Adapt tracker-stm32 to hercules

1 files changed, 170 insertions, 58 deletions

diff --git a/tracker-stm32/src/main.cpp b/tracker-stm32/src/main.cpp
index 409c2c1..e452712 100644
--- a/tracker-stm32/src/main.cpp
+++ b/tracker-stm32/src/main.cpp
@@ -1,10 +1,32 @@
 // Licence: MIT
+// This file is a bit of a mess, because first it contained aprs434 compressed
+// code running on STM32H7, and now it contains traditional APRS-over-LoRa for STM32F1
 #include <Arduino.h>
+#include <SemihostingStream.h>
 #include <RadioLib.h>
 #include <Wire.h>
 #include <TinyGPS++.h>
 #include <SD.h>
 #include "compression.h"
+#include "utils.h"
+
+// Pin mapping: outputs
+constexpr int LED_STATUSn = PB8;
+constexpr int LED_TXn = PB9;
+constexpr int EN_PA = PB3;
+constexpr int EN_RX = PB4;
+constexpr int LORA_RESET = PB11;
+
+// Pin mapping: inputs
+constexpr int BTN1n = PC13;
+constexpr int BTN2n = PC14;
+constexpr int BTN3n = PC15;
+constexpr int ENCODER_SW_1 = PB12;
+constexpr int ENCODER_SW_2 = PB13;
+constexpr int ENCODER_SW_4 = PB14;
+constexpr int ENCODER_SW_8 = PB15;
+
+constexpr int BAT_MEAS = PA0;
 
 // Date Type Codes defined in aprs434.github.io
 constexpr int DATA_TYPE_CODE_GEOLOCATION = 0;
@@ -13,25 +35,27 @@ constexpr int DATA_TYPE_CODE_STATUS_REPORT = 1;
 // TODO: read these settings from the SD Card
 constexpr char CALLSIGN[] = "HB9EGM";
 constexpr int SSID = 7;
+constexpr char CALLSIGN_SSID_PATH[] = "HB9EGM-7>APZEGM";
 constexpr int PATH_CODE = 2; // metropolitan mobile
 constexpr char SYMBOL_TABLE_IDENTIFIER = '/';
 constexpr char SYMBOL_CODE_BICYCLE = 'b';
 constexpr char SYMBOL_CODE_FOOT = '[';
-constexpr long REPORT_TX_INTERVAL = 15000;
+constexpr long REPORT_TX_INTERVAL = 181000;
 
 constexpr long TEXT_TX_INTERVAL = 47000;
 constexpr char TEXT_REPORT[] = "mpb.li/git/lora-aprs-hb9egm"; // Max length=28
 
+
 #if 0
 File myFile;
 constexpr int SD_CS = 17;
 #endif
 
-// 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);
+// LoRa module has the following connections:
+// NSS pin:   PA4
+// DIO0 pin:  PB10
+// RESET pin: PB11
+RFM96 radio = new Module(PA4, PB10, PB11);
 
 HardwareSerial serialGNSS(PA10, PA9);
 TinyGPSPlus    gps;
@@ -40,70 +64,70 @@ long lastGnssPoll = 0;
 long lastPositionReport = 0;
 long lastTextReport = 0;
 
-constexpr size_t MAX_REPORT_LEN = 32;
+constexpr size_t MAX_REPORT_LEN = 48;
 size_t report_len = 0;
 uint8_t report[MAX_REPORT_LEN];
 
+SemihostingStream sh;
+
 static char letterize(int x) {
     return (char) x + 65;
 }
 
 void setup() {
-    Serial.begin(9600);
-    pinMode(LED_BUILTIN, OUTPUT);
+    Wire.begin();
+    pinMode(LED_STATUSn, OUTPUT);
 
 #if 0
     pinMode(SD_CS, OUTPUT);
 
     if (!SD.begin(SD_CS)) {
-        Serial.println("SD init failed!");
+        sh.println("SD init failed!");
         return;
     }
 #endif
 
-    Wire.begin();
-
-
+    sh.print(F("START"));
     serialGNSS.begin(9600);
 
-    Serial.print(F("[RFM] Init "));
-    int state = radio.begin(433.900);
+    sh.print(F("[RFM] Init "));
+    int state = radio.begin(433.775);
     if (state == RADIOLIB_ERR_NONE) {
-        Serial.println(F("success!"));
+        sh.println(F("success!"));
     } else {
-        Serial.print(F("failed, code "));
-        Serial.println(state);
+        sh.print(F("failed, code "));
+        sh.println(state);
         while (true);
     }
 
     if (radio.setBandwidth(125.0) == RADIOLIB_ERR_INVALID_BANDWIDTH) {
-        Serial.println(F("Selected bandwidth is invalid for this module!"));
+        sh.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!"));
+        sh.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!"));
+        sh.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!"));
+        sh.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!"));
+    if (radio.setOutputPower(20) == RADIOLIB_ERR_INVALID_OUTPUT_POWER) {
+        sh.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!"));
+        sh.println(F("Selected preamble length is invalid for this module!"));
         while (true);
     }
 
@@ -113,25 +137,112 @@ void setup() {
 static void handle_radio_error(int state)
 {
     if (state == RADIOLIB_ERR_NONE) {
-        Serial.print(F(" RFM OK Datarate: "));
-        Serial.print(radio.getDataRate());
-        Serial.println(F(" bps"));
+        sh.print(F(" RFM OK Datarate: "));
+        sh.print(radio.getDataRate());
+        sh.println(F(" bps"));
 
     }
     else if (state == RADIOLIB_ERR_PACKET_TOO_LONG) {
-        Serial.println(F(" too long!"));
+        sh.println(F(" too long!"));
 
     }
     else if (state == RADIOLIB_ERR_TX_TIMEOUT) {
-        Serial.println(F(" timeout!"));
+        sh.println(F(" timeout!"));
 
     }
     else {
-        Serial.print(F(" failed, code "));
-        Serial.println(state);
+        sh.print(F(" failed, code "));
+        sh.println(state);
     }
 }
 
+void append_position_report()
+{
+    float Tlat, Tlon;
+    float Tspeed=0, Tcourse=0;
+    Tlat    = gps.location.lat();
+    Tlon    = gps.location.lng();
+    Tcourse = gps.course.deg();
+    Tspeed  = gps.speed.knots();
+
+    uint32_t aprs_lat, aprs_lon;
+    aprs_lat = 900000000 - Tlat * 10000000;
+    aprs_lat = aprs_lat / 26 - aprs_lat / 2710 + aprs_lat / 15384615;
+    aprs_lon = 900000000 + Tlon * 10000000 / 2;
+    aprs_lon = aprs_lon / 26 - aprs_lon / 2710 + aprs_lon / 15384615;
+
+    char helper_base91[] = {"0000\0"};
+    int i;
+    ax25_base91enc(helper_base91, 4, aprs_lat);
+    for (i=0; i<4; i++) {
+        report[report_len++] = helper_base91[i];
+    }
+    ax25_base91enc(helper_base91, 4, aprs_lon);
+    for (i=0; i<4; i++) {
+        report[report_len++] = helper_base91[i];
+    }
+
+    report[report_len++] = SYMBOL_CODE_FOOT;
+
+    // Do not encode altitude, only course and speed
+    ax25_base91enc(helper_base91, 1, (uint32_t)Tcourse/4 );
+    report[report_len++] = helper_base91[0];
+    ax25_base91enc(helper_base91, 1, (uint32_t)(log1p(Tspeed)/0.07696));
+    report[report_len++] = helper_base91[0];
+    report[report_len++] = 0x47;
+}
+
+void loop()
+{
+    while (serialGNSS.available() > 0) {
+        gps.encode(serialGNSS.read());
+    }
+
+    const auto now = millis();
+    if (now - lastGnssPoll > 1000) {
+        lastGnssPoll = now;
+
+        const long latitude = gps.location.lat();
+        sh.print(F("Lat "));
+        sh.print(latitude);
+
+        const long longitude = gps.location.lng();
+        sh.print(F(" Lon "));
+        sh.print(longitude);
+
+        const byte SIV = gps.satellites.value();
+        sh.print(F(" SIV: "));
+        sh.println(SIV);
+        if (now - lastPositionReport > REPORT_TX_INTERVAL) {
+            lastPositionReport = now;
+
+            digitalWrite(LED_STATUSn, LOW);
+
+            report_len = 0;
+
+            report[report_len++] = '<';
+            report[report_len++] = 0xFF;
+            report[report_len++] = 0x01;
+
+            const char* p = CALLSIGN_SSID_PATH;
+            while (*p) {
+                report[report_len++] = *p;
+                p++;
+            }
+
+            report[report_len++] = ':';
+            report[report_len++] = '!';
+            report[report_len++] = SYMBOL_TABLE_IDENTIFIER;
+            append_position_report();
+            int state = radio.transmit(report, report_len);
+            handle_radio_error(state);
+
+            digitalWrite(LED_STATUSn, HIGH);
+        }
+    }
+}
+
+#if 0
 void loop()
 {
     while (serialGNSS.available() > 0) {
@@ -144,40 +255,40 @@ void loop()
 
         // longitude and latitude are in degrees*1e7
         const long latitude = gps.location.lat();
-        Serial.print(F("Lat: "));
-        Serial.print(latitude);
+        sh.print(F("Lat: "));
+        sh.print(latitude);
 
         const long longitude = gps.location.lng();
-        Serial.print(F(" Long: "));
-        Serial.print(longitude);
+        sh.print(F(" Long: "));
+        sh.print(longitude);
 
         const long altitude = gps.altitude.feet();
 
         const int speed = gps.speed.kmph();
-        Serial.print(F(" Speed: "));
-        Serial.print(speed);
-        Serial.print(F(" (mm/s)"));
+        sh.print(F(" Speed: "));
+        sh.print(speed);
+        sh.print(F(" (mm/s)"));
         // 1m/s = 900/463 knots
         const double speed_kn  = gps.speed.knots();
 
         const long heading = gps.course.deg();
-        Serial.print(F(" Heading: "));
-        Serial.print(heading);
-        Serial.print(F(" (degrees * 10^-5)"));
+        sh.print(F(" Heading: "));
+        sh.print(heading);
+        sh.print(F(" (degrees * 10^-5)"));
 
         const byte SIV = gps.satellites.value();
-        Serial.print(F(" SIV: "));
-        Serial.print(SIV);
+        sh.print(F(" SIV: "));
+        sh.print(SIV);
 
-        Serial.print(F(" TX in: "));
-        Serial.print(REPORT_TX_INTERVAL - (now - lastPositionReport));
+        sh.print(F(" TX in: "));
+        sh.print(REPORT_TX_INTERVAL - (now - lastPositionReport));
 
-        Serial.println();
+        sh.println();
 
         if (now - lastPositionReport > REPORT_TX_INTERVAL) {
             lastPositionReport = now;
 
-            digitalWrite(LED_BUILTIN, HIGH);
+            digitalWrite(LED_STATUSn, HIGH);
 
             // Encode Compressed Geolocation Frame according to aprs434.github.io
             const uint32_t callsign_EEEE = encodeCallsign(CALLSIGN);
@@ -223,21 +334,21 @@ void loop()
             report[report_len++] = tmp_base91[0];
 
             // Debug print
-            Serial.println(F("Bytes: "));
+            sh.println(F("Bytes: "));
             for (int i = 0; i < report_len; i++) {
-                Serial.print((uint32_t)report[i]);
+                sh.print((uint32_t)report[i]);
             }
-            Serial.println(F(""));
+            sh.println(F(""));
 
             int state = radio.transmit(report, report_len);
             handle_radio_error(state);
 
-            digitalWrite(LED_BUILTIN, LOW);
+            digitalWrite(LED_STATUSn, LOW);
         }
 
         if (now - lastTextReport > TEXT_TX_INTERVAL) {
             lastTextReport = now;
-            digitalWrite(LED_BUILTIN, HIGH);
+            digitalWrite(LED_STATUSn, HIGH);
 
             // Encode Compressed Status Report Frame according to aprs434.github.io
             const uint32_t callsign_EEEE = encodeCallsign(CALLSIGN);
@@ -261,15 +372,16 @@ void loop()
                 }
             }
 
-            Serial.print(F("TX length "));
-            Serial.print(report_len);
-            Serial.print(F(" bytes: "));
-            Serial.println(TEXT_REPORT);
+            sh.print(F("TX length "));
+            sh.print(report_len);
+            sh.print(F(" bytes: "));
+            sh.println(TEXT_REPORT);
 
             int state = radio.transmit(report, report_len);
             handle_radio_error(state);
 
-            digitalWrite(LED_BUILTIN, LOW);
+            digitalWrite(LED_STATUSn, LOW);
         }
     }
 }
+#endif