Table of Contents:

• 1.  Introduction
  • 1.1  What is TrackerD
  • 1.2  Specifications
  • 1.3  Features
  • 1.4  Applications
• 2.1  Use TrackerD
  • 2.1  How it works?
  • 2.2  Quick guide to connect to LoRaWAN server
• 2.3 Positioning Mode(SMOD)
  • 2.3  Uplink Payload
    • 2.3.1  Uplink FPORT=5, Device Status
    • 2.3.2  Uplink FPORT= , Realtime GNSS Positioning
      • Alarm & BAT:
      • FLAG:
      • Location info:
      • Alarm:
      • BAT:
      • LON:
      • Hum:
      • Tem:
    • 2.3.3  Uplink FPORT= , History GNSS Positioning
    • 2.3.4  BLE positioning Payload(Fport2)
    • 2.3.5  Add Payload format in TTN V3
  • 2.4  Integrate with Datacake
  • 2.5  Integrate with Tago
  • 2.6  Alarm Mode
  • 2.7  Sports Mode
  • 2.8  LED Status
  • 2.9  Button Function
  • 2.10  USB Port Function
• 3.  Configure TrackerD via AT command or LoRaWAN downlink
  • 3.1  Access AT Command
  • 3.2  Command Set
    • 3.2.1  Set Transmit Interval
    • 3.2.2  Set Alarm Packet transmission interval
    • 3.2.3  Set Sports Mode Packet transmission interval
    • 3.2.4  Exit Alarm
    • 3.2.5  Disable/Enable LED flash
    • 3.2.6  Disable/Enable movement detect (Debug Only)
    • 3.2.7  Set Positioning Mode
    • 3.2.8  Set MAX GPS position time
    • 3.3.9  Set PDOP value for GPS fix accuracy
• 4.  Setting for Different Scenarios
• 5.  Upload Firmware
  • 5.1  Firmware Change Log
  • 5.2  How to upgrade firmware
• 6.  Developer Guide
  • 6.1  Compile Source Code
    • 6.1.1  Set up ARDUINO compile environment
  • 6.2  Source Code
• 7.  FAQ
  • 7.1  How to change the LoRa Frequency Bands/Region?
  • 7.2  What is the pin mapping for the USB program cable?
• 8.  Order Info
• 9.  Packing Info
• 10.  Support
• 11.  Reference

1.  Introduction

1.1  What is TrackerD

Note: LoRaWAN server can be a general LoRaWAN server other than TTN.

1.2  Specifications

Micro Controller:

• Espressif ESP32 PICO D4
• MCU: ESP32 PICO D4
• Bluetooth: Bluetooth V4.2 BR/EDR and Bluetooth LE
• WiFi : 802.11 b/g/n (802.11n up to 150 Mbps)
• Integrated SPI flash : 4 MB
• RAM: 448 KB
• EEPROM: 520 KB
• Clock Speed: 32Mhz

Common DC Characteristics:

• Supply Voltage: 5V via USB port or Internal li-on battery
• Operating Temperature: -40 ~ 60°C

LoRa Spec:

• Frequency Range,  
  • Band 1 (HF): 862 ~ 1020 Mhz
• 168 dB maximum link budget.
• +20 dBm - 100 mW constant RF output vs.
• +14 dBm high efficiency PA.
• Programmable bit rate up to 300 kbps.
• High sensitivity: down to -148 dBm.
• Bullet-proof front end: IIP3 = -12.5 dBm.
• Excellent blocking immunity.
• Low RX current of 10.3 mA, 200 nA register retention.
• Fully integrated synthesizer with a resolution of 61 Hz.
• FSK, GFSK, MSK, GMSK, LoRaTM and OOK modulation.
• Built-in bit synchronizer for clock recovery.
• Preamble detection.
• 127 dB Dynamic Range RSSI.
• Automatic RF Sense and CAD with ultra-fast AFC.
• Packet engine up to 256 bytes with CRC.
• LoRaWAN 1.0.3 Specification

Battery:

• 1000mA Li-on Battery power (for model TrackerD)

Power Consumption

• Sleeping Mode: 200uA
• LoRa Transmit Mode: 125mA @ 20dBm 44mA @ 14dBm
• Tracking: max: 38mA

1.3  Features

• LoRaWAN 1.0.3 Class A
• ESP32 PICO D4
• SX1276/78 Wireless Chip
• Arduino IDE Compatible
• Open source hardware / software
• Regular/ Real-time GPS,BLE,WIFI tracking
• Built-in3 axis accelerometer (LIS3DH)
• Humidity / temperature sensor : GXCAS Technology GXHT3X
• Motion sensing capability
• Power Monitoring
• Charging circuit via USB port
• 1000mA Li-on Battery power
• Tri-color LED, Alarm button
• Datalog

1.4  Applications

• Logistics and Supply Chain Management
• Human tracking

2.1  Use TrackerD

2.1  How it works?

TrackerD is configured as LoRaWAN OTAA Class A GPS tracker by default. It has OTAA keys to join LoRaWAN network. To connect a LoRaWAN network, user need to input the OTAA keys in the LoRaWAN IoT server and push reset button of TrackerD (next to USB port). TrackerD will wake up and auto join the network via OTAA.

2.2  Quick guide to connect to LoRaWAN server

Here is an example for how to join the TTNv3 LoRaWAN Network. Below is the network structure, we use LPS8N as LoRaWAN gateway in this example.  

The LPS8N is already set to connect to TTN V3 network . What the rest need to is register this device in TTN V3:

Step 1: Create a device in TTN V3 with the OTAA keys from TrackerD.

Each TrackerD is shipped with a sticker with the default device EUI as below:

Input these keys to their LoRaWAN Server portal. Below is TTN V3 screen shot:

Add APP EUI in the application:

Add APP KEY and DEV EUI:

Step 2: Power on TrackerD by using the on board switch.

Step 3: TrackerD will auto join to the LoRaWAN network. After join success, TrackerD will start to upload message to IoT server.

2.3 Positioning Mode(SMOD)

• GPS ONLY(Factory Settings):    only get GPS location info.
• BLE ONLY:              Only obtain iBeacon info via BLE. Design for Indoor tracking.
• GPS/BLE Hybrid:   Combination for Indoor and Outdoor tracking.

User can switch modes by changing SMOD.

2.3  Uplink Payload

2.3.1  Uplink FPORT=5, Device Status

2.3.2  Uplink FPORT= , Realtime GNSS Positioning

The default uplink payload includes totally 11 bytes. (User can use AT+MOD=0 to enable the Temperature and humidity sensor to hum/tem info from accelerometer. When accelerometer info is enable, total payload will be 15 bytes, please note 15 bytes won't work on DR0 on US915/AU915 frequency band. )

Alarm & BAT:

FLAG:

Example: Payload: 0x02863D68 FAC29BAF 4B45 60 0202 011A  

Location info:

• Latitude: 02863D68     ⇒  if (0x02863D68& 0x80000000 = 0 ):      value = 02863D68 /1000000 = 42.351976
• Longitude: FAC29BAF  ⇒ if (0xFAC29BAF & 0x80000000 = 1 ):      value = (0xFAC29BAF – 0x 100000000)/1000000 =-87.909457

Important note:

1.  When power is low (<2.84v), GPS won't be able to get location info and GPS feature will be disabled and the location field will be filled with 0x0FFFFFFF, 0x0FFFFFFF.

2.  In firmware version v1.5, Roll & Pitch is disabled by default.

3.  When enable 9-axis motion sensor, the total payload will be 15 bytes, while US915/AU915 DR0 accept only 11 bytes payload. In this case, the payload on server will be ignore and shows as below:

4.  While GPS can't get location info after timeout(FTIME Parameter), the latitude and longitude will be filled with all 0x00:

Alarm:

Example:  0x4B & 0x40 >> 6 = 0x01

BAT:

Example:  0x0CDD & 0x3FFF ⇒ 3293 (mV).

• > 4.0v :              80% ~ 100%
• 3.85v ~3.99v:    60% ~ 80%
• 3.70v ~ 3.84v:   40% ~ 60%
• 3.40v ~ 3.69v:   20% ~ 40%
• < 3.39v:             0~20%

LON:

Enable/Disable LED activity for uplink

Hum:

0202 = if (0x0202 & 0x8000 = 0 ):  value = 0x0202 / 100 = +514 ⇒ 51.4 degree

Tem:

011A =if (0x011A & 0x8000 = 1 ):   value =( 0x011A - 0x10000)/10(dec) ⇒ -28.2 degree

2.3.3  Uplink FPORT= , History GNSS Positioning

2.3.4  BLE positioning Payload(Fport2)

Different MODE has different payload:  MODE=2

• BAT:       Ex1: 0x4B45 & 0x3FFF ⇒ 3901 (mV).
• MODE:   Define the payload format.
• UUID:     The uuid from the strongest iBeacon.
• MAJOR:  The MAJOR from the strongest iBeacon.
• MINOR:  The MAJOR from the strongest iBeacon.
• Measured Power:     The Measured Power from the strongest iBeacon.
• RSSI:       The RSSI from the strongest iBeacon.

2.3.5  Add Payload format in TTN V3

In TTN V3, use can add a custom payload so it shows friendly.

In the page Applications --> Payload Formats --> Custom --> decoder

Add the decoder from this link:

Save the change the uplink message will be parsed. As below:

2.4  Integrate with Datacake

2.5  Integrate with Tago

2.6  Alarm Mode

• Server send a downlink command to exit.
• User fast press the RED button 10 times.

2.7  Sports Mode

2.8  LED Status

2.9  Button Function

RESET button:

Push this button will reboot the device. Device will exit alarm mode and re-join to LoRaWAN server.

RED button:

2.10  USB Port Function

The USB interface of TrackerD has below functions:

• Power on the device
• Recharge the battery
• Configure Device
• Upgrade Firmware

3.  Configure TrackerD via AT command or LoRaWAN downlink

User can configure TrackerD via AT Command or LoRaWAN Downlink.

LoRaWAN Downlink instruction for different platforms:  IoT LoRaWAN Server

3.1  Access AT Command

TrackerD supports the AT command set in stock firmware. User can connect to TrackerD with TYPE-C cable to use AT commands as shown below. 

In PC, User needs to set serial tool baud rate to 115200 to access serial console for TrackerD. TrackerD will output system info once power on and user will be able to send AT commands:

3.2  Command Set

3.2.1  Set Transmit Interval

Set device uplink interval.

• AT Command:

AT+TDC=xxx 

Example:   AT+TDC=300000. Means set interval to 5 minutes(300 seconds)

• Downlink Payload (prefix 0x01):

0x01 00 01 2C     //  Same as AT+TDC=300000

3.2.2  Set Alarm Packet transmission interval

Set alarm packet transmit interval

• AT Command:

AT+ATDC=xx. 

Example:  AT+ATDC=60000    -->     Set Alarm Packet Interval to 60 seconds. TrackerD will send every 60 seconds in Alarm mode, Default Value: 60000

• Downlink Payload (prefix 0xB1):

0xB1 00 00 3C         //  Same as AT+ATDC=60000

3.2.3  Set Sports Mode Packet transmission interval

Set sports packet transmit interval

• AT Command:

AT+MTDC=xx. 

Example:  AT+MTDC=300000    -->     Set Sports Mode Packet Interval to 300 seconds. TrackerD will send every 300 seconds in Sports mode, Default Value: 300000

• Downlink Payload (prefix 0x03):

0x03 00 01 2C       //  Same as AT+ MTDC=3000000

3.2.4  Exit Alarm

Server send downlink command to exit Alarm mode

• AT Command: No AT Command

• Downlink Payload (prefix 0x02):

0x02 01       //  Exit Alarm Mode

3.2.5  Disable/Enable LED flash

Disable/Enable LED for position, downlink and uplink

• AT Command:

AT+LON=xx.  (Disable (0), Enable (1), default:1)

Example: AT+LON=0   -->  Disable LED for position, downlink and uplink.

• Downlink Payload (prefix 0xAE):

0xAE 00        //  Same as AT+LON=0

3.2.6  Disable/Enable movement detect (Debug Only)

User can use this feature to check and set thread hole of movement detect

• AT Command:

AT+INTWK=xx.  (Disable (0), Enable (1), default:0)

Example:  AT+ INTWK =1   -->    Enable detect movement.

• Downlink Payload (prefix 0xAF):

0xAF 01      //  Same as AT+ INTWK =1

3.2.7  Set Positioning Mode

SMOD define the how TrackerD scan and uplink date.

GPS室外定位模式：  设备默认模式，设备入网后会发送device当前模式下的信息，随后立即定位发送数据包（默认是3分钟定位，超过将发送无效数据），如果出现意外情况下，快速按键3下，将会发出报警消息（默认每分钟发送一次）。GPS还有一种logdata模式，在断网的情况下将数据存储下来，等到有网的时候，一次将数据以每10秒上报。

BLE室内定位模式：   设备入网后会发送device当前模式下的信息，随后立即定位发送数据包（默认是5秒，超过将发送无效数据），如果出现意外情况下，快速按键3下，将会发出报警消息（默认每3分钟发送一次）。

GPS和BLE混动模式：设备入网后会发送device当前模式下的信息，随后立即判断是否在室内，如果是就进行BLE定位，不是就GPS定位。如果出现意外情况下，快速按键3下，将会发出报警消息（默认每分钟发送一次）。

运动模式：               设备入网后会发送device当前模式下的信息，随后发送GPS定位数据，设备判断是否在运动，没有运动传感器没有检测到动作，立即进入静止状态（默认20分钟），如果产生运动，将每5分钟发送一次数据，再第五分钟后检测设备有误运动，无将切换到静止状态，有立即发送数据。

• AT Command:

AT+SMOD=xx. 

 Example:

  AT+ SMOD =1,0    -->  GPS+ BAT+ State+Tem&Hum

  AT+ SMOD =1,1    -->  GPS +BAT State

  AT+ SMOD =2,3    -->  (iBeacon)UUID+ Major + Minor+Power+Rssi+BAT+State。

• Downlink Payload (prefix 0xA5):

0xA5 01 00       //  Same as AT+ SMOD =1,0

3.2.8  Set MAX GPS position time

Set max positioning time, default is 150 seconds. TrackerD will try to get location info within this period. If fail to get position data within this time, TrackerD will use 000000 for latitude and longitude.

If AT+FTIME=0. The GPS module will be always powered and positioning. This will highly increase the power consumption (up to 50mA). When AT+FTIME=0, it will improve fix accuracy and shorten the acquire time for next uplink.

• AT Command:

AT+FTIME=xx   -->  Set to use xx as max fix time.

Example:  AT+FTIME=150

• Downlink Payload (prefix 0xAA):

0xAA 00 96        //  Set AT+FTIME=150

3.3.9  Set PDOP value for GPS fix accuracy

PDOP(Position Dilution of Precision) filter, TrackerD will only accept GPS data with a lower PDOP value than pre-configure PDOP value. If device can't get a valid GPS packet within FTIME timeout, it will use the GPS data with lowest PDOP value to server.

A GPS packet with lower PDOP has higher accuracy. PDOP default value is 2.0

• AT Command:

AT+PDOP=2.5    -->   Set PDOP to 2.5

• Downlink Payload (prefix 0xAD):

0xAD 00 0A      //  Set AT+PDOP=1       (0x0A / 10 =1)

0xAD 00 19      //  Set AT+PDOP=2.5    (0x19 / 10 =2.5)

0xAD 00 46      //  Set AT+PDOP=7       (0x46 / 10 =7)

Disable/Enable the confirmation mode

• AT Command:

AT+CFM=xx. 

 Example:

  AT+ CFM=0    -->    Disable confirmation 

  AT+ CFM=1    -->    Enable confirmation

• Downlink Payload (prefix 0x05):

0x05 01          //  Same as AT+ SMOD =1

4.  Setting for Different Scenarios

5.  Upload Firmware

5.1  Firmware Change Log

See this link

5.2  How to upgrade firmware

User can use the TrackerD's USB port to upgrade firmware into it. The hardware connection for upgrade firmware is as below:

Step1:  Connect TrackerD and PC via USB cable shipped with TrackerD.

Step2:  Install CH9102 driver in the PC.

After installation of the driver and plug in TrackerD, user should be able to see com port in PC's device manager.

Step3:  Download and Install Flash Tool:  https://www.espressif.com.cn/en/support/download/other-tools?keys=Flash%2BDownload%2BTools

Step4:  Run Flash Download Tool and configure chip type to ESP32

Step5:  Select the firmware file (.bin format), com port and proper SPI configure. Clink Start. Bin file location:

https://www.dropbox.com/sh/733s8xlwahhqg1d/AABxDz80lBVX_to8zNuUQWFja?dl=0

Users need to use below files:

boot_app0.bin @0e000

ESP_LORA-eeprom-class.bin @ 0x10000

After upgrade finish, it will show finish as below:

6.  Developer Guide

6.1  Compile Source Code

6.1.1  Set up ARDUINO compile environment

• Download the latest Arduino software (IDE) from the Arduino official website:  https://www.arduino.cc/en/Main/Software

Install IDE on PC, open and click File --> Preference, add the following URL:  https://dl.espressif.com/dl/package_esp32_index.json

• Go to tools --> Boards --> Boards Manager, find the esp32 information and install it.

• Download the latest TrackerD from the dragino github: https://github.com/dragino/TrackerD

Put the Library in the TrackerD directory into the libraries file in the Arduino directory:

6.2  Source Code

• Open the example in the TrackerD file, please select the correct port in the IDE, as shown below:

• Click to upload

• Check the result, if the upload is successful, as shown below, open the serial port to view the data

7.  FAQ

7.1  How to change the LoRa Frequency Bands/Region?

User can follow the introduction for how to upgrade image. When download the images, choose the required image file for download.

7.2  What is the pin mapping for the USB program cable?

8.  Order Info

Part Number: TrackerD-XXX

XXX: The default frequency band

• EU433: Default frequency band EU433
• EU868: Default frequency band EU868
• IN865: Default frequency band IN865
• KR920: Default frequency band KR920
• AS923: Default frequency band AS923
• AU915: Default frequency band AU915
• US915: Default frequency band US915

9.  Packing Info

Package Includes:

• TrackerD LoRaWAN GPS/BLE Tracker x 1
• USB recharge & program cable x 1

Dimensions and Weight:

• Device Size: 85 x 48 x 15 cm
• Weight: 50g

10.  Support

• Support is provided Monday to Friday, from 09:00 to 18:00 GMT+8. Due to different timezones we cannot offer live support. However, your questions will be answered as soon as possible in the before-mentioned schedule.
• Provide as much information as possible regarding your enquiry (product models, accurately describe your problem and steps to replicate it etc) and send a mail to support@dragino.com.

11.  Reference

• Firmware in Bin format
• Source Code 
• Hardware Source