A LoRa APRS node with KISS interface based on a Raspberry Pi Pico
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#include <stdio.h>
#include <string.h>
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#include <time.h>
#include <stdarg.h>
#include "pico/stdlib.h"
#include "pico/binary_info.h"
#include "hardware/flash.h"
#include "LoRa-RP2040.h"
#include "Config.h"
#include "KISS.h"
#include "hardware/claim.h"
bool startRadio();
void getPacketData(int packetLength);
int compare_strings(uint8_t a[], uint8_t b[]);
bool is_message_for_me (uint8_t data[], uint8_t mycall[]);
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/* declaration for receive functions */
uint16_t decode_packet ();
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/* declaration for transmit functions */
void ComposeAprsFrame(uint8_t payload[]);
bool TransmitRequest = false;
void transmit();
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const uint PowerSupply24VControl = 6;
const uint PowerSupply12VControl = 5;
const uint PowerSupply5VControl = 4;
const uint RelayOffControl = 2;
const uint RelayOnControl = 3;
// We're going to use a region 256k from the start of flash as non volatile storage for our settings.
// We can access this at XIP_BASE + 256k.
#define FLASH_TARGET_OFFSET (512 * 1024)
const uint8_t *flash_target_contents = (const uint8_t *) (XIP_BASE + FLASH_TARGET_OFFSET);
void log_out(const char *fmt, ...)
{
char buf[256];
va_list args;
if (Status.KissMode == OFF) {
va_start(args, fmt);
vsnprintf(buf, sizeof buf, fmt, args);
va_end( args);
printf("%s", buf);
}
}
/*
* Saves settings in struct AprsSettings to FLASH memory
* Struct AprsSettings should be exactly a multiple of FLASH_PAGE_SIZE in size.
*
* Returns: 0 when successfull
* 1 when error
*/
uint8_t SaveSettingsToFlash(void)
{
uint32_t ints = save_and_disable_interrupts();
// First we erase the FLASH sector we need. After that we can store new values.
// Note that a whole number of sectors must be erased at a time.
// Sector size is 4kB, so this is way bigger than the 256 bytes PAGE_SIZE for storing the settings.
// We can therefore store up to 16 blocks of 256 bytes per sector
log_out("Erasing FLASH region...");
flash_range_erase(FLASH_TARGET_OFFSET, FLASH_SECTOR_SIZE);
log_out("done\n");
log_out("Writing settings to FLASH...");
flash_range_program(FLASH_TARGET_OFFSET, (uint8_t*)&AprsSettings, sizeof(AprsSettings) );
log_out("done\n");
restore_interrupts (ints);
return(0);
}
void ShowSettings(void)
{
log_out("LoRa APRS remote switcher with build in KISS TNC.\n");
log_out(" Firmware version : %s\n",AprsSettings.FirmwareVersion);
log_out(" Size of struct : %u.\n\n", sizeof(AprsSettings));
log_out("APRS settings\n");
log_out(" My call : %s\n", AprsSettings.MyCall);
log_out(" Server call : %s\n", AprsSettings.ServerCall);
log_out(" Destination : %s\n", AprsSettings.Destination);
log_out(" Path 1 : %s\n", AprsSettings.Path1);
log_out(" Path 2 : %s\n\n", AprsSettings.Path2);
log_out("LoRa settings\n");
log_out(" Frequency : %u\n", AprsSettings.loraFrequency);
log_out(" SpreadingFactor : %i\n", AprsSettings.loraSpreadingFactor);
log_out(" Preamble : %i\n", AprsSettings.loraPreamble);
log_out(" CodingRate : %i\n", AprsSettings.loraCodingRate);
log_out(" TxPower : %i\n", AprsSettings.loraTxPower);
log_out(" PaSelect : %i\n", AprsSettings.loraPaSelect);
log_out(" Bandwidth : %u\n", AprsSettings.loraBandwidth);
}
uint8_t ReadSettingsFromFlash(void)
{
// If byte zero of flash contains 0x5A we assume the data to be valid, otherwise we fill the flash with default values.
if (flash_target_contents[0] != 0x5A)
{
log_out( "No valid data found in FLASH memory. Using default values.\n" );
memset(AprsSettings.FillerData, 0, sizeof(AprsSettings.FillerData));
SaveSettingsToFlash();
} else {
// Read settings stored in flash memory
log_out("Found valid settings in FLASH memory.\n");
}
memcpy((uint8_t*)&AprsSettings, flash_target_contents, sizeof(AprsSettings));
ShowSettings();
}
void setup(void)
{
/* Among others, this initializes the USB-serial port at 115200bps 8N1 */
stdio_init_all();
// Buffers
memset(rxBuffer, 0, sizeof(rxBuffer));
memset(txBuffer, 0, sizeof(txBuffer));
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gpio_init(PowerSupply24VControl);
gpio_init(PowerSupply12VControl);
gpio_init(PowerSupply5VControl);
gpio_init(RelayOffControl);
gpio_init(RelayOnControl);
gpio_set_dir(PowerSupply24VControl, GPIO_OUT);
gpio_set_dir(PowerSupply12VControl, GPIO_OUT);
gpio_set_dir(PowerSupply5VControl, GPIO_OUT);
gpio_set_dir(RelayOffControl, GPIO_OUT);
gpio_set_dir(RelayOnControl, GPIO_OUT);
gpio_put(PowerSupply24VControl, 0);
Status.PowerSupply24V = OFF;
gpio_put(PowerSupply12VControl, 0);
Status.PowerSupply12V = OFF;
gpio_put(PowerSupply5VControl, 1);
Status.PowerSupply5V = OFF;
gpio_put(RelayOffControl, 1);
sleep_ms(250);
gpio_put(RelayOffControl, 0);
gpio_put(RelayOnControl, 0);
Status.ControlRelay = OFF;
sleep_ms(5000);
ReadSettingsFromFlash();
startRadio();
}
void print_help(void)
{
log_out("Unknown command.\n\n");
log_out("kiss\n");
log_out(" Enter KISS mode.\n");
log_out("save\n");
log_out(" Save settings to flash.\n");
log_out("read <flash/ram>\n");
log_out(" Read settings from FLASH or RAM.\n");
log_out("mycall/servercall/destination/path1/path2\n");
log_out(" APRS settings.\n");
log_out("freq/spread/pre/rate/power/pa/band.\n");
log_out(" LoRa settings.\n");
}
void ProcessSerialInput(char string[])
{
uint8_t cnt;
uint8_t position=0;
char command[100];
char parameter[100];
//log_out("You wrote - %s (%u).\n", string, strlen(string));
// Command cannot be any shorter than 3 characters
if (strlen(string) > 2) {
// Extract command (part before space)
cnt = 0;
while( string[position] != 0 )
{
command[cnt++] = string[position];
if ( string[position] == ' ' ) {
command[cnt-1] = 0; // terminate command string
position++;
break;
}
position++;
}
// Extract parameter (part after space)
cnt = 0;
while( string[position] != 0 )
{
parameter[cnt++] = string[position++];
}
parameter[cnt] = 0; //terminate string
//log_out("Command - %s.\n", command);
//log_out("Parameter - %s.\n", parameter);
// Read settings
if (strcmp(command, "read") == 0) {
if (strcmp(parameter, "flash") == 0) {
ReadSettingsFromFlash();
}
else if (strcmp(parameter, "ram") == 0) {
ShowSettings();
}
}
// Save settings to FLASH
else if (strcmp(command, "save") == 0)
SaveSettingsToFlash();
// Enter KISS mode
else if (strcmp(command, "kiss") == 0) {
log_out("Entering KISS mode.\n");
log_out("You can exit KISS mode via KISS command <0xC0 0xFF 0xC0>\n");
Status.KissMode = ON;
}
// Set mycall (cannot be longer than 9 characters)
else if (strcmp(command, "mycall") == 0) {
if (sizeof(AprsSettings.MyCall) > strlen(parameter)) {
position = 0;
while( parameter[position] != 0 )
{
AprsSettings.MyCall[position] = parameter[position];
position++;
}
AprsSettings.MyCall[position] = 0;
log_out("MyCall set to %s.\n", AprsSettings.MyCall);
}
}
// Set servercall (cannot be longer than 9 characters)
else if (strcmp(command, "servercall") == 0) {
if (sizeof(AprsSettings.ServerCall) > strlen(parameter)) {
position = 0;
while( parameter[position] != 0 )
{
AprsSettings.ServerCall[position] = parameter[position];
position++;
}
AprsSettings.ServerCall[position] = 0;
log_out("ServerCall set to %s.\n", AprsSettings.ServerCall);
}
}
// Set path 1 (cannot be longer than 9 characters)
else if (strcmp(command, "path1") == 0) {
// Set path to nothing
if (parameter[0] == '0') {
AprsSettings.Path1[0] = 0;
log_out("Path1 cleared.\n");
}
else if (sizeof(AprsSettings.Path1) > strlen(parameter)) {
position = 0;
while( parameter[position] != 0 )
{
AprsSettings.Path1[position] = parameter[position];
position++;
}
AprsSettings.Path1[position] = 0;
log_out("Path1 set to %s.\n", AprsSettings.Path1);
}
}
// Set path 2 (cannot be longer than 9 characters)
else if (strcmp(command, "path2") == 0) {
// Set path to nothing
if (parameter[0] == '0') {
AprsSettings.Path2[0] = 0;
log_out("Path2 cleared.\n");
}
else if (sizeof(AprsSettings.Path2) > strlen(parameter)) {
position = 0;
while( parameter[position] != 0 )
{
AprsSettings.Path2[position] = parameter[position];
position++;
}
AprsSettings.Path2[position] = 0;
log_out("Path2 set to %s.\n", AprsSettings.Path2);
}
}
// Set destination (cannot be longer than 9 characters)
else if (strcmp(command, "dest") == 0) {
if (sizeof(AprsSettings.Destination) > strlen(parameter)) {
position = 0;
while( parameter[position] != 0 )
{
AprsSettings.Destination[position] = parameter[position];
position++;
}
AprsSettings.Destination[position] = 0;
log_out("Destination set to %s.\n", AprsSettings.Destination);
}
}
else {
print_help();
}
}
else
{
print_help();
}
}
void ReadUSBSerial(void)
{
static char strg[100];
int chr;
static int lp = 0;
// Read serial port (USB) - non-blocking!
chr = getchar_timeout_us(0);
while(chr != PICO_ERROR_TIMEOUT)
{
log_out("%c", chr);
strg[lp++] = chr;
if(chr == CR || lp == (sizeof(strg) - 1))
{
strg[lp-1] = 0; //terminate string by overwriting <CR> with NULL
//log_out("You wrote - %s\n", strg);
lp = 0; //reset string buffer pointer
ProcessSerialInput(strg);
break;
}
chr = getchar_timeout_us(0);
}
}
int main() {
uint16_t ServerCommand = 0;
uint16_t TxDelay = 0;
setup();
while (1) {
int packetSize = LoRa.parsePacket();
if (packetSize) {
// received a packet
log_out("Received packet (RSSI = %idBm)\n",LoRa.packetRssi());
getPacketData(packetSize);
// Check APRS header: must be 0x3C 0xFF 0x01
if (rxBuffer[0] == 0x3C && rxBuffer[1] == 0xFF && rxBuffer[2] == 0x01 ) {
// Shift array three places to left (= remove APRS header)
for (int cnt = 3; cnt < packetSize; cnt++) {
rxBuffer[cnt-3] = rxBuffer[cnt];
}
rxBuffer[packetSize-3] = 0;
log_out("%s\n", rxBuffer);
ServerCommand = decode_packet();
} else {
log_out("ERROR: No or corrupted APRS frame.\n");
}
}
if (ServerCommand) {
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switch(ServerCommand) {
case 1 :
ComposeAprsFrame(AprsSettings.FirmwareVersion);
break;
// Send status of output pins
case 6 :
if (Status.PowerSupply24V == ON)
Status.StatusString[4] = '1';
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else
Status.StatusString[4] = '0';
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if (Status.PowerSupply12V == ON)
Status.StatusString[3] = '1';
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else
Status.StatusString[3] = '0';
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if (Status.PowerSupply5V == ON)
Status.StatusString[2] = '1';
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else
Status.StatusString[2] = '0';
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if (Status.ControlRelay == ON)
Status.StatusString[1] = '1';
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else
Status.StatusString[1] = '0';
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ComposeAprsFrame(Status.StatusString);
break;
// Send description digital outputs
case 7 :
ComposeAprsFrame(Status.DescriptionString);
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// Switch off 24V power supply
case 30 :
gpio_put(PowerSupply24VControl, 0);
Status.PowerSupply24V = OFF;
break;
// Switch on 24V power supply
case 31 :
gpio_put(PowerSupply24VControl, 1);
Status.PowerSupply24V = ON;
break;
// Switch off 12V power supply
case 32 :
gpio_put(PowerSupply12VControl, 0);
Status.PowerSupply12V = OFF;
break;
// Switch on 12V power supply
case 33 :
gpio_put(PowerSupply12VControl, 1);
Status.PowerSupply12V = ON;
break;
// Switch off 5V power supply
case 34 :
gpio_put(PowerSupply5VControl, 1);
Status.PowerSupply5V = OFF;
break;
// Switch on 5V power supply
case 35 :
gpio_put(PowerSupply5VControl, 0);
Status.PowerSupply5V = ON;
break;
// Switch off relay
case 36 :
gpio_put(RelayOffControl, 1);
sleep_ms(250);
gpio_put(RelayOffControl, 0);
Status.ControlRelay = OFF;
break;
// Switch on 24V relay
case 37 :
gpio_put(RelayOnControl, 1);
sleep_ms(250);
gpio_put(RelayOnControl, 0);
Status.ControlRelay = ON;
break;
default :
break;
}
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ServerCommand = 0;
}
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/* A message is ready to be send */
if (TransmitRequest) {
if ( TxDelay == 0 ) {
// Generate pseudo random value between 0-1024
TxDelay = time_us_32()&0x3FF;
}
/* If TxDelay times out: send message */
if ( TxDelay-- == 1 ) {
transmit();
TransmitRequest = false;
}
}
// Read serial input and process it
ReadUSBSerial();
}
return 0;
}
/*
* Initializes the LoRa module with the parameters set in config.h
*/
bool startRadio()
{
// override the default CS, reset, and IRQ pins (optional)
// LoRa.setPins(7, 6, 1); // set CS, reset, IRQ pin
log_out("Starting LoRa radio");
if (!LoRa.begin(AprsSettings.loraFrequency)) {
log_out(" [ FAILED ]\n");
while(1);
}
else {
LoRa.setPreambleLength(AprsSettings.loraPreamble);
LoRa.setSignalBandwidth(AprsSettings.loraBandwidth);
LoRa.setTxPower(AprsSettings.loraTxPower,AprsSettings.loraPaSelect);
LoRa.setSpreadingFactor(AprsSettings.loraSpreadingFactor);
LoRa.setCodingRate4(AprsSettings.loraCodingRate);
LoRa.enableCrc();
log_out(" [ DONE ]\n");
}
}
void getPacketData(int packetLength)
{
int position = 0;
while (packetLength--) {
rxBuffer[position++] = LoRa.read();
}
rxBuffer[position] = 0;
}
/* Encode LoRa APRS frame: extract source call, digipeater path and data field. At the same time, check for data corruption
*
* If frame is a message from the server it returns the command from this server
*/
uint16_t decode_packet ()
{
int position = 0;
int cnt = 0;
int number_of_digipeaters = 0;
char valid_apsr_data = false;
uint8_t aprs_source_address[10];
uint8_t aprs_digi_path[255];
uint8_t aprs_data_field[255];
uint8_t aprs_message[255];
uint8_t aprs_digis[10][10];
uint8_t aprs_acknowledge_number[255];
bool aprs_acknowledge_request = false;
uint16_t aprs_server_command = 0;
memset(aprs_source_address, 0, sizeof(aprs_source_address));
memset(aprs_digi_path, 0, sizeof(aprs_digi_path));
memset(aprs_data_field, 0, sizeof(aprs_data_field));
memset(aprs_message, 0, sizeof(aprs_message));
memset(aprs_digis, 0, sizeof(aprs_digis));
memset(aprs_acknowledge_number, 0, sizeof(aprs_acknowledge_number));
// Extract from address
cnt = 0;
while( rxBuffer[position] != 0 )
{
aprs_source_address[cnt++] = rxBuffer[position];
if ( rxBuffer[position] == '>' && position < 10 ) {
aprs_source_address[cnt-1] = 0;
valid_apsr_data = true;
position++;
break;
}
position++;
}
if (valid_apsr_data == true)
{
// Extract digi path
valid_apsr_data = false;
cnt = 0;
while( rxBuffer[position] != 0 )
{
aprs_digi_path[cnt++] = rxBuffer[position];
if ( rxBuffer[position] == ':' ) {
aprs_digi_path[cnt-1] = 0;
valid_apsr_data = true;
position++;
break;
}
position++;
}
}
if (valid_apsr_data == true)
{
// Extract data field
cnt = 0;
while( rxBuffer[position] != 0 )
{
aprs_data_field[cnt++] = rxBuffer[position];
position++;
}
aprs_data_field[cnt] = 0;
}
if (valid_apsr_data == true)
{
// Extract digis from digi-path
cnt = 0;
position = 0;
number_of_digipeaters = 0;
while( aprs_digi_path[position] != 0 )
{
aprs_digis[number_of_digipeaters][cnt++] = aprs_digi_path[position];
if ( aprs_digi_path[position] == ',' && cnt < 10 ) {
aprs_digis[number_of_digipeaters][cnt-1] = 0;
if (++number_of_digipeaters > 9) {
valid_apsr_data = false;
break;
}
cnt = 0;
}
position++;
}
aprs_digis[number_of_digipeaters][cnt] = 0;
}
if (valid_apsr_data) {
// Check if packet comes from our server and if so, check if it is a message for us.
if ( !compare_strings(aprs_source_address, AprsSettings.ServerCall) ) {
if ( is_message_for_me(aprs_data_field, AprsSettings.MyCall) )
{
// Extract aprs message from data field
position=11;
while( aprs_data_field[position] != 0 )
{
aprs_message[position-11] = aprs_data_field[position];
position++;
}
// Extract command and acknowledge number (if present)
cnt = 0;
position = 0;
while( aprs_message[position] != 0 )
{
if ( aprs_message[position] == '{' ) {
aprs_acknowledge_number[cnt++] = 'a';
aprs_acknowledge_number[cnt++] = 'c';
aprs_acknowledge_number[cnt++] = 'k';
aprs_acknowledge_request = true;
}
// Calculate server command
if (!aprs_acknowledge_request) {
aprs_server_command = 10*aprs_server_command + aprs_message[position]-48;
}
position++;
if (aprs_acknowledge_request) {
aprs_acknowledge_number[cnt++] = aprs_message[position];
}
}
aprs_acknowledge_number[cnt] = 0;
}
}
log_out("Source address: %s\nDigipeaters (%u): %s %s %s %s\nData: %s\n", aprs_source_address, number_of_digipeaters+1, aprs_digis[0], aprs_digis[1], aprs_digis[2], aprs_digis[3], aprs_data_field);
if (aprs_message[0])
{
log_out("Message from server: %s (command %u)\n", aprs_message, aprs_server_command);
if (aprs_acknowledge_request) {
ComposeAprsFrame(aprs_acknowledge_number);
log_out("Acknowledge request: %s\n", aprs_acknowledge_number);
}
}
}
else
log_out("Error decoding APRS frame.");
return (aprs_server_command);
}
/*
* Checks if aprs datafield contains message and if message is for us
*
* Returns: 0 if datafield contains no message for us
* 1 if datafield contains a message for us
*/
bool is_message_for_me (uint8_t data[], uint8_t mycall[])
{
// A variable to iterate through the strings
int i=0;
if (data[0] == ':' && data[10] == ':')
{
while( i<9 && mycall[i] != 0 ) {
if (data[i+1] != mycall[i]) {
return (0);
}
i++;
}
return (1);
}
return (0);
}
int compare_strings(uint8_t a[], uint8_t b[])
{
// A variable to iterate through the strings
int i = 0;
while (a[i] == b[i])
{
// If either of the strings reaches the end
// we stop the loop
if (a[i] == '\0' || b[i] == '\0')
break;
i++;
}
// We check if both the strings have been compared
// till the end or not
// If the strings are compared till the end they are equal
if (a[i] == '\0' && b[i] == '\0')
return 0;
else
{
if(a[i] == '\0')
return -1*(b[i]);
else if(b[i] == '\0')
return a[i];
else
return (a[i]-b[i]);
}
}
void ComposeAprsFrame(uint8_t payload[])
{
uint16_t BufferPosition = 0;
uint16_t cnt = 0;
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memset(txBuffer, 0, sizeof(txBuffer));
// APRS header
txBuffer[BufferPosition++] = '<';
txBuffer[BufferPosition++] = 0xff;
txBuffer[BufferPosition++] = 0x01;
while ( AprsSettings.MyCall[cnt] != 0 && BufferPosition<MTU )
{
txBuffer[BufferPosition++] = AprsSettings.MyCall[cnt];
cnt++;
}
txBuffer[BufferPosition++] = '>';
cnt=0;
while ( AprsSettings.Destination[cnt] != 0 && BufferPosition<MTU )
{
txBuffer[BufferPosition++] = AprsSettings.Destination[cnt];
cnt++;
}
if ( AprsSettings.Path1[0] != 0)
txBuffer[BufferPosition++] = ',';
cnt=0;
while ( AprsSettings.Path1[cnt] != 0 && BufferPosition<MTU )
{
txBuffer[BufferPosition++] = AprsSettings.Path1[cnt];
cnt++;
}
if ( AprsSettings.Path2[0] != 0)
txBuffer[BufferPosition++] = ',';
cnt=0;
while ( AprsSettings.Path2[cnt] != 0 && BufferPosition<MTU )
{
txBuffer[BufferPosition++] = AprsSettings.Path2[cnt];
cnt++;
}
txBuffer[BufferPosition++] = ':';
txBuffer[BufferPosition++] = ':';
cnt=0;
while ( AprsSettings.ServerCall[cnt] != 0 )
{
txBuffer[BufferPosition++] = AprsSettings.ServerCall[cnt];
cnt++;
}
//Fill with spaces
while ( cnt<9 )
{
txBuffer[BufferPosition++] = ' ';
cnt++;
}
txBuffer[BufferPosition++] = ':';
cnt=0;
while ( payload[cnt] != 0 && BufferPosition<MTU )
{
txBuffer[BufferPosition++] = payload[cnt];
cnt++;
}
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// Set variable to indicate a send request
TransmitRequest = true;
log_out("%s\n", txBuffer);
}
void transmit() {
uint16_t position = 0;
LoRa.beginPacket();
while( txBuffer[position] != 0 )
{
LoRa.write(txBuffer[position]);
position++;
}
LoRa.endPacket();
LoRa.receive();
}