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LoRa_APRS_Tracker
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LoRa_APRS_Tracker/src/LoRa_APRS_Tracker.cpp

531 wiersze
18 KiB
C++
Czysty Wina Historia

#include <APRS-Decoder.h>
#include <Arduino.h>
#include <LoRa.h>
#include <OneButton.h>
#include <TimeLib.h>
#include <TinyGPS++.h>
#include <WiFi.h>
#include <logger.h>
#include "BeaconManager.h"
#include "configuration.h"
#include "display.h"
#include "pins.h"
#include "power_management.h"
#define VERSION "22.19.0"
logging::Logger logger;
Configuration Config;
BeaconManager BeaconMan;
PowerManagement powerManagement;
OneButton userButton = OneButton(BUTTON_PIN, true, true);
HardwareSerial ss(1);
TinyGPSPlus gps;
void setup_gps();
void load_config();
void setup_lora();
String create_lat_aprs(RawDegrees lat);
String create_long_aprs(RawDegrees lng);
String create_lat_aprs_dao(RawDegrees lat);
String create_long_aprs_dao(RawDegrees lng);
String create_dao_aprs(RawDegrees lat, RawDegrees lng);
String createDateString(time_t t);
String createTimeString(time_t t);
String getSmartBeaconState();
String padding(unsigned int number, unsigned int width);
static bool send_update = true;
static bool display_toggle_value = true;
static void handle_tx_click() {
send_update = true;
}
static void handle_next_beacon() {
BeaconMan.loadNextBeacon();
show_display(BeaconMan.getCurrentBeaconConfig()->callsign, BeaconMan.getCurrentBeaconConfig()->message, 2000);
}
static void toggle_display() {
display_toggle_value = !display_toggle_value;
display_toggle(display_toggle_value);
if (display_toggle_value) {
setup_display();
}
}
// cppcheck-suppress unusedFunction
void setup() {
Serial.begin(115200);
#ifdef TTGO_T_Beam_V1_0
Wire.begin(SDA, SCL);
if (!powerManagement.begin(Wire)) {
logger.log(logging::LoggerLevel::LOGGER_LEVEL_INFO, "AXP192", "init done!");
} else {
logger.log(logging::LoggerLevel::LOGGER_LEVEL_ERROR, "AXP192", "init failed!");
}
powerManagement.activateLoRa();
powerManagement.activateOLED();
powerManagement.activateGPS();
powerManagement.activateMeasurement();
#endif
delay(500);
logger.log(logging::LoggerLevel::LOGGER_LEVEL_INFO, "Main", "LoRa APRS Tracker by OE5BPA (Peter Buchegger)");
logger.log(logging::LoggerLevel::LOGGER_LEVEL_INFO, "Main", "Version: " VERSION);
setup_display();
show_display("OE5BPA", "LoRa APRS Tracker", "by Peter Buchegger", "Version: " VERSION, 2000);
load_config();
setup_gps();
setup_lora();
if (Config.ptt.active) {
pinMode(Config.ptt.io_pin, OUTPUT);
digitalWrite(Config.ptt.io_pin, Config.ptt.reverse ? HIGH : LOW);
}
// make sure wifi and bt is off as we don't need it:
WiFi.mode(WIFI_OFF);
btStop();
if (Config.button.tx) {
// attach TX action to user button (defined by BUTTON_PIN)
userButton.attachClick(handle_tx_click);
}
if (Config.button.alt_message) {
userButton.attachLongPressStart(handle_next_beacon);
}
userButton.attachDoubleClick(toggle_display);
logger.log(logging::LoggerLevel::LOGGER_LEVEL_INFO, "Main", "Smart Beacon is: %s", getSmartBeaconState());
show_display("INFO", "Smart Beacon is " + getSmartBeaconState(), 1000);
logger.log(logging::LoggerLevel::LOGGER_LEVEL_INFO, "Main", "setup done...");
delay(500);
}
// cppcheck-suppress unusedFunction
void loop() {
userButton.tick();
if (Config.debug) {
while (Serial.available() > 0) {
char c = Serial.read();
// Serial.print(c);
gps.encode(c);
}
} else {
while (ss.available() > 0) {
char c = ss.read();
// Serial.print(c);
gps.encode(c);
}
}
bool gps_time_update = gps.time.isUpdated();
bool gps_loc_update = gps.location.isUpdated();
static bool gps_loc_update_valid = false;
static time_t nextBeaconTimeStamp = -1;
if (gps_loc_update != gps_loc_update_valid) {
gps_loc_update_valid = gps_loc_update;
if (gps_loc_update) {
logger.log(logging::LoggerLevel::LOGGER_LEVEL_INFO, "Loop", "GPS fix state went to VALID");
} else {
logger.log(logging::LoggerLevel::LOGGER_LEVEL_INFO, "Loop", "GPS fix state went to INVALID");
}
}
static double currentHeading = 0;
static double previousHeading = 0;
static unsigned int rate_limit_message_text = 0;
if (gps.time.isValid()) {
setTime(gps.time.hour(), gps.time.minute(), gps.time.second(), gps.date.day(), gps.date.month(), gps.date.year());
if (gps_loc_update && nextBeaconTimeStamp <= now()) {
send_update = true;
if (BeaconMan.getCurrentBeaconConfig()->smart_beacon.active) {
currentHeading = gps.course.deg();
// enforce message text on slowest Config.smart_beacon.slow_rate
rate_limit_message_text = 0;
} else {
// enforce message text every n's Config.beacon.timeout frame
if (BeaconMan.getCurrentBeaconConfig()->timeout * rate_limit_message_text > 30) {
rate_limit_message_text = 0;
}
}
}
}
static double lastTxLat = 0.0;
static double lastTxLng = 0.0;
static double lastTxdistance = 0.0;
static uint32_t txInterval = 60000L; // Initial 60 secs internal
static uint32_t lastTxTime = millis();
static int speed_zero_sent = 0;
static bool BatteryIsConnected = false;
static String batteryVoltage = "";
static String batteryChargeCurrent = "";
#ifdef TTGO_T_Beam_V1_0
static unsigned int rate_limit_check_battery = 0;
if (!(rate_limit_check_battery++ % 60))
BatteryIsConnected = powerManagement.isBatteryConnect();
if (BatteryIsConnected) {
batteryVoltage = String(powerManagement.getBatteryVoltage(), 2);
batteryChargeCurrent = String(powerManagement.getBatteryChargeDischargeCurrent(), 0);
}
#endif
if (powerManagement.isChargeing()) {
powerManagement.enableChgLed();
} else {
powerManagement.disableChgLed();
}
if (!send_update && gps_loc_update && BeaconMan.getCurrentBeaconConfig()->smart_beacon.active) {
uint32_t lastTx = millis() - lastTxTime;
currentHeading = gps.course.deg();
lastTxdistance = TinyGPSPlus::distanceBetween(gps.location.lat(), gps.location.lng(), lastTxLat, lastTxLng);
if (lastTx >= txInterval) {
// Trigger Tx Tracker when Tx interval is reach
// Will not Tx if stationary bcos speed < 5 and lastTxDistance < 20
if (lastTxdistance > 20) {
send_update = true;
}
}
if (!send_update) {
// Get headings and heading delta
double headingDelta = abs(previousHeading - currentHeading);
if (lastTx > BeaconMan.getCurrentBeaconConfig()->smart_beacon.min_bcn * 1000) {
// Check for heading more than 25 degrees
if (headingDelta > BeaconMan.getCurrentBeaconConfig()->smart_beacon.turn_min && lastTxdistance > BeaconMan.getCurrentBeaconConfig()->smart_beacon.min_tx_dist) {
send_update = true;
}
}
}
}
if (send_update && gps_loc_update) {
send_update = false;
nextBeaconTimeStamp = now() + (BeaconMan.getCurrentBeaconConfig()->smart_beacon.active ? BeaconMan.getCurrentBeaconConfig()->smart_beacon.slow_rate : (BeaconMan.getCurrentBeaconConfig()->timeout * SECS_PER_MIN));
APRSMessage msg;
String lat;
String lng;
String dao;
msg.setSource(BeaconMan.getCurrentBeaconConfig()->callsign);
msg.setPath(BeaconMan.getCurrentBeaconConfig()->path);
msg.setDestination("APLT00");
if (!BeaconMan.getCurrentBeaconConfig()->enhance_precision) {
lat = create_lat_aprs(gps.location.rawLat());
lng = create_long_aprs(gps.location.rawLng());
} else {
lat = create_lat_aprs_dao(gps.location.rawLat());
lng = create_long_aprs_dao(gps.location.rawLng());
dao = create_dao_aprs(gps.location.rawLat(), gps.location.rawLng());
}
String alt = "";
int alt_int = max(-99999, min(999999, (int)gps.altitude.feet()));
if (alt_int < 0) {
alt = "/A=-" + padding(alt_int * -1, 5);
} else {
alt = "/A=" + padding(alt_int, 6);
}
String course_and_speed = "";
int speed_int = max(0, min(999, (int)gps.speed.knots()));
if (speed_zero_sent < 3) {
String speed = padding(speed_int, 3);
int course_int = max(0, min(360, (int)gps.course.deg()));
/* course in between 1..360 due to aprs spec */
if (course_int == 0) {
course_int = 360;
}
String course = padding(course_int, 3);
course_and_speed = course + "/" + speed;
}
if (speed_int == 0) {
/* speed is 0.
we send 3 packets with speed zero (so our friends know we stand still).
After that, we save airtime by not sending speed/course 000/000.
Btw, even if speed we really do not move, measured course is changeing
(-> no useful / even wrong info)
*/
if (speed_zero_sent < 3) {
speed_zero_sent += 1;
}
} else {
speed_zero_sent = 0;
}
String aprsmsg;
aprsmsg = "!" + lat + BeaconMan.getCurrentBeaconConfig()->overlay + lng + BeaconMan.getCurrentBeaconConfig()->symbol + course_and_speed + alt;
// message_text every 10's packet (i.e. if we have beacon rate 1min at high
// speed -> every 10min). May be enforced above (at expirey of smart beacon
// rate (i.e. every 30min), or every third packet on static rate (i.e.
// static rate 10 -> every third packet)
if (!(rate_limit_message_text++ % 10)) {
aprsmsg += BeaconMan.getCurrentBeaconConfig()->message;
}
if (BatteryIsConnected) {
aprsmsg += " - _Bat.: " + batteryVoltage + "V - Cur.: " + batteryChargeCurrent + "mA";
}
if (BeaconMan.getCurrentBeaconConfig()->enhance_precision) {
aprsmsg += " " + dao;
}
msg.getBody()->setData(aprsmsg);
String data = msg.encode();
logger.log(logging::LoggerLevel::LOGGER_LEVEL_DEBUG, "Loop", "%s", data.c_str());
show_display("<< TX >>", data);
if (Config.ptt.active) {
digitalWrite(Config.ptt.io_pin, Config.ptt.reverse ? LOW : HIGH);
delay(Config.ptt.start_delay);
}
LoRa.beginPacket();
// Header:
LoRa.write('<');
LoRa.write(0xFF);
LoRa.write(0x01);
// APRS Data:
LoRa.write((const uint8_t *)data.c_str(), data.length());
LoRa.endPacket();
if (BeaconMan.getCurrentBeaconConfig()->smart_beacon.active) {
lastTxLat = gps.location.lat();
lastTxLng = gps.location.lng();
previousHeading = currentHeading;
lastTxdistance = 0.0;
lastTxTime = millis();
}
if (Config.ptt.active) {
delay(Config.ptt.end_delay);
digitalWrite(Config.ptt.io_pin, Config.ptt.reverse ? HIGH : LOW);
}
}
if (gps_time_update) {
show_display(BeaconMan.getCurrentBeaconConfig()->callsign, createDateString(now()) + " " + createTimeString(now()), String("Sats: ") + gps.satellites.value() + " HDOP: " + gps.hdop.hdop(), String("Next Bcn: ") + (BeaconMan.getCurrentBeaconConfig()->smart_beacon.active ? "~" : "") + createTimeString(nextBeaconTimeStamp), BatteryIsConnected ? (String("Bat: ") + batteryVoltage + "V, " + batteryChargeCurrent + "mA") : "Powered via USB", String("Smart Beacon: " + getSmartBeaconState()));
if (BeaconMan.getCurrentBeaconConfig()->smart_beacon.active) {
// Change the Tx internal based on the current speed
int curr_speed = (int)gps.speed.kmph();
if (curr_speed < BeaconMan.getCurrentBeaconConfig()->smart_beacon.slow_speed) {
txInterval = BeaconMan.getCurrentBeaconConfig()->smart_beacon.slow_rate * 1000;
} else if (curr_speed > BeaconMan.getCurrentBeaconConfig()->smart_beacon.fast_speed) {
txInterval = BeaconMan.getCurrentBeaconConfig()->smart_beacon.fast_rate * 1000;
} else {
/* Interval inbetween low and high speed
min(slow_rate, ..) because: if slow rate is 300s at slow speed <=
10km/h and fast rate is 60s at fast speed >= 100km/h everything below
current speed 20km/h (100*60/20 = 300) is below slow_rate.
-> In the first check, if curr speed is 5km/h (which is < 10km/h), tx
interval is 300s, but if speed is 6km/h, we are landing in this
section, what leads to interval 100*60/6 = 1000s (16.6min) -> this
would lead to decrease of beacon rate in between 5 to 20 km/h. what
is even below the slow speed rate.
*/
txInterval = min(BeaconMan.getCurrentBeaconConfig()->smart_beacon.slow_rate, BeaconMan.getCurrentBeaconConfig()->smart_beacon.fast_speed * BeaconMan.getCurrentBeaconConfig()->smart_beacon.fast_rate / curr_speed) * 1000;
}
}
}
if ((Config.debug == false) && (millis() > 5000 && gps.charsProcessed() < 10)) {
logger.log(logging::LoggerLevel::LOGGER_LEVEL_ERROR, "GPS",
"No GPS frames detected! Try to reset the GPS Chip with this "
"firmware: https://github.com/lora-aprs/TTGO-T-Beam_GPS-reset");
show_display("No GPS frames detected!", "Try to reset the GPS Chip", "https://github.com/lora-aprs/TTGO-T-Beam_GPS-reset", 2000);
}
}
void load_config() {
ConfigurationManagement confmg("/tracker.json");
Config = confmg.readConfiguration();
BeaconMan.loadConfig(Config.beacons);
if (BeaconMan.getCurrentBeaconConfig()->callsign == "NOCALL-7") {
logger.log(logging::LoggerLevel::LOGGER_LEVEL_ERROR, "Config",
"You have to change your settings in 'data/tracker.json' and "
"upload it via \"Upload File System image\"!");
show_display("ERROR", "You have to change your settings in 'data/tracker.json' and "
"upload it via \"Upload File System image\"!");
while (true) {
}
}
}
void setup_lora() {
logger.log(logging::LoggerLevel::LOGGER_LEVEL_INFO, "LoRa", "Set SPI pins!");
SPI.begin(LORA_SCK, LORA_MISO, LORA_MOSI, LORA_CS);
logger.log(logging::LoggerLevel::LOGGER_LEVEL_INFO, "LoRa", "Set LoRa pins!");
LoRa.setPins(LORA_CS, LORA_RST, LORA_IRQ);
long freq = Config.lora.frequencyTx;
logger.log(logging::LoggerLevel::LOGGER_LEVEL_INFO, "LoRa", "frequency: %d", freq);
if (!LoRa.begin(freq)) {
logger.log(logging::LoggerLevel::LOGGER_LEVEL_ERROR, "LoRa", "Starting LoRa failed!");
show_display("ERROR", "Starting LoRa failed!");
while (true) {
}
}
LoRa.setSpreadingFactor(Config.lora.spreadingFactor);
LoRa.setSignalBandwidth(Config.lora.signalBandwidth);
LoRa.setCodingRate4(Config.lora.codingRate4);
LoRa.enableCrc();
LoRa.setTxPower(Config.lora.power);
logger.log(logging::LoggerLevel::LOGGER_LEVEL_INFO, "LoRa", "LoRa init done!");
show_display("INFO", "LoRa init done!", 2000);
}
void setup_gps() {
ss.begin(9600, SERIAL_8N1, GPS_TX, GPS_RX);
}
char *s_min_nn(uint32_t min_nnnnn, int high_precision) {
/* min_nnnnn: RawDegrees billionths is uint32_t by definition and is n'telth
* degree (-> *= 6 -> nn.mmmmmm minutes) high_precision: 0: round at decimal
* position 2. 1: round at decimal position 4. 2: return decimal position 3-4
* as base91 encoded char
*/
static char buf[6];
min_nnnnn = min_nnnnn * 0.006;
if (high_precision) {
if ((min_nnnnn % 10) >= 5 && min_nnnnn < 6000000 - 5) {
// round up. Avoid overflow (59.999999 should never become 60.0 or more)
min_nnnnn = min_nnnnn + 5;
}
} else {
if ((min_nnnnn % 1000) >= 500 && min_nnnnn < (6000000 - 500)) {
// round up. Avoid overflow (59.9999 should never become 60.0 or more)
min_nnnnn = min_nnnnn + 500;
}
}
if (high_precision < 2)
sprintf(buf, "%02u.%02u", (unsigned int)((min_nnnnn / 100000) % 100), (unsigned int)((min_nnnnn / 1000) % 100));
else
sprintf(buf, "%c", (char)((min_nnnnn % 1000) / 11) + 33);
// Like to verify? type in python for i.e. RawDegrees billions 566688333: i =
// 566688333; "%c" % (int(((i*.0006+0.5) % 100)/1.1) +33)
return buf;
}
String create_lat_aprs(RawDegrees lat) {
char str[20];
char n_s = 'N';
if (lat.negative) {
n_s = 'S';
}
// we like sprintf's float up-rounding.
// but sprintf % may round to 60.00 -> 5360.00 (53° 60min is a wrong notation
// ;)
sprintf(str, "%02d%s%c", lat.deg, s_min_nn(lat.billionths, 0), n_s);
String lat_str(str);
return lat_str;
}
String create_lat_aprs_dao(RawDegrees lat) {
// round to 4 digits and cut the last 2
char str[20];
char n_s = 'N';
if (lat.negative) {
n_s = 'S';
}
// we need sprintf's float up-rounding. Must be the same principle as in
// aprs_dao(). We cut off the string to two decimals afterwards. but sprintf %
// may round to 60.0000 -> 5360.0000 (53° 60min is a wrong notation ;)
sprintf(str, "%02d%s%c", lat.deg, s_min_nn(lat.billionths, 1 /* high precision */), n_s);
String lat_str(str);
return lat_str;
}
String create_long_aprs(RawDegrees lng) {
char str[20];
char e_w = 'E';
if (lng.negative) {
e_w = 'W';
}
sprintf(str, "%03d%s%c", lng.deg, s_min_nn(lng.billionths, 0), e_w);
String lng_str(str);
return lng_str;
}
String create_long_aprs_dao(RawDegrees lng) {
// round to 4 digits and cut the last 2
char str[20];
char e_w = 'E';
if (lng.negative) {
e_w = 'W';
}
sprintf(str, "%03d%s%c", lng.deg, s_min_nn(lng.billionths, 1 /* high precision */), e_w);
String lng_str(str);
return lng_str;
}
String create_dao_aprs(RawDegrees lat, RawDegrees lng) {
// !DAO! extension, use Base91 format for best precision
// /1.1 : scale from 0-99 to 0-90 for base91, int(... + 0.5): round to nearest
// integer https://metacpan.org/dist/Ham-APRS-FAP/source/FAP.pm
// http://www.aprs.org/aprs12/datum.txt
//
char str[10];
sprintf(str, "!w%s", s_min_nn(lat.billionths, 2));
sprintf(str + 3, "%s!", s_min_nn(lng.billionths, 2));
String dao_str(str);
return dao_str;
}
String createDateString(time_t t) {
return String(padding(day(t), 2) + "." + padding(month(t), 2) + "." + padding(year(t), 4));
}
String createTimeString(time_t t) {
return String(padding(hour(t), 2) + ":" + padding(minute(t), 2) + ":" + padding(second(t), 2));
}
String getSmartBeaconState() {
if (BeaconMan.getCurrentBeaconConfig()->smart_beacon.active) {
return "On";
}
return "Off";
}
String padding(unsigned int number, unsigned int width) {
String result;
String num(number);
if (num.length() > width) {
width = num.length();
}
for (unsigned int i = 0; i < width - num.length(); i++) {
result.concat('0');
}
result.concat(num);
return result;
}
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