LoRa_APRS_Tracker/src/LoRa_APRS_Tracker.cpp

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#include <Arduino.h>
#include <LoRa.h>
#include <APRS-Decoder.h>
#include <TinyGPS++.h>
#include <TimeLib.h>
#include <WiFi.h>
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#include "display.h"
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#include "pins.h"
#include "power_management.h"
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#include "configuration.h"
Configuration Config;
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#include "power_management.h"
PowerManagement powerManagement;
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#include "logger.h"
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HardwareSerial ss(1);
TinyGPSPlus gps;
void load_config();
void setup_lora();
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void setup_gps();
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String create_lat_aprs(RawDegrees lat);
String create_long_aprs(RawDegrees lng);
String create_lat_aprs_dao(RawDegrees lat);
String create_long_aprs_dao(RawDegrees lng);
String create_dao_aprs(RawDegrees lat, RawDegrees lng);
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String createDateString(time_t t);
String createTimeString(time_t t);
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String getSmartBeaconState();
String padding(unsigned int number, unsigned int width);
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// cppcheck-suppress unusedFunction
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void setup()
{
Serial.begin(115200);
#ifdef TTGO_T_Beam_V1_0
Wire.begin(SDA, SCL);
if (!powerManagement.begin(Wire))
{
logPrintlnI("AXP192 init done!");
}
else
{
logPrintlnE("AXP192 init failed!");
}
powerManagement.activateLoRa();
powerManagement.activateOLED();
powerManagement.activateGPS();
powerManagement.activateMeasurement();
#endif
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delay(500);
logPrintlnI("LoRa APRS Tracker by OE5BPA (Peter Buchegger)");
setup_display();
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show_display("OE5BPA", "LoRa APRS Tracker", "by Peter Buchegger", 2000);
load_config();
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setup_gps();
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setup_lora();
if (Config.ptt.active)
{
pinMode(Config.ptt.io_pin, OUTPUT);
digitalWrite(Config.ptt.io_pin, Config.ptt.reverse ? HIGH : LOW);
}
// make sure wifi and bt is off as we don't need it:
WiFi.mode(WIFI_OFF);
btStop();
logPrintlnI("Smart Beacon is " + getSmartBeaconState());
show_display("INFO", "Smart Beacon is " + getSmartBeaconState(), 1000);
logPrintlnI("setup done...");
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delay(500);
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}
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// cppcheck-suppress unusedFunction
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void loop()
{
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if(Config.debug)
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{
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while(Serial.available() > 0)
{
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char c = Serial.read();
//Serial.print(c);
gps.encode(c);
}
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}
else
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{
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while(ss.available() > 0)
{
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char c = ss.read();
//Serial.print(c);
gps.encode(c);
}
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}
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bool gps_time_update = gps.time.isUpdated();
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bool gps_loc_update = gps.location.isUpdated();
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static time_t nextBeaconTimeStamp = -1;
static bool send_update = true;
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static double currentHeading = 0;
static double previousHeading = 0;
static unsigned int rate_limit_message_text = 0;
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if(gps.time.isValid())
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{
setTime(gps.time.hour(), gps.time.minute(), gps.time.second(), gps.date.day(), gps.date.month(), gps.date.year());
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if(gps_loc_update && nextBeaconTimeStamp <= now())
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{
send_update = true;
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if (Config.smart_beacon.active)
{
currentHeading = gps.course.deg();
// enforce message text on slowest Config.smart_beacon.slow_rate
rate_limit_message_text = 0;
}
else
{
// enforce message text every n's Config.beacon.timeout frame
if (Config.beacon.timeout * rate_limit_message_text > 30)
{
rate_limit_message_text = 0;
}
}
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}
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}
static double lastTxLat = 0.0;
static double lastTxLng = 0.0;
static double lastTxdistance = 0.0;
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static uint32_t txInterval = 60000L; // Initial 60 secs internal
static uint32_t lastTxTime = millis();
static int speed_zero_sent = 0;
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static bool BatteryIsConnected = false;
static String batteryVoltage = "";
static String batteryChargeCurrent = "";
#ifdef TTGO_T_Beam_V1_0
static unsigned int rate_limit_check_battery = 0;
if (!(rate_limit_check_battery++ % 60))
BatteryIsConnected = powerManagement.isBatteryConnect();
if (BatteryIsConnected) {
batteryVoltage = String(powerManagement.getBatteryVoltage(), 2);
batteryChargeCurrent = String(powerManagement.getBatteryChargeDischargeCurrent(), 0);
}
#endif
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if(!send_update && gps_loc_update && Config.smart_beacon.active)
{
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uint32_t lastTx = millis() - lastTxTime;
currentHeading = gps.course.deg();
lastTxdistance = TinyGPSPlus::distanceBetween(gps.location.lat(), gps.location.lng(), lastTxLat, lastTxLng);
if(lastTx >= txInterval)
{
// Trigger Tx Tracker when Tx interval is reach
// Will not Tx if stationary bcos speed < 5 and lastTxDistance < 20
if (lastTxdistance > 20)
{
send_update = true;
}
}
if (!send_update)
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{
// Get headings and heading delta
double headingDelta = abs(previousHeading - currentHeading);
if(lastTx > Config.smart_beacon.min_bcn * 1000)
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{
// Check for heading more than 25 degrees
if(headingDelta > Config.smart_beacon.turn_min && lastTxdistance > Config.smart_beacon.min_tx_dist)
{
send_update = true;
}
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}
}
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}
if(send_update && gps_loc_update)
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{
send_update = false;
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nextBeaconTimeStamp = now() + (Config.smart_beacon.active ? Config.smart_beacon.slow_rate : (Config.beacon.timeout * SECS_PER_MIN));
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APRSMessage msg;
String lat;
String lng;
String dao;
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msg.setSource(Config.callsign);
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msg.setDestination("APLT00-1");
if (!Config.enhance_precision){
lat = create_lat_aprs(gps.location.rawLat());
lng = create_long_aprs(gps.location.rawLng());
} else {
lat = create_lat_aprs_dao(gps.location.rawLat());
lng = create_long_aprs_dao(gps.location.rawLng());
dao = create_dao_aprs(gps.location.rawLat(), gps.location.rawLng());
}
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String alt = "";
int alt_int = max(-99999, min(999999, (int)gps.altitude.feet()));
if (alt_int < 0)
{
alt = "/A=-" + padding(alt_int * -1, 5);
}
else
{
alt = "/A=" + padding(alt_int, 6);
}
String course_and_speed = "";
int speed_int = max(0, min(999, (int)gps.speed.knots()));
if (speed_zero_sent < 3)
{
String speed = padding(speed_int, 3);
int course_int = max(0, min(360, (int)gps.course.deg()));
/* course in between 1..360 due to aprs spec */
if (course_int == 0)
{
course_int = 360;
}
String course = padding(course_int, 3);
course_and_speed = course + "/" + speed;
}
if (speed_int == 0)
{
/* speed is 0.
we send 3 packets with speed zero (so our friends know we stand still).
After that, we save airtime by not sending speed/course 000/000.
Btw, even if speed we really do not move, measured course is changeing (-> no useful / even wrong info)
*/
if (speed_zero_sent < 3)
{
speed_zero_sent += 1;
}
}
else
{
speed_zero_sent = 0;
}
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String aprsmsg;
aprsmsg = "!" + lat + Config.beacon.overlay + lng + Config.beacon.symbol + course_and_speed + alt;
// message_text every 10's packet (i.e. if we have beacon rate 1min at high speed -> every 10min). May be enforced above (at expirey of smart beacon rate (i.e. every 30min), or every third packet on static rate (i.e. static rate 10 -> every third packet)
if (!(rate_limit_message_text++ % 10))
{
aprsmsg += Config.beacon.message;
}
if (BatteryIsConnected)
{
aprsmsg += " - _Bat.: " + batteryVoltage + "V - Cur.: " + batteryChargeCurrent + "mA";
}
if (Config.enhance_precision){
aprsmsg += " " + dao;
}
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msg.getAPRSBody()->setData(aprsmsg);
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String data = msg.encode();
logPrintlnD(data);
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show_display("<< TX >>", data);
if (Config.ptt.active)
{
digitalWrite(Config.ptt.io_pin, Config.ptt.reverse ? LOW : HIGH);
delay(Config.ptt.start_delay);
}
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LoRa.beginPacket();
// Header:
LoRa.write('<');
LoRa.write(0xFF);
LoRa.write(0x01);
// APRS Data:
LoRa.write((const uint8_t *)data.c_str(), data.length());
LoRa.endPacket();
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if (Config.smart_beacon.active)
{
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lastTxLat = gps.location.lat();
lastTxLng = gps.location.lng();
previousHeading = currentHeading;
lastTxdistance = 0.0;
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lastTxTime = millis();
}
if (Config.ptt.active)
{
delay(Config.ptt.end_delay);
digitalWrite(Config.ptt.io_pin, Config.ptt.reverse ? HIGH : LOW);
}
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}
if(gps_time_update)
{
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show_display(Config.callsign,
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createDateString(now()) + " " + createTimeString(now()),
String("Sats: ") + gps.satellites.value() + " HDOP: " + gps.hdop.hdop(),
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String("Nxt Bcn: ") + (Config.smart_beacon.active ? "~" : "") + createTimeString(nextBeaconTimeStamp),
BatteryIsConnected ? (String("Bat: ") + batteryVoltage + "V, " + batteryChargeCurrent + "mA" ) : "Powered via USB",
String("Smart Beacon: " + getSmartBeaconState()) );
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if(Config.smart_beacon.active)
{
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// Change the Tx internal based on the current speed
int curr_speed = (int ) gps.speed.kmph();
if(curr_speed < Config.smart_beacon.slow_speed)
{
txInterval = Config.smart_beacon.slow_rate * 1000;
}
else if(curr_speed > Config.smart_beacon.fast_speed)
{
txInterval = Config.smart_beacon.fast_rate * 1000;
}
else
{
/* Interval inbetween low and high speed
min(slow_rate, ..) because: if slow rate is 300s at slow speed <= 10km/h and fast rate is 60s at fast speed >= 100km/h
everything below current speed 20km/h (100*60/20 = 300) is below slow_rate.
-> In the first check, if curr speed is 5km/h (which is < 10km/h), tx interval is 300s, but if speed is 6km/h, we are landing in this section,
what leads to interval 100*60/6 = 1000s (16.6min) -> this would lead to decrease of beacon rate in between 5 to 20 km/h. what is even below
the slow speed rate.
*/
txInterval = min(Config.smart_beacon.slow_rate, Config.smart_beacon.fast_speed * Config.smart_beacon.fast_rate / curr_speed) * 1000;
}
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}
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}
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if ((Config.debug == false) && (millis() > 5000 && gps.charsProcessed() < 10))
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{
logPrintlnE("No GPS frames detected! Try to reset the GPS Chip with this firmware: https://github.com/lora-aprs/TTGO-T-Beam_GPS-reset");
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}
}
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void load_config()
{
ConfigurationManagement confmg("/tracker.json");
Config = confmg.readConfiguration();
if(Config.callsign == "NOCALL-10")
{
logPrintlnE("You have to change your settings in 'data/tracker.json' and upload it via \"Upload File System image\"!");
show_display("ERROR", "You have to change your settings in 'data/tracker.json' and upload it via \"Upload File System image\"!");
while(true)
{}
}
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}
void setup_lora()
{
logPrintlnI("Set SPI pins!");
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SPI.begin(LORA_SCK, LORA_MISO, LORA_MOSI, LORA_CS);
logPrintlnI("Set LoRa pins!");
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LoRa.setPins(LORA_CS, LORA_RST, LORA_IRQ);
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long freq = Config.lora.frequencyTx;
logPrintI("frequency: ");
logPrintlnI(String(freq));
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if (!LoRa.begin(freq)) {
logPrintlnE("Starting LoRa failed!");
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show_display("ERROR", "Starting LoRa failed!");
while(true)
{}
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}
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LoRa.setSpreadingFactor(Config.lora.spreadingFactor);
LoRa.setSignalBandwidth(Config.lora.signalBandwidth);
LoRa.setCodingRate4(Config.lora.codingRate4);
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LoRa.enableCrc();
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LoRa.setTxPower(Config.lora.power);
logPrintlnI("LoRa init done!");
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show_display("INFO", "LoRa init done!", 2000);
}
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void setup_gps()
{
ss.begin(9600, SERIAL_8N1, GPS_TX, GPS_RX);
}
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String create_lat_aprs(RawDegrees lat)
{
char str[20];
char n_s = 'N';
if(lat.negative)
{
n_s = 'S';
}
sprintf(str, "%02d%05.2f%c", lat.deg, lat.billionths / 1000000000.0 * 60.0, n_s);
String lat_str(str);
return lat_str;
}
String create_lat_aprs_dao(RawDegrees lat)
{
//round to 4 digits and cut the last 2
char str[20];
char n_s = 'N';
if(lat.negative)
{
n_s = 'S';
}
sprintf(str, "%02d%07.4f%c", lat.deg, lat.billionths / 1000000000.0 * 60.0, n_s);
String lat_str(str);
lat_str.remove(7,2);
return lat_str;
}
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String create_long_aprs(RawDegrees lng)
{
char str[20];
char e_w = 'E';
if(lng.negative)
{
e_w = 'W';
}
sprintf(str, "%03d%05.2f%c", lng.deg, lng.billionths / 1000000000.0 * 60.0, e_w);
String lng_str(str);
return lng_str;
}
String create_long_aprs_dao(RawDegrees lng)
{
//round to 4 digits and cut the last 2
char str[20];
char e_w = 'E';
if(lng.negative)
{
e_w = 'W';
}
sprintf(str, "%03d%07.4f%c", lng.deg, lng.billionths / 1000000000.0 * 60.0, e_w);
String lng_str(str);
lng_str.remove(8,2);
return lng_str;
}
String create_dao_aprs(RawDegrees lat, RawDegrees lng)
{
// !DAO! extension, use Base91 format for best precision
// /1.1 : scale from 0-99 to 0-90 for base91, int(... + 0.5): round to nearest integer
// https://metacpan.org/dist/Ham-APRS-FAP/source/FAP.pm
// http://www.aprs.org/aprs12/datum.txt
//
// TODO: optimize ugly float to char to string to int conversion?
char str[10];
char lat_str[10];
char lng_str[10];
sprintf(lat_str, "%07.4f", lat.billionths / 1000000000.0 * 60.0);
sprintf(lng_str, "%07.4f", lng.billionths / 1000000000.0 * 60.0);
String lat_dao(lat_str);
String lng_dao(lng_str);
int lat_int = lat_dao.substring(5,7).toInt();
int lng_int = lng_dao.substring(5,7).toInt();
char lat_char = char(int((lat_int/1.1 + 0.5) + 33));
char lng_char = char(int((lng_int/1.1 + 0.5) + 33));
sprintf(str, "!w%c%c!", lat_char, lng_char);
String dao_str(str);
return dao_str;
}
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String createDateString(time_t t)
{
return String(padding(day(t), 2) + "." + padding(month(t), 2) + "." + padding(year(t), 4));
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}
String createTimeString(time_t t)
{
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if(t == -1)
{
return String("00:00:00");
}
return String(padding(hour(t), 2) + "." + padding(minute(t), 2) + "." + padding(second(t), 2));
}
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String getSmartBeaconState()
{
if (Config.smart_beacon.active)
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{
return "On";
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}
return "Off";
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}
String padding(unsigned int number, unsigned int width)
{
String result;
String num(number);
if(num.length() > width)
{
width = num.length();
}
for(unsigned int i = 0; i < width - num.length(); i++)
{
result.concat('0');
}
result.concat(num);
return result;
}