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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">
237 <li><a href=
"#org9fe5754">1. Location Logging
</a>
239 <li><a href=
"#org6b1a17d">1.1. Narrative
</a></li>
240 <li><a href=
"#org57c152a">1.2. Description
</a>
242 <li><a href=
"#orge971d48">1.2.1. Hardware
</a></li>
243 <li><a href=
"#orgd6ea21a">1.2.2. Software
</a></li>
244 <li><a href=
"#org2c5d288">1.2.3. Output
</a></li>
247 <li><a href=
"#org2c59433">1.3. Operating Procedures
</a>
249 <li><a href=
"#org6fcdbad">1.3.1. Initial Startup
</a></li>
250 <li><a href=
"#org15d1661">1.3.2. Normal Startup
</a></li>
251 <li><a href=
"#org989e70e">1.3.3. Normal Operation
</a></li>
252 <li><a href=
"#orged87647">1.3.4. Normal Shutdown
</a></li>
253 <li><a href=
"#org5d4c9cd">1.3.5. Unscheduled Shutdown
</a></li>
254 <li><a href=
"#org00f1b85">1.3.6. End of Life Disposal
</a></li>
262 <div id=
"outline-container-org9fe5754" class=
"outline-2">
263 <h2 id=
"org9fe5754"><span class=
"section-number-2">1</span> Location Logging
</h2>
264 <div class=
"outline-text-2" id=
"text-1">
266 This 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
268 was updated by Steven Baltakatei Sandoval on
<code>2020-
06-
30T17:
13Z
</code>
271 <div id=
"outline-container-org6b1a17d" class=
"outline-3">
272 <h3 id=
"org6b1a17d"><span class=
"section-number-3">1.1</span> Narrative
</h3>
273 <div class=
"outline-text-3" id=
"text-1-1">
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.
285 <div id=
"outline-container-org57c152a" class=
"outline-3">
286 <h3 id=
"org57c152a"><span class=
"section-number-3">1.2</span> Description
</h3>
287 <div class=
"outline-text-3" id=
"text-1-2">
289 <div id=
"outline-container-orge971d48" class=
"outline-4">
290 <h4 id=
"orge971d48"><span class=
"section-number-4">1.2.1</span> Hardware
</h4>
291 <div class=
"outline-text-4" id=
"text-1-2-1">
294 <li><a id=
"org21a0c6c"></a>Raspberry Pi Zero W
<br />
295 <div class=
"outline-text-5" id=
"text-1-2-1-1">
297 See the
<a href=
"https://www.raspberrypi.org/pi-zero-w/">OEM
</a> webpage for this product.
301 <li><a id=
"org002698e"></a>PiZ UpTime
2.0<br />
302 <div class=
"outline-text-5" id=
"text-1-2-1-2">
304 See the
<a href=
"https://alchemy-power.com/piz-uptime-2-0/">OEM
</a> webpage for this product.
310 <div id=
"outline-container-orgd6ea21a" class=
"outline-4">
311 <h4 id=
"orgd6ea21a"><span class=
"section-number-4">1.2.2</span> Software
</h4>
312 <div class=
"outline-text-4" id=
"text-1-2-2">
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>$HOME/.local/bin
</code>.
321 <code>gpsd
</code> : A background daemon app capable of interfacing with the
322 Ozzmaker BerryGPS-IMU's GPS submodule. Installed and initialized by
327 <code>gpspipe
</code> : A command line app that polls
<code>gpsd
</code> and produces a stream
328 stdout consisting of GPS data lines in NMEA format. Installed via
333 <code>gpsbabel
</code> : A command line app that converts GPS data from one format
334 into another.
<code>bkgpslog
</code> uses it to convert NMEA data into GPX and
335 KML. Installed via
<code>apt
</code>.
339 <code>gzip
</code> : A simple command line app that compresses stdin into a
340 smaller stdout stream.
344 <code>age
</code> : A simple command line app that encrypts stdin against public
345 keys specified in its options. Produces encrypted stdout. Is an
346 executable file contained within this repository at
<code>exec/age
</code>. It
347 should be copied to
<code>$HOME/.local/bin
</code>.
352 <li><a id=
"org3d64ae8"></a>Narrative
<br />
353 <div class=
"outline-text-5" id=
"text-1-2-2-1">
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.
365 <div id=
"outline-container-org2c5d288" class=
"outline-4">
366 <h4 id=
"org2c5d288"><span class=
"section-number-4">1.2.3</span> Output
</h4>
367 <div class=
"outline-text-4" id=
"text-1-2-3">
370 <li><a id=
"orgaf12e62"></a>File Formats
<br />
372 <li><a id=
"org8576f09"></a>NMEA
<br />
373 <div class=
"outline-text-6" id=
"text-1-2-3-1-1">
375 See the
<a href=
"https://en.wikipedia.org/wiki/NMEA_0183">Wikipedia page
</a> for this.
379 <li><a id=
"orge0c91b6"></a>GPX
<br />
380 <div class=
"outline-text-6" id=
"text-1-2-3-1-2">
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.
386 <li><a id=
"org25abef8"></a>KML
<br />
387 <div class=
"outline-text-6" id=
"text-1-2-3-1-3">
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.
395 <li><a id=
"org67f375b"></a>Encryption Method
<br />
396 <div class=
"outline-text-5" id=
"text-1-2-3-2">
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
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.
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>.
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.
420 Help information for
<code>age
</code> is available by running
<code>$ age --help
</code>.
424 <li><a id=
"org4ff51de"></a>Encryption Commands
<br />
425 <div class=
"outline-text-6" id=
"text-1-2-3-2-1">
427 Files may be encrypted to several recipients using a command similar to:
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 > location.gpx.age
438 In this example, the strings beginning with
<code>age1...
</code> are
439 bech32-formatted public key strings.
445 <li><a id=
"org4a3cc4d"></a>Decryption Commands
<br />
446 <div class=
"outline-text-6" id=
"text-1-2-3-2-2">
448 Files may be decrypted using a command similar to:
451 <pre class=
"example">
452 cat location.gpx.age | age -d -i key.txt
> location.gpx
456 The version of
<code>age
</code> used to perform the encryption
465 <div id=
"outline-container-org2c59433" class=
"outline-3">
466 <h3 id=
"org2c59433"><span class=
"section-number-3">1.3</span> Operating Procedures
</h3>
467 <div class=
"outline-text-3" id=
"text-1-3">
469 <div id=
"outline-container-org6fcdbad" class=
"outline-4">
470 <h4 id=
"org6fcdbad"><span class=
"section-number-4">1.3.1</span> Initial Startup
</h4>
471 <div class=
"outline-text-4" id=
"text-1-3-1">
473 See OEM (Ozzmaker)
<a href=
"https://ozzmaker.com/berrygps-berrygps-imu-quick-start-guide/">quickstart guide for the BerryGPS-IMU
</a>.
478 <li><a id=
"org407a2c4"></a>Physical Setup
<br />
479 <div class=
"outline-text-5" id=
"text-1-3-1-1">
481 BerryGPS-IMU must be electrically connected to the correct pins on the
482 GPIO header of a Raspberry Pi Zero W.
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
493 <li><a id=
"org5d08a29"></a>Software Setup
<br />
495 <li><a id=
"org444d2f8"></a>Install Executables
<br />
496 <div class=
"outline-text-6" id=
"text-1-3-1-2-1">
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.
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.
511 Install
<code>gpsd
</code>,
<code>gpspipe
</code>,
<code>git
</code>, and this repository for location
516 Install
<code>syncthing
</code> for log file transfer capability.
520 Place
<code>age
</code> binary (the one compiled for ARM CPU architecture for
521 Linux) in
<code>$HOME/.local/bin
</code>.
526 <li><a id=
"org629d57e"></a>Disable Swap File
<br />
527 <div class=
"outline-text-6" id=
"text-1-3-1-2-2">
529 Since standard Raspbian
10 install involves copying unencrypted file
530 system image to SD card which is mounted by the Raspberry Pi, system
531 memory may be written to disk in the form of a Swap file as described
532 <a href=
"https://ideaheap.com/2013/07/stopping-sd-card-corruption-on-a-raspberry-pi/">here
</a>. In order to reduce the chance that location log data is ever
533 written to disk, swap file functionality must be disabled.
537 To view the status of the swap file in Raspbian
10, run
<code>free -m
</code>:
540 <pre class=
"example">
541 pi@ninfacyzga-
01:~$ free -m
542 total used free shared buff/cache available
543 Mem:
432 86 36 21 309 268
548 The swap file may be disabled by:
551 <pre class=
"example">
552 pi@ninfacyzga-
01:~$ sudo dphys-swapfile swapoff
553 pi@ninfacyzga-
01:~$ sudo dphys-swapfile uninstall
554 pi@ninfacyzga-
01:~$ sudo update-rc.d dphys-swapfile remove
555 pi@ninfacyzga-
01:~$ free -m
556 total used free shared buff/cache available
557 Mem:
432 96 33 22 302 258
563 <li><a id=
"orgd9b9b30"></a>Automatic Start Configuration
<br />
564 <div class=
"outline-text-6" id=
"text-1-3-1-2-3">
566 Edit the user cron job list with
<code>$ crontab -e
</code> to add the following
570 <pre class=
"example">
571 0 * * * * /bin/bash ~/bkgpslog --output ~/dir
573 @reboot /bin/bash ~/bkgpslog --output ~/dir
577 The first line will run
<code>bkgpslog
</code> at the start of every hour and save
578 output files to the
<code>dir
</code> directory in your home folder.
582 The second line will run
<code>bkgpslog
</code> when the system starts up.
586 <code>/bin/bash
</code> tells
<code>cron
</code> to run
<code>bkgpslog
</code> with Bash.
590 If encryption and compression are required, then the appropriate
591 options must be added. The lines that must be added via
<code>$ crontab -e
</code>
595 <pre class=
"example">
596 0 * * * * /bin/bash ~/bkgpslog -c -e -r age1z2...qkv6p -o ~/dir
598 @reboot /bin/bash ~/bkgpslog -c -e -r age1z2...qkv6p -o ~/dir
602 The
<code>age1z2...qkv6p
</code> is an
<code>age
</code> public key string. Please see the
603 <a href=
"#org82f0a69">Key Generation
</a> section for an explanation.
610 <pre class=
"example">
611 -c : tells bkgpslog to compress output
612 -e : tells bkgpslog log to encrypt output
613 -r : tells bkgpslog to interpret the next argument as a pubkey string
614 -o : tells bkgpslog to write output files to the directory represented
621 <li><a id=
"orgce1df03"></a>Log Transfer Configuration
<br />
622 <div class=
"outline-text-6" id=
"text-1-3-1-2-4">
624 Log files may be shared to other machines via
<code>syncthing
</code>. See
<a href=
"https://docs.syncthing.net/">this
</a>
625 manual for how to set up a shared folder and add Ninfacyzga-
01 as a
626 device. Syncthing's directory synchronization capability allows a
627 remote machine to delete files from Ninfacyzga-
01 by deleting from the
628 shared folder that they both share.
632 When log files are removed from Ninfacyzga-
01 is not within the scope
638 <li><a id=
"org82f0a69"></a>Key Generation
<br />
639 <div class=
"outline-text-6" id=
"text-1-3-1-2-5">
641 An
<code>age
</code> encryption key may be generated like so:
643 <pre class=
"example">
644 $ umask # Gets current umask
645 0022 # Note: This is the default umask for Raspbian
10
646 $ umask
066 # Sets umask so key.txt will have no permissions except for owner (you)
647 $ umask # Confirm umask set to
066
649 $ age-keygen
> key.txt
650 Public key: age1pu5usxm743sx7rf22985xv2f4s0luzv6r6yx4fa7p8c2zyvp9fvqus2xr5
652 -rw-------
1 baltakatei baltakatei
184 Jun
29 18:
28 key.txt
653 $ umask
0022 # Return umask to default value
659 The resulting public/private keypair data looks like:
661 <pre class=
"example">
663 # created:
2020-
06-
29T18:
01:
56Z
664 # public key: age1pu5usxm743sx7rf22985xv2f4s0luzv6r6yx4fa7p8c2zyvp9fvqus2xr5
665 AGE-SECRET-KEY-
1NEUU5U2XGZGL9UYWNPU5DL99TGJJHFSN4F2E2WCCSDJJ6L5ZMLESNTVTU0
669 The file
<code>key.txt
</code> is not password-protected by default and should be
670 secured like an SSH public key should. The
<code>$ umask
066</code> command run
671 before the
<code>$ age-keygen
> key.txt
</code> command ensures
<code>key.txt
</code> will not
672 be readable, writeable, or executable to anyone except the owner
682 <div id=
"outline-container-org15d1661" class=
"outline-4">
683 <h4 id=
"org15d1661"><span class=
"section-number-4">1.3.2</span> Normal Startup
</h4>
684 <div class=
"outline-text-4" id=
"text-1-3-2">
686 Turn on Ninfacyzga-
01 by supplying
5VDC power to the Raspberry Pi. No
687 further interaction should be required.
691 <div id=
"outline-container-org989e70e" class=
"outline-4">
692 <h4 id=
"org989e70e"><span class=
"section-number-4">1.3.3</span> Normal Operation
</h4>
693 <div class=
"outline-text-4" id=
"text-1-3-3">
695 No interaction beyond continually supplying approximately
100mA of
696 5VDC power and occasionally removing log files to conserve disk space
701 <li><a id=
"org87c8f03"></a>Log Transfer
<br />
702 <div class=
"outline-text-5" id=
"text-1-3-3-1">
704 Log files may be transferred by use of
<code>syncthing
</code> shared folders.
708 <li><a id=
"org203d027"></a>Automatic Updates
<br />
709 <div class=
"outline-text-5" id=
"text-1-3-3-2">
711 The
<code>automatic-upgrades
</code> package, if installed, should automatically
712 install security patches to packages installed via
<code>apt
</code>.
718 <div id=
"outline-container-orged87647" class=
"outline-4">
719 <h4 id=
"orged87647"><span class=
"section-number-4">1.3.4</span> Normal Shutdown
</h4>
720 <div class=
"outline-text-4" id=
"text-1-3-4">
722 The system may be shutdown via SSH by running:
725 <pre class=
"example">
732 <div id=
"outline-container-org5d4c9cd" class=
"outline-4">
733 <h4 id=
"org5d4c9cd"><span class=
"section-number-4">1.3.5</span> Unscheduled Shutdown
</h4>
734 <div class=
"outline-text-4" id=
"text-1-3-5">
736 Ninfacyzga-
01 as described and setup should tolerate unscheduled power
737 loss. Log files being written every
60 seconds means, at most,
60
738 seconds worth of location data may be lost.
742 <div id=
"outline-container-org00f1b85" class=
"outline-4">
743 <h4 id=
"org00f1b85"><span class=
"section-number-4">1.3.6</span> End of Life Disposal
</h4>
744 <div class=
"outline-text-4" id=
"text-1-3-6">
746 LiPo batteries used by the PiZ Uptime
2.0 module should be disposed of
747 properly with their potential ignitability in mind, especially if they
748 are not fully discharged.
752 Consult your local municipality for its
"E-Waste Disposal" (or
753 equivalent) policy. Metals used in the Raspberry Pi and related
754 components may be recycled.
758 Take extra precuation if lead solder was used in assembling the
759 electronics. Consumer electronics in early
21st century should use
767 <div id=
"postamble" class=
"status">
768 <p class=
"author">Author: Steven Baltakatei Sandoval
</p>
769 <p class=
"date">Created:
2020-
06-
30 Tue
17:
14</p>
770 <p class=
"validation"><a href=
"http://validator.w3.org/check?uri=referer">Validate
</a></p>