GPS track logging with ESP32

[pkkrusty]

This is a continuation of my previous project with an ESP32 instead of ESP8266. Much more RAM, thus more options. In this iteration, I've included a seven-segment display (TM1637) and SD card.

Config looks like:

My defines are as follows:

#define USE_SCRIPT
#define TS_FLOAT double
#define USE_SCRIPT_WEB_DISPLAY
#define USE_SCRIPT_SERIAL
#define USE_SCRIPT_TIMER
#define USE_SCRIPT_SUB_COMMAND
#define SDCARD_DIR
#define USE_UFILESYS
#define USE_SDCARD
#define SDCARD_CS_PIN 13
#define USE_I2C
#define USE_DISPLAY
#define USE_DISPLAY_TM1637
#define USE_SPI
#define SDC_HIDE_INVISIBLES

Also using the adjusted xdrv_01_9_webserver.ino from #13362 to enable full-time Soft AP, since wifi access in a moving vehicle isn't reasonable.

Script is as follows. The display shows which category the driving falls under (by request of the user) as well as an indicator when GPS fix exists. Button switches between the different categories.

>D 48
SB=4096
IP=192.168.4.1
lat=0
lon=0

;     multiply lat/lon by 1million to make math easier, maybe not necessary if using TS_FLOAT double
latnum=0
lonnum=0

;     Horizontal accuracy, don't care about vertical accuracy
hacc=0

;     For speed calculations, u-blox messages already contain it, but not implemented in driver
oldlat=0
oldlon=0

;     oldlat multiplied by 1million
boldlat=0
boldlon=0

;     not sure about nested math operations, so declaring extra variables to separate them
latspd=0
lonspd=0
oldspd=0
oldupsecs=0
oldmillis=0
spd=0
cnt=0
res=0
fr=0
button=0
cat=0
timer=0
p:pcat=0
digit=1

;     buffer counter that fills when movement is happening
ehold=0

newpos=0
cntr=0
dcml=0
tmp=0
toggle=0

str=""
str2=""
string="\n"

>B
; set sensor file download link
;fl1("truck.txt")
; delete file in case we want to start fresh
;fd("truck.txt")
res=is1(30 "")
res=is2(4 " PER| CAM| VIC| OTH|")
; list all files in root directory
;fr=fo("/" 0)
;for cnt 1 20 1
;res=fr(str fr)
;if res>0 {
;print %cnt% : %str%
;}
;else {
;break
;}
;next
;fc(fr)
cat=pcat
;    Define D2/GPIO2  as output
spinm(2 1)
spin(2 0)
;    Define GPIO4 as input for button
spinm(4 2)

=>displaymode 0
=>power1 1
str2=is2[cat]
=>displaytextnc %str2%,1
ts1(1500)

;    Fast section button state polling
>F
button=pin[4]
timer+=1

if (button==0 and timer>2) {
	if cat>3 {
		cat=0
	}
	cat+=1
	pcat=cat
	svars
	str2=is2[cat]
	=>displaytextnc %str2%,1
}
	
if button>0 {
}
else {
	timer=0
}

; first digit of seven-segment display shows rotating circle on GPS fix
if lat>0 {
	->displayraw 0, 1, %digit%
	if digit<32 {
		digit=digit<<1
	}
	else {
		digit=1
	}
}

>T
;     get sensor values
lat=GPS#lat
lon=GPS#lon
alt=GPS#alt
hacc=GPS#hAcc

;     using millisecond timer to get more accurate 1-second timing for speed estimation. >S has trouble 
>ti1
ts1(999)
;     Reset string to prep for each write
str=""

;     Calculate speed based on lat/lon movement pythagorean root(latdiff^2+londiff^2) and change meters/sec to km/h. Using 6 digits of precision to allow reaction to mimimum GPS accuracy of 1.11m (5-digits)
latnum=int(lat*1000000)
lonnum=abs(int(lon*1000000))
boldlat=int(oldlat*1000000)
boldlon=abs(int(oldlon*1000000))
latspd=(boldlat-latnum)*.4329
latspd*=latspd
; calc speed using millis since last calc instead of per second.  even ts1 isn't accurate enough when flash writes are involved
lonspd=(boldlon-lonnum)*.4329
lonspd*=lonspd
spd=lonspd+latspd
spd=pow(spd 0.5)
spd*=((millis-oldmillis)/1000)
oldmillis=millis
;     Debug print
;print spd=%2spd% oldspd=%2oldspd% ehold=%0ehold% upsecs=%0upsecs% lat=%lat% hacc=%hacc%
;lat=%6lat% lon= %6lon% ehold=%0ehold% heap=%0heap% hacc=%2hacc% tmp=%0tmp%

;     If fix exists (lat>0) and speed greater than 2km/h (walking speed is ~6km/h and drift is usually less than 2, then write new position to the buffer array)
if (spd>2 and spd<200 and lat>0 and epoch>132441089 and epoch<360000000) {
str+=hx(epoch)
str+=hx(latnum)
str+=hx(lonnum)
; category could be bit-shifted into epoch to save space, but with a 2GB SD card, who cares?
str+=hx(cat)
str+="\n"
ehold+=1
is1[ehold]=str
}
;     If buffer is full or truck has just stopped, (i.e. speed is dropped below 2 and previous speed was greater than 2) then write the buffer to flash. Usually takes a few seconds to settle, should be enough time to do a write before power is cut off. Also filter weird high values.
if ((ehold==30) or (spd<2 and oldspd>2 and oldspd<150)) {
; note that a forward slash is necessary when referring to files on SD card
fr=fo("/truck.txt" 2)
for cntr 1 ehold 1
res=fw(is1[cntr] fr)
next
fc(fr)
ehold=0
print write
}

;    Blink LED when file is getting big
;if upsecs%60==0 {
;	fr=fo("/truck.txt" 2)
;	tmp=fz(fr)
;	fc(fr)
;}
;if tmp>28000000 {
;	spin(2 upsecs)
;} 
;else {
;	spin(2 0)
;}

oldspd=spd
oldlat=lat
oldlon=lon

>R