[Linux] Beagleboard GPS SMS Cellphone Module ready!

by Tim Zaman · Published July 15, 2011 · Updated April 11, 2015

This board i made for the Space Camera Live project, as a backup GPS system, that can also send SMS messages and make some calls. Most importantly, it can get python scripts loaded to it. For instance, you can call it up (it takes a sim card) – then ofcourse it will not pick it up, but it will send you back an SMS message immediatelly containing its GPS coordinates!
This module is spaced such that it can be hooked up to the Beagle Board easily, it has the same hole dimensions and sizes as the board. Also, ofcourse, this board can be used with any machine that has USB (every machine); so it can also be used as an evaluation board. Not bad for just $3 production costs. If you want a bare PCB board (this white one) you can have it, i’ll send it over regular email.

Prototype without flaws, works 100%

This prototype worked out of the box. I had the PCB’s in, soldered them, plugged it in the computer, hey presto: worked.

Module design, schematics, internals, etc

I designed this module myself. You can see everything about how it i had it produced here: LINK.

Rembrandt is pleased

As i had some empty space, i decided to let an etch of rembrandt be etched on the bottom of the PCB. Worked out great.

Bottom of the module

Short Introduction Video

Pictures!

Module with the GPRS and GPS antenna's on the left, USB on the right.

Close-up

This modules takes python scripts

This module can operate autonomously if you give it a python script.
Here below is a script, that, when loaded to the module, sends anyone who textmessages “position” to the module, the GPS position back. Also, there is a built in function that resets the module when it fails when it reaches a GPS altitude of 24km.
There are two files: run.py and main.py. Download RSTERM.exe on windows. Make sure you set the baudrate to 115200 In the Python menu, choose your folder with these scripts. Press compile, then upload the two .pyo files. Then, set run.py as the active script, then select the boot after 10 seconds mode, then reboot and voila you’re done, the script will automatically load.

If you now send an sms to the module, i get an sms back with the GPS position!
WATCH OUT: When i was editing the code, it would NOT work if i included too many spaces or tabs (=indentations). So try to avoid those and just write your code on one level.

run.py

```
import main
```

main.py

# Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License.

# THE WORK (AS DEFINED BELOW) IS PROVIDED UNDER THE TERMS OF THIS CREATIVE COMMONS

# PUBLIC LICENSE ("CCPL" OR "LICENSE"). THE WORK IS PROTECTED BY COPYRIGHT AND/OR

# OTHER APPLICABLE LAW. ANY USE OF THE WORK OTHER THAN AS AUTHORIZED UNDER THIS

# LICENSE OR COPYRIGHT LAW IS PROHIBITED.

```
# Original code Alexei Karpenko
```
```
# Modified by Tim Zaman
```
```
##### Config #####
```
```
sms_password = 'pwd'
```
```
remote_phone_number = '+31612345678'
```
```
 
```
```
##### Constants #####
```
```
TRUE = 1
```
```
FALSE = 0
```
```
line_cut = FALSE
```
```
had_fix = FALSE
```
```
nofix_count = 0
```
```
 
```
```
##### Modules #####
```
```
#Use serial
```
```
import SER
```
```
 
```
```
#Use build in module
```
```
import MOD
```
```
 
```
```
#Use AT command interface
```
```
import MDM
```
```
 
```
```
#Use GPIO functions
```
```
import GPIO
```
```
 
```
```
###### General Functions ######
```
```
def cutoff():
```
```
    GPIO.setIOvalue(8, 1)
```

    #sms_send(remote_phone_number,'Cut line!')

```
 
```
```
def cutoff_cancel():
```
```
    GPIO.setIOvalue(8, 0)
```
```
 
```
```
def getActualPosition():
```
```
    MDM.send('AT$GPSACPr', 0)
```
```
    pos = MDM.receive(1)
```
```
    pos = pos.split('rn')
```
```
    return pos[1]
```
```
 
```
```
def reset_system():
```
```
    MDM.send('AT#SHDNr', 0)
```
```
    temp = MDM.receive(1)
```
```
 
```
```
def reset_gps():
```
```
    MDM.send('AT$GPSR=1r', 0)
```
```
    temp = MDM.receive(1)
```
```
 
```
```
def reset_gps2():
```
```
    MDM.send('AT$GPSR=0r', 0)
```
```
    temp = MDM.receive(1)
```
```
 
```
```
#Debug message
```
```
def debugmsg(msgtext):
```
```
    msgtext = msgtext.replace('r', 'r')
```
```
    msgtext = msgtext.replace('n', 'n')
```
```
    print msgtext
```
```
    SER.send(msgtext + 'rn')
```
```
    #f = open('log.txt','ab')
```
```
    #f.write(msgtext + 'n')
```
```
    #f.close()
```
```
 
```
```
#GPS status
```
```
def gps_status(gpspos):
```
```
    global had_fix
```
```
    debugmsg('Retrieving GPS status')
```
```
    gpspos_parts = gpspos.split(',')
```
```
 
```

    if ( (gpspos_parts[5] == '2') or (gpspos_parts[5] == '3') ): #2D or 3D fix

        debugmsg('GPS fix "' + gpspos_parts[5] + '" ie valid');

```
        status = TRUE
```
```
 
```
```
        # GPS crash prevention:
```
```
        if (gpspos_parts[10] == '00'):
```
```
            if (had_fix == TRUE):
```
```
                reset_gps()
```
```
                had_fix = FALSE
```
```
        else:
```
```
            had_fix = TRUE
```
```
    else:
```

        debugmsg('GPS fix "' + gpspos_parts[5] + '" ie not valid');

```
        status = FALSE
```
```
 
```
```
        # GPS crash prevention:
```
```
        if (had_fix == TRUE):
```
```
            reset_gps()
```
```
            had_fix = FALSE
```
```
 
```
```
    return status
```
```
 
```
```
###### SMS Process Functions ######
```
```
#Process SMS messages
```
```
def sms_proceses(gpspos):
```
```
    debugmsg('Process SMS')
```
```
    #List SMS
```
```
    smsmsgs = sms_list()
```
```
    totalsms = len(smsmsgs)
```

    #debugmsg('SMS total: %d' % totalsms)

```
 
```
```
    #Go throguh SMS messages
```

    for smsmsgindex in range(0, totalsms):

        debugmsg('Message: %d' % smsmsgindex)

        #Delete SMS (it is being processed now)

        status = sms_delete(smsmsgs[smsmsgindex]['id'])

```
 
```
```
        #If status deleted ok
```
```
        if (status == TRUE):
```

            #debugmsg('List SMS id: %d, from: %s, msg: %s' % (smsmsgs[smsmsgindex]['id'], smsmsgs[smsmsgindex]['from'], smsmsgs[smsmsgindex]['msg']))

```
 
```

            #Split SMS message into parts

            smsmsgparts = smsmsgs[smsmsgindex]['msg'].split(' ')

```
 
```
```
            #If at least 2 parts
```
```
            if (len(smsmsgparts) > 1):
```
```
 
```

                #Check if password valid

                if (smsmsgparts[0].lower() == sms_password):

                    debugmsg('Password valid')

                    #If position requested

                    if (smsmsgparts[1].lower() == 'pos') or (smsmsgparts[1].lower() == 'position'):

                        debugmsg('Action: Position requested')

                        #If GPS position fix valid

                        if (gps_status(gpspos) == TRUE):

                            #gpsdataparts = gpspos.split(',')

                            #senddata = 'Lat: ' + gpsdataparts[1] + ', Lon: ' + gpsdataparts[2] + ', Heading: ' + gpsdataparts[6] + ', Speed: ' + gpsdataparts[7] + ' km/hr'

                            senddata = gpspos;

```
                        else:
```

                            senddata = 'No GPS Fix'

```
 
```
```
                        #Send SMS
```

                        sms_send(smsmsgs[smsmsgindex]['from'], senddata)

```
 
```

                    elif (smsmsgparts[1].lower() == 'cut'):

```
                        cutoff()
```
```
 
```

                    elif (smsmsgparts[1].lower() == 'oops'):

```
                        cutoff_cancel()
```
```
 
```

                    elif (smsmsgparts[1].lower() == 'rgps'):

```
                        reset_gps()
```
```
 
```

                    elif (smsmsgparts[1].lower() == 'rgps2'):

```
                        reset_gps2()
```
```
 
```

                    elif (smsmsgparts[1].lower() == 'rsys'):

```
                        reset_system()
```
```
 
```
```
                    else:
```

                        debugmsg('Action: Unknown')

```
 
```
```
                else:
```

                    debugmsg('Password invalid')

```
        else:
```

            debugmsg('Unable to delete')

```
 
```
```
###### SMS Library Functions ######
```
```
#Setup SMS
```
```
def sms_setup():
```
```
    debugmsg('Setting up SMS')
```
```
    MDM.send('AT+CMGF=1r', 0)
```
```
    res = MDM.receive(50)#5 sec
```
```
    MOD.sleep(1)#wait 0.1sec
```
```
    debugmsg('SMS setup: ' + res)
```
```
 
```
```
#List SMS
```
```
def sms_list():
```

    #Note: Command will not return anything if SIM is not ready

```
    debugmsg('List SMS')
```

    #MDM.send('AT+CMGL="REC UNREAD"r', 0) #ALL REC UNREAD   STO SENT

    MDM.send('AT+CMGL="REC UNREAD"r', 0)

```
 
```
```
    #smslist = ''
```
```
    #res = MDM.receive(50)#5 sec
```
```
    #smslist = smslist + res
```
```
 
```
```
    #while (res.find('rnOKrn') == -1):
```
```
    #    res = MDM.receive(10)
```
```
    #    smslist = smslist + res
```
```
 
```
```
    smslist = ''
```
```
    res = ''
```
```
 
```
```
    timeout = MOD.secCounter() + 60
```

    while ( (res.find('rnOKrn') == -1) and (MOD.secCounter() < timeout) ):

        debugmsg('Timeout now: %d timeout: %d' % (MOD.secCounter(), timeout))

```
        res = MDM.receive(50)
```
```
        smslist = smslist + res
```
```
        #debugmsg('get %s' % smslist)
```
```
 
```
```
    MOD.sleep(1)#wait 0.1sec
```
```
    smsparts = smslist.split('rn')
```
```
    smspartslen = len(smsparts)
```

    #debugmsg('SMS Parts %d' % smspartslen)

```
    smsmsgs = []
```

    if (smspartslen-2 > 0) and (smsparts[smspartslen-2] == 'OK'):

```
        #If there is at least 1 message
```
```
        if (smspartslen >= 6):
```
```
            #Go through all messages
```

            for partno in range(1, smspartslen):

                #Find out if this is an cmgl line

                cmglparts = smsparts[partno].split('CMGL: ')

                #If at least 2 parts, leading cmgl and data

                if (len(cmglparts) > 1) and (cmglparts[0] == '+') and (partno+1 <= smspartslen):

                    #debugmsg('Found CMGL %d: %s' % (partno, smsparts[partno]))

                    #debugmsg('Text %d: %s' % (partno+1, smsparts[partno+1]))

                    #Split msg info line into parts

                    msginfoparts = cmglparts[1].split(',')

                    #Check have all parts

                    #if (len(msginfoparts) > 5):

                    if (len(msginfoparts) > 4):

```
 
```
```
 
```
```
                        #int() may fail
```
```
 
```
```
                        try:
```
```
 
```
```
 
```
```
 
```

                            #Convert id to integer

```
 
```

                            msginfoparts[0] = int(msginfoparts[0])

```
 
```
```
 
```
```
 
```

                            #Remove quotes

```
 
```

                            msginfoparts[2] = msginfoparts[2].replace('"', '')

```
 
```

                            #msginfoparts[4] = msginfoparts[4].replace('"', '')

```
 
```

                            #msginfoparts[5] = msginfoparts[5].replace('"', '')

```
 
```
```
 
```
```
 
```

                            smsmsgs.append({'id': msginfoparts[0], 'from': msginfoparts[2], 'msg': smsparts[partno+1]})

```
 
```
```
 
```
```
 
```

                            debugmsg('SMS id: %d, from: %s, msg: %s' % (msginfoparts[0], msginfoparts[2], smsparts[partno+1]))

```
 
```
```
 
```
```
 
```

                        except Exception:

```
 
```

                            debugmsg('Error CMGL %d: %s' % (partno, smsparts[partno]))

```
 
```
```
 
```
```
 
```

        debugmsg('SMS total: %d' % len(smsmsgs))

```
 
```
```
 
```
```
 
```
```
    else:
```
```
 
```
```
 
```
```
 
```

        debugmsg('No SMS messages available')

```
 
```
```
 
```
```
 
```
```
    return smsmsgs
```
```
 
```
```
 
```
```
 
```
```
#SMS Delete
```
```
 
```
```
def sms_delete(delindex):
```
```
 
```
```
 
```
```
 
```

    debugmsg('SMS Delete: %d' % delindex)

```
 
```
```
 
```
```
 
```

    MDM.send('AT+CMGD=' + str(delindex) + 'r', 0)

```
 
```
```
    res = MDM.receive(50)#5 sec
```
```
 
```
```
    MOD.sleep(1)#wait 0.1sec
```
```
 
```
```
 
```
```
 
```
```
    if (res == 'rnOKrn'):
```
```
 
```
```
        status = TRUE
```
```
 
```
```
    else:
```
```
 
```
```
        status = FALSE
```
```
 
```
```
 
```
```
 
```
```
    return status
```
```
 
```
```
 
```
```
 
```
```
#SMS Send
```
```
 
```
```
def sms_send(to, text):
```
```
 
```
```
 
```
```
 
```

    debugmsg('Send SMS to: %s, MSG: %s' % (to, text))

```
 
```
```
 
```
```
 
```

    MDM.send('AT+CMGS="' + to + '"r', 0)

```
 
```
```
    res = MDM.receive(50)#5 sec
```
```
 
```
```
    MOD.sleep(1)#wait 0.1sec
```
```
 
```
```
 
```
```
 
```
```
    #Check for SMS prompt
```
```
 
```
```
    if (res == 'rn> '):
```
```
 
```
```
 
```
```
 
```
```
        #Send SMS message text
```
```
 
```
```
        MDM.send(text, 0)
```
```
 
```
```
 
```
```
 
```
```
        #End SMS
```
```
 
```
```
        MDM.sendbyte(0x1A, 0)
```
```
 
```
```
        res2 = MDM.receive(180)#5 sec
```
```
 
```
```
        MOD.sleep(1)#wait 0.1sec
```
```
 
```
```
 
```
```
 
```
```
        if (res2.find('rnOKrn') != -1):
```
```
 
```
```
 
```
```
 
```
```
            debugmsg('SMS sent')
```
```
 
```
```
 
```
```
 
```
```
            status = TRUE
```
```
 
```
```
 
```
```
 
```
```
        else:
```
```
 
```
```
 
```
```
 
```

            debugmsg('SMS Send: ' + res2)

```
 
```
```
 
```
```
 
```

            debugmsg('Did not get SMS sent confirmation')

```
 
```
```
 
```
```
 
```
```
            status = FALSE
```
```
 
```

            MDM.receive(1); # may prevent +CMS ERROR: 331 crash

```
 
```
```
 
```
```
 
```
```
    else:
```
```
 
```
```
 
```
```
 
```
```
        debugmsg('SMS Send: ' + res)
```
```
 
```
```
 
```
```
 
```

        debugmsg('Did not receive SMS prompt')

```
 
```
```
 
```
```
 
```
```
        #Abort SMS (just in case)
```
```
 
```
```
        MDM.sendbyte(0x1B, 0)
```
```
 
```
```
        MOD.sleep(1)#wait 0.1sec
```
```
 
```
```
 
```
```
 
```
```
        status = FALSE
```
```
 
```
```
 
```
```
 
```
```
    return status
```
```
 
```
```
 
```
```
 
```
```
 
```
```
 
```
```
 
```
```
 
```

##################################################################################

```
 
```
```
 
```
```
 
```
```
def constraints(gpspos):
```
```
 
```
```
    global line_cut
```
```
 
```
```
    gpspos_parts = gpspos.split(',')
```
```
 
```

    if ( (gpspos_parts[5] == '2') or (gpspos_parts[5] == '3') ): #2D or 3D fix

```
 
```

        lat_temp = gpspos_parts[1].split('.')

```
 
```

        lon_temp = gpspos_parts[2].split('.')

```
 
```
```
        lat = int(lat_temp[0])
```
```
 
```
```
        lon = int(lon_temp[0])
```
```
 
```

        debugmsg('lat = ' + repr(lat) + ' lon = ' + repr(lon))

```
 
```

        if ( (4320 < lat) and (8036 < lon) ):

```
 
```

            debugmsg('Within constraints.')

```
 
```
```
        elif ( line_cut == FALSE ):
```
```
 
```

            debugmsg('Outside of constraints, cutting line!')

```
 
```
```
            cutoff()
```
```
 
```
```
            line_cut = TRUE
```
```
 
```
```
        else:
```
```
 
```

            debugmsg('Outside of constraints.')

```
 
```
```
 
```
```
 
```
```
###### Init ######
```
```
 
```
```
 
```
```
 
```
```
# configure GPIO pins
```
```
 
```
```
GPIO.setIOdir(8,0,1) # GPIO8 0 output
```
```
 
```
```
 
```
```
 
```
```
SER.set_speed('115200','8N1')
```
```
 
```
```
SER.send('rn--------------------rnrn')
```
```
 
```
```
 
```
```
 
```
```
debugmsg('Running...');
```
```
 
```
```
 
```
```
 
```
```
#Set verbose error reporting
```
```
 
```
```
MDM.send('AT+CMEE=2r', 0)
```
```
 
```
```
MDM.receive(50)#5 sec
```
```
 
```
```
MOD.sleep(1)#wait 0.1sec
```
```
 
```
```
 
```
```
 
```

#May be required in North America / Canada to switch the unit to 900/1900MHz frequency (uncomment if in those areas)

```
 
```
```
#MDM.send('AT#BND=3r', 0)
```
```
 
```
```
#MDM.receive(1)#0.1sec
```
```
 
```
```
#MOD.sleep(1)#wait 0.1sec
```
```
 
```
```
 
```
```
 
```
```
gpspos_lastvalid = ''
```
```
 
```
```
 
```
```
 
```
```
#Setup SMS
```
```
 
```
```
sms_setup()
```
```
 
```
```
 
```
```
 
```
```
#Main loop
```
```
 
```
```
while 1:
```
```
 
```
```
 
```
```
 
```
```
    debugmsg('Entering loop')
```
```
 
```
```
 
```
```
 
```
```
    #Retrieve current position
```
```
 
```
```
    gpspos = getActualPosition()
```
```
 
```
```
 
```
```
 
```
```
    debugmsg('Position: %s' % gpspos)
```
```
 
```
```
 
```
```
 
```
```
    constraints(gpspos)
```
```
 
```
```
 
```
```
 
```
```
    # A few tests:
```
```
 
```

    #constraints('002317.908,4326.9364N,08027.2974W,4.0,286.4,2,152.30,10.94,5.90,110907,03')

```
 
```

    #constraints('002317.908,4326.9364N,08211.2974W,4.0,286.4,2,152.30,10.94,5.90,110907,03')

```
 
```
```
 
```
```
 
```
```
    #Retrieve GPS fix status
```
```
 
```
```
    gps_statusnow = gps_status(gpspos)
```
```
 
```
```
 
```
```
 
```

    # GPS crash prevention (reset GPS after ~10 minutes if no fix)

```
 
```
```
    if (had_fix == FALSE):
```
```
 
```
```
        nofix_count = nofix_count + 1
```
```
 
```
```
        if (nofix_count == 60):
```
```
 
```
```
            reset_gps()
```
```
 
```
```
            nofix_count = 0
```
```
 
```
```
    else:
```
```
 
```
```
        nofix_count = 0
```
```
 
```
```
 
```
```
 
```
```
    #Save last valid position
```
```
 
```

    #If position fix valid, or none recorded already, use last retrieved

```
 
```

    if ( (gps_statusnow == TRUE) or (gpspos_lastvalid == '') ):

```
 
```
```
        gpspos_lastvalid = gpspos
```
```
 
```
```
 
```
```
 
```

    #Check for / process new SMS messages

```
 
```
```
    sms_proceses(gpspos_lastvalid)
```
```
 
```
```
 
```
```
 
```

    debugmsg('Powersave for 10 seconds')

```
 
```
```
 
```
```
 
```
```
    #Powersave for 10 seconds
```
```
 
```
```
    MOD.powerSaving(10)
```

Pavol says:

May 15, 2015 at 13:43

Hello Tim,
how can i order your board?

thank you in advance
Jay says:

October 31, 2013 at 10:49

How much for the module?
Reuben Coelho says:

October 15, 2013 at 04:16

Hey Tim,

I am wondering if you could provide the eagle files for this project.
Or is it possible for me to order one of these boards of you.

Regards
Reuben Coelho
Andrew Jackman says:

May 31, 2012 at 04:49

Can you provide the Eagle files for the PCB? Thanks!
Tijs van Roon says:

November 3, 2011 at 00:45

Hoi Tim,

Ik heb hier een aantal GM862 modules liggen en een beagleboard is onderweg.

Om het wiel niet opnieuw uit te vinden zou ik graag gebruik maken van de pcb die jij hebt ontwikkeld. Heb je hier nog pcb’s van? Of het ontwerp? Dat zou mij snel op weg helpen. Uiteraard deel ik mijn bevindingen met je en zal ik onthouden dat jij de ontwikkelaar van het board bent.

Kunnen we hier een keer contact over hebben?

Met vriendelijke groet,
Tijs van Roon
- Tim says:
  
  November 3, 2011 at 01:05
  
  Hoi Thijs, we kunnen overal contact over hebben, maar het schematic bijvoorbeeld staat hier http://www.timzaman.nl/?p=1165&lang=en . Als je een PCBtje wilt hebben kun je een euro of 5 paypallen, heb er nog een aantal liggen.
  - Tijs van Roon says:
    
    May 9, 2012 at 15:48
    
    Hoi Tim,
    
    bedankt voor je antwoord. Ik heb helemaal niet opgemerkt dat hier een antwoord stond. Had een mailtje van je blog verwacht. Stom! Excuus dus!
    
    Het schema komt me goed van pas. Ik ga het (in de loop van de tijd) met de BeagleBone proberen die ik hier heb liggen. Die is voor mij wat praktischer.
    
    Ik laat je mijn bevindingen weten. Bedankt voor je hulp!

[Linux] Beagleboard GPS SMS Cellphone Module ready!

Prototype without flaws, works 100%

Module design, schematics, internals, etc

Rembrandt is pleased

Short Introduction Video

Pictures!

This modules takes python scripts

run.py

main.py

You may also like...

7 Responses

Featured Projects

BBC, 3D & X-Ray

Polaroids From Space

TED-X

[Linux] Beagleboard GPS SMS Cellphone Module ready!

Prototype without flaws, works 100%

Module design, schematics, internals, etc

Rembrandt is pleased

Short Introduction Video

Pictures!

This modules takes python scripts

run.py

main.py

You may also like...

[Checksum] get XOR Arduino

[Acceleration] MMA7660 3-Axis Accelerometer Library

[Linux] Beagleboard on Batteries

7 Responses

Featured Projects

BBC, 3D & X-Ray

Polaroids From Space

TED-X