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-rw-r--r--tracker-stm32/src/main.ino83
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) {