603 lines
19 KiB
C++
603 lines
19 KiB
C++
// Tracker for LoRA APRS
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// from OE1ACM and OE3CJB redesigned by SQ9MDD
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// TTGO T-Beam v1.0 only
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//
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// licensed under CC BY-NC-SA
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// Includes
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#include <TTGO_T-Beam_LoRa_APRS_config.h> // to config user parameters
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#include <Arduino.h>
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#include <SPI.h>
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#include <BG_RF95.h> // library from OE1ACM
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#include <TinyGPS++.h>
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#include <math.h>
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#include <driver/adc.h>
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#include <Wire.h>
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#include <Adafruit_I2CDevice.h>
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#include <Adafruit_SSD1306.h>
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#include <splash.h>
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#include <Adafruit_GFX.h>
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#include <Adafruit_SPITFT.h>
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#include <Adafruit_SPITFT_Macros.h>
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#include <gfxfont.h>
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#include <axp20x.h>
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#include <KISS_TO_TNC2.h>
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#ifdef ENABLE_BLUETOOTH
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#include "BluetoothSerial.h"
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#endif
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// I2C LINES
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#define I2C_SDA 21
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#define I2C_SCL 22
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// DISPLAY address
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#define SSD1306_ADDRESS 0x3C
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//other global Variables
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String Textzeile1, Textzeile2;
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#ifdef KISS_PROTOCOLL
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String inTNCData = "";
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#endif
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int button=0;
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int button_ctr=0;
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// Pins for GPS
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#ifdef T_BEAM_V1_0
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static const int RXPin = 12, TXPin = 34; // changed BG A3 A2
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#else
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static const int RXPin = 15, TXPin = 12; // changed BG A3 A2
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#endif
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static const uint32_t GPSBaud = 9600; //GPS
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// LED for signalling
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#ifdef T_BEAM_V1_0
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const byte TXLED = 4; //pin number for LED on TX Tracker
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#else
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const byte TXLED = 14; //pin number for LED on TX Tracker
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#endif
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// Button of TTGO T-Beam
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#ifdef T_BEAM_V1_0
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// const byte BUTTON = 38; //pin number for Button on TTGO T-Beam
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#define BUTTON 38 //pin number for Button on TTGO T-Beam
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#else
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#define BUTTON 39 //pin number for Button on TTGO T-Beam
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#endif
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// Pins for LoRa module
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const byte lora_PReset = 23; //pin where LoRa device reset line is connected
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const byte lora_PNSS = 18; //pin number where the NSS line for the LoRa device is connected.
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// Variables for APRS packaging
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String Tcall; //your Call Sign for normal position reports
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String sTable="/"; //Primer
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String relay_path;
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// Variables and Constants
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String loraReceivedFrameString = ""; //data on buff is copied to this string
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String Outputstring = "";
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String outString=""; //The new Output String with GPS Conversion RAW
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String LongShown="";
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String LatShown="";
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String LongFixed="";
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String LatFixed="";
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//byte arrays
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byte lora_TXBUFF[BG_RF95_MAX_MESSAGE_LEN]; //buffer for packet to send
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byte lora_RXBUFF[BG_RF95_MAX_MESSAGE_LEN]; //buffer for packet to send
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//byte Variables
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byte lora_TXStart; //start of packet data in TXbuff
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byte lora_TXEnd; //end of packet data in TXbuff
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byte lora_FTXOK; //flag, set to 1 if TX OK
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byte lora_TXPacketType; //type number of packet to send
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byte lora_TXDestination; //destination address of packet to send
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byte lora_TXSource; //source address of packet received
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byte lora_FDeviceError; //flag, set to 1 if RFM98 device error
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byte lora_TXPacketL; //length of packet to send, includes source, destination and packet type.
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unsigned long lastTX = 0L;
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float BattVolts;
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// variables for smart beaconing
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float average_speed[5] = {0,0,0,0,0}, average_speed_final=0, max_speed=30, min_speed=0;
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float old_course = 0, new_course = 0;
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int point_avg_speed = 0, point_avg_course = 0;
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ulong min_time_to_nextTX=60000L; // minimum time period between TX = 60000ms = 60secs = 1min
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ulong nextTX=60000L; // preset time period between TX = 60000ms = 60secs = 1min
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ulong time_to_refresh = 0;
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#define ANGLE 60 // angle to send packet at smart beaconing
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#define ANGLE_AVGS 3 // angle averaging - x times
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float average_course[ANGLE_AVGS];
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float avg_c_y, avg_c_x;
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static const adc_atten_t atten = ADC_ATTEN_DB_6;
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static const adc_unit_t unit = ADC_UNIT_1;
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void recalcGPS(void);
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void sendpacket(void);
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void loraSend(byte, byte, byte, byte, byte, long, byte, float);
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void batt_read(void);
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void writedisplaytext(String, String, String, String, String, String, int);
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void setup_data(void);
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void displayInvalidGPS();
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void handleKISSData(char character);
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// SoftwareSerial ss(RXPin, TXPin); // The serial connection to the GPS device
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HardwareSerial gpsSerial(1); // TTGO has HW serial
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TinyGPSPlus gps; // The TinyGPS++ object
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#ifdef T_BEAM_V1_0
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AXP20X_Class axp;
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#endif
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// checkRX
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uint8_t loraReceivedLength = sizeof(lora_RXBUFF);
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// Singleton instance of the radio driver
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BG_RF95 rf95(18, 26); // TTGO T-Beam has NSS @ Pin 18 and Interrupt IO @ Pin26
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// initialize OLED display
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#define OLED_RESET 16 // not used
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Adafruit_SSD1306 display(128, 64, &Wire, OLED_RESET);
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#ifdef ENABLE_BLUETOOTH
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BluetoothSerial SerialBT;
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#endif
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// + FUNCTIONS-----------------------------------------------------------+//
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char *ax25_base91enc(char *s, uint8_t n, uint32_t v){
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/* Creates a Base-91 representation of the value in v in the string */
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/* pointed to by s, n-characters long. String length should be n+1. */
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for(s += n, *s = '\0'; n; n--)
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{
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*(--s) = v % 91 + 33;
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v /= 91;
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}
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return(s);
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}
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void recalcGPS(){
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String Ns, Ew, helper;
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char helper_base91[] = {"0000\0"};
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float Tlat=52.0000, Tlon=20.0000;
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int i, Talt, lenalt;
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uint32_t aprs_lat, aprs_lon;
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float Tspeed=0, Tcourse=0;
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String Speedx, Coursex, Altx;
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Tlat=gps.location.lat();
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Tlon=gps.location.lng();
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Talt=gps.altitude.meters() * 3.28;
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Altx = Talt;
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lenalt = Altx.length();
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Altx = "";
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for (i = 0; i < (6-lenalt); i++) {
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Altx += "0";
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}
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Altx += Talt;
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Tcourse=gps.course.deg();
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Tspeed=gps.speed.knots();
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if(Tlat<0) { Ns = "S"; } else { Ns = "N"; }
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if(Tlon<0) { Ew = "W"; } else { Ew = "E"; }
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if(Tlat < 0) { Tlat= -Tlat; }
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if(Tlon < 0) { Tlon= -Tlon; }
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aprs_lat = 900000000 - Tlat * 10000000;
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aprs_lat = aprs_lat / 26 - aprs_lat / 2710 + aprs_lat / 15384615;
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aprs_lon = 900000000 + Tlon * 10000000 / 2;
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aprs_lon = aprs_lon / 26 - aprs_lon / 2710 + aprs_lon / 15384615;
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//}
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outString = "";
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for (i=0; i<Tcall.length();++i){ // remove unneeded "spaces" from callsign field
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if (Tcall.charAt(i) != ' ') {
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outString += Tcall.charAt(i);
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}
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}
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// outString = (Tcall);
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#ifdef DIGI_PATH
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outString += ">APLM0," + relay_path + ":!";
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#elif
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outString += ">APLM0:!";
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#endif
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outString += APRS_SYMBOL_TABLE;
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ax25_base91enc(helper_base91, 4, aprs_lat);
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for (i=0; i<4; i++) {
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outString += helper_base91[i];
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}
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ax25_base91enc(helper_base91, 4, aprs_lon);
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for (i=0; i<4; i++) {
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outString += helper_base91[i];
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}
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outString += APRS_SYMBOL;
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ax25_base91enc(helper_base91, 1, (uint32_t) Tcourse/4 );
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outString += helper_base91[0];
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ax25_base91enc(helper_base91, 1, (uint32_t) (log1p(Tspeed)/0.07696));
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outString += helper_base91[0];
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outString += "\x48";
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#ifdef SHOW_ALT
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outString += "/A=";
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outString += Altx;
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#endif
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outString += MY_COMMENT;
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#ifdef SHOW_BATT // battery is not frame part move after comment
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outString += " Batt=";
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outString += String(BattVolts,2);
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outString += ("V");
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#endif
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#ifdef KISS_PROTOCOLL
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Serial.print(encode_kiss(outString));
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#ifdef ENABLE_BLUETOOTH
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if (SerialBT.connected()){
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SerialBT.print(encode_kiss(outString));
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}
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#endif
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#else
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Serial.println(outString);
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#endif
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}
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void sendpacket(){
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String message;
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batt_read();
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Outputstring = "";
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if ( gps.location.isValid() || gps.location.isUpdated() ) {
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recalcGPS(); //
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Outputstring =outString;
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message = Outputstring;
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loraSend(lora_TXStart, lora_TXEnd, 60, 255, 1, 10, TXdbmW, TXFREQ, message); //send the packet, data is in TXbuff from lora_TXStart to lora_TXEnd
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} else {
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Outputstring = (Tcall);
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Outputstring += " No GPS-Fix";
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Outputstring += " Batt=";
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Outputstring += String(BattVolts,2);
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Outputstring += ("V ");
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message = Outputstring;
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loraSend(lora_TXStart, lora_TXEnd, 60, 255, 1, 10, 5, TXFREQ, message); //send the packet, data is in TXbuff from lora_TXStart to lora_TXEnd
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}
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}
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void loraSend(byte lora_LTXStart, byte lora_LTXEnd, byte lora_LTXPacketType, byte lora_LTXDestination, byte lora_LTXSource, long lora_LTXTimeout, byte lora_LTXPower, float lora_FREQ, const String& message){
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byte i;
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byte ltemp;
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lastTX = millis();
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ltemp = message.length();
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for (i = 0; i <= ltemp; i++){
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lora_TXBUFF[i] = message.charAt(i);
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}
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i--;
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lora_TXEnd = i;
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lora_TXBUFF[i] ='\0';
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rf95.setModemConfig(BG_RF95::Bw125Cr45Sf4096);
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rf95.setFrequency(lora_FREQ);
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rf95.setTxPower(lora_LTXPower);
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rf95.sendAPRS(lora_TXBUFF, message.length());
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rf95.waitPacketSent();
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}
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void batt_read(){
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BattVolts = axp.getBattVoltage()/1000;
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}
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void writedisplaytext(String HeaderTxt, String Line1, String Line2, String Line3, String Line4, String Line5, int warten) {
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batt_read();
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display.clearDisplay();
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display.setTextColor(WHITE);
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display.setTextSize(2);
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display.setCursor(0,0);
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display.println(HeaderTxt);
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display.setTextSize(1);
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display.setCursor(0,16);
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display.println(Line1);
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display.setCursor(0,26);
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display.println(Line2);
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display.setCursor(0,36);
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display.println(Line3);
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display.setCursor(0,46);
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display.println(Line4);
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display.setCursor(0,56);
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display.println(Line5);
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display.display();
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time_to_refresh = millis() + SHOW_RX_TIME;
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}
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// + SETUP --------------------------------------------------------------+//
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void setup(){
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for (int i=0;i<ANGLE_AVGS;i++) { // set average_course to "0"
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average_course[i]=0;
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}
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pinMode(TXLED, OUTPUT);
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pinMode(BUTTON, INPUT);
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digitalWrite(TXLED, LOW); // turn blue LED off
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Serial.begin(115200);
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Wire.begin(I2C_SDA, I2C_SCL);
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#ifdef T_BEAM_V1_0
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if (!axp.begin(Wire, AXP192_SLAVE_ADDRESS)) {
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}
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axp.setPowerOutPut(AXP192_LDO2, AXP202_ON); // Lora power
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axp.setPowerOutPut(AXP192_LDO3, AXP202_ON); // provides power to GPS
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axp.setPowerOutPut(AXP192_DCDC2, AXP202_ON);
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axp.setPowerOutPut(AXP192_EXTEN, AXP202_ON);
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axp.setPowerOutPut(AXP192_DCDC1, AXP202_ON); // enables power to OLED LCD
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axp.setDCDC1Voltage(3300);
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#endif
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if(!display.begin(SSD1306_SWITCHCAPVCC, SSD1306_ADDRESS)) {
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for(;;); // Don't proceed, loop forever
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}
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writedisplaytext("LoRa-APRS","","Init:","Display OK!","","",1000);
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Tcall = CALLSIGN;
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relay_path = DIGI_PATH;
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if (!rf95.init()) {
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writedisplaytext("LoRa-APRS","","Init:","RF95 FAILED!",":-(","",250);
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for(;;); // Don't proceed, loop forever
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}
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if (max_time_to_nextTX < nextTX){
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max_time_to_nextTX=nextTX;
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}
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writedisplaytext("LoRa-APRS","","Init:","RF95 OK!","","",250);
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gpsSerial.begin(GPSBaud, SERIAL_8N1, TXPin, RXPin); //Startup HW serial for GPS
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writedisplaytext("LoRa-APRS","","Init:","GPS Serial OK!","","",250);
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writedisplaytext(" "+Tcall,"","Init:","Waiting for GPS","","",250);
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while (millis() < 5000 && gps.charsProcessed() < 10) {}
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if (millis() > 5000 && gps.charsProcessed() < 10) {
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writedisplaytext(" "+Tcall,"","Init:","ERROR!","No GPS data!","Please restart TTGO",0);
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while (true) {}
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}
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writedisplaytext(" "+Tcall,"","Init:","Data from GPS OK!","","",250);
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#ifdef T_BEAM_V1_0
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writedisplaytext("LoRa-APRS","","Init:","ADC OK!","BAT: "+String(axp.getBattVoltage()/1000,1),"",250);
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#else
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adc1_config_width(ADC_WIDTH_BIT_12);
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adc1_config_channel_atten(ADC1_CHANNEL_7,ADC_ATTEN_DB_6);
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writedisplaytext("LoRa-APRS","","Init:","ADC OK!","BAT: "+String(analogRead(35)*7.221/4096,1),"",250);
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#endif
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rf95.setFrequency(433.775);
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rf95.setModemConfig(BG_RF95::Bw125Cr45Sf4096); // hard coded because of double definition
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rf95.setTxPower(20); // was 5
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delay(250);
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#ifdef ENABLE_BLUETOOTH
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#ifdef BLUETOOTH_PIN
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SerialBT.setPin(BLUETOOTH_PIN);
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#endif
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SerialBT.begin(String("TTGO LORA APRS ") + CALLSIGN);
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writedisplaytext("LoRa-APRS","","Init:","BT OK!","","",250);
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#endif
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writedisplaytext("LoRa-APRS","","Init:","FINISHED OK!"," =:-) ","",250);
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writedisplaytext("","","","","","",0);
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time_to_refresh = millis() + SHOW_RX_TIME;
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displayInvalidGPS();
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}
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// +---------------------------------------------------------------------+//
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// + MAINLOOP -----------------------------------------------------------+//
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// +---------------------------------------------------------------------+//
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void loop() {
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while (gpsSerial.available() > 0) {
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gps.encode(gpsSerial.read());
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}
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#ifdef KISS_PROTOCOLL
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while (Serial.available() > 0 ){
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char character = Serial.read();
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handleKISSData(character);
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}
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#ifdef ENABLE_BLUETOOTH
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if (SerialBT.connected()) {
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while (SerialBT.available() > 0 ){
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char character = SerialBT.read();
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handleKISSData(character);
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}
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}
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#endif
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#endif
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if (rf95.waitAvailableTimeout(100)) {
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#ifdef SHOW_RX_PACKET // only show RX packets when activitated in config
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loraReceivedLength = sizeof(lora_RXBUFF); // reset max length before receiving!
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if (rf95.recvAPRS(lora_RXBUFF, &loraReceivedLength)) {
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loraReceivedFrameString = "";
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for (int i=0 ; i < loraReceivedLength ; i++) {
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loraReceivedFrameString += (char) lora_RXBUFF[i];
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}
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#ifdef KISS_PROTOCOLL
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Serial.print(encode_kiss(loraReceivedFrameString));
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#ifdef ENABLE_BLUETOOTH
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if (SerialBT.connected()){
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SerialBT.print(encode_kiss(loraReceivedFrameString));
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}
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#endif
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#endif
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writedisplaytext(" ((RX))", "", loraReceivedFrameString, "", "", "", SHOW_RX_TIME);
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}
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#endif
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}
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LatShown = String(gps.location.lat(),5);
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LongShown = String(gps.location.lng(),5);
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average_speed[point_avg_speed] = gps.speed.kmph(); // calculate smart beaconing
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++point_avg_speed;
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if (point_avg_speed>4) {
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point_avg_speed=0;
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}
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average_speed_final = (average_speed[0]+average_speed[1]+average_speed[2]+average_speed[3]+average_speed[4])/5;
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nextTX = (max_time_to_nextTX-min_time_to_nextTX)/(max_speed-min_speed)*(max_speed-average_speed_final)+min_time_to_nextTX;
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if (nextTX < min_time_to_nextTX) {nextTX=min_time_to_nextTX;}
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if (nextTX > max_time_to_nextTX) {nextTX=max_time_to_nextTX;}
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average_course[point_avg_course] = gps.course.deg(); // calculate smart beaconing course
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++point_avg_course;
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if (point_avg_course>(ANGLE_AVGS-1)) {
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point_avg_course=0;
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avg_c_y = 0;
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avg_c_x = 0;
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for (int i=0;i<ANGLE_AVGS;i++) {
|
|
avg_c_y += sin(average_course[i]/180*3.1415);
|
|
avg_c_x += cos(average_course[i]/180*3.1415);
|
|
}
|
|
|
|
new_course = atan2f(avg_c_y,avg_c_x)*180/3.1415;
|
|
if (new_course < 0) {
|
|
new_course=360+new_course;
|
|
}
|
|
|
|
if ((old_course < ANGLE) && (new_course > (360-ANGLE))) {
|
|
if (abs(new_course-old_course-360)>=ANGLE) {
|
|
nextTX = 0;
|
|
// lastTX = min_time_to_nextTX
|
|
}
|
|
} else {
|
|
if ((old_course > (360-ANGLE)) && (new_course < ANGLE)) {
|
|
if (abs(new_course-old_course+360)>=ANGLE) {
|
|
nextTX = 0;
|
|
}
|
|
} else {
|
|
if (abs(new_course-old_course)>=ANGLE) {
|
|
nextTX = 0;
|
|
}
|
|
}
|
|
}
|
|
old_course = new_course;
|
|
}
|
|
|
|
if (button_ctr==2) {
|
|
nextTX = 0;
|
|
}
|
|
|
|
if ((millis()<max_time_to_nextTX)&&(lastTX == 0)) {
|
|
nextTX = 0;
|
|
}
|
|
|
|
if ( (lastTX+nextTX) <= millis() ) {
|
|
if (gps.location.age() < 2000) {
|
|
digitalWrite(TXLED, HIGH);
|
|
writedisplaytext(" ((TX))","","LAT: "+LatShown,"LON: "+LongShown,"SPD: "+String(gps.speed.kmph(),1)+" CRS: "+String(gps.course.deg(),1),getSatAndBatInfo(),1);
|
|
sendpacket();
|
|
#ifdef SHOW_GPS_DATA
|
|
Serial.print("((TX)) / LAT: ");
|
|
Serial.print(LatShown);
|
|
Serial.print(" / LON: ");
|
|
Serial.print(LongShown);
|
|
Serial.print(" / SPD: ");
|
|
Serial.print(String(gps.speed.kmph(),1));
|
|
Serial.print(" / CRS: ");
|
|
Serial.print(String(gps.course.deg(),1));
|
|
Serial.print(" / SAT: ");
|
|
Serial.print(String(gps.satellites.value()));
|
|
Serial.print(" / BAT: ");
|
|
Serial.print(String(BattVolts,1));
|
|
digitalWrite(TXLED, LOW);
|
|
#endif
|
|
} else {
|
|
if (millis() > time_to_refresh){
|
|
displayInvalidGPS();
|
|
}
|
|
}
|
|
}else{
|
|
if (millis() > time_to_refresh){
|
|
if (gps.location.age() < 2000) {
|
|
writedisplaytext(" "+Tcall,"Time to TX: "+String(((lastTX+nextTX)-millis())/1000)+"sec","LAT: "+LatShown,"LON: "+LongShown,"SPD: "+String(gps.speed.kmph(),1)+" CRS: "+String(gps.course.deg(),1),getSatAndBatInfo() ,1);
|
|
} else {
|
|
displayInvalidGPS();
|
|
}
|
|
}
|
|
|
|
}
|
|
#ifdef KISS_PROTOCOLL
|
|
#ifdef KISS_DEBUG
|
|
static auto last_debug_send_time = millis();
|
|
if (millis() - last_debug_send_time > 1000*10) {
|
|
last_debug_send_time = millis();
|
|
String debug_message = "";
|
|
debug_message += "Bat V: " + String(axp.getBattVoltage());
|
|
debug_message += ", ";
|
|
debug_message += "Bat IN A: " + String(axp.getBattChargeCurrent());
|
|
debug_message += ", ";
|
|
debug_message += "Bat OUT A: " + String(axp.getBattDischargeCurrent());
|
|
debug_message += ", ";
|
|
debug_message += "Bat %: " + String(axp.getBattPercentage());
|
|
debug_message += ", ";
|
|
debug_message += "USB V: " + String(axp.getVbusVoltage());
|
|
debug_message += ", ";
|
|
debug_message += "USB A: " + String(axp.getVbusCurrent());
|
|
debug_message += ", ";
|
|
debug_message += "Temp C: " + String(axp.getTemp());
|
|
|
|
Serial.print(encapsulateKISS(debug_message, CMD_HARDWARE));
|
|
}
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
void handleKISSData(char character) {
|
|
inTNCData.concat(character);
|
|
if (character == (char)FEND && inTNCData.length() > 3){
|
|
writedisplaytext("((KISSTX))","","","","","",1);
|
|
time_to_refresh = millis() + SHOW_RX_TIME;
|
|
#ifdef KISS_PROTOCOLL
|
|
const String &TNC2DataFrame = decode_kiss(inTNCData);
|
|
|
|
Serial.print(inTNCData);
|
|
#ifdef ENABLE_BLUETOOTH
|
|
if (SerialBT.connected()) {
|
|
SerialBT.print(inTNCData);
|
|
}
|
|
#endif
|
|
#endif
|
|
loraSend(lora_TXStart, lora_TXEnd, 60, 255, 1, 10, TXdbmW, TXFREQ, TNC2DataFrame);
|
|
inTNCData = "";
|
|
}
|
|
}
|
|
|
|
String getSatAndBatInfo() {
|
|
String line5 = "SAT: " + String(gps.satellites.value()) + " BAT: " + String(BattVolts, 1) + "V";
|
|
#ifdef ENABLE_BLUETOOTH
|
|
if (SerialBT.connected()){
|
|
line5 += "BT";
|
|
}
|
|
#endif
|
|
return line5;
|
|
}
|
|
|
|
void displayInvalidGPS() {
|
|
writedisplaytext(" " + Tcall, "(TX) at valid GPS", "LAT: not valid", "LON: not valid", "SPD: --- CRS: ---", getSatAndBatInfo(), 1);
|
|
//writedisplaytext(" " + Tcall, "(TX) at valid GPS", "LAT: not valid", "LON: not valid", "SPD: --- CRS: ---", "", 1);
|
|
#ifdef SHOW_GPS_DATA
|
|
Serial.print("(TX) at valid GPS / LAT: not valid / Lon: not valid / SPD: --- / CRS: ---");
|
|
Serial.print(" / SAT: ");
|
|
Serial.print(String(gps.satellites.value()));
|
|
Serial.print(" / BAT: ");
|
|
Serial.println(String(BattVolts,1));
|
|
#endif
|
|
}
|
|
|
|
// end of main loop
|