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StratoTrack LoRa Pro

Offline long-range GPS beacon tracker powered by ESP32-C6, NEO-6M GNSS, RAK3172/RAK3272S LoRa P2P, a 2.8-inch SPI TFT dashboard, and a local Wi-Fi web panel.

StratoTrack LoRa Pro is an embedded tracking project designed for offline field use. The tracker reads GPS/GNSS data from a NEO-6M module, renders a professional live dashboard on an ILI9341 TFT screen, broadcasts compact position packets over LoRa P2P using a RAK3172/RAK3272S module, and exposes a local web dashboard from the ESP32-C6 itself.

The project does not require GSM, SIM cards, cloud services, routers, internet access, or LoRaWAN gateways. It is designed as a direct, offline, long-range LoRa beacon system.

Table of Contents

Project Goals

StratoTrack LoRa Pro was built with the following goals:

  1. Offline operation
    The device must work without cellular network, internet, cloud platform, or LoRaWAN gateway.

  2. Long-range beaconing
    The tracker periodically transmits compact GPS packets over raw LoRa P2P.

  3. Professional field UI
    The device has a local TFT interface showing GPS, satellite, LoRa and TX status.

  4. Local diagnostics
    A Wi-Fi access point and local web panel allow live monitoring from a phone or laptop.

  5. Modular firmware
    The codebase is organized as multiple firmware modules instead of a single sketch.

  6. Expandable architecture
    The project can later support ACK messages, LoRa command mode, multiple nodes, track logging, and additional dashboard pages.

What This Project Does

The main tracker device:

  • reads NMEA data from a NEO-6M GPS module,
  • determines whether GPS state is WAIT, DATA, or FIX,
  • parses GPS satellite data from NMEA GSV messages,
  • displays GPS and LoRa data on a 2.8-inch SPI TFT,
  • starts a local Wi-Fi access point,
  • serves a browser-based web dashboard at http://192.168.4.1,
  • builds a compact tracker packet,
  • converts the packet to HEX for RAK RUI3 P2P transmission,
  • sends the packet over LoRa P2P,
  • prints detailed debug logs through Serial Monitor.

A second LoRa receiver can be added using another ESP32/Arduino-compatible board plus a RAK3172/RAK3272S module. The receiver listens for LoRa P2P packets and decodes the tracker data.

System Architecture

Main Tracker

NEO-6M GPS
    |
    | UART / NMEA 9600 baud
    v
ESP32-C6
    |
    | SPI
    v
2.8-inch ILI9341 TFT Display

ESP32-C6
    |
    | UART / RAK RUI3 AT Commands
    v
RAK3172 / RAK3272S LoRa Module
    |
    | LoRa P2P 868 MHz
    v
Second LoRa Receiver

Local Web Panel

Phone / Laptop
    |
    | Wi-Fi AP
    v
ESP32-C6 Local Web Server
    |
    v
http://192.168.4.1

The web panel is served directly by the ESP32-C6. No router or internet connection is required.

Hardware Overview

Main Tracker Hardware

Recommended hardware:

Part Purpose
ESP32-C6 DevKitC-1 Main controller
NEO-6M GPS GNSS position source
RAK3172 / RAK3272S LoRa P2P modem
2.8-inch SPI TFT ILI9341 Local dashboard
18650 / LiPo battery system Portable power
USB cable Programming/debug
LoRa antenna Required before TX

Second LoRa Receiver Hardware

For the second LoRa receiver:

Part Purpose
ESP32 / ESP32-C6 / Arduino-compatible MCU Receiver controller
RAK3172 / RAK3272S LoRa P2P receiver
USB cable Serial Monitor
LoRa antenna Required

The second receiver firmware listens in P2P mode and prints decoded packets.

Pinout

The current tested tracker pinout is:

Main Tracker: ESP32-C6 + RAK + GPS + TFT

Module Module Pin ESP32-C6 Pin Notes
RAK3272S / RAK3172 UART2_TX GPIO0 ESP32 RX for LoRa
RAK3272S / RAK3172 UART2_RX GPIO1 ESP32 TX for LoRa
RAK3272S / RAK3172 3V3 3V3 Do not use 5V
RAK3272S / RAK3172 GND GND Common ground
NEO-6M TX GPIO4 GPS TX to ESP32 RX
NEO-6M RX GPIO5 / not required Optional
NEO-6M VCC 5V or 3V3 depending on board Most breakout boards work well with 5V
NEO-6M GND GND Common ground
TFT ILI9341 SCK GPIO6 SPI clock
TFT ILI9341 MOSI GPIO7 SPI MOSI
TFT ILI9341 MISO Not connected Not required
TFT ILI9341 CS GPIO10 Chip select
TFT ILI9341 DC GPIO2 Data/command
TFT ILI9341 RST GPIO3 Reset
TFT ILI9341 BL/LED 3V3 Backlight always on

Important Wiring Rules

  • All grounds must be common.
  • RAK LoRa module must be powered from 3.3V.
  • Do not transmit LoRa without antenna.
  • GPS RX is optional; only GPS TX is needed for receiving NMEA.
  • If LoRa returns unreadable characters, check baud rate and TX/RX direction.
  • If GPS NMEA count is zero, the GPS TX pin is not reaching ESP32 RX.

Firmware Structure

StratoTrack LoRa Pro firmware is written in C++ using the Arduino framework on top of PlatformIO. The project is intentionally organized as a modular embedded firmware instead of a single-file sketch. Each hardware responsibility is separated into its own module to make the codebase easier to maintain, debug, extend, and publish as an open-source project.

The firmware runs on an ESP32-C6 main controller and communicates with external modules through UART and SPI interfaces. The GPS module provides GNSS/NMEA data, the RAK LoRa module handles long-range P2P communication through AT commands, the TFT display renders the local dashboard, and the ESP32-C6 exposes a local Wi-Fi web panel.

config.h

Contains all hardware pin definitions, baud rates, LoRa parameters, display settings, firmware metadata and feature flags.

This is the first file to edit when changing:

  • pins,
  • LoRa frequency,
  • spreading factor,
  • device ID,
  • Wi-Fi SSID/password,
  • display rotation,
  • beacon interval.

globals.h / globals.cpp

Contains shared global objects and shared state variables used across modules.

Examples:

TinyGPSPlus gps;
HardwareSerial GPSSerial;
HardwareSerial LoRaSerial;
String gpsState;
String loraState;
String txState;

This prevents duplicate object definitions across multiple .cpp files.

gps_tracker.h / gps_tracker.cpp

Responsible for GPS and GNSS logic:

  • reads NMEA data from GPS UART,
  • updates TinyGPSPlus,
  • tracks NMEA character count,
  • detects GPS state: WAIT, DATA, FIX,
  • parses GSV satellite messages,
  • stores PRN, SNR, elevation and azimuth,
  • provides helper functions for latitude, longitude, speed, altitude and satellite count.

lora_modem.h / lora_modem.cpp

Responsible for RAK3172/RAK3272S communication:

  • sends AT commands,
  • configures RAK P2P mode,
  • builds LoRa tracker packets,
  • converts packets to HEX,
  • transmits packets with AT+PSEND,
  • tracks TX state and last RAK response.

display_ui.h / display_ui.cpp

Responsible for the TFT dashboard:

  • initializes ILI9341,
  • draws the GNSS panel,
  • draws LoRa Radio panel,
  • draws NMEA Stream panel,
  • shows satellite PRN:SNR values,
  • shows GPS state, fix, speed and altitude,
  • shows LoRa and TX state.

web_panel.h / web_panel.cpp

Responsible for the local web dashboard:

  • starts ESP32-C6 Wi-Fi AP,
  • serves the HTML dashboard,
  • exposes /api/status,
  • shows live GPS/LoRa data,
  • shows satellites,
  • provides map link when GPS fix is available.

main.cpp

The firmware entry point:

  • initializes Serial Monitor,
  • initializes TFT,
  • initializes GPS UART,
  • initializes LoRa UART,
  • starts web panel,
  • starts LoRa P2P mode,
  • runs the main loop,
  • updates display,
  • handles web requests,
  • sends LoRa packets periodically.

Programming Language and Libraries

Language

C++ / Arduino Framework

The project uses Arduino-style APIs, but follows a modular C++ firmware layout.

Development Environment

VS Code + PlatformIO

PlatformIO is recommended because it provides:

  • repeatable builds,
  • dependency management,
  • cleaner modular project structure,
  • easier GitHub publishing,
  • better Serial Monitor control.

Main Libraries

TinyGPSPlus

#include <TinyGPSPlus.h>

Used to parse GPS/NMEA data from the NEO-6M module.

Provides:

  • latitude,
  • longitude,
  • speed,
  • altitude,
  • satellite count,
  • GPS fix validity,
  • data age.

The project also manually parses $GPGSV / $GNGSV messages to display satellite PRN, SNR, elevation and azimuth.

Adafruit GFX

#include <Adafruit_GFX.h>

Used for graphics primitives:

  • text,
  • lines,
  • rectangles,
  • rounded rectangles,
  • colored panels,
  • UI layout.

Adafruit ILI9341

#include <Adafruit_ILI9341.h>

Used to drive the 2.8-inch SPI TFT screen.

WiFi

#include <WiFi.h>

Used to create the ESP32-C6 local Wi-Fi access point.

WebServer

#include <WebServer.h>

Used to serve the local dashboard and JSON API.

PlatformIO Setup

Example platformio.ini:

[env:esp32c6]
platform = https://github.com/pioarduino/platform-espressif32.git#develop
board = esp32-c6-devkitc-1
framework = arduino

upload_port = COM3
monitor_port = COM5

monitor_speed = 115200
upload_speed = 460800
monitor_rts = 0
monitor_dtr = 0

lib_deps =
  mikalhart/TinyGPSPlus
  adafruit/Adafruit GFX Library
  adafruit/Adafruit ILI9341
  adafruit/Adafruit BusIO

build_flags =
  -DARDUINO_USB_CDC_ON_BOOT=1
  -DARDUINO_USB_MODE=1

Notes for ESP32-C6

ESP32-C6 Arduino support may require the pioarduino platform. If you see:

Error: This board doesn't support arduino framework!

use the platform line shown above.

Build, Upload and Monitor

Clean build:

pio run -t clean

Build:

pio run

Upload:

pio run -t upload

Monitor:

pio device monitor -p COM5 -b 115200

If COM5 disconnects randomly, try:

monitor_rts = 0
monitor_dtr = 0

TFT Dashboard

The TFT dashboard is designed for field usage and shows the most important status without requiring a laptop.

Main sections:

GNSS Panel

Shows:

  • GPS state: WAIT, DATA, FIX,
  • used satellites,
  • visible satellites,
  • mode,
  • latitude,
  • longitude.

LoRa Radio Panel

Shows:

  • LoRa state,
  • TX state,
  • last TX status.

NMEA Stream Panel

Shows:

  • NMEA character count,
  • GNSS stream activity,
  • useful debug status.

Satellite Panel

Shows:

  • GPS PRN numbers,
  • SNR values,
  • active satellite list.

Example:

G05:24  G12:41  G21:38  G29:15

Where:

  • G05 = GPS PRN 05,
  • 24 = signal-to-noise ratio.

Web Panel

The ESP32-C6 starts a local Wi-Fi access point.

Default credentials:

SSID: GPS-TRACKER-T1
PASS: 12345678
URL : http://192.168.4.1

The web panel displays:

  • GPS state,
  • latitude and longitude,
  • speed,
  • altitude,
  • satellite count,
  • visible satellites,
  • LoRa state,
  • TX state,
  • last LoRa packet,
  • RAK response,
  • satellite PRN/elevation/azimuth/SNR,
  • Google Maps link when GPS fix is available.

JSON API

The web dashboard reads:

/api/status

Example fields:

{
  "device": "T1",
  "firmware": "2.1.0",
  "gpsState": "FIX",
  "fix": true,
  "lat": "39.963205",
  "lon": "32.791445",
  "speed": 1,
  "alt": 1024,
  "sat": 8,
  "gsv": 10,
  "nmea": 12000,
  "lora": "READY",
  "tx": "OK #12",
  "packet": "T1,FIX,39963205,32791445,1,8,1024,10,12,NORMAL"
}

GNSS / Satellite Data

The NEO-6M does not provide real satellite names such as official spacecraft names. It provides GPS PRN numbers.

The firmware displays them as:

GPS-05
GPS-12
GPS-21

Satellite information parsed from GSV:

Field Meaning
PRN Satellite identifier
Elevation Degrees above horizon
Azimuth Direction in degrees
SNR Signal strength / carrier-to-noise value

GPS States

State Meaning
WAIT No NMEA data received
DATA NMEA data is coming, but no valid fix
FIX Valid position is available

If NMEA count increases but latitude/longitude are not available, GPS is working but has no fix yet.

LoRa P2P Protocol

StratoTrack uses raw LoRa P2P through RAK RUI3 AT commands.

RAK setup commands:

AT
AT+NWM=0
ATZ
AT
AT+P2P=868100000:12:125:0:8:14
AT+PRECV=0

Send command:

AT+PSEND=<HEX_PAYLOAD>

The RAK module expects HEX payload for P2P send. Therefore, the firmware converts:

T1,FIX,39963205,32791445,1,8,1024,10,12,NORMAL

to HEX before sending.

Packet Format

Current packet format:

ID,STATE,LATx1e6,LONx1e6,SPEED,SAT,ALT,GSV,COUNTER,MODE

Example:

T1,FIX,39963205,32791445,1,8,1024,10,12,NORMAL

Field details:

Field Example Description
ID T1 Device ID
STATE FIX GPS state
LATx1e6 39963205 Latitude × 1,000,000
LONx1e6 32791445 Longitude × 1,000,000
SPEED 1 Speed in km/h
SAT 8 Used satellites
ALT 1024 Altitude in meters
GSV 10 Visible satellite entries
COUNTER 12 Packet counter
MODE NORMAL Device mode

Example Decoding

39963205 / 1000000 = 39.963205
32791445 / 1000000 = 32.791445

Google Maps:

https://maps.google.com/?q=39.963205,32.791445

Second LoRa Receiver

A second LoRa receiver can be built using another ESP32-compatible board and RAK3172/RAK3272S module.

The receiver listens in LoRa P2P mode and decodes packets from the tracker.

Receiver Wiring

RAK3172 / RAK3272S Receiver MCU
UART2_TX GPIO4
UART2_RX GPIO5
3V3 3V3
GND GND

Receiver LoRa Config

Must match the tracker:

868100000:12:125:0:8:14

Receiver Behavior

The receiver:

  • starts RAK in P2P mode,
  • enables continuous receive mode,
  • waits for +EVT:RXP2P,
  • extracts HEX payload,
  • decodes payload to text,
  • parses tracker packet,
  • prints coordinates,
  • prints Google Maps URL,
  • prints RSSI and SNR if available.

Example output:

LORA PACKET RECEIVED
RAW     : T1,FIX,39963205,32791445,1,8,1024,10,12,NORMAL
DEVICE  : T1
STATE   : FIX
LAT     : 39.963205
LON     : 32.791445
MAP     : https://maps.google.com/?q=39.963205,32.791445
SPEED   : 1 km/h
SAT     : 8
ALT     : 1024 m
GSV     : 10
COUNT   : 12
MODE    : NORMAL
RSSI    : -84
SNR     : 10

Configuration

Main configuration file:

include/config.h

Important settings:

#define DEVICE_ID "T1"

#define LORA_FREQ_HZ 868100000UL
#define LORA_SF 12
#define LORA_BW 125
#define LORA_CR 0
#define LORA_PREAMBLE 8
#define LORA_TX_POWER 14

#define BEACON_INTERVAL_NORMAL_MS 10000UL

#define WEB_AP_SSID "GPS-TRACKER-T1"
#define WEB_AP_PASS "12345678"

Beacon Interval

Default:

#define BEACON_INTERVAL_NORMAL_MS 10000UL

This sends one packet every 10 seconds.

Field Testing Guide

Step 1: Test TFT

Confirm the TFT shows the dashboard.

Step 2: Test GPS NMEA

Serial should show:

NMEA increasing

If NMEA increases but GPS state is DATA, GPS works but has no fix.

Step 3: Get GPS Fix

Move outdoors or near a clear window.

Expected:

GPS FIX
SAT 5+
LAT valid
LON valid

Step 4: Test LoRa TX

Expected:

RAK: +EVT:TXP2P DONE
TX: T1,FIX,...

Step 5: Test Web Panel

Connect to:

GPS-TRACKER-T1

Open:

http://192.168.4.1

Step 6: Test Second Receiver

Power the second receiver and check for RXP2P events.

Troubleshooting

GPS stays WAIT

Cause:

  • GPS TX not connected,
  • wrong GPS RX pin,
  • no common ground,
  • GPS not powered,
  • wrong baud rate.

Check:

NMEA count = 0

This means ESP32 receives no GPS data.

GPS DATA but no FIX

Cause:

  • GPS sees NMEA but no satellite lock.

Fix:

  • go outside,
  • place antenna facing sky,
  • wait 2–5 minutes,
  • check satellite count.

LoRa NO AT

Cause:

  • wrong UART pins,
  • wrong baud,
  • no RAK power,
  • no common ground,
  • TX/RX swapped.

LoRa P2P ERR

Cause:

  • RAK accepted AT but rejected P2P config,
  • RAK may need reboot after AT+NWM=0,
  • previous mode not applied yet.

Fix:

  • use AT+NWM=0,
  • then ATZ,
  • wait,
  • send AT,
  • send AT+P2P=....

LoRa TX works but receiver gets nothing

Check:

  • same frequency,
  • same SF,
  • same bandwidth,
  • same coding rate,
  • same preamble,
  • antennas connected,
  • both devices use P2P mode,
  • receiver uses AT+PRECV=65534.

Web panel does not open

Check:

  • phone connected to GPS-TRACKER-T1,
  • password is 12345678,
  • open http://192.168.4.1,
  • disable mobile data if the phone switches away,
  • confirm Serial Monitor prints web panel start logs.

COM5 disconnects

Try:

monitor_rts = 0
monitor_dtr = 0

Use a better USB cable and avoid weak USB hubs.

Safety and Legal Notes

  • Always connect a proper antenna before LoRa transmission.
  • Do not exceed local RF regulations.
  • For EU/Türkiye 868 MHz usage, respect regional duty-cycle and power limits.
  • This project is for educational, prototyping and field testing use.
  • Do not use for unlawful tracking or surveillance.

Roadmap

Planned improvements:

  • ACK packets from second receiver,
  • two-way LoRa commands,
  • SOS mode,
  • adaptive TX interval,
  • stopped/moving/fast mode detection,
  • local track history,
  • CSV export from web panel,
  • satellite skyplot on TFT,
  • battery voltage monitoring,
  • enclosure-ready hardware layout,
  • multi-device receiver dashboard.

License

AGPL-3.0 license

About

It is designed for field testing, off-grid tracking, RF experiments, outdoor telemetry, and future multi-device tracker networks.

creartsoft.com

Topics

esp32 gps lora gps-location lorawan lorawan-application spi-protocol esp32-c6

Resources

Readme

License

AGPL-3.0 license
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v2.2.0 Latest
May 26, 2026

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