diff options
| -rw-r--r-- | tracker-stm32/src/main.ino | 83 |
1 files changed, 64 insertions, 19 deletions
diff --git a/tracker-stm32/src/main.ino b/tracker-stm32/src/main.ino index ed1d570..6a98cf9 100644 --- a/tracker-stm32/src/main.ino +++ b/tracker-stm32/src/main.ino @@ -1,13 +1,18 @@ +// Licence: MIT #include <Arduino.h> #include <RadioLib.h> #include <Wire.h> #include <SparkFun_u-blox_GNSS_Arduino_Library.h> #include <SD.h> -constexpr char *CALLSIGN = "HB9EGM"; +// TODO: read these settings from the SD Card +constexpr char CALLSIGN[] = "HB9EGM"; constexpr int SSID = 12; +constexpr int DATE_TYPE_CODE = 0; // compressed geolocation +constexpr int PATH_CODE = 2; // metropolitan mobile constexpr char SYMBOL_TABLE_IDENTIFIER = '/'; constexpr char SYMBOL_CODE_BICYCLE = 'b'; +constexpr long TX_INTERVAL = 15000; #if 0 File myFile; @@ -32,6 +37,8 @@ uint8_t report[MAX_REPORT_LEN]; const char* digits = " 0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ-./?@"; #define callsign_int_t uint32_t +// This function is from aprs434.github.io, +// MIT License, Copyright (c) 2022 Serge Y. Stroobandt, ON4AA callsign_int_t encodeCallsign(const char *callsign) { // Encode CCCC according to aprs434.github.io/code/codec.cpp const int b = 37; @@ -57,6 +64,19 @@ callsign_int_t encodeCallsign(const char *callsign) { return result; // result can be pow(42,51)! } +// This function is from ESP32 lora.tracker, +// MIT License, Copyright (c) 2020 Peter Buchegger +static void ax25_base91enc(char *s, uint8_t n, uint32_t v) { + /* Creates a Base-91 representation of the value in v in the string + * pointed to by s, n-characters long. String length should be n+1. + */ + + for (s += n, *s = '\0'; n; n--) { + *(--s) = v % 91 + 33; + v /= 91; + } +} + static char letterize(int x) { return (char) x + 65; @@ -169,11 +189,12 @@ void loop() if (now - lastGnssPoll > 1000) { lastGnssPoll = now; - long latitude = gnss.getLatitude(); + // longitude and latitude are in degrees*1e7 + const long latitude = gnss.getLatitude(); Serial.print(F("Lat: ")); Serial.print(latitude); - long longitude = gnss.getLongitude(); + const long longitude = gnss.getLongitude(); Serial.print(F(" Long: ")); Serial.print(longitude); @@ -181,29 +202,28 @@ void loop() Serial.print(F(" Loc: ")); Serial.print(locator); - long altitude = gnss.getAltitude(); + const long altitude = gnss.getAltitude(); Serial.print(F(" Alt: ")); Serial.print(altitude); Serial.print(F(" (mm)")); - long speed = gnss.getGroundSpeed(); + const long speed = gnss.getGroundSpeed(); Serial.print(F(" Speed: ")); Serial.print(speed); Serial.print(F(" (mm/s)")); + // 1m/s = 900/463 knots + const double speed_kn = speed / 1000.0 * 900.0 / 463.0; - /* - long heading = gnss.getHeading(); - Serial.print(F(" Heading: ")); - Serial.print(heading); - Serial.print(F(" (degrees * 10^-5)")); - */ + const long heading = gnss.getHeading(); + Serial.print(F(" Heading: ")); + Serial.print(heading); + Serial.print(F(" (degrees * 10^-5)")); - byte SIV = gnss.getSIV(); + const 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(); @@ -224,27 +244,52 @@ void loop() report[report_len++] = callsign_EEEE & 0xFF; // D SSID Path Code and Data Type Code - - const int date_type_code = 0; // compressed geolocation - const int path_code = 2; // metropolitan mobile - report[report_len++] = SSID * 16 + path_code * 4 + date_type_code; + report[report_len++] = SSID * 16 + PATH_CODE * 4 + DATE_TYPE_CODE; // / Symbol Table Identifier report[report_len++] = SYMBOL_TABLE_IDENTIFIER; -#warn "TODO longitude and latitude" + // XXXX Base91 Longitude // YYYY Base91 Latitude + uint32_t aprs_lat = 900000000 - latitude; + aprs_lat = aprs_lat / 26 - aprs_lat / 2710 + aprs_lat / 15384615; + uint32_t aprs_lon = 900000000 + longitude / 2; + aprs_lon = aprs_lon / 26 - aprs_lon / 2710 + aprs_lon / 15384615; + + char tmp_base91[5]; + ax25_base91enc(tmp_base91, 4, aprs_lat); + for (int i=0; i<4; i++) { + report[report_len++] = tmp_base91[i]; + } + ax25_base91enc(tmp_base91, 4, aprs_lon); + for (int i=0; i<4; i++) { + report[report_len++] = tmp_base91[i]; + } + // $ Symbol Code report[report_len++] = SYMBOL_CODE_BICYCLE; + // cs Course and Speed + ax25_base91enc(tmp_base91, 1, heading * 10000 / 4); + report[report_len++] = tmp_base91[0]; + + ax25_base91enc(tmp_base91, 1, (uint32_t)(log1p(speed_kn) / 0.07696)); + report[report_len++] = tmp_base91[0]; Serial.print(F("TX: ")); // This is the old custom report I used before adopting aprs434.github.io, // it is just callsign SPACE locator sent as ASCII Serial.print(CALLSIGN); - Serial.print(" "); + Serial.print(F(" ")); Serial.println(locator); + // Debug print + Serial.println(F("Bytes: ")); + for (int i = 0; i < report_len; i++) { + Serial.print((uint32_t)report[i]); + } + Serial.println(F("")); + int state = radio.transmit(report, report_len); if (state == RADIOLIB_ERR_NONE) { |