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231<div id="content">
232<h1 class="title">Ninfacyzga-01 Manual</h1>
233<div id="table-of-contents">
234<h2>Table of Contents</h2>
235<div id="text-table-of-contents">
236<ul>
237<li><a href="#org4ab28d5">1. Location Logging</a>
238<ul>
239<li><a href="#org3a44301">1.1. Narrative</a></li>
240<li><a href="#orgeb3a61f">1.2. Description</a>
241<ul>
242<li><a href="#org68434d8">1.2.1. Hardware</a></li>
243<li><a href="#org6bf1f28">1.2.2. Software</a></li>
244<li><a href="#orga640ec2">1.2.3. Output</a></li>
245</ul>
246</li>
247<li><a href="#org78712e3">1.3. Operating Procedures</a>
248<ul>
249<li><a href="#orgcc76a4c">1.3.1. Initial Startup</a></li>
250<li><a href="#org8fbf566">1.3.2. Normal Startup</a></li>
251<li><a href="#orgbc8af37">1.3.3. Normal Operation</a></li>
252<li><a href="#org46c0af5">1.3.4. Normal Shutdown</a></li>
253<li><a href="#org662e1e8">1.3.5. Unscheduled Shutdown</a></li>
254<li><a href="#org70e088c">1.3.6. End of Life Disposal</a></li>
255</ul>
256</li>
257</ul>
258</li>
259</ul>
260</div>
261</div>
262<div id="outline-container-org4ab28d5" class="outline-2">
263<h2 id="org4ab28d5"><span class="section-number-2">1</span> Location Logging</h2>
264<div class="outline-text-2" id="text-1">
265<p>
266This document was created by Steven Baltakatei Sandoval on
267<code>2020-06-29T12:14Z</code> under a <a href="https://creativecommons.org/licenses/by-sa/4.0/">Creative Commons BY-SA 4.0 license</a>. It
268was updated by Steven Baltakatei Sandoval on <code>2020-06-30T19:44Z</code>
269</p>
270</div>
271<div id="outline-container-org3a44301" class="outline-3">
272<h3 id="org3a44301"><span class="section-number-3">1.1</span> Narrative</h3>
273<div class="outline-text-3" id="text-1-1">
274<p>
275Ninfacyzga-01 records (logs) its position in time and space using a
276<a href="https://en.wikipedia.org/wiki/Satellite_navigation_device">GPS receiver</a>. The NMEA location data produced by the receiver is
277converted into the more commonly used GPS data storage formats of GPX
278and KML. All three types of data are then compressed and encrypted
279against a set of public keys. The encrypted data is then written to
280disk. Data produced by the receiver is segmented into 60-second chunks
281before being processed and written to disk.
282</p>
283</div>
284</div>
285<div id="outline-container-orgeb3a61f" class="outline-3">
286<h3 id="orgeb3a61f"><span class="section-number-3">1.2</span> Description</h3>
287<div class="outline-text-3" id="text-1-2">
288</div>
289<div id="outline-container-org68434d8" class="outline-4">
290<h4 id="org68434d8"><span class="section-number-4">1.2.1</span> Hardware</h4>
291<div class="outline-text-4" id="text-1-2-1">
292</div>
293<ol class="org-ol">
294<li><a id="org3fcab7d"></a>Raspberry Pi Zero W<br />
295<div class="outline-text-5" id="text-1-2-1-1">
296<p>
297See the <a href="https://www.raspberrypi.org/pi-zero-w/">OEM</a> webpage for this product.
298</p>
299</div>
300</li>
301<li><a id="org4a38c06"></a>PiZ UpTime 2.0<br />
302<div class="outline-text-5" id="text-1-2-1-2">
303<p>
304See the <a href="https://alchemy-power.com/piz-uptime-2-0/">OEM</a> webpage for this product.
305</p>
306</div>
307</li>
308</ol>
309</div>
310<div id="outline-container-org6bf1f28" class="outline-4">
311<h4 id="org6bf1f28"><span class="section-number-4">1.2.2</span> Software</h4>
312<div class="outline-text-4" id="text-1-2-2">
313<p>
314<code>bkgpslog</code> : The bash script that performs the location data
315collection and processing. Is an executable file contained within this
316repository at <code>exec/bkgpslog</code>. It should be copied to
317<code>$HOME/.local/bin</code>.
318</p>
319
320<p>
321<code>gpsd</code> : A background daemon app capable of interfacing with the
322Ozzmaker BerryGPS-IMU's GPS submodule. Installed and initialized by
323<code>apt</code>.
324</p>
325
326<p>
327<code>gpspipe</code> : A command line app that polls <code>gpsd</code> and produces a stream
328stdout consisting of GPS data lines in NMEA format. Installed via
329<code>apt</code>.
330</p>
331
332<p>
333<code>gpsbabel</code> : A command line app that converts GPS data from one format
334into another. <code>bkgpslog</code> uses it to convert NMEA data into GPX and
335KML. Installed via <code>apt</code>.
336</p>
337
338<p>
339<code>gzip</code> : A simple command line app that compresses stdin into a
340smaller stdout stream.
341</p>
342
343<p>
344<code>age</code> : A simple command line app that encrypts stdin against public
345keys specified in its options. Produces encrypted stdout. Is an
346executable file contained within this repository at <code>exec/age</code>. It
347should be copied to <code>$HOME/.local/bin</code>.
348</p>
349</div>
350
351<ol class="org-ol">
352<li><a id="org33a99e7"></a>Narrative<br />
353<div class="outline-text-5" id="text-1-2-2-1">
354<p>
355<code>bkgpslog</code> populates a 60-second buffer with NMEA data from <code>gpsd</code> via
356<code>gpspipe</code>. This buffer is used by <code>gpsbabel</code> to produce GPX and KML
357versions of the buffer. All 3 buffers are then comprssed with <code>gzip</code>,
358encrypted with <code>age</code>, and then written to disk.
359</p>
360</div>
361</li>
362</ol>
363</div>
364
365<div id="outline-container-orga640ec2" class="outline-4">
366<h4 id="orga640ec2"><span class="section-number-4">1.2.3</span> Output</h4>
367<div class="outline-text-4" id="text-1-2-3">
368</div>
369<ol class="org-ol">
370<li><a id="orgbe90ee3"></a>File Formats<br />
371<ol class="org-ol">
372<li><a id="orga69e180"></a>NMEA<br />
373<div class="outline-text-6" id="text-1-2-3-1-1">
374<p>
375See the <a href="https://en.wikipedia.org/wiki/NMEA_0183">Wikipedia page</a> for this.
376</p>
377</div>
378</li>
379<li><a id="org03fca13"></a>GPX<br />
380<div class="outline-text-6" id="text-1-2-3-1-2">
381<p>
382See the <a href="https://en.wikipedia.org/wiki/GPS_Exchange_Format">Wikipedia page</a> for this. <a href="http://wiki.gis.com/wiki/index.php/WGS84">WGS84</a> is the datum used.
383</p>
384</div>
385</li>
386<li><a id="org9469dda"></a>KML<br />
387<div class="outline-text-6" id="text-1-2-3-1-3">
388<p>
389See the <a href="https://en.wikipedia.org/wiki/Keyhole_Markup_Language">Wikipedia page</a> for this. <a href="http://wiki.gis.com/wiki/index.php/WGS84">WGS84</a> is the datum used.
390</p>
391</div>
392</li>
393</ol>
394</li>
395<li><a id="org4923cfc"></a>Encryption Method<br />
396<div class="outline-text-5" id="text-1-2-3-2">
397<p>
398Files produced by the bkgpslog script are encrypted against a set of
399public keys using <a href="https://github.com/FiloSottile/age"><code>age</code></a>, a simple command line encryption tool
400selected over <code>gpg</code> because of <code>age</code>'s deliberate lack of
401configurability.
402</p>
403
404<p>
405The public keys are bech32 strings supplied as options to bkgpslog
406when called. The secret key should <b>NOT</b> be stored in Ninfacyzga-01.
407</p>
408
409<p>
410If a key pair was generated using <code>age-keygen</code>, then it is an <a href="https://en.wikipedia.org/wiki/Curve25519"><code>X25519</code></a>
411key pair. See the <a href="https://age-encryption.org/v1"><code>age</code> Version 1 specification</a>.
412</p>
413
414<p>
415An <code>ssh-rsa</code> or <code>ssh-ed25519</code> SSH public key string may be used instead of
416the bech32 public key string produced by <code>age-keygen</code> for convenience.
417</p>
418
419<p>
420Help information for <code>age</code> is available by running <code>$ age --help</code>.
421</p>
422</div>
423<ol class="org-ol">
424<li><a id="org5f006f6"></a>Encryption Commands<br />
425<div class="outline-text-6" id="text-1-2-3-2-1">
426<p>
427Files may be encrypted to several recipients using a command similar to:
428</p>
429<pre class="example">
430timeout "60s" gpspipe -r | gpsbabel -i nmea -f - -o gpx -F | age \
431-r age1kza7pfshy7xwygf9349zgmk7x53mquvedgw9r98qwyyqhssh830qqjzlsw \
432-r age1ce3pvzrqfcn2pc6zqzglc8ac8yjk3fzukpy08cesqjjwns53xywqmaq7xw \
433-r age1pu5usxm743sx7rf22985xv2f4s0luzv6r6yx4fa7p8c2zyvp9fvqus2xr5 \
434&gt; location.gpx.age
435</pre>
436
437<p>
438In this example, the strings beginning with <code>age1...</code> are
439bech32-formatted public key strings.
440</p>
441</div>
442</li>
443
444
445<li><a id="orgd0d1b14"></a>Decryption Commands<br />
446<div class="outline-text-6" id="text-1-2-3-2-2">
447<p>
448Files may be decrypted using a command similar to:
449</p>
450
451<pre class="example">
452cat location.gpx.age | age -d -i key.txt &gt; location.gpx
453</pre>
454
455<p>
456The version of <code>age</code> used to perform the encryption
457</p>
458</div>
459</li>
460</ol>
461</li>
462</ol>
463</div>
464</div>
465<div id="outline-container-org78712e3" class="outline-3">
466<h3 id="org78712e3"><span class="section-number-3">1.3</span> Operating Procedures</h3>
467<div class="outline-text-3" id="text-1-3">
468</div>
469<div id="outline-container-orgcc76a4c" class="outline-4">
470<h4 id="orgcc76a4c"><span class="section-number-4">1.3.1</span> Initial Startup</h4>
471<div class="outline-text-4" id="text-1-3-1">
472<p>
473See OEM (Ozzmaker) <a href="https://ozzmaker.com/berrygps-berrygps-imu-quick-start-guide/">quickstart guide for the BerryGPS-IMU</a>.
474</p>
475</div>
476
477<ol class="org-ol">
478<li><a id="orgae43b4b"></a>Physical Setup<br />
479<div class="outline-text-5" id="text-1-3-1-1">
480<p>
481BerryGPS-IMU must be electrically connected to the correct pins on the
482GPIO header of a Raspberry Pi Zero W.
483</p>
484
485<p>
486<b>Optional</b>: stack together with PiZ Uptime 2.0 module. No GPIO pins
487conflict so a simple stacking and soldering with long header pins is
488possible.
489</p>
490</div>
491</li>
492
493<li><a id="orgb3c2fc2"></a>Software Setup<br />
494<ol class="org-ol">
495<li><a id="org651214a"></a>Install Executables<br />
496<div class="outline-text-6" id="text-1-3-1-2-1">
497<p>
498Install Raspbian 10 Buster onto an SD card image. See the Raspberry Pi
499Foundation <a href="https://www.raspberrypi.org/documentation/installation/installing-images/README.md">installation instructions</a>. Configure WiFi to permit log
500file transfer. Configure SSH to permit remote administration via the
501command line interface.
502</p>
503
504<p>
505Make sure to install the <code>unattended-upgrades</code> package to make sure
506the latest security patches for packages are installed. See <a href="https://linux-audit.com/using-unattended-upgrades-on-debian-and-ubuntu/">this page</a>
507for a description of how <code>unattended-upgrades</code> works.
508</p>
509
510<p>
511Install <code>gpsd</code>, <code>gpspipe</code>, <code>git</code>, and this repository for location
512logging capability.
513</p>
514
515<p>
516Install <code>syncthing</code> for log file transfer capability.
517</p>
518
519<p>
520Place <code>age</code> binary (the one compiled for ARM CPU architecture for
521Linux) in <code>$HOME/.local/bin</code>.
522</p>
523</div>
524</li>
525
526<li><a id="org1cc0c53"></a>Disable Swap File<br />
527<div class="outline-text-6" id="text-1-3-1-2-2">
528<p>
529Since standard Raspbian 10 (Buster) install involves copying
530unencrypted file system image to SD card which is mounted by the
531Raspberry Pi, system memory may be written to disk in the form of a
532Swap file as described <a href="https://ideaheap.com/2013/07/stopping-sd-card-corruption-on-a-raspberry-pi/">here</a>. In order to reduce the chance that
533location log data is ever written to disk, swap file functionality
534must be disabled<sup><a id="fnr.1" class="footref" href="#fn.1">1</a></sup>.
535</p>
536
537<p>
538Raspbian 10 uses dphys-swapfile to manage a swap file. It may be
539disabled persistently<sup><a id="fnr.2" class="footref" href="#fn.2">2</a></sup> by running
540the following command:
541</p>
542
543<pre class="example">
544sudo systemctl disable dphys-swapfile.service
545
546</pre>
547
548<p>
549To view the status of the swap file in Raspbian 10, run <code>free -m</code>:
550</p>
551
552<pre class="example">
553pi@ninfacyzga-01:~$ free -m
554 total used free shared buff/cache available
555Mem: 432 86 36 21 309 268
556Swap: 99 0 99
557</pre>
558
559<p>
560After disabling the swap file and rebooting:
561</p>
562
563<pre class="example">
564pi@ninfacyzga-01:~$ free -m
565 total used free shared buff/cache available
566Mem: 432 89 214 3 128 289
567Swap: 0 0 0
568</pre>
569</div>
570</li>
571
572<li><a id="orgfdbf7d1"></a>Automatic Start Configuration<br />
573<div class="outline-text-6" id="text-1-3-1-2-3">
574<p>
575Edit the user cron job list with <code>$ crontab -e</code> to add the following
576lines:
577</p>
578
579<pre class="example">
5800 * * * * /bin/bash ~/bkgpslog --output ~/dir
581
582@reboot /bin/bash ~/bkgpslog --output ~/dir
583</pre>
584
585<p>
586The first line will run <code>bkgpslog</code> at the start of every hour and save
587output files to the <code>dir</code> directory in your home folder.
588</p>
589
590<p>
591The second line will run <code>bkgpslog</code> when the system starts up.
592</p>
593
594<p>
595<code>/bin/bash</code> tells <code>cron</code> to run <code>bkgpslog</code> with Bash.
596</p>
597
598<p>
599If encryption and compression are required, then the appropriate
600options must be added. The lines that must be added via <code>$ crontab -e</code>
601may resemble:
602</p>
603
604<pre class="example">
6050 * * * * /bin/bash ~/bkgpslog -c -e -r age1z2...qkv6p -o ~/dir
606
607@reboot /bin/bash ~/bkgpslog -c -e -r age1z2...qkv6p -o ~/dir
608</pre>
609
610<p>
611The <code>age1z2...qkv6p</code> is an <code>age</code> public key string. Please see the
612<a href="#org4647532">Key Generation</a> section for an explanation.
613</p>
614
615<p>
616The options are:
617</p>
618
619<pre class="example">
620-c : tells bkgpslog to compress output
621-e : tells bkgpslog log to encrypt output
622-r : tells bkgpslog to interpret the next argument as a pubkey string
623-o : tells bkgpslog to write output files to the directory represented
624 by the next argument
625
626</pre>
627</div>
628</li>
629
630<li><a id="org2de2dd5"></a>Log Transfer Configuration<br />
631<div class="outline-text-6" id="text-1-3-1-2-4">
632<p>
633Log files may be shared to other machines via <code>syncthing</code>. See <a href="https://docs.syncthing.net/">this</a>
634manual for how to set up a shared folder and add Ninfacyzga-01 as a
635device. Syncthing's directory synchronization capability allows a
636remote machine to delete files from Ninfacyzga-01 by deleting from the
637shared folder that they both share.
638</p>
639
640<p>
641When log files are removed from Ninfacyzga-01 is not within the scope
642of this document.
643</p>
644</div>
645</li>
646
647<li><a id="org4647532"></a>Key Generation<br />
648<div class="outline-text-6" id="text-1-3-1-2-5">
649<p>
650An <code>age</code> encryption key may be generated like so:
651</p>
652<pre class="example">
653$ umask # Gets current umask
6540022 # Note: This is the default umask for Raspbian 10
655$ umask 066 # So key.txt will have no perms except for owner (you)
656$ umask # Confirm umask set to 066
6570066
658$ age-keygen &gt; key.txt
659Public key: age1pu5usxm743sx7rf22985xv2f4s0luzv6r6yx4fa7p8c2zyvp9fvqus2xr5
660$ ls -al key.txt
661-rw------- 1 baltakatei baltakatei 184 Jun 29 18:28 key.txt
662$ umask 0022 # Return umask to default value
663$ umask
6640022
665</pre>
666
667<p>
668The resulting public/private keypair data looks like:
669</p>
670<pre class="example">
671$ cat key.txt
672# created: 2020-06-29T18:01:56Z
673# public key: age1pu5usxm743sx7rf22985xv2f4s0luzv6r6yx4fa7p8c2zyvp9fvqus2xr5
674AGE-SECRET-KEY-1NEUU5U2XGZGL9UYWNPU5DL99TGJJHFSN4F2E2WCCSDJJ6L5ZMLESNTVTU0
675</pre>
676
677<p>
678The file <code>key.txt</code> is not password-protected by default and should be
679secured like an SSH public key should. The <code>$ umask 066</code> command run
680before the <code>$ age-keygen &gt; key.txt</code> command ensures <code>key.txt</code> will not
681be readable, writeable, or executable to anyone except the owner
682(you).
683</p>
684</div>
685</li>
686</ol>
687</li>
688</ol>
689</div>
690
691<div id="outline-container-org8fbf566" class="outline-4">
692<h4 id="org8fbf566"><span class="section-number-4">1.3.2</span> Normal Startup</h4>
693<div class="outline-text-4" id="text-1-3-2">
694<p>
695Turn on Ninfacyzga-01 by supplying 5VDC power to the Raspberry Pi. No
696further interaction should be required.
697</p>
698</div>
699</div>
700<div id="outline-container-orgbc8af37" class="outline-4">
701<h4 id="orgbc8af37"><span class="section-number-4">1.3.3</span> Normal Operation</h4>
702<div class="outline-text-4" id="text-1-3-3">
703<p>
704No interaction beyond continually supplying approximately 100mA of
7055VDC power and occasionally removing log files to conserve disk space
706is required.
707</p>
708</div>
709<ol class="org-ol">
710<li><a id="orgeaa5887"></a>Log Transfer<br />
711<div class="outline-text-5" id="text-1-3-3-1">
712<p>
713Log files may be transferred by use of <code>syncthing</code> shared folders.
714</p>
715</div>
716</li>
717<li><a id="org51a37e4"></a>Automatic Updates<br />
718<div class="outline-text-5" id="text-1-3-3-2">
719<p>
720The <code>automatic-upgrades</code> package, if installed, should automatically
721install security patches to packages installed via <code>apt</code>.
722</p>
723</div>
724</li>
725</ol>
726</div>
727<div id="outline-container-org46c0af5" class="outline-4">
728<h4 id="org46c0af5"><span class="section-number-4">1.3.4</span> Normal Shutdown</h4>
729<div class="outline-text-4" id="text-1-3-4">
730<p>
731The system may be shutdown via SSH by running:
732</p>
733
734<pre class="example">
735$ sudo shutdown -r 0
736
737</pre>
738</div>
739</div>
740
741<div id="outline-container-org662e1e8" class="outline-4">
742<h4 id="org662e1e8"><span class="section-number-4">1.3.5</span> Unscheduled Shutdown</h4>
743<div class="outline-text-4" id="text-1-3-5">
744<p>
745Ninfacyzga-01 as described and setup should tolerate unscheduled power
746loss. Log files being written every 60 seconds means, at most, 60
747seconds worth of location data may be lost.
748</p>
749</div>
750</div>
751<div id="outline-container-org70e088c" class="outline-4">
752<h4 id="org70e088c"><span class="section-number-4">1.3.6</span> End of Life Disposal</h4>
753<div class="outline-text-4" id="text-1-3-6">
754<p>
755LiPo batteries used by the PiZ Uptime 2.0 module should be disposed of
756properly with their potential ignitability in mind, especially if they
757are not fully discharged.
758</p>
759
760<p>
761Consult your local municipality for its "E-Waste Disposal" (or
762equivalent) policy. Metals used in the Raspberry Pi and related
763components may be recycled.
764</p>
765
766<p>
767Take extra precuation if lead solder was used in assembling the
768electronics. Consumer electronics in early 21st century should use
769lead-free solder.
770</p>
771</div>
772</div>
773</div>
774</div>
775<div id="footnotes">
776<h2 class="footnotes">Footnotes: </h2>
777<div id="text-footnotes">
778
779<div class="footdef"><sup><a id="fn.1" class="footnum" href="#fnr.1">1</a></sup> <div class="footpara"><p class="footpara">
780Explanation:
781<a href="https://ideaheap.com/2013/07/stopping-sd-card-corruption-on-a-raspberry-pi/">https://ideaheap.com/2013/07/stopping-sd-card-corruption-on-a-raspberry-pi/</a>
782</p></div></div>
783
784<div class="footdef"><sup><a id="fn.2" class="footnum" href="#fnr.2">2</a></sup> <div class="footpara"><p class="footpara">
785Persistant disabling of swap in
786Raspbian 10 Buster:
787<a href="https://www.raspberrypi.org/forums/viewtopic.php?p=1490692&amp;sid=5c596a124b7805d6b10dab8d3d7caf16#p1490692">https://www.raspberrypi.org/forums/viewtopic.php?p=1490692&amp;sid=5c596a124b7805d6b10dab8d3d7caf16#p1490692</a>
788</p></div></div>
789
790
791</div>
792</div></div>
793<div id="postamble" class="status">
794<p class="author">Author: Steven Baltakatei Sandoval</p>
795<p class="date">Created: 2020-06-30 Tue 19:45</p>
796<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
797</div>
798</body>
799</html>
Environment Sensor Ninfacyzga-01