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)
  • 2.4  Uplink Payload
    • 2.4.1  Uplink FPORT=5, Device Status
    • 2.4.2  Uplink FPORT=2, Realtime GNSS Positioning + Temperature & Humidity
      • Alarm & BAT:
      • FLAG:
      • Location info:
      • Alarm:
      • BAT:
      • MOD:
      • LON:
      • Hum:
      • Tem:
    • 2.4.3  Uplink FPORT=3, Realtime GNSS Positioning (Default Mode)
    • 2.4.4  Uplink FPORT=4, History GNSS Positioning
    • 2.4.5  Uplink FPORT=6, BLE Positioning with Strongest iBeacon
    • 2.4.6  Add Payload format in TTN V3
  • 2.5  Integrate with Datacake
  • 2.6  Integrate with Tago
  • 2.7  Datalog Feature
  • 2.8  Alarm Mode
  • 2.9  Transport Mode
  • 2.10  LED Status
  • 2.11  Button Function
  • 2.12  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 Transport Mode Packet transmission interval
    • 3.2.4  Exit Alarm
    • 3.2.5  Disable/Enable LED flash
    • 3.2.6  Disable/Enable Transport Mode
    • 3.2.7  Set Positioning Mode
    • 3.2.8  Set MAX GPS position time
    • 3.2.9  Set PDOP value for GPS fix accuracy
    • 3.2.10  Auto Send None-ACK messages
    • 3.2.11  Set BLEMASK to filter BLE iBeacon
• 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)

Users can set TrackerD to different Positioning Mode for different applications. Below mod are supported.

• GPS ONLY(Factory Settings):    only get and uplink GPS location info.
• BLE ONLY:              Only obtain iBeacon info via BLE and uplink. Design for Indoor tracking.
• GPS/BLE Hybrid:   Combination for Indoor and Outdoor tracking.Devices will try to search BLE iBeacon first. If device can't find the iBeacon, it will use GPS for positioning.

Users can switch modes by changing SMOD.

2.4  Uplink Payload

2.4.1  Uplink FPORT=5, Device Status

Uplink the device configures with FPORT=5. Once TrackerD Joined the network, it will uplink this message to the server. After the first uplink, TrackerD will uplink Device Status every 12 hours.

Use can also get the Device Status uplink through the downlink command: Downlink:  0x2301

Example of Device Status: 13014001FF0FA24002

Sensor Model:  For TrackerD,this value is 0x13

Firmware Version:  0x0140,Means:v1.4.0 version

Frequency Band:

*0x01: EU868

*0x02: US915

*0x03: IN865

*0x04: AU915

*0x05: KZ865

*0x06: RU864

*0x07: AS923

*0x08: AS923-1

*0x09: AS923-2

*0x0a: AS923-3

Sub- Band:value 0x00~0x08(only forAU915,US915,Others are 0xFF)

BAT: shows the battery voltage for TrackerD.

Ex1: 0x0FA2 = 4002mV

Use can also get the Device Status uplink through the downlink command:

SMOD Field (total 1 byte)：0x40

     SMOD：

      1 :   GPS ONLY

      2 :   BLE ONLY

      3 :   GPS/BLE Hybrid

      GPS_MOD: Define how to send GPS payload

      0 :    Enable uploading on-board Temperature and humidity values

      1 :    Disable uploading on-board Temperature and humidity values

      BLE_Settings:

      1:    BLE Positioning with Strongest iBeacon

Status Field (total 1 byte):  0x02

2.4.2  Uplink FPORT=2, Realtime GNSS Positioning + Temperature & Humidity

Users can use AT+SMOD=1,0,0 to enable uploading on-board Temperature and humidity values, and the total payload will be 15 bytes,

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 this mode, the total payload will be 15 bytes, while US915/AU915 DR0 accepts only 11 bytes payload. In this case, the payload on server will be ignore and shows as below:

3.  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:  0x4B45 & 0x3FFF ⇒ 2885 (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%

MOD:

Example:  (0x60>>6) & 0x3f =1

Set the format of GPS data uplink link：

0x00:   Enable uploading on-board Temperature and humidity values
0x01:   Disable uploading on-board Temperature and humidity values

Set the format of BLE data uplink link：

0x01:    BLE Positioning with Strongest iBeacon

LON:

Example: (0x60>>5) & 0x01=1.

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

2.4.3  Uplink FPORT=3, Realtime GNSS Positioning (Default Mode)

The default uplink payload includes total 11 bytes (AT+SMOD=1,1,0). The payload is the first 11 bytes of Uplink FPORT=2, real-time GNSS positioning, (remove the temp and humidity)

2.4.4  Uplink FPORT=4, History GNSS Positioning

Set PNACKMD=1, and TrackerD will wait for ACK for every uplink, when there is no LoRaWAN network, TrackerD will mark these records with non-ack messages and store the sensor data, and it will send all messages (10s interval) after the network recovery.

Note for this mode:

• a) TrackerD will do an ACK check for data records sending to make sure every data arrive server.
• b) TrackerD will send data in CONFIRMED Mode when PNACKMD=1, but TrackerD won't re-transmit the packet if it doesn't get ACK, it will just mark it as a NONE-ACK message. In a future uplink, if TrackerD gets an ACK, TrackerD will consider there is a network connection and resend all NONE-ACK Messages. 
• c) the total payload will be 15 bytes, while US915/AU915 DR0 accepts only 11 bytes of payload. In this case (DR0 of US915/AU915), the payload on server will show NULL

The payload is 15 bytes, as below.

2.4.5  Uplink FPORT=6, BLE Positioning with Strongest iBeacon

TrackerD supports BLE scans for indoor positioning. User can set SMOD to BLE pure or GPS/BLE hybrid so TrackerD will scan BLE iBeacon and find the strongest iBeacon info and uplink. 

User can set BLEMASK so TrackerD will only search the iBeacons which have UUID that match the BLEMASK settings.

• 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.

2.4.6  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:  

https://github.com/dragino/dragino-end-node-decoder/tree/main/TrackerD

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

2.5  Integrate with Datacake

After TrackerD sends data to LoRaWAN server such as TTN, use can pass the data to Datacake and plot out, currently only support GPS plot.

Instruction is here:  http://wiki.dragino.com/xwiki/bin/view/Main/Notes%20for%20Data%20Cake/#H7.Example--AddTrackerDGPSTrackingInDataCake

2.6  Integrate with Tago

After TrackerD sends data to LoRaWAN server such as TTN, user can pass the data to Datacake and plot out, currently only support GPS plot.

Instruction is here: http://wiki.dragino.com/xwiki/bin/view/Main/Tago.IO/#H3.A0Example-CreateTrackerD2FLGT92positioningwidget

2.7  Datalog Feature

total 273 entries,by default,

User can set PNACKMD=1, to enable Datalog feature.

Example use case.

2.8  Alarm Mode

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

2.9  Transport Mode

In Transport Mode, TrackerD will check if there is motion. If there is no motion, device will send uplinks every 20 minutes. If there is motion, device will send uplink every 5 minutes.

2.10  LED Status

2.11  Button Function

RESET button:

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

RED button:

2.12  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 Transport Mode Packet transmission interval

Set Transport Mode packet transmit interval

• AT Command:

AT+MTDC=xx. 

Example:  AT+MTDC=300000    -->     Set Transport Mode Packet Interval to 300 seconds. TrackerD will send every 300 seconds in Transport 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 Transport Mode

Users can use this feature to enable/disable Transport Mode.

• AT Command:

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

Example:  AT+ INTWK =1   -->    Enable Transport Mode.

• Downlink Payload (prefix 0xAF):

0xAF 01      //  Same as AT+ INTWK =1

3.2.7  Set Positioning Mode

SMOD define how TrackerD scan and uplink data:

• AT Command:

AT+SMOD=aa,bb,cc

 aa:

• 1: GPS ONLY(Factory Settings):    only get and uplink GPS location info.
• 2: BLE ONLY:              Only obtain iBeacon info via BLE and uplink. Design for Indoor tracking.
• 3: GPS/BLE Hybrid:   Combination for Indoor and Outdoor tracking.Devices will try to search BLE iBeacon first. If device can't find the iBeacon, it will use GPS for positioning.

bb:

• 0 :  GPS+ BAT+ State+Tem&Hum
• 1 :  GPS +BAT State

cc:   

• 1 :  (iBeacon)UUID+ Major + Minor+Power+Rssi+BAT+State   

Example:

  AT+ SMOD =1,0,0    -->    GPS+ BAT+ State+Tem&Hum
  AT+ SMOD =1,1,0    -->    GPS +BAT State
  AT+ SMOD =2,0,1    -->    (iBeacon)UUID+ Major + Minor+Power+Rssi+BAT+State

• Downlink Payload (prefix 0xA5):

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

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

3.2.9  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

3.2.10  Auto Send None-ACK messages

TrackerD will wait for ACK for each uplink, If TrackerD doesn't get ACK from the IoT server, it will consider the message doesn't arrive server and store it. TrackerD keeps sending messages in normal periodically. Once TrackerD gets ACK from a server, it will consider the network is ok and start to send the not-arrive message.

• AT Command: AT+PNACKMD

The default factory setting is 0.

Command Example Function Response:

AT+PNACKMD=1    //  Poll None-ACK message OK

• Downlink Command: 0x34

Example: 0x3401     //  Same as AT+PNACKMD=1

3.2.11  Set BLEMASK to filter BLE iBeacon

BLEMASK is to filter the unwanted BLE iBeacons during scan. For example, if BLEMASK is 123456. LBT1 will only uplink UUID info which includes 123456. It will ignore all other iBeacons which doesn’t contact 123456 in the UUID.

Note: BLEMASK range is 6 ~ 10 bytes. If AT+BLEMASK < 6 bytes, BLEMASK will be disabled.

AT Command:
     AT+BLEMASK=123456     // Set BLEMASK = 123456
     AT+BLEMASK=0  // disable BLEMASK

Downlink Payload: (Prefix : 0xA5)
Example:
0xA5010203040506    // Set BLEMASK to 123456

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://github.com/dragino/TrackerD/releases

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