diff options
Diffstat (limited to 'tracker-stm32/src')
| -rw-r--r-- | tracker-stm32/src/main.ino | 207 |
1 files changed, 207 insertions, 0 deletions
diff --git a/tracker-stm32/src/main.ino b/tracker-stm32/src/main.ino new file mode 100644 index 0000000..da82e01 --- /dev/null +++ b/tracker-stm32/src/main.ino @@ -0,0 +1,207 @@ +#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); + } + } +} |