Add support for PQTM logging.

nseidle · nseidle · commit 6f62d330f584 · 2025-02-10T15:40:24.000-07:00
Fix #541. This suppresses passing Quectel proprietary messages to circular buffer unless the user explicitly enables the message. Note: Only PVT and EPE messages have been added because these are explicitly turned on during LG290P library initialization. More work will need to be done to support other messages during the LG290P configureRover() type functions.
diff --git a/Firmware/RTK_Everywhere/GNSS_LG290P.h b/Firmware/RTK_Everywhere/GNSS_LG290P.h
@@ -51,8 +51,14 @@ const lg290pMsg lgMessagesRTCM[] = {
     {"RTCM3-107X", 1, 0}, {"RTCM3-108X", 1, 0}, {"RTCM3-109X", 1, 0}, {"RTCM3-111X", 1, 0}, {"RTCM3-112X", 1, 0}, {"RTCM3-113X", 1, 0},
 };
 
+// Quectel Proprietary messages
+const lg290pMsg lgMessagesPQTM[] = {
+    {"EPE", 0, 0}, {"PVT", 0, 0},
+};
+
 #define MAX_LG290P_NMEA_MSG (sizeof(lgMessagesNMEA) / sizeof(lg290pMsg))
 #define MAX_LG290P_RTCM_MSG (sizeof(lgMessagesRTCM) / sizeof(lg290pMsg))
+#define MAX_LG290P_PQTM_MSG (sizeof(lgMessagesPQTM) / sizeof(lg290pMsg))
 
 enum lg290p_Models
 {
diff --git a/Firmware/RTK_Everywhere/GNSS_LG290P.ino b/Firmware/RTK_Everywhere/GNSS_LG290P.ino
@@ -1574,6 +1574,7 @@ void GNSS_LG290P::menuMessages()
         systemPrintln("1) Set NMEA Messages");
         systemPrintln("2) Set Rover RTCM Messages");
         systemPrintln("3) Set Base RTCM Messages");
+        systemPrintln("4) Set PQTM Messages");
 
         systemPrintln("10) Reset to Defaults");
 
@@ -1587,6 +1588,8 @@ void GNSS_LG290P::menuMessages()
             menuMessagesSubtype(settings.lg290pMessageRatesRTCMRover, "RTCMRover");
         else if (incoming == 3)
             menuMessagesSubtype(settings.lg290pMessageRatesRTCMBase, "RTCMBase");
+        else if (incoming == 4)
+            menuMessagesSubtype(settings.lg290pMessageRatesPQTM, "PQTM");
         else if (incoming == 10)
         {
             // Reset rates to defaults
@@ -1601,6 +1604,10 @@ void GNSS_LG290P::menuMessages()
             for (int x = 0; x < MAX_LG290P_RTCM_MSG; x++)
                 settings.lg290pMessageRatesRTCMBase[x] = lgMessagesRTCM[x].msgDefaultRate;
 
+            // Reset PQTM rates to defaults
+            for (int x = 0; x < MAX_LG290P_PQTM_MSG; x++)
+                settings.lg290pMessageRatesPQTM[x] = lgMessagesPQTM[x].msgDefaultRate;
+
             systemPrintln("Reset to Defaults");
         }
 
@@ -1638,7 +1645,7 @@ void GNSS_LG290P::menuMessagesSubtype(int *localMessageRate, const char *message
         {
             endOfBlock = MAX_LG290P_NMEA_MSG;
 
-            for (int x = 0; x < MAX_LG290P_NMEA_MSG; x++)
+            for (int x = 0; x < endOfBlock; x++)
             {
                 if (lg290pFirmwareVersion <= lgMessagesNMEA[x].firmwareVersionSupported)
                     systemPrintf("%d) Message %s: %d - Requires firmware update\r\n", x + 1,
@@ -1652,7 +1659,7 @@ void GNSS_LG290P::menuMessagesSubtype(int *localMessageRate, const char *message
         {
             endOfBlock = MAX_LG290P_RTCM_MSG;
 
-            for (int x = 0; x < MAX_LG290P_RTCM_MSG; x++)
+            for (int x = 0; x < endOfBlock; x++)
             {
                 if (lg290pFirmwareVersion <= lgMessagesRTCM[x].firmwareVersionSupported)
                     systemPrintf("%d) Message %s: %d - Requires firmware update\r\n", x + 1,
@@ -1666,16 +1673,30 @@ void GNSS_LG290P::menuMessagesSubtype(int *localMessageRate, const char *message
         {
             endOfBlock = MAX_LG290P_RTCM_MSG;
 
-            for (int x = 0; x < MAX_LG290P_RTCM_MSG; x++)
+            for (int x = 0; x < endOfBlock; x++)
             {
                 if (lg290pFirmwareVersion <= lgMessagesRTCM[x].firmwareVersionSupported)
-                    systemPrintf("%d) Message %s: %d - Requires firmware update\r\n", x + 1, lgMessagesRTCM[x].msgTextName,
-                                 settings.lg290pMessageRatesRTCMBase[x]);
+                    systemPrintf("%d) Message %s: %d - Requires firmware update\r\n", x + 1,
+                                 lgMessagesRTCM[x].msgTextName, settings.lg290pMessageRatesRTCMBase[x]);
                 else
                     systemPrintf("%d) Message %s: %d\r\n", x + 1, lgMessagesRTCM[x].msgTextName,
                                  settings.lg290pMessageRatesRTCMBase[x]);
             }
         }
+        else if (strcmp(messageType, "PQTM") == 0)
+        {
+            endOfBlock = MAX_LG290P_PQTM_MSG;
+
+            for (int x = 0; x < endOfBlock; x++)
+            {
+                if (lg290pFirmwareVersion <= lgMessagesPQTM[x].firmwareVersionSupported)
+                    systemPrintf("%d) Message %s: %d - Requires firmware update\r\n", x + 1,
+                                 lgMessagesPQTM[x].msgTextName, settings.lg290pMessageRatesPQTM[x]);
+                else
+                    systemPrintf("%d) Message %s: %d\r\n", x + 1, lgMessagesPQTM[x].msgTextName,
+                                 settings.lg290pMessageRatesPQTM[x]);
+            }
+        }
 
         systemPrintln("x) Exit");
 
@@ -1698,6 +1719,11 @@ void GNSS_LG290P::menuMessagesSubtype(int *localMessageRate, const char *message
                 sprintf(messageString, "Enter number of fixes required before %s is reported (0 to disable)",
                         lgMessagesRTCM[incoming].msgTextName);
             }
+            else if (strcmp(messageType, "PQTM") == 0)
+            {
+                sprintf(messageString, "Enter number of fixes required before %s is reported (0 to disable)",
+                        lgMessagesPQTM[incoming].msgTextName);
+            }
 
             int newSetting = 0;
 
@@ -1718,6 +1744,11 @@ void GNSS_LG290P::menuMessagesSubtype(int *localMessageRate, const char *message
                 if (getNewSetting(messageString, 0, 1200, &newSetting) == INPUT_RESPONSE_VALID)
                     settings.lg290pMessageRatesRTCMBase[incoming] = newSetting;
             }
+            if (strcmp(messageType, "PQTM") == 0)
+            {
+                if (getNewSetting(messageString, 0, 1, &newSetting) == INPUT_RESPONSE_VALID)
+                    settings.lg290pMessageRatesPQTM[incoming] = newSetting;
+            }
         }
         else if (incoming == INPUT_RESPONSE_GETNUMBER_EXIT)
             break;
@@ -2134,3 +2165,56 @@ void lg290pReset()
 {
     digitalWrite(pin_GNSS_Reset, LOW);
 }
+
+// Given a NMEA or PQTM sentence, determine if it is enabled in settings
+// This is used to signal to the processUart1Message() task to remove messages that are needed
+// by the library to function (ie, PQTMEPE, PQTMPVT, GNGSV) but should not be logged or passed to other consumers
+// If unknown, allow messages through. Filtering and suppression should be selectively added in.
+bool lg290pMessageEnabled(char *nmeaSentence, int sentenceLength)
+{
+    // Identify message type: PQTM or NMEA
+    char messageType[strlen("PQTM") + 1] = {0};
+    strncpy(messageType, &nmeaSentence[1],
+            4); // Copy four letters, starting in spot 1. Null terminated from array initializer.
+
+    if (strncmp(messageType, "PQTM", sizeof(messageType)) == 0)
+    {
+        // Identify sentence type
+        char sentenceType[strlen("EPE") + 1] = {0};
+        strncpy(sentenceType, &nmeaSentence[5],
+                3); // Copy three letters, starting in spot 5. Null terminated from array initializer.
+
+        // Find this sentence type in the settings array
+        for (int messageNumber = 0; messageNumber < MAX_LG290P_PQTM_MSG; messageNumber++)
+        {
+            if (strncmp(lgMessagesPQTM[messageNumber].msgTextName, sentenceType, sizeof(sentenceType)) == 0)
+            {
+                if (settings.lg290pMessageRatesPQTM[messageNumber] > 0)
+                    return (true);
+                return (false);
+            }
+        }
+    }
+
+    else // We have to assume $G????
+    {
+        // Identify sentence type
+        char sentenceType[strlen("GSV") + 1] = {0};
+        strncpy(sentenceType, &nmeaSentence[3],
+                3); // Copy three letters, starting in spot 3. Null terminated from array initializer.
+
+        // Find this sentence type in the settings array
+        for (int messageNumber = 0; messageNumber < MAX_LG290P_NMEA_MSG; messageNumber++)
+        {
+            if (strncmp(lgMessagesNMEA[messageNumber].msgTextName, sentenceType, sizeof(sentenceType)) == 0)
+            {
+                if (settings.lg290pMessageRatesNMEA[messageNumber] > 0)
+                    return (true);
+                return (false);
+            }
+        }
+    }
+
+    // If we can't ID this message, allow it by default. The device configuration should control most message flow.
+    return (true);
+}
diff --git a/Firmware/RTK_Everywhere/Tasks.ino b/Firmware/RTK_Everywhere/Tasks.ino
@@ -641,6 +641,16 @@ void processUart1Message(SEMP_PARSE_STATE *parse, uint16_t type)
     {
         // Give this data to the library to update its internal variables
         lg290pHandler(parse->buffer, parse->length);
+
+        if (type == RTK_NMEA_PARSER_INDEX)
+        {
+            // Suppress PQTM/NMEA messages as needed
+            if (lg290pMessageEnabled((char *)parse->buffer, parse->length) == false)
+            {
+                parse->buffer[0] = 0;
+                parse->length = 0;
+            }
+        }
     }
 
     // Handle LLA compensation due to tilt or outputTipAltitude setting
diff --git a/Firmware/RTK_Everywhere/menuMessages.ino b/Firmware/RTK_Everywhere/menuMessages.ino
@@ -705,6 +705,16 @@ void checkGNSSArrayDefaults()
             for (int x = 0; x < MAX_LG290P_RTCM_MSG; x++)
                 settings.lg290pMessageRatesRTCMBase[x] = lgMessagesRTCM[x].msgDefaultRate;
         }
+
+        if (settings.lg290pMessageRatesPQTM[0] == 254)
+        {
+            defaultsApplied = true;
+
+            // Reset rates to defaults
+            for (int x = 0; x < MAX_LG290P_PQTM_MSG; x++)
+                settings.lg290pMessageRatesPQTM[x] = lgMessagesPQTM[x].msgDefaultRate;
+        }
+
     }
 #endif  // COMPILE_LG290P
 
diff --git a/Firmware/RTK_Everywhere/settings.h b/Firmware/RTK_Everywhere/settings.h
@@ -997,6 +997,7 @@ struct Settings
     int lg290pMessageRatesRTCMRover[MAX_LG290P_RTCM_MSG] = {
         254}; // Mark first record with key so defaults will be applied. Int value for each supported message - Report
               // rates for RTCM Base. Default to Quectel recommended rates.
+    int lg290pMessageRatesPQTM[MAX_LG290P_PQTM_MSG] = {254}; // Mark first record with key so defaults will be applied. 
 #endif // COMPILE_LG290P
 
     bool debugSettings = false;
@@ -1606,6 +1607,7 @@ const RTK_Settings_Entry rtkSettingsEntries[] =
     { 0, 1, 1, 0, 0, 0, 0, 0, 1, tLgMRNmea, MAX_LG290P_NMEA_MSG, & settings.lg290pMessageRatesNMEA, "messageRateNMEA_",  },
     { 0, 1, 1, 0, 0, 0, 0, 0, 1, tLgMRBaRT, MAX_LG290P_RTCM_MSG, & settings.lg290pMessageRatesRTCMBase, "messageRateRTCMBase_",  },
     { 0, 1, 1, 0, 0, 0, 0, 0, 1, tLgMRRvRT, MAX_LG290P_RTCM_MSG, & settings.lg290pMessageRatesRTCMRover, "messageRateRTCMRover_",  },
+    { 0, 1, 1, 0, 0, 0, 0, 0, 1, tLgMRNmea, MAX_LG290P_PQTM_MSG, & settings.lg290pMessageRatesPQTM, "messageRatePQTM_",  },
 #endif  // COMPILE_LG290P
 
     { 0, 0, 0, 1, 1, 1, 1, 1, 1, _bool,     0, & settings.debugSettings, "debugSettings",  },
