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 230 <body>
 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="#orgb231d05">1. Location Logging</a>
 238 <ul>
 239 <li><a href="#orga7b5d26">1.1. Narrative</a></li>
 240 <li><a href="#orgc6050dc">1.2. Description</a>
 241 <ul>
 242 <li><a href="#org832c363">1.2.1. Hardware</a></li>
 243 <li><a href="#orgbe37034">1.2.2. Software</a></li>
 244 <li><a href="#org578c835">1.2.3. Output</a></li>
 245 </ul>
 246 </li>
 247 <li><a href="#org7bb3aad">1.3. Operating Procedures</a>
 248 <ul>
 249 <li><a href="#orge393fe1">1.3.1. Initial Startup</a></li>
 250 <li><a href="#orgcaf0980">1.3.2. Normal Startup</a></li>
 251 <li><a href="#org73571fc">1.3.3. Normal Operation</a></li>
 252 <li><a href="#orga82b5fb">1.3.4. Normal Shutdown</a></li>
 253 <li><a href="#org5305842">1.3.5. Unscheduled Shutdown</a></li>
 254 <li><a href="#org4a5c4af">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-orgb231d05" class="outline-2">
 263 <h2 id="orgb231d05"><span class="section-number-2">1</span> Location Logging</h2>
 264 <div class="outline-text-2" id="text-1">
 265 <p>
 266 This document was created by Steven Baltakatei Sandoval on
 267 <span class="timestamp-wrapper"><span class="timestamp">&lt;2020-06-29 Mon 12:14&gt; </span></span> under a <a href="https://creativecommons.org/licenses/by-sa/4.0/">Creative Commons BY-SA 4.0 license</a>. It
 268 was updated by Steven Baltakatei Sandoval on <span class="timestamp-wrapper"><span class="timestamp">&lt;2020-06-29 Mon 22:06&gt;</span></span>.
 269 </p>
 270 </div>
 271 <div id="outline-container-orga7b5d26" class="outline-3">
 272 <h3 id="orga7b5d26"><span class="section-number-3">1.1</span> Narrative</h3>
 273 <div class="outline-text-3" id="text-1-1">
 274 <p>
 275 Ninfacyzga-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
 277 converted into the more commonly used GPS data storage formats of GPX
 278 and KML. All three types of data are then compressed and encrypted
 279 against a set of public keys. The encrypted data is then written to
 280 disk. Data produced by the receiver is segmented into 60-second chunks
 281 before being processed and written to disk.
 282 </p>
 283 </div>
 284 </div>
 285 <div id="outline-container-orgc6050dc" class="outline-3">
 286 <h3 id="orgc6050dc"><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-org832c363" class="outline-4">
 290 <h4 id="org832c363"><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="orgb0e8ddc"></a>Raspberry Pi Zero W<br />
 295 <div class="outline-text-5" id="text-1-2-1-1">
 296 <p>
 297 See 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="org7b37dcc"></a>PiZ UpTime 2.0<br />
 302 <div class="outline-text-5" id="text-1-2-1-2">
 303 <p>
 304 See 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-orgbe37034" class="outline-4">
 311 <h4 id="orgbe37034"><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
 315 collection and processing. Is an executable file contained within this
 316 repository at <code>exec/bkgpslog</code>. It should be copied to
 317 <code>$HOME/.local/bin</code>.
 318 </p>
 319
 320 <p>
 321 <code>gpsd</code> : A background daemon app capable of interfacing with the
 322 Ozzmaker BerryGPS-IMU's GPS submodule. Installed and initialized by
 323 <code>apt</code>.
 324 </p>
 325
 326 <p>
 327 <code>gpspipe</code> : A command line app that polls <code>gpsd</code> and produces a stream
 328 stdout consisting of GPS data lines in NMEA format. Installed via
 329 <code>apt</code>.
 330 </p>
 331
 332 <p>
 333 <code>gpsbabel</code> : A command line app that converts GPS data from one format
 334 into another. <code>bkgpslog</code> uses it to convert NMEA data into GPX and
 335 KML. Installed via <code>apt</code>.
 336 </p>
 337
 338 <p>
 339 <code>gzip</code> : A simple command line app that compresses stdin into a
 340 smaller stdout stream.
 341 </p>
 342
 343 <p>
 344 <code>age</code> : A simple command line app that encrypts stdin against public
 345 keys specified in its options. Produces encrypted stdout. Is an
 346 executable file contained within this repository at <code>exec/age</code>. It
 347 should be copied to <code>$HOME/.local/bin</code>.
 348 </p>
 349 </div>
 350
 351 <ol class="org-ol">
 352 <li><a id="org0c488b2"></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
 357 versions of the buffer. All 3 buffers are then comprssed with <code>gzip</code>,
 358 encrypted 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-org578c835" class="outline-4">
 366 <h4 id="org578c835"><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="org72b99a5"></a>File Formats<br />
 371 <ol class="org-ol">
 372 <li><a id="orgdb7241e"></a>NMEA<br />
 373 <div class="outline-text-6" id="text-1-2-3-1-1">
 374 <p>
 375 See 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="orgeea00c8"></a>GPX<br />
 380 <div class="outline-text-6" id="text-1-2-3-1-2">
 381 <p>
 382 See 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="orgc8b05e7"></a>KML<br />
 387 <div class="outline-text-6" id="text-1-2-3-1-3">
 388 <p>
 389 See 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="org5c2a1ad"></a>Encryption Method<br />
 396 <div class="outline-text-5" id="text-1-2-3-2">
 397 <p>
 398 Files produced by the bkgpslog script are encrypted against a set of
 399 public keys using <a href="https://github.com/FiloSottile/age"><code>age</code></a>, a simple command line encryption tool
 400 selected over <code>gpg</code> because of <code>age</code>'s deliberate lack of
 401 configurability.
 402 </p>
 403
 404 <p>
 405 The public keys are bech32 strings supplied as options to bkgpslog
 406 when called. The secret key should <b>NOT</b> be stored in Ninfacyzga-01.
 407 </p>
 408
 409 <p>
 410 If 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>
 411 key pair. See the <a href="https://age-encryption.org/v1"><code>age</code> Version 1 specification</a>.
 412 </p>
 413
 414 <p>
 415 An <code>ssh-rsa</code> or <code>ssh-ed25519</code> SSH public key string may be used instead of
 416 the bech32 public key string produced by <code>age-keygen</code> for convenience.
 417 </p>
 418
 419 <p>
 420 Help 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="org460d569"></a>Encryption Commands<br />
 425 <div class="outline-text-6" id="text-1-2-3-2-1">
 426 <p>
 427 Files may be encrypted to several recipients using a command similar to:
 428 </p>
 429 <pre class="example">
 430 timeout "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>
 438 In this example, the strings beginning with <code>age1...</code> are
 439 bech32-formatted public key strings.
 440 </p>
 441 </div>
 442 </li>
 443
 444
 445 <li><a id="org1a5268c"></a>Decryption Commands<br />
 446 <div class="outline-text-6" id="text-1-2-3-2-2">
 447 <p>
 448 Files may be decrypted using a command similar to:
 449 </p>
 450
 451 <pre class="example">
 452 cat location.gpx.age | age -d -i key.txt &gt; location.gpx
 453 </pre>
 454
 455 <p>
 456 The 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-org7bb3aad" class="outline-3">
 466 <h3 id="org7bb3aad"><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-orge393fe1" class="outline-4">
 470 <h4 id="orge393fe1"><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>
 473 See 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="org5d6581b"></a>Physical Setup<br />
 479 <div class="outline-text-5" id="text-1-3-1-1">
 480 <p>
 481 BerryGPS-IMU must be electrically connected to the correct pins on the
 482 GPIO 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
 487 conflict so a simple stacking and soldering with long header pins is
 488 possible.
 489 </p>
 490 </div>
 491 </li>
 492
 493 <li><a id="orgdf04559"></a>Software Setup<br />
 494 <ol class="org-ol">
 495 <li><a id="org4804e32"></a>Install Executables<br />
 496 <div class="outline-text-6" id="text-1-3-1-2-1">
 497 <p>
 498 Install Raspbian 10 Buster onto an SD card image. See the Raspberry Pi
 499 Foundation <a href="https://www.raspberrypi.org/documentation/installation/installing-images/README.md">installation instructions</a>. Configure WiFi to permit log
 500 file transfer. Configure SSH to permit remote administration via the
 501 command line interface.
 502 </p>
 503
 504 <p>
 505 Make sure to install the <code>unattended-upgrades</code> package to make sure
 506 the latest security patches for packages are installed. See <a href="https://linux-audit.com/using-unattended-upgrades-on-debian-and-ubuntu/">this page</a>
 507 for a description of how <code>unattended-upgrades</code> works.
 508 </p>
 509
 510 <p>
 511 Install <code>gpsd</code>, <code>gpspipe</code>, <code>git</code>, and this repository for location
 512 logging capability.
 513 </p>
 514
 515 <p>
 516 Install <code>syncthing</code> for log file transfer capability.
 517 </p>
 518
 519 <p>
 520 Place <code>age</code> binary (the one compiled for ARM CPU architecture for
 521 Linux) in <code>$HOME/.local/bin</code>.
 522 </p>
 523 </div>
 524 </li>
 525
 526 <li><a id="orgcf659dd"></a>Automatic Start Configuration<br />
 527 <div class="outline-text-6" id="text-1-3-1-2-2">
 528 <p>
 529 Edit the user cron job list with <code>$ crontab -e</code> to add the following
 530 lines:
 531 </p>
 532
 533 <pre class="example">
 534 0 * * * * /bin/bash ~/bkgpslog --output ~/dir
 535
 536 @reboot /bin/bash ~/bkgpslog --output ~/dir
 537 </pre>
 538
 539 <p>
 540 The first line will run <code>bkgpslog</code> at the start of every hour and save
 541 output files to the <code>dir</code> directory in your home folder.
 542 </p>
 543
 544 <p>
 545 The second line will run <code>bkgpslog</code> when the system starts up.
 546 </p>
 547
 548 <p>
 549 <code>/bin/bash</code> tells <code>cron</code> to run <code>bkgpslog</code> with Bash.
 550 </p>
 551
 552 <p>
 553 If encryption and compression are required, then the appropriate
 554 options must be added. The lines that must be added via <code>$ crontab -e</code>
 555 may resemble:
 556 </p>
 557
 558 <pre class="example">
 559 0 * * * * /bin/bash ~/bkgpslog -c -e -r age1z2...qkv6p -o ~/dir
 560
 561 @reboot /bin/bash ~/bkgpslog -c -e -r age1z2...qkv6p -o ~/dir
 562 </pre>
 563
 564 <p>
 565 The <code>age1z2...qkv6p</code> is an <code>age</code> public key string. Please see the
 566 <a href="#orgc8fd75d">Key Generation</a> section for an explanation.
 567 </p>
 568
 569 <p>
 570 The options are:
 571 </p>
 572
 573 <pre class="example">
 574 -c : tells bkgpslog to compress output
 575 -e : tells bkgpslog log to encrypt output
 576 -r : tells bkgpslog to interpret the next argument as a pubkey string
 577 -o : tells bkgpslog to write output files to the directory represented
 578        by the next argument
 579
 580 </pre>
 581 </div>
 582 </li>
 583
 584 <li><a id="org5275559"></a>Log Transfer Configuration<br />
 585 <div class="outline-text-6" id="text-1-3-1-2-3">
 586 <p>
 587 Log files may be shared to other machines via <code>syncthing</code>. See <a href="https://docs.syncthing.net/">this</a>
 588 manual for how to set up a shared folder and add Ninfacyzga-01 as a
 589 device. Syncthing's directory synchronization capability allows a
 590 remote machine to delete files from Ninfacyzga-01 by deleting from the
 591 shared folder that they both share.
 592 </p>
 593
 594 <p>
 595 When log files are removed from Ninfacyzga-01 is not within the scope
 596 of this document.
 597 </p>
 598 </div>
 599 </li>
 600
 601 <li><a id="orgc8fd75d"></a>Key Generation<br />
 602 <div class="outline-text-6" id="text-1-3-1-2-4">
 603 <p>
 604 An <code>age</code> encryption key may be generated like so:
 605 </p>
 606 <pre class="example">
 607 $ umask          # Gets current umask
 608 0022             # Note: This is the default umask for Raspbian 10
 609 $ umask 066      # Sets umask so key.txt will have no permissions except for owner (you)
 610 $ umask          # Confirm umask set to 066
 611 0066
 612 $ age-keygen &gt; key.txt
 613 Public key: age1pu5usxm743sx7rf22985xv2f4s0luzv6r6yx4fa7p8c2zyvp9fvqus2xr5
 614 $ ls -al key.txt
 615 -rw------- 1 baltakatei baltakatei 184 Jun 29 18:28 key.txt
 616 $ umask 0022     # Return umask to default value
 617 $ umask
 618 0022
 619 </pre>
 620
 621 <p>
 622 The resulting public/private keypair data looks like:
 623 </p>
 624 <pre class="example">
 625 $ cat key.txt
 626 # created: 2020-06-29T18:01:56Z
 627 # public key: age1pu5usxm743sx7rf22985xv2f4s0luzv6r6yx4fa7p8c2zyvp9fvqus2xr5
 628 AGE-SECRET-KEY-1NEUU5U2XGZGL9UYWNPU5DL99TGJJHFSN4F2E2WCCSDJJ6L5ZMLESNTVTU0
 629 </pre>
 630
 631 <p>
 632 The file <code>key.txt</code> is not password-protected by default and should be
 633 secured like an SSH public key should. The <code>$ umask 066</code> command run
 634 before the <code>$ age-keygen &gt; key.txt</code> command ensures <code>key.txt</code> will not
 635 be readable, writeable, or executable to anyone except the owner
 636 (you).
 637 </p>
 638 </div>
 639 </li>
 640 </ol>
 641 </li>
 642 </ol>
 643 </div>
 644
 645 <div id="outline-container-orgcaf0980" class="outline-4">
 646 <h4 id="orgcaf0980"><span class="section-number-4">1.3.2</span> Normal Startup</h4>
 647 <div class="outline-text-4" id="text-1-3-2">
 648 <p>
 649 Turn on Ninfacyzga-01 by supplying 5VDC power to the Raspberry Pi. No
 650 further interaction should be required.
 651 </p>
 652 </div>
 653 </div>
 654 <div id="outline-container-org73571fc" class="outline-4">
 655 <h4 id="org73571fc"><span class="section-number-4">1.3.3</span> Normal Operation</h4>
 656 <div class="outline-text-4" id="text-1-3-3">
 657 <p>
 658 No interaction beyond continually supplying approximately 100mA of
 659 5VDC power and occasionally removing log files to conserve disk space
 660 is required.
 661 </p>
 662 </div>
 663 <ol class="org-ol">
 664 <li><a id="org55738e2"></a>Log Transfer<br />
 665 <div class="outline-text-5" id="text-1-3-3-1">
 666 <p>
 667 Log files may be transferred by use of <code>syncthing</code> shared folders.
 668 </p>
 669 </div>
 670 </li>
 671 <li><a id="org16c5bdc"></a>Automatic Updates<br />
 672 <div class="outline-text-5" id="text-1-3-3-2">
 673 <p>
 674 The <code>automatic-upgrades</code> package, if installed, should automatically
 675 install security patches to packages installed via <code>apt</code>.
 676 </p>
 677 </div>
 678 </li>
 679 </ol>
 680 </div>
 681 <div id="outline-container-orga82b5fb" class="outline-4">
 682 <h4 id="orga82b5fb"><span class="section-number-4">1.3.4</span> Normal Shutdown</h4>
 683 <div class="outline-text-4" id="text-1-3-4">
 684 <p>
 685 The system may be shutdown via SSH by running:
 686 </p>
 687
 688 <pre class="example">
 689 $ sudo shutdown -r 0
 690
 691 </pre>
 692 </div>
 693 </div>
 694
 695 <div id="outline-container-org5305842" class="outline-4">
 696 <h4 id="org5305842"><span class="section-number-4">1.3.5</span> Unscheduled Shutdown</h4>
 697 <div class="outline-text-4" id="text-1-3-5">
 698 <p>
 699 Ninfacyzga-01 as described and setup should tolerate unscheduled power
 700 loss. Log files being written every 60 seconds means, at most, 60
 701 seconds worth of location data may be lost.
 702 </p>
 703 </div>
 704 </div>
 705 <div id="outline-container-org4a5c4af" class="outline-4">
 706 <h4 id="org4a5c4af"><span class="section-number-4">1.3.6</span> End of Life Disposal</h4>
 707 <div class="outline-text-4" id="text-1-3-6">
 708 <p>
 709 LiPo batteries used by the PiZ Uptime 2.0 module should be disposed of
 710 properly with their potential ignitability in mind, especially if they
 711 are not fully discharged.
 712 </p>
 713
 714 <p>
 715 Consult your local municipality for its "E-Waste Disposal" (or
 716 equivalent) policy. Metals used in the Raspberry Pi and related
 717 components may be recycled.
 718 </p>
 719
 720 <p>
 721 Take extra precuation if lead solder was used in assembling the
 722 electronics. Consumer electronics in early 21st century should use
 723 lead-free solder.
 724 </p>
 725 </div>
 726 </div>
 727 </div>
 728 </div>
 729 </div>
 730 <div id="postamble" class="status">
 731 <p class="date">Date: 2020-06-29T22:16Z</p>
 732 <p class="author">Author: Steven Baltakatei Sandoval</p>
 733 <p class="date">Created: 2020-06-29 Mon 22:27</p>
 734 <p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
 735 </div>
 736 </body>
 737 </html>