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Diffstat (limited to 'tracker-stm32/src/main.cpp')
| -rw-r--r-- | tracker-stm32/src/main.cpp | 323 |
1 files changed, 323 insertions, 0 deletions
diff --git a/tracker-stm32/src/main.cpp b/tracker-stm32/src/main.cpp new file mode 100644 index 0000000..1ae97e9 --- /dev/null +++ b/tracker-stm32/src/main.cpp @@ -0,0 +1,323 @@ +// Licence: MIT +#include <Arduino.h> +#include <RadioLib.h> +#include <Wire.h> +#include <SparkFun_u-blox_GNSS_Arduino_Library.h> +#include <SD.h> +#include "compression.h" + +// Date Type Codes defined in aprs434.github.io +constexpr int DATA_TYPE_CODE_GEOLOCATION = 0; +constexpr int DATA_TYPE_CODE_STATUS_REPORT = 1; + +// TODO: read these settings from the SD Card +constexpr char CALLSIGN[] = "HB9EGM"; +constexpr int SSID = 12; +constexpr int PATH_CODE = 2; // metropolitan mobile +constexpr char SYMBOL_TABLE_IDENTIFIER = '/'; +constexpr char SYMBOL_CODE_BICYCLE = 'b'; +constexpr long REPORT_TX_INTERVAL = 15000; + +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); +HardwareSerial SerialGNSS(PD6, PD5); +SFE_UBLOX_GNSS gnss; + +long lastGnssPoll = 0; +long lastPositionReport = 0; +long lastTextReport = 0; + +constexpr size_t MAX_REPORT_LEN = 32; +size_t report_len = 0; +uint8_t report[MAX_REPORT_LEN]; + +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); + +#if 0 + pinMode(SD_CS, OUTPUT); + + if (!SD.begin(SD_CS)) { + Serial.println("SD init failed!"); + return; + } +#endif + + 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); +} + +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")); + + } + 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); + } +} + +void loop() +{ + const auto now = millis(); + if (now - lastGnssPoll > 1000) { + lastGnssPoll = now; + + // longitude and latitude are in degrees*1e7 + const long latitude = gnss.getLatitude(); + Serial.print(F("Lat: ")); + Serial.print(latitude); + + const 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); + + const long altitude = gnss.getAltitude(); + Serial.print(F(" Alt: ")); + Serial.print(altitude); + Serial.print(F(" (mm)")); + + 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; + + const long heading = gnss.getHeading(); + Serial.print(F(" Heading: ")); + Serial.print(heading); + Serial.print(F(" (degrees * 10^-5)")); + + const byte SIV = gnss.getSIV(); + Serial.print(F(" SIV: ")); + Serial.print(SIV); + + Serial.print(F(" TX in: ")); + Serial.print(REPORT_TX_INTERVAL - (now - lastPositionReport)); + + Serial.println(); + + if (now - lastPositionReport > REPORT_TX_INTERVAL) { + lastPositionReport = now; + + digitalWrite(LED_BUILTIN, HIGH); + + // Encode Compressed Geolocation Frame according to aprs434.github.io + const uint32_t callsign_EEEE = encodeCallsign(CALLSIGN); + + report_len = 0; + // Callsign encoded as CCCC + report[report_len++] = (callsign_EEEE >> 24) & 0xFF; + report[report_len++] = (callsign_EEEE >> 16) & 0xFF; + report[report_len++] = (callsign_EEEE >> 8) & 0xFF; + report[report_len++] = callsign_EEEE & 0xFF; + + // D SSID Path Code and Data Type Code + report[report_len++] = SSID * 16 + PATH_CODE * 4 + DATA_TYPE_CODE_GEOLOCATION; + + // / Symbol Table Identifier + report[report_len++] = SYMBOL_TABLE_IDENTIFIER; + + // 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(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); + handle_radio_error(state); + + digitalWrite(LED_BUILTIN, LOW); + } + + if (now - lastTextReport > TEXT_TX_INTERVAL) { + lastTextReport = now; + digitalWrite(LED_BUILTIN, HIGH); + + // Encode Compressed Status Report Frame according to aprs434.github.io + const uint32_t callsign_EEEE = encodeCallsign(CALLSIGN); + + report_len = 0; + // Callsign encoded as CCCC + report[report_len++] = (callsign_EEEE >> 24) & 0xFF; + report[report_len++] = (callsign_EEEE >> 16) & 0xFF; + report[report_len++] = (callsign_EEEE >> 8) & 0xFF; + report[report_len++] = callsign_EEEE & 0xFF; + + // D SSID Path Code and Data Type Code + report[report_len++] = SSID * 16 + PATH_CODE * 4 + DATA_TYPE_CODE_STATUS_REPORT; + + // t(t...) text + const auto bignum = encodetttt(TEXT_REPORT); + for (int i = 0; i <= 512; i += 8) { + auto v = static_cast<uint8_t>((bignum >> (512-i)) & 0xFF); + if (v) { + report[report_len++] = v; + } + } + + Serial.print(F("TX length ")); + Serial.print(report_len); + Serial.print(F(" bytes: ")); + Serial.println(TEXT_REPORT); + + int state = radio.transmit(report, report_len); + handle_radio_error(state); + + digitalWrite(LED_BUILTIN, LOW); + } + } +} |