time() - start_time < timeout:
+                try:
+                    response = ser.readline().decode('ascii', errors='ignore').strip()
+                    # Process only valid ASCII responses
+                    if response and response.startswith('$'):
+                        if verbose:
+                            print(f"Received response: {response}")
+                        return response
+                except UnicodeDecodeError as e:
+                    # Skip non-ASCII responses (likely RTCM3 messages)
+                    if verbose:
+                        print(f"Non-ASCII data skipped: {e}")
+            if verbose:
+                print("Timeout: No matching response received.")
+    except serial.SerialException as e:
+        print(f"Error opening serial port: {e}")
+
+# Function to read NMEA commands from a file and ignore lines starting with '#' and blank lines
+def read_commands_from_file(file_path):
+    try:
+        with open(file_path, 'r') as file:
+            commands = []
+            for line in file:
+                line = line.strip()
+                # Ignore blank lines and lines starting with '#'
+                if line and not line.startswith('#') or line.startswith('#SLEEP#'):
+                    commands.append(line)
+            return commands
+    except FileNotFoundError:
+        print(f"Error: File '{file_path}' not found.")
+        return []
+
+# Function to handle the sleep command in the file
+def handle_sleep_command(command, verbose):
+    try:
+        sleep_time_ms = int(command.split('#SLEEP# ')[1])
+        if verbose:
+            print(f"Sleeping for {sleep_time_ms} ms")
+        time.sleep(sleep_time_ms / 1000)  # Convert to seconds
+    except (IndexError, ValueError):
+        print(f"Invalid sleep command format: {command}")
+
+if __name__ == "__main__":
+    # Parse command line arguments
+    parser = argparse.ArgumentParser(description="Send NMEA commands to Quectel LC29H module")
+    parser.add_argument('port', type=str, help='Serial port to use (e.g., /dev/ttyUSB0 or COM3)')
+    parser.add_argument('speed', type=int, help='Baud rate (e.g., 9600)')
+    parser.add_argument('timeout', type=int, help='Timeout in seconds')
+    parser.add_argument('command', nargs='?', type=str, help='NMEA command to send (optional, overrides file)')
+    parser.add_argument('--file', type=str, help='File with NMEA commands to send')
+    parser.add_argument('--verbose', action='store_true', help='Enable verbose output for tracing')
+
+    args = parser.parse_args()
+
+    # Determine which commands to send (from file or argument)
+    if args.command:
+        # Send the provided command as an argument
+        nmea_commands = [args.command]
+    elif args.file:
+        # Read commands from the file, ignoring comments and blank lines
+        nmea_commands = read_commands_from_file(args.file)
+    else:
+        print("Error: You must provide either a command or a file containing commands.")
+        exit(1)
+
+    # Send each NMEA command from the list
+    for command in nmea_commands:
+        if command.startswith('#SLEEP#'):
+            handle_sleep_command(command, args.verbose)
+        else:
+            send_nmea_command(args.port, args.speed, args.timeout, command, args.verbose)

tools/uninstall.sh

@@ -18,7 +18,8 @@ for service_name in str2str_tcp.service \
                     rtkbase_archive.timer \
                     modem_check.service \
                     modem_check.timer \
-                    rtkbase_gnss_web_proxy.service
+                    rtkbase_gnss_web_proxy.service \
+                    configure_gps.service
 do
     echo 'Deleting ' "${service_name}"
     systemctl stop "${service_name}"

unit/configure_gps.service

@@ -0,0 +1,19 @@
+[Unit]
+Description=Configure GPS
+Before=str2str_tcp.service
+#After=network-online.target
+#Wants=network-online.target
+#Requires=network-online.target
+
+[Service]
+Type=oneshot
+RemainAfterExit=yes
+User={user}
+ExecStart={script_path}/configure_gps.sh
+Restart=no
+ProtectHome=read-only
+ProtectSystem=strict
+ReadWritePaths={script_path}
+
+[Install]
+WantedBy=multi-user.target

web_app/server.py

@@ -105,6 +105,7 @@
                  {'service_unit' : 'rtkbase_archive.timer', "name" : "archive_timer"}, 
                  {'service_unit' : 'rtkbase_archive.service', "name" : "archive_service"},
                  {'service_unit' : 'rtkbase_raw2nmea.service', "name" : "raw2nmea"},
+                 {'service_unit' : 'configure_gps.service', "name" : "configure_gps"},
                  ]
 
 #Delay before rtkrcv will stop if no user is on status.html page