multi-tracker-ard/inc

@@ -1 +0,0 @@
-../inc

multi-tracker-ard/multi-tracker-ard.ino

@@ -1 +0,0 @@
-../src/multi-tracker.cpp

multi-tracker.ino

@@ -0,0 +1 @@
+./src/multi-tracker.cpp

src/multi-tracker.cpp

@@ -1,7 +1,11 @@
+#include <Adafruit_LIS2MDL.h>       // Magnetometer (Compass) library
+#include <Adafruit_Sensor.h>         // Unified sensor library
+#include <Wire.h>                    // I2C communication
 #include <Adafruit_GFX.h>            // Core graphics library for the display
 #include <Adafruit_ST7735.h>         // Specific library for the ST7735 display
 #include <Adafruit_ST7789.h>         // Specific library for the ST7789 display
 #include <SPI.h>                     // SPI communication for the display
+#include <FastLED.h>                 // Library to control the LED ring (WS2812)
 #include <TinyGPS++.h>               // Library to handle GPS data
 #include <SoftwareSerial.h>          // Software serial for GPS communication
 #include <RH_RF95.h>                // RadioHead Library(LoRa)
@@ -10,13 +14,17 @@
 
 //GLOBAL VARS/OBJS
 
+// MAGNETOMETER (LIS2MDL) CONFIGURATION
+Adafruit_LIS2MDL lis2mdl = Adafruit_LIS2MDL(12345);  // Create magnetometer object
 Adafruit_ST7789 tft = Adafruit_ST7789(TFT_CS, TFT_DC, TFT_RST);  // Initialize display
+CRGB leds[NUM_LEDS];                 // Array to hold LED colors
 SoftwareSerial gpsSerial(GPS_RX_PIN, GPS_TX_PIN);  // Software serial for GPS
 TinyGPSPlus gps;                     // TinyGPS++ object to process GPS data
 RH_RF95 rf95(RFM9X_CS, RFM9X_INT);  // Radio instance.
 
 
 // Variables
+static int prevHeading = -1;         // Store previous heading to avoid frequent updates
 unsigned long lastUpdate = 0;        // Time tracking for updates
 const int updateInterval = 500;      // Update interval in milliseconds (500ms = 0.5s)
 
@@ -30,7 +38,6 @@ typedef struct MSG{
   double longitude;
 }MSG;
 
-const uint8_t MSG_Size = sizeof(MSG);
 
 enum result {
   Ok = 0,
@@ -48,14 +55,14 @@ MSG msg_in;
 
 
 void MSG_Print(MSG *msg) {
-//Serial.print("ID: ");
+  Serial.print("ID: ");
-//Serial.println(msg->id);
+  Serial.println(msg->id);
 
-//Serial.print("Latitude: ");
+  Serial.print("Latitude: ");
-//Serial.println(msg->latitude);
+  Serial.println(msg->latitude);
 
-//Serial.print("Longitude: ");
+  Serial.print("Longitude: ");
-//Serial.println(msg->longitude);
+  Serial.println(msg->longitude);
 }
 
 void Radio_Reset(void) {
@@ -66,7 +73,7 @@ void Radio_Reset(void) {
 }
 
 uint8_t Radio_Setup(void) {
-//Serial.println("Radio_Setup()");
+  Serial.println("Radio_Setup()");
 
   pinMode(RFM9X_RST, OUTPUT);
   digitalWrite(RFM9X_RST, HIGH);
@@ -74,21 +81,21 @@ uint8_t Radio_Setup(void) {
   Radio_Reset();
 
   while (!rf95.init()) {
-//Serial.println("Radio_Setup(): Failed to initialize");
+    Serial.println("Radio_Setup(): Failed to initialize");
-//Serial.println("Check SPI connections!");
+    Serial.println("Check SPI connections!");
     return Err;
   }
-//Serial.println("LoRa radio init OK!");
+  Serial.println("LoRa radio init OK!");
   return Ok;
 }
 
 uint8_t Radio_Configure(void) {
   // Defaults after init are 434.0MHz, modulation GFSK_Rb250Fd250, +13dbM
-  if(!rf95.setFrequency(RF9X_FREQ)) {
+  if(!rf95.setFrequency(RF95_FREQ)) {
-//Serial.println("Radio_Configure(): failed to set frequency");
+    Serial.println("Radio_Configure(): failed to set frequency");
     return Err;
   }
-//Serial.println(RF9X_FREQ);
+  Serial.print("Set Freq to: "); Serial.println(RF9X_FREQ);
 
   rf95.setTxPower(RF9X_MIN_DB, false);
 
@@ -96,17 +103,17 @@ uint8_t Radio_Configure(void) {
 }
 
 uint8_t Radio_SendMsg(MSG *msg) {
-//Serial.println("Radio_SendMsg()");
+  Serial.println("Radio_SendMsg()");
 
-//Serial.println("Sending Message: ");
+  Serial.println("Sending Message: ");
-//Serial.print("Message size: ");
+  Serial.print("Message size: ");
-//Serial.println(sizeof(MSG));
+  Serial.println(sizeof(MSG));
 
   MSG_Print(msg);
 
   rf95.send((uint8_t *)msg, sizeof(MSG));
 
-//Serial.println("waiting for packet sent...");
+  Serial.println("waiting for packet sent...");
   delay(10);
   rf95.waitPacketSent();
 
@@ -114,13 +121,13 @@ uint8_t Radio_SendMsg(MSG *msg) {
 }
 
 uint8_t Radio_CheckForMsg(MSG *msg) {
-//Serial.println("Radio_CheckForMsg()");
+  Serial.println("Radio_CheckForMsg()");
 
   //Now we wait for an packet.
   if (rf95.waitAvailableTimeout(1000)) {
     // Should be a reply message for us now
-    if (rf95.recv(buffer, (uint8_t *) &MSG_Size)) {
+    if (rf95.recv(buffer, sizeof(MSG))) {
-//Serial.print("Received reply: ");
+      Serial.print("Received reply: ");
 
       msg->id = (uint8_t) buffer[0];
       msg->latitude = *(double *) &buffer[1];
@@ -128,14 +135,14 @@ uint8_t Radio_CheckForMsg(MSG *msg) {
 
       MSG_Print(msg);
 
-//Serial.print("RSSI: ");
+      Serial.print("RSSI: ");
-//Serial.println(rf95.lastRssi(), DEC);
+      Serial.println(rf95.lastRssi(), DEC);
     } else {
-//Serial.println("Receive failed");
+      Serial.println("Receive failed");
       return ReceiveFailed;
     }
   } else {
-//Serial.println("No reply");
+    Serial.println("No reply");
     return NoReply;
   }
   return Ok;
@@ -149,8 +156,8 @@ void Radio_Main(MSG *msg_out, MSG *msg_in) {
       break;
     }
     else{
-//Serial.print("TX Power set to:");
+      Serial.print("TX Power set to:");
-//Serial.println(db);
+      Serial.println(db);
     }
   }
 
@@ -163,9 +170,9 @@ void Radio_Main(MSG *msg_out, MSG *msg_in) {
 
 //Returns the result type and updates the global values(coordinates).
 uint8_t GPS_GetCoordinates() {
-//Serial.println("GPS_GetCoordinates()");
+    Serial.println("GPS_GetCoordinates()");
   if (!gpsSerial.available()) {
-//Serial.println("INFO: GPS not availble.");
+    Serial.println("INFO: GPS not availble.");
     return NoReply;
   }
     gps.encode(gpsSerial.read());        // Decode the GPS data
@@ -183,6 +190,15 @@ void setup(void) {
 
   TFT_Init();
 
+  // Magnetometer Setup
+  if (!lis2mdl.begin()) {            // Initialize the magnetometer
+    Serial.println("Error: LIS2MDL not detected. Check your wiring!");
+    while (1) delay(10);             // Stop the program if the sensor isn't detected
+  }
+
+  // LED Ring Setup
+  FastLED.addLeds<NEOPIXEL, DATA_PIN>(leds, NUM_LEDS);
+
   // GPS Setup
   gpsSerial.begin(GPS_BUADRATE); 
 
@@ -206,28 +222,61 @@ void setup(void) {
 }
 
 void loop() {
-  //unsigned long currentTime = millis();  // Get the current time
+  unsigned long currentTime = millis();  // Get the current time
 
-    //Update GPS
+  // Magnetometer Readings
-    GPS_GetCoordinates();
+  sensors_event_t event;               // Create an event to store magnetometer readings
+  lis2mdl.getEvent(&event);            // Get magnetic field data
+  int correctedX = event.magnetic.x + 18;  // Apply corrections to X-axis data
+  int correctedY = event.magnetic.y + 59;  // Apply corrections to Y-axis data
+
+  // Calculate the heading (bearing) from the magnetometer data
+
+  //NEED TO ADD TILT COMPENSATION
+
+  int heading = (atan2(correctedX, correctedY) * 180) / PI;  // Calculate heading in degrees
+  heading = heading - 90;             // Adjust to align with compass directions
+  if (heading < 0) heading += 360;    // Ensure the heading is within the 0-360 range
+
+  // Update LED ring and display every 500ms to avoid flickering
+  if (currentTime - lastUpdate > updateInterval) {
+    updateLEDs(heading);              // Update the LED ring based on the current heading
+    updateDisplay();                  // Placeholder: Update the central TFT display with GPS data
+    lastUpdate = currentTime;         // Reset the last update time
+  }
 
     //Handle the Radio data.
-    Radio_Main(&msg_out, &msg_in);
+    sendGPSData();
+    receiveGPSData();
 
     //Preform display update.
     updateDisplay();
 }
 
+// Function to update the LED ring based on heading direction
+void updateLEDs(int heading) {
+  if (abs(heading - prevHeading) >= 10) {  // Only update if the heading changes by 10 degrees or more
+    prevHeading = heading;                 // Save the current heading as the previous heading
+    int ledIndex = map(heading, 0, 360, 0, NUM_LEDS - 1);  // Map the heading to an LED index (0-23)
+
+    // Update the LEDs in the ring
+    for (int i = 0; i < NUM_LEDS; i++) {
+      leds[i] = (i == ledIndex) ? CRGB(255, 0, 0) : CRGB::Black;  // Turn on the correct LED for the heading
+    }
+    FastLED.show();  // Display the updated LED colors
+  }
+}
+
 // Updates the distance part of the display
 void TFT_UpdateDistance(uint16_t meters) {
-//Serial.println("TFT_UpdateDistance()");
+  Serial.println("TFT_UpdateDistance()");
   tft.setTextSize(4);
   tft.setCursor(0, 20);
   tft.setTextColor(ST77XX_WHITE);
   tft.setTextWrap(true);
   tft.println(" Distance");
   tft.print("   ");
-  tft.print(meters);
+  tft.print(distance);
   tft.print("m");
 }
 
@@ -239,7 +288,7 @@ void TFT_UpdateDirection(uint16_t degrees) {
     tft.setCursor(0, 150);
     tft.setTextColor(ST77XX_WHITE);
     tft.setTextSize(3);
-    tft.print(degrees);
+    tft.print(meters);
     tft.println(" Degrees");
 }
 
@@ -268,22 +317,20 @@ uint8_t TFT_UpdateBatteryState(uint8_t percentage) {
 
 // Displays the specifications of the node.
 void TFT_DisplaySpecs(void) {
-//Serial.println("TFT_DisplaySpecs(): No data");
+    Serial.println("TFT_DisplaySpecs(): No data");
 }
 
 
 // Resets the the display
 uint8_t TFT_Reset() {
-//Serial.println("TFT_Reset()");
+  Serial.println("TFT_Reset()");
   tft.fillScreen(ST77XX_BLACK);     // Set the screen background to black
     //Can add default startup logo/screen here for later.
-
-    return Ok;
 }
 
 // Initalizes the Screen with default startup screen.
 uint8_t TFT_Init(void) {
-//Serial.println("TFT_Init()");
+  Serial.println("TFT_Init()");
   // Display Setup
   tft.init(TFT_X, TFT_Y);           // Initialize the display with a resolution of 240x280 pixels
   tft.fillScreen(ST77XX_BLACK);     // Set the screen background to black
@@ -292,15 +339,13 @@ uint8_t TFT_Init(void) {
   TFT_UpdateDistance(0);
   TFT_UpdateDirection(0);
   TFT_UpdateBatteryState(100);
-
-  return Ok;
 }
 
 
 // Placeholder for updating the TFT display with GPS data
 void updateDisplay() {
     //Print out our debugging statment.
-//Serial.println("updateDisplay()");
+    Serial.println("updateDisplay()");
 
     // Disable interrupts while using the dispaly.
     cli();
@@ -309,6 +354,12 @@ void updateDisplay() {
   // You can add code here to:
   // - Display the current distance between devices using the GPS data
   // - Display any other relevant information, such as GPS coordinates or signal strength
+  // Example:
+  // tft.setCursor(10, 50);  // Set cursor position
+  // tft.setTextColor(ST77XX_WHITE);  // Set text color
+  // tft.setTextSize(2);  // Set text size
+  // tft.print("Distance: ");
+  // tft.print(calculatedDistance);
 
   tft.fillScreen(ST77XX_BLACK);     // Set the screen background to black
   TFT_UpdateDistance(0);
@@ -319,13 +370,50 @@ void updateDisplay() {
     sei(); 
 }
 
+// Future function to handle LoRa transmission of GPS data - See adafruit LORA code examples 
+void sendGPSData() {
+  Serial.println("sendGPSData()");
+  // Add logic here to transmit the device's GPS coordinates using LoRa
+  // You will need to:
+  // - Get the current GPS coordinates
+  // - Format the data for transmission
+  // - Use the LoRa library to send the data to the paired device
+  // Example: LoRa.beginPacket(); LoRa.print(latitude); LoRa.print(longitude); LoRa.endPacket(); 
+
+    //Don't waste cpu cycles if no new gps data.
+    if(GPS_GetCoordinates() == NoReply){
+        return;
+    }
+
+    for(db = RF9X_MIN_DB; db <= RF9X_MAX_DB; db++) {
+    Radio_SendMsg(&msg_out);
+    if(Radio_CheckForMsg(&msg_in) == Ok) {
+      break;
+    }
+    else{
+      Serial.print("TX Power set to:");
+      Serial.println(db);
+    }
+  } 
+}
+
+// Future function to receive GPS data from the other device via LoRa - See adafruit LORA code examples
+void receiveGPSData() {
+  Serial.println("receiveGPSData()");
+  // Add logic here to receive the paired device's GPS coordinates using LoRa
+  // You will need to:
+  // - Listen for incoming LoRa packets
+  // - Parse the received data
+  // - Update the display and LED ring based on the other device's location
+  // Example: if (LoRa.parsePacket()) { double otherLat = LoRa.read(); double otherLon = LoRa.read(); }
+}
 
 // Future function to handle edge cases (e.g., GPS signal loss, close proximity)
 void handleEdgeCases() {
-//Serial.println("handleEdgeCases()");
+  Serial.println("handleEdgeCases()");
   // Add logic here to handle cases where:
   // - GPS signal is lost: Display a message on the screen or flash the LED ring
   // - Devices are too close: Display a warning if the GPS data is unreliable due to proximity
   // - LoRa communication is lost: Display a notification or error on the screen
-}
 
+}