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authorMatthias P. Braendli <matthias.braendli@mpb.li>2023-05-18 13:42:52 +0200
committerMatthias P. Braendli <matthias.braendli@mpb.li>2023-05-18 13:42:52 +0200
commit844aeaf0a685180633107e89b9d28023ae05bd78 (patch)
tree2cb00f749e37507b88ae40d7f11f6690764cb3b3 /tracker-stm32/src
parenta574c239214a963bec1a2229c077af261130277c (diff)
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Move tracker into subdira
Diffstat (limited to 'tracker-stm32/src')
-rw-r--r--tracker-stm32/src/main.ino207
1 files changed, 207 insertions, 0 deletions
diff --git a/tracker-stm32/src/main.ino b/tracker-stm32/src/main.ino
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+++ b/tracker-stm32/src/main.ino
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+#include <Arduino.h>
+#include <RadioLib.h>
+#include <Wire.h>
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h>
+#include <SD.h>
+
+File myFile;
+
+constexpr int SD_CS = 17;
+
+// SX1278 has the following connections:
+// NSS pin: PD14 (Arduino 10)
+// DIO0 pin: PF3 (Arduino 8)
+// RESET pin: PF15 (Arduino 9)
+RFM96 radio = new Module(10, 8, 9);
+HardwareSerial SerialGNSS(PD6, PD5);
+SFE_UBLOX_GNSS gnss;
+
+long lastGnssPoll = 0;
+long lastPositionReport = 0;
+constexpr size_t POSITION_REPORT_LEN = 32;
+char positionReport[POSITION_REPORT_LEN+1];
+
+static char letterize(int x) {
+ return (char) x + 65;
+}
+static char* get_mh(double lat, double lon, int size) {
+ static char locator[11];
+ double LON_F[]={20,2.0,0.083333,0.008333,0.0003472083333333333};
+ double LAT_F[]={10,1.0,0.0416665,0.004166,0.0001735833333333333};
+ int i;
+ lon += 180;
+ lat += 90;
+
+ if (size <= 0 || size > 10) size = 6;
+ size/=2; size*=2;
+
+ for (i = 0; i < size/2; i++){
+ if (i % 2 == 1) {
+ locator[i*2] = (char) (lon/LON_F[i] + '0');
+ locator[i*2+1] = (char) (lat/LAT_F[i] + '0');
+ } else {
+ locator[i*2] = letterize((int) (lon/LON_F[i]));
+ locator[i*2+1] = letterize((int) (lat/LAT_F[i]));
+ }
+ lon = fmod(lon, LON_F[i]);
+ lat = fmod(lat, LAT_F[i]);
+ }
+ locator[i*2]=0;
+ return locator;
+}
+
+void setup() {
+ Serial.begin(9600);
+ pinMode(LED_BUILTIN, OUTPUT);
+
+ pinMode(SD_CS, OUTPUT);
+
+ if (!SD.begin(SD_CS)) {
+ Serial.println("SD init failed!");
+ return;
+ }
+
+
+ Wire.begin();
+
+ SerialGNSS.begin(9600);
+ if (!gnss.begin(SerialGNSS)) {
+ while (true) {
+ Serial.println(F("Check GNSS"));
+ delay(4000);
+ }
+ }
+
+ //gnss.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
+
+ Serial.print(F("Version: "));
+ byte versionHigh = gnss.getProtocolVersionHigh();
+ Serial.print(versionHigh);
+ Serial.print(".");
+ byte versionLow = gnss.getProtocolVersionLow();
+ Serial.println(versionLow);
+
+ Serial.print(F("[RFM] Init "));
+ int state = radio.begin(433.900);
+ if (state == RADIOLIB_ERR_NONE) {
+ Serial.println(F("success!"));
+ } else {
+ Serial.print(F("failed, code "));
+ Serial.println(state);
+ while (true);
+ }
+
+ if (radio.setBandwidth(125.0) == RADIOLIB_ERR_INVALID_BANDWIDTH) {
+ Serial.println(F("Selected bandwidth is invalid for this module!"));
+ while (true);
+ }
+
+ if (radio.setSpreadingFactor(12) == RADIOLIB_ERR_INVALID_SPREADING_FACTOR) {
+ Serial.println(F("Selected spreading factor is invalid for this module!"));
+ while (true);
+ }
+
+ if (radio.setCodingRate(5) == RADIOLIB_ERR_INVALID_CODING_RATE) {
+ Serial.println(F("Selected coding rate is invalid for this module!"));
+ while (true);
+ }
+
+ // NOTE: value 0x34 is reserved for LoRaWAN networks and should not be used
+ if (radio.setSyncWord(0x14) != RADIOLIB_ERR_NONE) {
+ Serial.println(F("Unable to set sync word!"));
+ while (true);
+ }
+
+ if (radio.setOutputPower(16) == RADIOLIB_ERR_INVALID_OUTPUT_POWER) {
+ Serial.println(F("Selected output power is invalid for this module!"));
+ while (true);
+ }
+
+ if (radio.setPreambleLength(8) == RADIOLIB_ERR_INVALID_PREAMBLE_LENGTH) {
+ Serial.println(F("Selected preamble length is invalid for this module!"));
+ while (true);
+ }
+
+ // radio.setRfSwitchPins(4, 5);
+}
+
+void loop()
+{
+ const auto now = millis();
+ if (now - lastGnssPoll > 1000) {
+ lastGnssPoll = now;
+
+ long latitude = gnss.getLatitude();
+ Serial.print(F("Lat: "));
+ Serial.print(latitude);
+
+ long longitude = gnss.getLongitude();
+ Serial.print(F(" Long: "));
+ Serial.print(longitude);
+
+ char *locator = get_mh((double)latitude/1e7, (double)longitude/1e7, 10);
+ Serial.print(F(" Loc: "));
+ Serial.print(locator);
+
+ long altitude = gnss.getAltitude();
+ Serial.print(F(" Alt: "));
+ Serial.print(altitude);
+ Serial.print(F(" (mm)"));
+
+ long speed = gnss.getGroundSpeed();
+ Serial.print(F(" Speed: "));
+ Serial.print(speed);
+ Serial.print(F(" (mm/s)"));
+
+ /*
+ long heading = gnss.getHeading();
+ Serial.print(F(" Heading: "));
+ Serial.print(heading);
+ Serial.print(F(" (degrees * 10^-5)"));
+ */
+
+ byte SIV = gnss.getSIV();
+ Serial.print(F(" SIV: "));
+ Serial.print(SIV);
+
+ Serial.print(F(" TX in: "));
+ constexpr long TX_INTERVAL = 15000;
+ Serial.print(TX_INTERVAL - (now - lastPositionReport));
+
+ Serial.println();
+
+ if (now - lastPositionReport > TX_INTERVAL) {
+ lastPositionReport = now;
+
+ digitalWrite(LED_BUILTIN, HIGH);
+
+ ssize_t len = snprintf(positionReport, POSITION_REPORT_LEN, "HB9EGM %s", locator);
+
+ Serial.print(F("TX: "));
+ Serial.print(positionReport);
+
+ int state = radio.transmit(positionReport, len);
+
+ if (state == RADIOLIB_ERR_NONE) {
+ Serial.print(F(" RFM OK Datarate: "));
+ Serial.print(radio.getDataRate());
+ Serial.println(F(" bps"));
+
+ }
+ else if (state == RADIOLIB_ERR_PACKET_TOO_LONG) {
+ Serial.println(F(" too long!"));
+
+ }
+ else if (state == RADIOLIB_ERR_TX_TIMEOUT) {
+ Serial.println(F(" timeout!"));
+
+ }
+ else {
+ Serial.print(F(" failed, code "));
+ Serial.println(state);
+ }
+
+ digitalWrite(LED_BUILTIN, LOW);
+ }
+ }
+}