516 lines
14 KiB
C++
516 lines
14 KiB
C++
#include <Arduino.h>
|
|
#include <LoRa.h>
|
|
#include <APRS-Decoder.h>
|
|
#include <TinyGPS++.h>
|
|
#include <TimeLib.h>
|
|
#include <WiFi.h>
|
|
#include "display.h"
|
|
#include "pins.h"
|
|
#include "power_management.h"
|
|
#include "configuration.h"
|
|
Configuration Config;
|
|
|
|
#include "power_management.h"
|
|
PowerManagement powerManagement;
|
|
|
|
#include "logger.h"
|
|
|
|
HardwareSerial ss(1);
|
|
TinyGPSPlus gps;
|
|
|
|
void load_config();
|
|
void setup_lora();
|
|
void setup_gps();
|
|
|
|
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);
|
|
String createDateString(time_t t);
|
|
String createTimeString(time_t t);
|
|
String getSmartBeaconState();
|
|
String padding(unsigned int number, unsigned int width);
|
|
|
|
// cppcheck-suppress unusedFunction
|
|
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
|
|
|
|
delay(500);
|
|
logPrintlnI("LoRa APRS Tracker by OE5BPA (Peter Buchegger)");
|
|
setup_display();
|
|
|
|
show_display("OE5BPA", "LoRa APRS Tracker", "by Peter Buchegger", 2000);
|
|
load_config();
|
|
|
|
setup_gps();
|
|
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...");
|
|
delay(500);
|
|
}
|
|
|
|
// cppcheck-suppress unusedFunction
|
|
void loop()
|
|
{
|
|
if(Config.debug)
|
|
{
|
|
while(Serial.available() > 0)
|
|
{
|
|
char c = Serial.read();
|
|
//Serial.print(c);
|
|
gps.encode(c);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
while(ss.available() > 0)
|
|
{
|
|
char c = ss.read();
|
|
//Serial.print(c);
|
|
gps.encode(c);
|
|
}
|
|
}
|
|
|
|
bool gps_time_update = gps.time.isUpdated();
|
|
bool gps_loc_update = gps.location.isUpdated();
|
|
static time_t nextBeaconTimeStamp = -1;
|
|
static bool send_update = true;
|
|
|
|
static double currentHeading = 0;
|
|
static double previousHeading = 0;
|
|
static unsigned int rate_limit_message_text = 0;
|
|
|
|
if(gps.time.isValid())
|
|
{
|
|
setTime(gps.time.hour(), gps.time.minute(), gps.time.second(), gps.date.day(), gps.date.month(), gps.date.year());
|
|
|
|
if(gps_loc_update && nextBeaconTimeStamp <= now())
|
|
{
|
|
send_update = true;
|
|
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;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
static double lastTxLat = 0.0;
|
|
static double lastTxLng = 0.0;
|
|
static double lastTxdistance = 0.0;
|
|
static uint32_t txInterval = 60000L; // Initial 60 secs internal
|
|
static uint32_t lastTxTime = millis();
|
|
static int speed_zero_sent = 0;
|
|
|
|
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
|
|
|
|
if(!send_update && gps_loc_update && Config.smart_beacon.active)
|
|
{
|
|
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)
|
|
{
|
|
// Get headings and heading delta
|
|
double headingDelta = abs(previousHeading - currentHeading);
|
|
|
|
if(lastTx > Config.smart_beacon.min_bcn * 1000)
|
|
{
|
|
// Check for heading more than 25 degrees
|
|
if(headingDelta > Config.smart_beacon.turn_min && lastTxdistance > Config.smart_beacon.min_tx_dist)
|
|
{
|
|
send_update = true;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if(send_update && gps_loc_update)
|
|
{
|
|
send_update = false;
|
|
nextBeaconTimeStamp = now() + (Config.smart_beacon.active ? Config.smart_beacon.slow_rate : (Config.beacon.timeout * SECS_PER_MIN));
|
|
|
|
APRSMessage msg;
|
|
String lat;
|
|
String lng;
|
|
String dao;
|
|
|
|
msg.setSource(Config.callsign);
|
|
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());
|
|
}
|
|
|
|
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;
|
|
}
|
|
|
|
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;
|
|
}
|
|
|
|
msg.getAPRSBody()->setData(aprsmsg);
|
|
String data = msg.encode();
|
|
logPrintlnD(data);
|
|
show_display("<< TX >>", data);
|
|
|
|
if (Config.ptt.active)
|
|
{
|
|
digitalWrite(Config.ptt.io_pin, Config.ptt.reverse ? LOW : HIGH);
|
|
delay(Config.ptt.start_delay);
|
|
}
|
|
|
|
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();
|
|
|
|
if (Config.smart_beacon.active)
|
|
{
|
|
lastTxLat = gps.location.lat();
|
|
lastTxLng = gps.location.lng();
|
|
previousHeading = currentHeading;
|
|
lastTxdistance = 0.0;
|
|
lastTxTime = millis();
|
|
}
|
|
|
|
if (Config.ptt.active)
|
|
{
|
|
delay(Config.ptt.end_delay);
|
|
digitalWrite(Config.ptt.io_pin, Config.ptt.reverse ? HIGH : LOW);
|
|
}
|
|
}
|
|
|
|
if(gps_time_update)
|
|
{
|
|
show_display(Config.callsign,
|
|
createDateString(now()) + " " + createTimeString(now()),
|
|
String("Sats: ") + gps.satellites.value() + " HDOP: " + gps.hdop.hdop(),
|
|
String("Nxt Bcn: ") + (Config.smart_beacon.active ? "~" : "") + createTimeString(nextBeaconTimeStamp),
|
|
BatteryIsConnected ? (String("Bat: ") + batteryVoltage + "V, " + batteryChargeCurrent + "mA" ) : "Powered via USB",
|
|
String("Smart Beacon: " + getSmartBeaconState()) );
|
|
|
|
if(Config.smart_beacon.active)
|
|
{
|
|
// 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;
|
|
}
|
|
}
|
|
}
|
|
|
|
if ((Config.debug == false) && (millis() > 5000 && gps.charsProcessed() < 10))
|
|
{
|
|
logPrintlnE("No GPS frames detected! Try to reset the GPS Chip with this firmware: https://github.com/lora-aprs/TTGO-T-Beam_GPS-reset");
|
|
}
|
|
}
|
|
|
|
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)
|
|
{}
|
|
}
|
|
}
|
|
|
|
void setup_lora()
|
|
{
|
|
logPrintlnI("Set SPI pins!");
|
|
SPI.begin(LORA_SCK, LORA_MISO, LORA_MOSI, LORA_CS);
|
|
logPrintlnI("Set LoRa pins!");
|
|
LoRa.setPins(LORA_CS, LORA_RST, LORA_IRQ);
|
|
|
|
long freq = Config.lora.frequencyTx;
|
|
logPrintI("frequency: ");
|
|
logPrintlnI(String(freq));
|
|
if (!LoRa.begin(freq)) {
|
|
logPrintlnE("Starting LoRa failed!");
|
|
show_display("ERROR", "Starting LoRa failed!");
|
|
while(true)
|
|
{}
|
|
}
|
|
LoRa.setSpreadingFactor(Config.lora.spreadingFactor);
|
|
LoRa.setSignalBandwidth(Config.lora.signalBandwidth);
|
|
LoRa.setCodingRate4(Config.lora.codingRate4);
|
|
LoRa.enableCrc();
|
|
|
|
LoRa.setTxPower(Config.lora.power);
|
|
logPrintlnI("LoRa init done!");
|
|
show_display("INFO", "LoRa init done!", 2000);
|
|
}
|
|
|
|
void setup_gps()
|
|
{
|
|
ss.begin(9600, SERIAL_8N1, GPS_TX, GPS_RX);
|
|
}
|
|
|
|
char *s_min_nn(uint32_t min_nnnnn, int high_precision)
|
|
{
|
|
/* min_nnnnn: RawDegrees billionths is uint32_t by definition and is n'telth degree (-> *= 6 -> nn.mmmmmm minutes)
|
|
* high_precision: 0: round at decimal position 2. 1: round at decimal position 4. 2: return decimal position 3-4 as base91 encoded char
|
|
*/
|
|
|
|
static char buf[6];
|
|
min_nnnnn = min_nnnnn * 0.006;
|
|
if ( ((min_nnnnn / (high_precision ? 1 : 100)) % 10) >= 5 && min_nnnnn < (6000000 - ((high_precision ? 1 : 100)*5)) ) {
|
|
// round up. Avoid overflow (59.999999 should never become 60.0 or more)
|
|
min_nnnnn = min_nnnnn + (high_precision ? 1 : 100)*5;
|
|
}
|
|
if (high_precision < 2)
|
|
sprintf(buf, "%02u.%02u", (unsigned int ) ((min_nnnnn / 100000) % 100), (unsigned int ) ((min_nnnnn / 1000) % 100));
|
|
else
|
|
sprintf(buf, "%c", (char) ((min_nnnnn % 1000) / 11) + 33);
|
|
// Like to verify? type in python for i.e. RawDegrees billions 566688333: i = 566688333; "%c" % (int(((i*.0006+0.5) % 100)/1.1) +33)
|
|
return buf;
|
|
}
|
|
|
|
String create_lat_aprs(RawDegrees lat)
|
|
{
|
|
char str[20];
|
|
char n_s = 'N';
|
|
if(lat.negative)
|
|
{
|
|
n_s = 'S';
|
|
}
|
|
// we like sprintf's float up-rounding.
|
|
// but sprintf % may round to 60.00 -> 5360.00 (53° 60min is a wrong notation ;)
|
|
sprintf(str, "%02d%s%c", lat.deg, s_min_nn(lat.billionths, 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';
|
|
}
|
|
// we need sprintf's float up-rounding. Must be the same principle as in aprs_dao(). We cut off the string to two decimals afterwards.
|
|
// but sprintf % may round to 60.0000 -> 5360.0000 (53° 60min is a wrong notation ;)
|
|
sprintf(str, "%02d%s%c", lat.deg, s_min_nn(lat.billionths, 1 /* high precision */), n_s);
|
|
String lat_str(str);
|
|
return lat_str;
|
|
}
|
|
|
|
String create_long_aprs(RawDegrees lng)
|
|
{
|
|
char str[20];
|
|
char e_w = 'E';
|
|
if(lng.negative)
|
|
{
|
|
e_w = 'W';
|
|
}
|
|
sprintf(str, "%03d%s%c", lng.deg, s_min_nn(lng.billionths, 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%s%c", lng.deg, s_min_nn(lng.billionths, 1 /* high precision */), e_w);
|
|
String lng_str(str);
|
|
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
|
|
//
|
|
|
|
char str[10];
|
|
sprintf(str, "!w%s", s_min_nn(lat.billionths, 2));
|
|
sprintf(str+3, "%s!", s_min_nn(lng.billionths, 2));
|
|
String dao_str(str);
|
|
return dao_str;
|
|
}
|
|
|
|
String createDateString(time_t t)
|
|
{
|
|
return String(padding(day(t), 2) + "." + padding(month(t), 2) + "." + padding(year(t), 4));
|
|
}
|
|
|
|
String createTimeString(time_t t)
|
|
{
|
|
return String(padding(hour(t), 2) + "." + padding(minute(t), 2) + "." + padding(second(t), 2));
|
|
}
|
|
|
|
String getSmartBeaconState()
|
|
{
|
|
if (Config.smart_beacon.active)
|
|
{
|
|
return "On";
|
|
}
|
|
return "Off";
|
|
}
|
|
|
|
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;
|
|
}
|