Add support for Quectel LC29H-BS

README.md

@@ -54,8 +54,13 @@ If you use a Raspberry Pi, thanks to [jancelin](https://github.com/jancelin), yo
    - [rtklibexplorer - PPP - for dual frequency receivers](https://rtklibexplorer.wordpress.com/2017/11/23/ppp-solutions-with-the-swiftnav-piksi-multi/)
    - [Centipede documentation (in french)](https://docs.centipede.fr/docs/base/positionnement.html)
 
+   For Quectel LC29HBS receivers, open a shell, and run the following to survey-in the device (averaging samples across 1 day), and display the base station coordinates:
+   ```bash
+   python3 tools/lc29h-bs_survey.py --mode survey --min-dur 86400 --speed 921600 /dev/ttyS0
+   ```
+
 + To help you find your base ip address, you can use the simple `find_rtkase` gui tool. It is available for Gnu/Linux and Windows in [./tools/find_rtkbase/dist](./tools/find_rtkbase/dist/).
-  
+
    - Click on the "Find" button, wait, then click on the "Open" button. It will open the RTKBase GUI in your web browser.
 
      <img src="./tools/find_rtkbase/find_rtkbase_screenshot.png" alt="screenshot of find_rtkbase tool" width="300" />
@@ -195,9 +200,9 @@ So, if you really want it, let's go for a manual installation with some explanat
    ```
 1. Install and configure chrony and gpsd with `sudo ./install.sh --gpsd-chrony`, or:
    + Install chrony with `sudo apt install chrony` then add this parameter in the chrony conf file (/etc/chrony/chrony.conf):
-   
+
       ```refclock SHM 0 refid GPS precision 1e-1 offset 0.2 delay 0.2```
-   
+
      Edit the chrony unit file. You should set `After=gpsd.service`
    + Install a gpsd release >= 3.2 or it won't work with a F9P. Its conf file should contains:
    ```

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

@@ -407,7 +407,7 @@ detect_gnss() {
       done
       if [[ ${#detected_gnss[*]} -ne 2 ]]; then
           vendor_and_product_ids=$(lsusb | grep -i "u-blox\|Septentrio" | grep -Eo "[0-9A-Za-z]+:[0-9A-Za-z]+")
-          if [[ -z "$vendor_and_product_ids" ]]; then 
+          if [[ -z "$vendor_and_product_ids" ]]; then
             echo 'NO USB GNSS RECEIVER DETECTED'
             echo 'YOU CAN REDETECT IT FROM THE WEB UI'
             #return 1
@@ -426,13 +426,23 @@ detect_gnss() {
         systemctl is-active --quiet str2str_tcp.service && sudo systemctl stop str2str_tcp.service && echo 'Stopping str2str_tcp service'
         # TODO remove port if not available in /dev/
         for port in ttyS0 ttyUSB0 ttyUSB1 ttyUSB2 serial0 ttyS1 ttyS2 ttyS3 ttyS4 ttyS5; 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 ' $port_speed
                     break
                 elif { model=$(python3 "${rtkbase_path}"/tools/unicore_tool.py --port /dev/$port --baudrate $port_speed --command get_model 2>/dev/null) ; [[ "${model}" == 'UM98'[0-2] ]] ;}; then
                     detected_gnss[0]=$port
@@ -594,7 +604,26 @@ configure_gnss(){
               echo 'Failed to configure the Gnss receiver'
               return 1
           fi
-
+        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 'No Gnss receiver has been set. We can'\''t configure'
           return 1
@@ -665,6 +694,7 @@ 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