ردیاب هوشمند خودرو با رزبری‌پای پیکو و ماژول GPS

GSM Module  Raspberry Pi Pico
TX  GP1 (UART0 RX - Pin 2)
RX  GP0 (UART0 TX - Pin 1)

GPS Module  Raspberry Pi Pico
TXD  GP5 (UART1 RX - Pin 7)
RXD  GP4 (UART1 TX - Pin 6)

VCC --> VBUS (Raspberry Pi Pico)
GND --> GND (Raspberry Pi Pico)

# GPS Vehicle Tracker using Raspberry Pi Pico | MicroPython & Thonny IDE
# Written by Shahbaz Hashmi Ansari
import machine
import time
import sys
from micropygps import MicropyGPS
# --- Pin Definitions ---
POWER_LED_PIN = 25
GSM_LED_PIN = 15
GPS_LED_PIN = 14
# --- Constants and Configuration ---
ADMIN_NUMBER = "+9186********"
LOCATION_INTERVAL_MS = 1 * 60 * 1000 # 1 minute for testing
GSM_CHECK_INTERVAL_MS = 10000 # Check GSM network status every 10 seconds
# --- Hardware Configuration ---
# UART for GSM Module (SIM800L, etc.)
gsm_uart = machine.UART(0, baudrate=9600, tx=machine.Pin(0), rx=machine.Pin(1), timeout=1000)
# UART for GPS Module (NEO-6M, etc.)
gps_uart = machine.UART(1, baudrate=9600, tx=machine.Pin(4), rx=machine.Pin(5))
# --- System State Variables ---
gsm_connected = False
gps_fix_acquired = False
gsm_initialized = False
# --- GPS Parser Setup ---
# India is UTC+5:30, so local_offset is 5.5
gps_parser = MicropyGPS(location_formatting='dd', local_offset=5.5)
# --- Timing Variables for Non-Blocking Delays ---
last_location_sent_ms = 0
last_gsm_check_ms = 0
# --- LED Setup ---
power_led = machine.Pin(POWER_LED_PIN, machine.Pin.OUT)
gsm_led = machine.Pin(GSM_LED_PIN, machine.Pin.OUT)
gps_led = machine.Pin(GPS_LED_PIN, machine.Pin.OUT)
power_led.on()
#=================================================
# ===== HELPER FUNCTIONS =========================
#=================================================
def send_at_command(command, wait_time_ms=1000, max_wait_ms=3000):
"""Sends an AT command to the GSM module and returns the response."""
print(f"Sending: {command}")
try:
# Clear any pending data first
if gsm_uart.any():
gsm_uart.read()
gsm_uart.write((command + '\r\n').encode())
# Wait for response with timeout
response = ""
start_time = time.ticks_ms()
while time.ticks_diff(time.ticks_ms(), start_time) < max_wait_ms:
if gsm_uart.any():
chunk = gsm_uart.read()
if chunk:
response += chunk.decode('utf-8', 'ignore')
# Small delay to allow complete response
time.sleep_ms(wait_time_ms)
# Read any remaining data
if gsm_uart.any():
chunk = gsm_uart.read()
if chunk:
response += chunk.decode('utf-8', 'ignore')
break
time.sleep_ms(100)
if response:
print(f"Response: {response.strip()}")
else:
print("No response received")
return response
except Exception as e:
print(f"Error in send_at_command: {e}")
return ""
def check_gsm_module():
"""Check if GSM module is responding."""
print("\nChecking GSM module connection...")
# Try basic AT command
response = send_at_command('AT', 1000, 2000)
if 'OK' in response:
print("✓ GSM module is responding")
return True
print("✗ GSM module not responding")
print(" Check: 1) Power supply (4V) 2) TX/RX connections 3) Ground connection")
return False
def send_sms(number, message):
"""Sends an SMS message with improved timeout handling."""
if not gsm_connected:
print("Cannot send SMS. GSM not connected.")
return False
print(f"\nSending SMS to {number}")
print(f"Message: {message}")
try:
# Set SMS text mode
send_at_command('AT+CMGF=1', 500)
# Send the SMS command
gsm_uart.write(f'AT+CMGS="{number}"\r\n'.encode())
# Wait for '>' prompt with timeout
prompt_received = False
start_time = time.ticks_ms()
response = ""
while time.ticks_diff(time.ticks_ms(), start_time) < 5000:
if gsm_uart.any():
chunk = gsm_uart.read()
if chunk:
response += chunk.decode('utf-8', 'ignore')
if '>' in response:
prompt_received = True
break
time.sleep_ms(50)
if not prompt_received:
print(f"Failed to get SMS prompt '>'")
# Send ESC to cancel
gsm_uart.write(b'\x1B')
return False
print("Got prompt, sending message...")
# Send message content
gsm_uart.write(message.encode('utf-8'))
time.sleep_ms(100)
# Send Ctrl+Z to finish
gsm_uart.write(b'\x1A')
# Wait for confirmation
confirmation = ""
start_time = time.ticks_ms()
while time.ticks_diff(time.ticks_ms(), start_time) < 10000:
if gsm_uart.any():
chunk = gsm_uart.read()
if chunk:
confirmation += chunk.decode('utf-8', 'ignore')
if '+CMGS:' in confirmation or 'OK' in confirmation:
print("✓ SMS sent successfully!")
return True
if 'ERROR' in confirmation:
print(f"✗ SMS error: {confirmation}")
return False
time.sleep_ms(100)
print("SMS timeout - message may not have been sent")
return False
except Exception as e:
print(f"Error sending SMS: {e}")
return False
def has_valid_gps_data():
"""Check if GPS has valid position data."""
# Check if latitude and longitude tuples have valid data
if (gps_parser.latitude[0] is not None and
gps_parser.longitude[0] is not None and
gps_parser.latitude[0] != 0 and
gps_parser.longitude[0] != 0):
return True
return False
def get_current_location_string():
"""Formats the current location into a readable string."""
if has_valid_gps_data():
# Formatted (human-readable)
lat_str = gps_parser.latitude_string()
lon_str = gps_parser.longitude_string()
# Decimal (for Google Maps link)
lat = gps_parser.latitude[0]
lon = gps_parser.longitude[0]
# Check if timestamp and date are valid before using them
ts = gps_parser.timestamp
dt = gps_parser.date
timestamp_str = ""
if dt[0] and ts[0] is not None:
try:
timestamp_str = f"\nTime: {dt[0]:02d}/{dt[1]:02d}/20{dt[2]:02d} {ts[0]:02d}:{ts[1]:02d}:{int(ts[2]):02d}"
except:
timestamp_str = "\nTime: N/A"
else:
timestamp_str = "\nTime: N/A"
# Use decimal format for maps link (no ° N/E)
maps_link = f"http://maps.google.com/maps?q={lat},{lon}"
return f"Location: {lat_str}, {lon_str}{timestamp_str}\nMap: {maps_link}"
else:
return "GPS signal not available. Please wait."
def print_debug_report():
"""Prints a live status report to the console."""
print("\n")
print("=" * 50)
print(" SYSTEM DEBUG REPORT")
print("=" * 50)
print("\n[ System Status ]")
print("-" * 50)
print(f"GSM Module Initialized: {'Yes' if gsm_initialized else 'No'}")
print(f"GSM Network Connected: {'Yes' if gsm_connected else 'No'}")
print(f"GPS Fix Acquired: {'Yes' if gps_fix_acquired else 'No'}")
print("\n[ GPS Information ]")
print("-" * 50)
if gps_fix_acquired and has_valid_gps_data():
print(f"Latitude: {gps_parser.latitude_string()}")
print(f"Longitude: {gps_parser.longitude_string()}")
print(f"Satellites in use: {gps_parser.satellites_in_use}")
ts = gps_parser.timestamp
if ts[0] is not None:
print(f"Time: {ts[0]:02d}:{ts[1]:02d}:{int(ts[2]):02d}")
else:
print("No GPS fix - waiting for satellites...")
print("\n[ Location Tracking ]")
print("-" * 50)
time_since_last = time.ticks_diff(time.ticks_ms(), last_location_sent_ms)
next_send = (LOCATION_INTERVAL_MS - time_since_last) // 1000
print(f"Interval: {LOCATION_INTERVAL_MS // 60000} minute(s)")
print(f"Last sent: {time_since_last // 1000} seconds ago")
print(f"Next send: {max(0, next_send)} seconds")
print("\n[ Hardware Info ]")
print("-" * 50)
print(f"GSM UART: TX=Pin{0}, RX=Pin{1}")
print(f"GPS UART: TX=Pin{4}, RX=Pin{5}")
print(f"Admin Number: {ADMIN_NUMBER}")
print("\n" + "=" * 50 + "\n")
def check_serial_input():
"""Check for serial input in a MicroPython compatible way."""
# Try to check if stdin has data using polling
try:
# Use sys.stdin with non-blocking read
if hasattr(sys.stdin, 'read'):
# This method works better on MicroPython
return True
return False
except:
return False
#=================================================
# ===== INITIALIZATION ===========================
#=================================================
print("\n" + "=" * 50)
print(" Vehicle Tracking System V5 for RPi Pico")
print("=" * 50)
print("\nInitializing...")
# Check if GSM module is responding
gsm_initialized = check_gsm_module()
if gsm_initialized:
print("\nConfiguring GSM module for SMS...")
send_at_command('ATE0', 500) # Disable command echo
send_at_command('AT+CMGF=1', 500) # Set SMS to text mode
send_at_command('AT+CNMI=2,1,0,0,0', 500) # Configure SMS delivery
print("GSM configuration complete.")
else:
print("\n⚠ WARNING: GSM module not detected!")
print("The system will continue, but SMS features won't work.")
print("Please check your wiring and power supply.\n")
print("\nSystem is running...")
print("Commands:")
print(" - Type 'x' for debug report")
print(" - Type 't' to test SMS")
print(" - Type 'l' to get location")
print("-" * 50)
#=================================================
# ===== MAIN LOOP ================================
#=================================================
input_buffer = ""
while True:
try:
current_time_ms = time.ticks_ms()
# --- 1. Process GPS Data ---
if gps_uart.any():
data = gps_uart.read().decode('utf-8', 'ignore')
for char in data:
sentence = gps_parser.update(char)
# Optional: Print when complete sentence is parsed
# if sentence:
# print(f"Parsed: {sentence}")
# Check for GPS fix using correct attribute (fix_type instead of fix_stat)
# fix_type: 1 = no fix, 2 = 2D fix, 3 = 3D fix
if not gps_fix_acquired and gps_parser.fix_type >= 2 and has_valid_gps_data():
gps_fix_acquired = True
gps_led.on()
print(f"\n✓ GPS Fix Acquired! (Fix type: {gps_parser.fix_type}D)")
if gsm_connected:
send_sms(ADMIN_NUMBER, "GPS fix acquired. Vehicle tracking active.")
# --- 2. Check GSM Network Connection ---
if gsm_initialized and not gsm_connected:
if time.ticks_diff(current_time_ms, last_gsm_check_ms) >= GSM_CHECK_INTERVAL_MS:
response = send_at_command('AT+CREG?', 500, 2000)
if '+CREG: 0,1' in response or '+CREG: 0,5' in response:
gsm_connected = True
gsm_led.on()
print("\n✓ GSM Network Connected!")
send_sms(ADMIN_NUMBER, "Vehicle Tracking System is online.")
last_location_sent_ms = current_time_ms
elif '+CREG:' in response:
print("GSM not registered yet, will retry...")
last_gsm_check_ms = current_time_ms
# --- 3. Interval Location Reporting ---
if gsm_connected and gps_fix_acquired and has_valid_gps_data():
if time.ticks_diff(current_time_ms, last_location_sent_ms) >= LOCATION_INTERVAL_MS:
location_message = get_current_location_string()
send_sms(ADMIN_NUMBER, location_message)
last_location_sent_ms = current_time_ms
# --- 4. Check for Incoming SMS ---
if gsm_uart.any():
response = gsm_uart.read().decode('utf-8', 'ignore')
if '+CMT:' in response:
print(f"\nIncoming SMS: {response}")
if 'location' in response.lower():
print("Location request via SMS")
location_message = get_current_location_string()
send_sms(ADMIN_NUMBER, location_message)
# --- 5. Check for Console Commands (Simplified for MicroPython) ---
# Note: Interactive input via REPL may be limited during runtime
# Consider using a button or external trigger for commands in production
try:
# Simple polling approach for MicroPython
# This may not work in all environments - use hardware buttons as alternative
import select
if select.select([sys.stdin], [], [], 0)[0]:
char = sys.stdin.read(1)
if char == '\n' or char == '\r':
# Process the command
cmd = input_buffer.strip().lower()
input_buffer = ""
if cmd == 'x':
print_debug_report()
elif cmd == 't':
print("\nTesting SMS...")
send_sms(ADMIN_NUMBER, "Test message from Vehicle Tracker")
elif cmd == 'l':
print("\nCurrent Location:")
print(get_current_location_string())
elif cmd != '':
print(f"\nUnknown command: '{cmd}'")
print("Valid commands: x (debug), t (test SMS), l (location)")
else:
input_buffer += char
except:
# If select is not available or fails, skip input checking
pass
# Small delay
time.sleep_ms(50)
except KeyboardInterrupt:
print("\n\nShutting down...")
break
except Exception as e:
print(f"\nError in main loop: {e}")
time.sleep_ms(500)
print("System stopped.")