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// Tracker for LoRA APRS
// from OE1ACM and OE3CJB redesigned by SQ9MDD
// KISS ans Bluetooth by SQ5RWU
// TTGO T-Beam v1.0 only
//
// licensed under CC BY-NC-SA
// Includes
#include <TTGO_T-Beam_LoRa_APRS_config.h> // to config user parameters
#include <Arduino.h>
#include <SPI.h>
#include <BG_RF95.h> // library from OE1ACM
#include <math.h>
#include <driver/adc.h>
#include <Wire.h>
#include <Adafruit_I2CDevice.h>
#include <Adafruit_SSD1306.h>
#include <splash.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SPITFT.h>
#include <Adafruit_SPITFT_Macros.h>
#include <gfxfont.h>
#include <axp20x.h>
#include <KISS_TO_TNC2.h>
#include "taskGPS.h"
#ifdef ENABLE_BLUETOOTH
#include "BluetoothSerial.h"
#endif
// I2C LINES
#define I2C_SDA 21
#define I2C_SCL 22
// DISPLAY address
#define SSD1306_ADDRESS 0x3C
//other global Variables
String Textzeile1, Textzeile2;
#ifdef KISS_PROTOCOL
String inTNCData = "";
#endif
//int button=0;
//int button_ctr=0;
// LED for signalling
#ifdef T_BEAM_V1_0
const byte TXLED = 4; //pin number for LED on TX Tracker
#else
const byte TXLED = 14; //pin number for LED on TX Tracker
#endif
// Button of TTGO T-Beam
#ifdef T_BEAM_V1_0
// const byte BUTTON = 38; //pin number for Button on TTGO T-Beam
#define BUTTON 38 //pin number for Button on TTGO T-Beam
#else
#define BUTTON 39 //pin number for Button on TTGO T-Beam
#endif
// Pins for LoRa module
const byte lora_PReset = 23; //pin where LoRa device reset line is connected
const byte lora_PNSS = 18; //pin number where the NSS line for the LoRa device is connected.
// Variables for APRS packaging
String Tcall; //your Call Sign for normal position reports
String sTable="/"; //Primer
String relay_path;
boolean gps_state = true;
boolean key_up = true;
// Variables and Constants
String loraReceivedFrameString = ""; //data on buff is copied to this string
String Outputstring = "";
String outString=""; //The new Output String with GPS Conversion RAW
String LongShown="";
String LatShown="";
String LongFixed="";
String LatFixed="";
//byte arrays
byte lora_TXBUFF[BG_RF95_MAX_MESSAGE_LEN]; //buffer for packet to send
byte lora_RXBUFF[BG_RF95_MAX_MESSAGE_LEN]; //buffer for packet to send
//byte Variables
byte lora_TXStart; //start of packet data in TXbuff
byte lora_TXEnd; //end of packet data in TXbuff
byte lora_FTXOK; //flag, set to 1 if TX OK
byte lora_TXPacketType; //type number of packet to send
byte lora_TXDestination; //destination address of packet to send
byte lora_TXSource; //source address of packet received
byte lora_FDeviceError; //flag, set to 1 if RFM98 device error
byte lora_TXPacketL; //length of packet to send, includes source, destination and packet type.
unsigned long lastTX = 0L;
float BattVolts;
// variables for smart beaconing
float average_speed[5] = {0,0,0,0,0}, average_speed_final=0, max_speed=30, min_speed=0;
float old_course = 0, new_course = 0;
int point_avg_speed = 0, point_avg_course = 0;
ulong min_time_to_nextTX=60000L; // minimum time period between TX = 60000ms = 60secs = 1min
ulong max_time_to_nextTX= MAX_TIME_TO_NEXT_TX;
ulong nextTX=60000L; // preset time period between TX = 60000ms = 60secs = 1min
ulong time_to_refresh = 0;
ulong next_fixed_beacon = 0;
ulong fix_beacon_interval = FIX_BEACON_INTERVAL;
#define ANGLE 60 // angle to send packet at smart beaconing
#define ANGLE_AVGS 3 // angle averaging - x times
float average_course[ANGLE_AVGS];
float avg_c_y, avg_c_x;
static const adc_atten_t atten = ADC_ATTEN_DB_6;
static const adc_unit_t unit = ADC_UNIT_1;
void recalcGPS(void);
void sendpacket(void);
void loraSend(byte, byte, byte, byte, byte, long, byte, float);
void batt_read(void);
void writedisplaytext(String, String, String, String, String, String, int);
void setup_data(void);
void displayInvalidGPS();
void handleKISSData(char character);
#ifdef T_BEAM_V1_0
AXP20X_Class axp;
#endif
// checkRX
uint8_t loraReceivedLength = sizeof(lora_RXBUFF);
// Singleton instance of the radio driver
BG_RF95 rf95(18, 26); // TTGO T-Beam has NSS @ Pin 18 and Interrupt IO @ Pin26
// initialize OLED display
#define OLED_RESET 16 // not used
Adafruit_SSD1306 display(128, 64, &Wire, OLED_RESET);
#ifdef ENABLE_BLUETOOTH
BluetoothSerial SerialBT;
#endif
// + FUNCTIONS-----------------------------------------------------------+//
char *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;
}
return(s);
}
void recalcGPS(){
String Ns, Ew, helper;
char helper_base91[] = {"0000\0"};
double Tlat=52.0000, Tlon=20.0000;
uint32_t aprs_lat, aprs_lon;
double Tspeed=0, Tcourse=0;
String Speedx, Coursex;
int i;
#ifdef SHOW_ALT
String Altx;
int Talt;
#endif
Tlat=gps.location.lat();
Tlon=gps.location.lng();
Tcourse=gps.course.deg();
Tspeed=gps.speed.knots();
if(Tlat<0) { Ns = "S"; } else { Ns = "N"; }
if(Tlon<0) { Ew = "W"; } else { Ew = "E"; }
if(Tlat < 0) { Tlat= -Tlat; }
if(Tlon < 0) { Tlon= -Tlon; }
aprs_lat = 900000000 - Tlat * 10000000;
aprs_lat = aprs_lat / 26 - aprs_lat / 2710 + aprs_lat / 15384615;
aprs_lon = 900000000 + Tlon * 10000000 / 2;
aprs_lon = aprs_lon / 26 - aprs_lon / 2710 + aprs_lon / 15384615;
//}
outString = "";
for (i=0; i<Tcall.length();++i){ // remove unneeded "spaces" from callsign field
if (Tcall.charAt(i) != ' ') {
outString += Tcall.charAt(i);
}
}
// outString = (Tcall);
#ifdef DIGI_PATH
outString += ">APLM0," + relay_path + ":!";
#elif
outString += ">APLM0:!";
#endif
if(gps_state && gps.location.isValid()){
outString += APRS_SYMBOL_TABLE;
ax25_base91enc(helper_base91, 4, aprs_lat);
for (i=0; i<4; i++) {
outString += helper_base91[i];
}
ax25_base91enc(helper_base91, 4, aprs_lon);
for (i=0; i<4; i++) {
outString += helper_base91[i];
}
outString += APRS_SYMBOL;
ax25_base91enc(helper_base91, 1, (uint32_t) Tcourse/4 );
outString += helper_base91[0];
ax25_base91enc(helper_base91, 1, (uint32_t) (log1p(Tspeed)/0.07696));
outString += helper_base91[0];
outString += "H";
#ifdef SHOW_ALT
Talt=gps.altitude.meters() * 3.28d;
Altx = Talt;
outString += "/A=";
for (i = 0; i < (6-Altx.length()); ++i) {
outString += "0";
}
outString += Talt;
#endif
}else{
outString += LATIDUDE_PRESET;
outString += APRS_SYMBOL_TABLE;
outString += LONGITUDE_PRESET;
outString += APRS_SYMBOL;
}
outString += MY_COMMENT;
#ifdef SHOW_BATT // battery is not frame part move after comment
outString += " Batt=";
outString += String(BattVolts, 2);
outString += ("V");
#endif
#ifdef KISS_PROTOCOL
Serial.print(encode_kiss(outString));
#ifdef ENABLE_BLUETOOTH
if (SerialBT.connected()) {
SerialBT.print(encode_kiss(outString));
}
#endif
#else
Serial.println(outString);
#endif
}
void sendpacket(){
String message;
batt_read();
Outputstring = "";
//if ( gps.location.isValid() || gps.location.isUpdated() ) {
recalcGPS(); //
Outputstring =outString;
message = Outputstring;
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
//}
}
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){
digitalWrite(TXLED, LOW);
byte i;
byte ltemp;
lastTX = millis();
ltemp = message.length();
for (i = 0; i <= ltemp; i++){
lora_TXBUFF[i] = message.charAt(i);
}
i--;
lora_TXEnd = i;
lora_TXBUFF[i] ='\0';
rf95.setModemConfig(BG_RF95::Bw125Cr45Sf4096);
rf95.setFrequency(lora_FREQ);
rf95.setTxPower(lora_LTXPower);
rf95.sendAPRS(lora_TXBUFF, message.length());
rf95.waitPacketSent();
digitalWrite(TXLED, HIGH);
}
void batt_read(){
#ifdef T_BEAM_V1_0
BattVolts = axp.getBattVoltage()/1000;
#else
BattVolts = analogRead(35)*7.221/4096;
#endif
}
void writedisplaytext(String HeaderTxt, String Line1, String Line2, String Line3, String Line4, String Line5, int warten) {
batt_read();
if (BattVolts < 3.5){
#ifdef T_BEAM_V1_0
axp.setChgLEDMode(AXP20X_LED_BLINK_4HZ);
#endif
}
display.clearDisplay();
display.setTextColor(WHITE);
display.setTextSize(2);
display.setCursor(0,0);
display.println(HeaderTxt);
display.setTextSize(1);
display.setCursor(0,16);
display.println(Line1);
display.setCursor(0,26);
display.println(Line2);
display.setCursor(0,36);
display.println(Line3);
display.setCursor(0,46);
display.println(Line4);
display.setCursor(0,56);
display.println(Line5);
display.display();
time_to_refresh = millis() + SHOW_RX_TIME;
}
/**
* Handle incoming TNC KISS data character
* @param character
*/
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_PROTOCOL
const String &TNC2DataFrame = decode_kiss(inTNCData);
#ifdef LOCAL_KISS_ECHO
Serial.print(inTNCData);
#endif
#ifdef ENABLE_BLUETOOTH
if (SerialBT.connected()) {
#ifdef LOCAL_KISS_ECHO
SerialBT.print(inTNCData);
#endif
}
#endif
#endif
loraSend(lora_TXStart, lora_TXEnd, 60, 255, 1, 10, TXdbmW, TXFREQ, TNC2DataFrame);
inTNCData = "";
}
}
String getSatAndBatInfo() {
String line5;
if(gps_state == true){
line5 = "SAT: " + String(gps.satellites.value()) + " BAT: " + String(BattVolts, 1) + "V";
}else{
line5 = "SAT: X 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);
#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
}
// + SETUP --------------------------------------------------------------+//
void setup(){
for (int i=0;i<ANGLE_AVGS;i++) { // set average_course to "0"
average_course[i]=0;
}
pinMode(TXLED, OUTPUT);
pinMode(BUTTON, INPUT);
digitalWrite(TXLED, LOW); // turn blue LED off
Serial.begin(115200);
Wire.begin(I2C_SDA, I2C_SCL);
#ifdef T_BEAM_V1_0
if (!axp.begin(Wire, AXP192_SLAVE_ADDRESS)) {
}
axp.setPowerOutPut(AXP192_LDO2, AXP202_ON);
axp.setPowerOutPut(AXP192_LDO3, AXP202_ON); // switch on GPS
axp.setPowerOutPut(AXP192_DCDC2, AXP202_ON);
axp.setPowerOutPut(AXP192_EXTEN, AXP202_ON);
axp.setPowerOutPut(AXP192_DCDC1, AXP202_ON);
axp.setDCDC1Voltage(3300);
// Enable ADC to measure battery current, USB voltage etc.
axp.adc1Enable(0xfe, true);
axp.adc2Enable(0x80, true);
#endif
if(!display.begin(SSD1306_SWITCHCAPVCC, SSD1306_ADDRESS)) {
for(;;); // Don't proceed, loop forever
}
writedisplaytext("LoRa-APRS","","Init:","Display OK!","","",1000);
Tcall = CALLSIGN;
relay_path = DIGI_PATH;
if (!rf95.init()) {
writedisplaytext("LoRa-APRS","","Init:","RF95 FAILED!",":-(","",250);
for(;;); // Don't proceed, loop forever
}
if (max_time_to_nextTX < nextTX){
max_time_to_nextTX=nextTX;
}
writedisplaytext("LoRa-APRS","","Init:","RF95 OK!","","",250);
writedisplaytext(" "+Tcall,"","Init:","Waiting for GPS","","",250);
xTaskCreate(taskGPS, "taskGPS", 10000, nullptr, 1, nullptr);
writedisplaytext(" "+Tcall,"","Init:","GPS Task Created!","","",250);
#ifndef T_BEAM_V1_0
adc1_config_width(ADC_WIDTH_BIT_12);
adc1_config_channel_atten(ADC1_CHANNEL_7,ADC_ATTEN_DB_6);
#endif
batt_read();
writedisplaytext("LoRa-APRS","","Init:","ADC OK!","BAT: "+String(BattVolts,1),"",250);
rf95.setFrequency(433.775);
rf95.setModemConfig(BG_RF95::Bw125Cr45Sf4096); // hard coded because of double definition
rf95.setTxPower(TXdbmW);
delay(250);
#ifdef ENABLE_BLUETOOTH
#ifdef BLUETOOTH_PIN
SerialBT.setPin(BLUETOOTH_PIN);
#endif
SerialBT.begin(String("TTGO LORA APRS ") + CALLSIGN);
writedisplaytext("LoRa-APRS","","Init:","BT OK!","","",250);
#endif
writedisplaytext("LoRa-APRS","","Init:","FINISHED OK!"," =:-) ","",250);
writedisplaytext("","","","","","",0);
time_to_refresh = millis() + SHOW_RX_TIME;
displayInvalidGPS();
digitalWrite(TXLED, HIGH);
#ifdef T_BEAM_V1_0
axp.setChgLEDMode(AXP20X_LED_OFF);
#endif
}
// +---------------------------------------------------------------------+//
// + MAINLOOP -----------------------------------------------------------+//
// +---------------------------------------------------------------------+//
void loop() {
if(digitalRead(BUTTON)==LOW && key_up == true){
key_up = false;
delay(100);
if(digitalRead(BUTTON)==LOW){
delay(300);
if(digitalRead(BUTTON)==HIGH){
if(gps_state == true && gps.location.isValid()){
writedisplaytext("((MAN TX))","","","","","",1);
sendpacket();
}else{
writedisplaytext("((FIX TX))","","","","","",1);
sendpacket();
}
}
}
delay(1500);
if(digitalRead(BUTTON)==LOW){
if(gps_state == true){
gps_state = false;
#ifdef T_BEAM_V1_0
axp.setPowerOutPut(AXP192_LDO3, AXP202_OFF); // GPS OFF
#endif
writedisplaytext("((GPSOFF))","","","","","",1);
next_fixed_beacon = millis() + fix_beacon_interval;
}else{
gps_state = true;
#ifdef T_BEAM_V1_0
axp.setPowerOutPut(AXP192_LDO3, AXP202_ON);
#endif
writedisplaytext("((GPS ON))","","","","","",1); // GPS ON
}
}
}
if(digitalRead(BUTTON)==HIGH && key_up == false){
key_up = true;
}
#ifdef FIXED_BEACON_EN
if(millis() >= next_fixed_beacon && gps_state == false){
next_fixed_beacon = millis() + fix_beacon_interval;
writedisplaytext("((AUT TX))","","","","","",1);
sendpacket();
}
#endif
#ifdef KISS_PROTOCOL
while (Serial.available() > 0 ){
char character = Serial.read();
handleKISSData(character);
}
#ifdef ENABLE_BLUETOOTH
if (SerialBT.connected()) {
while (SerialBT.available() > 0 ){
char character = SerialBT.read();
handleKISSData(character);
}
}
#endif
#endif
if (rf95.waitAvailableTimeout(100)) {
#ifdef T_BEAM_V1_0
axp.setChgLEDMode(AXP20X_LED_LOW_LEVEL);
#endif
#ifdef SHOW_RX_PACKET // only show RX packets when activitated in config
loraReceivedLength = sizeof(lora_RXBUFF); // reset max length before receiving!
if (rf95.recvAPRS(lora_RXBUFF, &loraReceivedLength)) {
loraReceivedFrameString = "";
for (int i=0 ; i < loraReceivedLength ; i++) {
loraReceivedFrameString += (char) lora_RXBUFF[i];
}
#ifdef KISS_PROTOCOL
Serial.print(encode_kiss(loraReceivedFrameString));
#ifdef ENABLE_BLUETOOTH
if (SerialBT.connected()){
SerialBT.print(encode_kiss(loraReceivedFrameString));
}
#endif
#endif
writedisplaytext(" ((RX))", "", loraReceivedFrameString, "", "", "", SHOW_RX_TIME);
}
#endif
#ifdef T_BEAM_V1_0
axp.setChgLEDMode(AXP20X_LED_OFF);
#endif
}
LatShown = String(gps.location.lat(),5);
LongShown = String(gps.location.lng(),5);
average_speed[point_avg_speed] = gps.speed.kmph(); // calculate smart beaconing
++point_avg_speed;
if (point_avg_speed>4) {
point_avg_speed=0;
}
average_speed_final = (average_speed[0]+average_speed[1]+average_speed[2]+average_speed[3]+average_speed[4])/5;
nextTX = (max_time_to_nextTX-min_time_to_nextTX)/(max_speed-min_speed)*(max_speed-average_speed_final)+min_time_to_nextTX;
if (nextTX < min_time_to_nextTX) {nextTX=min_time_to_nextTX;}
if (nextTX > max_time_to_nextTX) {nextTX=max_time_to_nextTX;}
average_course[point_avg_course] = gps.course.deg(); // calculate smart beaconing course
++point_avg_course;
if (point_avg_course>(ANGLE_AVGS-1)) {
point_avg_course=0;
avg_c_y = 0;
avg_c_x = 0;
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 ((millis()<max_time_to_nextTX)&&(lastTX == 0)) {
nextTX = 0;
}
if ( (lastTX+nextTX) <= millis() ) {
if (gps.location.age() < 2000) {
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_PROTOCOL
#ifdef KISS_DEBUG
static auto last_debug_send_time = millis();
if (millis() - last_debug_send_time > 1000*5) {
last_debug_send_time = millis();
String debug_message = "";
#ifdef T_BEAM_V1_0
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 += "USB Plugged: " + String(axp.isVBUSPlug());
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());
#else
debug_message += "Bat V: " + String(BattVolts);
#endif
Serial.print(encapsulateKISS(debug_message, CMD_HARDWARE));
#ifdef ENABLE_BLUETOOTH
SerialBT.print(encapsulateKISS(debug_message, CMD_HARDWARE));
#endif
}
#endif
#endif
vTaskDelay(1);
}
// end of main loop