2018-01-15 21:16:54 +00:00
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#include "ch.h"
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#include "hal.h"
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#include "chprintf.h"
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#include "debug.h"
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#include "threads.h"
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#include "ov5640.h"
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#include "pi2c.h"
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#include "ssdv.h"
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#include "aprs.h"
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#include "radio.h"
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#include "base91.h"
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#include <string.h>
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#include "types.h"
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#include "sleep.h"
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#include "watchdog.h"
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#include "flash.h"
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#include "sd.h"
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2018-03-21 23:49:53 +00:00
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#include "collector.h"
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2018-03-01 18:59:59 +00:00
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#include "image.h"
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2018-01-15 21:16:54 +00:00
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const uint8_t noCameraFound[4071] = {
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0xFF, 0xD8, 0xFF, 0xE0, 0x00, 0x10, 0x4A, 0x46, 0x49, 0x46, 0x00, 0x01, 0x01, 0x01, 0x00, 0x48,
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0x00, 0x48, 0x00, 0x00, 0xFF, 0xDB, 0x00, 0x43, 0x00, 0x10, 0x0B, 0x0C, 0x0E, 0x0C, 0x0A, 0x10,
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0x0E, 0x0D, 0x0E, 0x12, 0x11, 0x10, 0x13, 0x18, 0x28, 0x1A, 0x18, 0x16, 0x16, 0x18, 0x31, 0x23,
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0x25, 0x1D, 0x28, 0x3A, 0x33, 0x3D, 0x3C, 0x39, 0x33, 0x38, 0x37, 0x40, 0x48, 0x5C, 0x4E, 0x40,
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0x44, 0x57, 0x45, 0x37, 0x38, 0x50, 0x6D, 0x51, 0x57, 0x5F, 0x62, 0x67, 0x68, 0x67, 0x3E, 0x4D,
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0x71, 0x79, 0x70, 0x64, 0x78, 0x5C, 0x65, 0x67, 0x63, 0xFF, 0xDB, 0x00, 0x43, 0x01, 0x11, 0x12,
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0x12, 0x18, 0x15, 0x18, 0x2F, 0x1A, 0x1A, 0x2F, 0x63, 0x42, 0x38, 0x42, 0x63, 0x63, 0x63, 0x63,
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0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63,
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0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63,
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0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0xFF, 0xC0,
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0x00, 0x11, 0x08, 0x00, 0x80, 0x00, 0xA0, 0x03, 0x01, 0x11, 0x00, 0x02, 0x11, 0x01, 0x03, 0x11,
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0x01, 0xFF, 0xC4, 0x00, 0x1B, 0x00, 0x00, 0x02, 0x03, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x02, 0x04, 0x05, 0x07, 0x06, 0x01, 0xFF, 0xC4,
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0x00, 0x47, 0x10, 0x00, 0x00, 0x05, 0x02, 0x02, 0x05, 0x05, 0x0C, 0x06, 0x09, 0x05, 0x01, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x11, 0x12, 0x21, 0x06, 0x13, 0x31, 0x41,
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0x81, 0x14, 0x15, 0x16, 0x42, 0x51, 0x22, 0x32, 0x53, 0x54, 0x61, 0x71, 0x91, 0x92, 0xA1, 0xC1,
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0xE1, 0xE2, 0x36, 0x55, 0x63, 0x93, 0xA3, 0xB3, 0x23, 0x24, 0x52, 0x62, 0x64, 0x65, 0xA2, 0xB1,
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0xD1, 0x07, 0x35, 0x43, 0x74, 0x82, 0xB2, 0xFF, 0xC4, 0x00, 0x1A, 0x01, 0x01, 0x01, 0x00, 0x03,
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0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x02, 0x03,
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0x04, 0x06, 0x01, 0xFF, 0xC4, 0x00, 0x39, 0x11, 0x01, 0x00, 0x00, 0x03, 0x04, 0x06, 0x07, 0x05,
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0x08, 0x03, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x11, 0x05, 0x12, 0x51, 0xC1,
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0x03, 0x04, 0x13, 0x31, 0x42, 0x81, 0x14, 0x15, 0x21, 0x43, 0x52, 0xA1, 0xE1, 0x06, 0x32, 0x33,
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0x61, 0x62, 0x16, 0x22, 0x41, 0x63, 0x71, 0x82, 0xA2, 0xE2, 0x23, 0x24, 0xD1, 0x91, 0xFF, 0xDA,
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0x00, 0x0C, 0x03, 0x01, 0x00, 0x02, 0x11, 0x03, 0x11, 0x00, 0x3F, 0x00, 0xF4, 0x00, 0x00, 0x0A,
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0x7F, 0xAB, 0xC4, 0x49, 0xB4, 0xF8, 0x39, 0xE4, 0xD9, 0x21, 0x22, 0x43, 0x60, 0x01, 0x5E, 0x66,
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0xC4, 0x71, 0xF7, 0x0B, 0xD6, 0x2F, 0x79, 0xCB, 0x34, 0x5B, 0x5F, 0x83, 0x9E, 0x4A, 0xC2, 0xF2,
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0x20, 0x00, 0x97, 0xFA, 0xBC, 0x44, 0x9B, 0x4F, 0x74, 0x9C, 0xF2, 0x67, 0x21, 0x22, 0x43, 0x60,
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0x00, 0x89, 0x7D, 0xEA, 0x3C, 0xE6, 0x2F, 0x58, 0xBD, 0xE7, 0x2C, 0xDE, 0x9B, 0xD9, 0xFE, 0xF7,
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0xF6, 0xE6, 0xAA, 0x2F, 0x3D, 0x30, 0x00, 0xA7, 0xFA, 0xBC, 0x44, 0x9B, 0x4F, 0x83, 0x9E, 0x4C,
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0xE4, 0x24, 0x48, 0x6C, 0x00, 0x2B, 0xCC, 0xD8, 0x8E, 0x3E, 0xE1, 0x7A, 0xC5, 0xEF, 0x39, 0x66,
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0x8B, 0x6B, 0xF0, 0x73, 0xC9, 0x58, 0x5E, 0x44, 0x00, 0x3A, 0xA8, 0xF2, 0x4E, 0x80, 0x01, 0x4F,
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0xF5, 0x78, 0x89, 0x36, 0x9F, 0x07, 0x3C, 0x9B, 0x24, 0x24, 0x48, 0x6C, 0x00, 0x2B, 0xCC, 0xD8,
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0x8E, 0x3E, 0xE1, 0x7A, 0xC5, 0xEF, 0x39, 0x66, 0x8B, 0x6B, 0xF0, 0x73, 0xC9, 0x58, 0x5E, 0x44,
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0x00, 0x12, 0xFF, 0x00, 0x57, 0x88, 0x93, 0x69, 0xEE, 0x93, 0x9E, 0x4C, 0xE4, 0x24, 0x48, 0x6C,
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0x00, 0x11, 0x2F, 0xBD, 0x47, 0x9C, 0xC5, 0xEB, 0x17, 0xBC, 0xE5, 0x9B, 0xD3, 0x7B, 0x3F, 0xDE,
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0xFE, 0xDC, 0xD5, 0x45, 0xE7, 0xA6, 0x00, 0x14, 0xFF, 0x00, 0x57, 0x88, 0x93, 0x69, 0xF0, 0x73,
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0xC9, 0x9C, 0x84, 0x89, 0x0D, 0x80, 0x05, 0x79, 0x9B, 0x11, 0xC7, 0xDC, 0x2F, 0x58, 0xBD, 0xE7,
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0x2C, 0xD1, 0x6D, 0x7E, 0x0E, 0x79, 0x2B, 0x0B, 0xC8, 0x80, 0x07, 0x55, 0x1E, 0x49, 0xD0, 0x00,
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0x29, 0xFE, 0xAF, 0x11, 0x26, 0xD3, 0xE0, 0xE7, 0x93, 0x64, 0x84, 0x89, 0x0D, 0x80, 0x05, 0x79,
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0x9B, 0x11, 0xC7, 0xDC, 0x2F, 0x58, 0xBD, 0xE7, 0x2C, 0xD1, 0x6D, 0x7E, 0x0E, 0x79, 0x2B, 0x0B,
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0xC8, 0x80, 0x02, 0x5F, 0xEA, 0xF1, 0x12, 0x6D, 0x3D, 0xD2, 0x73, 0xC9, 0x9C, 0x84, 0x89, 0x0D,
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0x80, 0x02, 0x25, 0xF7, 0xA8, 0xF3, 0x98, 0xBD, 0x62, 0xF7, 0x9C, 0xB3, 0x7A, 0x6F, 0x67, 0xFB,
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0xDF, 0xDB, 0x9A, 0xA8, 0xBC, 0xF4, 0xC0, 0x02, 0x9F, 0xEA, 0xF1, 0x12, 0x6D, 0x3E, 0x0E, 0x79,
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0x33, 0x90, 0x91, 0x21, 0xB0, 0x00, 0xAF, 0x33, 0x62, 0x38, 0xFB, 0x85, 0xEB, 0x17, 0xBC, 0xE5,
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0x9A, 0x2D, 0xAF, 0xC1, 0xCF, 0x25, 0x61, 0x79, 0x10, 0x00, 0xEA, 0xA3, 0xC9, 0x3A, 0x00, 0x05,
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0x3F, 0xD5, 0xE2, 0x24, 0xDA, 0x7C, 0x1C, 0xF2, 0x6C, 0x90, 0x91, 0x21, 0xB0, 0x00, 0xAF, 0x33,
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0x62, 0x38, 0xFB, 0x85, 0xEB, 0x17, 0xBC, 0xE5, 0x9A, 0x2D, 0xAF, 0xC1, 0xCF, 0x25, 0x61, 0x79,
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0x10, 0x00, 0x4B, 0xFD, 0x5E, 0x22, 0x4D, 0xA7, 0xBA, 0x4E, 0x79, 0x33, 0x90, 0x91, 0x21, 0xB0,
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0x00, 0x44, 0xBE, 0xF5, 0x1E, 0x73, 0x17, 0xAC, 0x5E, 0xF3, 0x96, 0x6F, 0x4D, 0xEC, 0xFF, 0x00,
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0x7B, 0xFB, 0x73, 0x55, 0x17, 0x9E, 0x98, 0x00, 0x53, 0xFD, 0x5E, 0x22, 0x4D, 0xA7, 0xC1, 0xCF,
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0x26, 0x72, 0x12, 0x24, 0x36, 0x00, 0x15, 0xE6, 0x6C, 0x47, 0x1F, 0x70, 0xBD, 0x62, 0xF7, 0x9C,
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0xB3, 0x45, 0xB5, 0xF8, 0x39, 0xE4, 0xAC, 0x2F, 0x22, 0x00, 0x1D, 0x54, 0x79, 0x27, 0x43, 0x0A,
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0xAF, 0xA4, 0xCC, 0xD2, 0xA6, 0x9C, 0x67, 0x23, 0xB8, 0xE2, 0x89, 0x24, 0xAC, 0x49, 0x32, 0x22,
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0xCC, 0x06, 0x7B, 0x9A, 0x6B, 0x1D, 0x76, 0xB4, 0x47, 0x4A, 0xDF, 0xBC, 0x43, 0x8F, 0x5B, 0xD5,
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0xA3, 0xA7, 0xBB, 0x48, 0xD2, 0x95, 0x65, 0x2C, 0xD4, 0x43, 0xA6, 0x31, 0xFC, 0x51, 0xDF, 0x58,
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0x87, 0x17, 0x56, 0x4F, 0xE2, 0x65, 0x7C, 0x74, 0xC6, 0x3F, 0x8A, 0x3B, 0xEB, 0x10, 0x75, 0x64,
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0xFE, 0x22, 0xF9, 0x4F, 0xE9, 0x6B, 0x0E, 0x92, 0x6D, 0x15, 0xC2, 0xB7, 0xEF, 0x10, 0xA3, 0xA8,
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0x68, 0x63, 0xAA, 0xDE, 0xAC, 0x6B, 0x5A, 0x79, 0x55, 0xC3, 0xAE, 0xEA, 0xF1, 0xD6, 0x2E, 0xD2,
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0x34, 0xA5, 0x72, 0x2B, 0xA4, 0xEC, 0xF8, 0xB3, 0x9E, 0xB1, 0x0A, 0x1B, 0x68, 0x60, 0xE0, 0xEA,
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0xC9, 0xFC, 0x43, 0xA4, 0xEC, 0xF8, 0xB3, 0x9E, 0xB1, 0x06, 0xDA, 0x18, 0x1D, 0x59, 0x3F, 0x89,
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0x07, 0x34, 0x91, 0x95, 0xDA, 0xD1, 0xD6, 0x56, 0xF2, 0x90, 0xE3, 0xD6, 0xE4, 0xDB, 0xDD, 0xA7,
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0x65, 0x2A, 0xCA, 0x5B, 0x3A, 0x68, 0x71, 0x21, 0xD2, 0x16, 0xBC, 0x02, 0xFD, 0x24, 0x38, 0xBA,
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0x1C, 0xD8, 0xB2, 0xE8, 0x13, 0x62, 0x3A, 0x42, 0xD7, 0x80, 0x5F, 0xA4, 0x83, 0xA1, 0xCD, 0x89,
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0xD0, 0x26, 0xC4, 0xB7, 0xAB, 0xAD, 0x3A, 0x49, 0x22, 0x65, 0x65, 0x6F, 0x29, 0x0A, 0x3A, 0x87,
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0xFA, 0xB7, 0xAB, 0xDB, 0x5A, 0x79, 0x55, 0x56, 0xCD, 0xFF, 0x00, 0x4E, 0xFD, 0xEE, 0xDA, 0xD3,
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0xCA, 0xBF, 0xF4, 0x9E, 0x77, 0x6F, 0xC1, 0x2B, 0xD2, 0x28, 0xF4, 0xC9, 0x70, 0x55, 0xE9, 0xF2,
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0xE0, 0x39, 0xDD, 0xBF, 0x04, 0xAF, 0x48, 0x74, 0xC9, 0x70, 0x3A, 0x7C, 0xB8, 0x20, 0xE5, 0x51,
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0x0B, 0xB5, 0x9B, 0x51, 0x5B, 0xCA, 0x38, 0xF5, 0xB9, 0xF6, 0xF7, 0x69, 0xD9, 0x4A, 0xB2, 0x96,
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0xD1, 0x96, 0x1C, 0x28, 0x73, 0x8A, 0x3C, 0x1A, 0xBD, 0x23, 0x8B, 0x63, 0x1C, 0x59, 0x75, 0x9C,
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0x9E, 0x11, 0xCE, 0x28, 0xF0, 0x6A, 0xF4, 0x86, 0xC6, 0x38, 0x9D, 0x67, 0x27, 0x84, 0xA7, 0xE6,
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0x25, 0xD2, 0x4D, 0x90, 0x65, 0x61, 0x47, 0x50, 0xD3, 0x43, 0x55, 0xBD, 0x58, 0x56, 0xB4, 0xF2,
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0xAB, 0x87, 0x5D, 0xD6, 0x21, 0xAC, 0x5D, 0xA4, 0x29, 0x4A, 0xE4, 0x5A, 0x5D, 0x25, 0x28, 0x8A,
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0xDB, 0x45, 0x4D, 0x16, 0xBF, 0x2E, 0x92, 0x78, 0x49, 0x08, 0x6F, 0x4F, 0x8C, 0x94, 0x30, 0x50,
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0x60, 0xEA, 0xA3, 0xC9, 0x3A, 0x18, 0x6C, 0x9B, 0x85, 0xA5, 0x55, 0x63, 0x65, 0xC4, 0xB4, 0xE9,
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0x52, 0x97, 0x81, 0xC5, 0x2B, 0x09, 0x20, 0xEE, 0x9B, 0x19, 0x99, 0xEC, 0xB7, 0x68, 0x08, 0xD3,
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0xA4, 0xB4, 0xFE, 0x93, 0xE8, 0xFA, 0x1C, 0x92, 0xC4, 0xBA, 0x8B, 0x68, 0x7C, 0xA5, 0x3E, 0xC9,
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0x92, 0x89, 0x57, 0x4A, 0xB0, 0x16, 0x22, 0xC8, 0xCC, 0x8A, 0xE0, 0x30, 0xE5, 0x4B, 0x4D, 0x5A,
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0x4C, 0x08, 0x4E, 0xD7, 0x64, 0xCE, 0x69, 0xD9, 0x48, 0x4A, 0xD0, 0xEB, 0x1A, 0xB2, 0x41, 0x19,
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0xDB, 0x15, 0xEE, 0x79, 0xE6, 0x60, 0x17, 0xA4, 0x95, 0x99, 0xBC, 0xB6, 0xA1, 0x4A, 0x49, 0xA5,
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0xA8, 0x08, 0x70, 0xDA, 0x44, 0x74, 0xA0, 0x89, 0x29, 0x24, 0x2B, 0x23, 0x2C, 0xB6, 0xE5, 0x7E,
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0x20, 0x3D, 0x0D, 0x6E, 0x94, 0xFA, 0x34, 0x35, 0x50, 0x8D, 0x85, 0xA5, 0x10, 0x18, 0x61, 0xF4,
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0x9D, 0xB6, 0xB8, 0x66, 0xAD, 0x6E, 0x7D, 0x84, 0x4A, 0xB8, 0x06, 0x9B, 0x69, 0x98, 0x5A, 0x38,
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0xDA, 0x52, 0x5A, 0xF8, 0x4C, 0x44, 0x90, 0x5B, 0x6E, 0xA6, 0xD6, 0x78, 0x17, 0x97, 0x90, 0xC9,
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0x07, 0xC4, 0xC0, 0x78, 0x5A, 0xE7, 0xFB, 0xED, 0x43, 0xFE, 0xCB, 0x9F, 0xFD, 0x18, 0x0A, 0x20,
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0x3D, 0x66, 0x88, 0x2A, 0x42, 0x28, 0x55, 0xD5, 0x43, 0x92, 0xDC, 0x57, 0xCB, 0x93, 0xE1, 0x75,
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0xC7, 0x09, 0x09, 0x4F, 0x74, 0xAB, 0xDC, 0xCF, 0x22, 0xCA, 0xE5, 0xC4, 0x05, 0x6D, 0x23, 0xA9,
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0x13, 0x55, 0x98, 0x72, 0xA9, 0xF2, 0x9B, 0x54, 0xC6, 0xA2, 0xA1, 0x2F, 0xC8, 0x8E, 0x45, 0x65,
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0x3B, 0x63, 0x25, 0x1D, 0xED, 0x63, 0xB9, 0x1E, 0xD0, 0x1A, 0xF5, 0xA2, 0x3A, 0xA7, 0xFA, 0x90,
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0xCD, 0x3A, 0x6B, 0xA6, 0xA8, 0x8D, 0x38, 0x93, 0x43, 0x6A, 0xD8, 0x57, 0x6D, 0x2A, 0x32, 0xE2,
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0x65, 0x6E, 0x20, 0x31, 0xF9, 0xDA, 0x65, 0x66, 0xB5, 0x1A, 0x9F, 0x38, 0xCB, 0x91, 0xAE, 0x6A,
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|
|
0x0B, 0x93, 0xE1, 0x24, 0x93, 0x65, 0x8B, 0x0E, 0x12, 0xB6, 0x65, 0x91, 0x99, 0x00, 0xD3, 0xA9,
|
|
|
|
|
0xC8, 0x72, 0xA1, 0x07, 0x49, 0x99, 0x95, 0x85, 0x6D, 0xD3, 0xDF, 0x41, 0x45, 0x2C, 0x04, 0x5A,
|
|
|
|
|
0x92, 0xD6, 0x1A, 0x6C, 0x56, 0x2D, 0x96, 0x22, 0x20, 0x1E, 0x28, 0x00, 0x03, 0xDA, 0x68, 0xCB,
|
|
|
|
|
0x8E, 0x15, 0x1A, 0x22, 0x29, 0x8F, 0xC7, 0x69, 0xF3, 0x9B, 0xFA, 0xE9, 0x38, 0xB4, 0xA5, 0x4A,
|
|
|
|
|
0x6F, 0x2B, 0x77, 0xDB, 0x53, 0x6D, 0xC5, 0xBC, 0x05, 0xEA, 0x04, 0x15, 0x40, 0xAF, 0xD7, 0x25,
|
|
|
|
|
0xC2, 0x8E, 0x6B, 0x26, 0x1F, 0x4B, 0x0D, 0xB6, 0x82, 0xCB, 0x0A, 0x9C, 0x23, 0x59, 0x17, 0x99,
|
|
|
|
|
0x24, 0x03, 0xC8, 0xD7, 0xA1, 0x73, 0x7E, 0x91, 0x4C, 0x8A, 0x45, 0x64, 0xA1, 0xD3, 0x34, 0x97,
|
|
|
|
|
0x62, 0x4F, 0x32, 0xF6, 0x19, 0x0E, 0x8D, 0x53, 0xE3, 0x4A, 0xF9, 0x36, 0xE5, 0x61, 0xE9, 0x5A,
|
|
|
|
|
0x1D, 0x54, 0x79, 0x27, 0x43, 0xC4, 0xE9, 0x1D, 0x49, 0xEA, 0x75, 0x7A, 0x66, 0xA5, 0x2D, 0xAB,
|
|
|
|
|
0x94, 0xC3, 0xE4, 0xEB, 0xC6, 0x46, 0x76, 0x4A, 0xB6, 0x99, 0x58, 0xF6, 0xE4, 0x03, 0x06, 0x93,
|
|
|
|
|
0x52, 0x7A, 0x91, 0x52, 0x6A, 0x74, 0x74, 0xB6, 0xA7, 0x5A, 0xBE, 0x12, 0x70, 0x8C, 0xD3, 0x99,
|
|
|
|
|
0x19, 0x67, 0x63, 0x2E, 0xD0, 0x0C, 0x9B, 0x53, 0x4C, 0xB6, 0x92, 0x86, 0xE9, 0xD0, 0xA2, 0xA9,
|
|
|
|
|
0x2A, 0x25, 0x6B, 0x23, 0xA5, 0x49, 0x57, 0x9A, 0xE6, 0xA3, 0xCB, 0xFC, 0x00, 0xB3, 0x23, 0x49,
|
|
|
|
|
0x1F, 0x94, 0x93, 0x39, 0x30, 0xA0, 0xBA, 0xF2, 0xB0, 0x6B, 0x1F, 0x36, 0x8C, 0x9C, 0x70, 0x92,
|
|
|
|
|
0x64, 0x76, 0x33, 0x23, 0xDF, 0x62, 0x23, 0xB1, 0x16, 0x40, 0x23, 0xD2, 0x29, 0x87, 0x53, 0x9B,
|
|
|
|
|
0x3D, 0x6D, 0xB2, 0xB7, 0x26, 0xB4, 0xA6, 0x5D, 0x42, 0x92, 0x78, 0x70, 0x99, 0x11, 0x58, 0xB3,
|
|
|
|
|
0xBE, 0xE2, 0xDE, 0x02, 0x71, 0xF4, 0x9E, 0x7C, 0x7A, 0x84, 0x39, 0x8D, 0xA5, 0x92, 0x72, 0x24,
|
|
|
|
|
0x62, 0x8A, 0x94, 0xD9, 0x58, 0x56, 0x82, 0x23, 0xB6, 0x2C, 0xF3, 0x3C, 0xEF, 0xBB, 0x61, 0x00,
|
|
|
|
|
0xCA, 0x97, 0x21, 0x72, 0xE5, 0xBD, 0x25, 0xC2, 0x49, 0x2D, 0xE7, 0x14, 0xE2, 0x89, 0x3B, 0x08,
|
|
|
|
|
0xCC, 0xEF, 0x90, 0x05, 0x00, 0xB9, 0x1A, 0xA4, 0xF4, 0x6A, 0x6C, 0xD8, 0x28, 0x4B, 0x66, 0xD4,
|
|
|
|
|
0xCC, 0x1A, 0xC3, 0x51, 0x1E, 0x22, 0xC0, 0x77, 0x2B, 0x66, 0x01, 0x31, 0x1F, 0x28, 0xD2, 0x50,
|
|
|
|
|
0xF2, 0x98, 0x69, 0xF2, 0x4D, 0xFF, 0x00, 0x46, 0xF1, 0x19, 0xA5, 0x59, 0x5B, 0x3B, 0x19, 0x18,
|
|
|
|
|
0x0B, 0xF5, 0x5A, 0xFC, 0x8A, 0x9C, 0xF6, 0xA7, 0x29, 0x88, 0xF1, 0xE5, 0x36, 0xA2, 0x5E, 0xB5,
|
|
|
|
|
0x84, 0x99, 0x1A, 0x8C, 0xAD, 0x63, 0x3B, 0x99, 0xEC, 0xC2, 0x56, 0x00, 0x4E, 0xAF, 0x3F, 0x34,
|
|
|
|
|
0x89, 0x47, 0x16, 0x23, 0x12, 0x35, 0x84, 0xEA, 0xA4, 0x30, 0xDE, 0x07, 0x14, 0xA2, 0xDE, 0x67,
|
|
|
|
|
0x7E, 0xD3, 0xBE, 0x56, 0xCC, 0x04, 0xAA, 0x1A, 0x45, 0x2E, 0x7C, 0x57, 0x58, 0x53, 0x31, 0x98,
|
|
|
|
|
0x27, 0xD4, 0x4B, 0x7D, 0x6C, 0x37, 0x85, 0x4F, 0x99, 0x6C, 0x35, 0x67, 0x9E, 0x79, 0xEE, 0xCC,
|
|
|
|
|
0x06, 0x40, 0x00, 0x06, 0x95, 0x32, 0xB2, 0xBA, 0x6B, 0x64, 0x4D, 0x43, 0x86, 0xEB, 0x89, 0x5E,
|
|
|
|
|
0xB1, 0x0F, 0x3A, 0xD6, 0x25, 0xB6, 0x76, 0x2D, 0x87, 0x7D, 0xD6, 0xB9, 0x5C, 0x8F, 0x30, 0x10,
|
|
|
|
|
0x7A, 0xB1, 0x25, 0xFA, 0x62, 0xA0, 0xB9, 0x80, 0xD0, 0xB9, 0x27, 0x25, 0x6E, 0x67, 0x8D, 0x6B,
|
|
|
|
|
0x32, 0xB6, 0x67, 0x7B, 0x7B, 0x00, 0x15, 0x1A, 0x9B, 0xD5, 0x69, 0x8D, 0xC8, 0x90, 0x86, 0xD2,
|
|
|
|
|
0xEA, 0x5B, 0x4B, 0x66, 0x68, 0x23, 0x2C, 0x76, 0xDE, 0x77, 0x33, 0xCC, 0x74, 0x6A, 0x9F, 0x1A,
|
|
|
|
|
0x57, 0xC9, 0xB7, 0x16, 0x3D, 0x2B, 0x43, 0xAA, 0x8F, 0x24, 0xE8, 0x79, 0xEE, 0x4D, 0x06, 0x4E,
|
|
|
|
|
0x97, 0x4F, 0x3A, 0x93, 0x24, 0xEC, 0x76, 0x69, 0xE6, 0xE9, 0x91, 0xEE, 0xB1, 0xA7, 0x32, 0xF2,
|
|
|
|
|
0xDA, 0xE0, 0x15, 0x0F, 0x46, 0x22, 0x25, 0xB8, 0xCC, 0x4C, 0x67, 0x12, 0x9A, 0x96, 0xF9, 0x3A,
|
|
|
|
|
0xB4, 0x9D, 0x8D, 0xC4, 0x21, 0x37, 0x49, 0x5F, 0xB0, 0xF2, 0xE0, 0x60, 0x30, 0xEA, 0x4C, 0xC5,
|
|
|
|
|
0x99, 0xA3, 0x6D, 0x55, 0x98, 0x88, 0xDC, 0x47, 0x53, 0x2C, 0xE3, 0x2D, 0x0D, 0x19, 0xE1, 0x51,
|
|
|
|
|
0x61, 0xC4, 0x47, 0x63, 0x33, 0xB1, 0xEE, 0x01, 0x82, 0x03, 0xD2, 0x56, 0xCA, 0x05, 0x11, 0xE5,
|
|
|
|
|
0xD2, 0x13, 0x4E, 0x65, 0xF7, 0x50, 0xC1, 0x13, 0xD2, 0x16, 0xA5, 0x63, 0xD6, 0xA9, 0x37, 0xBA,
|
|
|
|
|
0x73, 0xB1, 0x11, 0x5C, 0xB2, 0xB6, 0xE0, 0x16, 0xE1, 0x51, 0xA2, 0x39, 0xA2, 0x26, 0x4A, 0x65,
|
|
|
|
|
0x27, 0x3D, 0xF8, 0xEF, 0x4C, 0x43, 0xA7, 0xDF, 0x21, 0x2D, 0xA9, 0x25, 0x84, 0x8B, 0xCA, 0x57,
|
|
|
|
|
0x01, 0xA7, 0x40, 0xD1, 0xEA, 0x74, 0xEA, 0x35, 0x16, 0x4B, 0xB1, 0x9B, 0x52, 0xCD, 0xC5, 0x9C,
|
|
|
|
|
0x83, 0x33, 0xB6, 0x34, 0xF7, 0x64, 0x57, 0xED, 0xEE, 0xB0, 0x17, 0x10, 0x15, 0x91, 0x4E, 0x88,
|
|
|
|
|
0xCC, 0x0A, 0x93, 0xAD, 0x44, 0xA6, 0x1B, 0x8D, 0xD5, 0x9D, 0x61, 0x27, 0x39, 0x78, 0x10, 0x96,
|
|
|
|
|
0xC8, 0xAE, 0x49, 0x23, 0xB9, 0x67, 0xF1, 0x00, 0x8A, 0x5C, 0x02, 0x90, 0x8A, 0xE3, 0xAD, 0xD3,
|
|
|
|
|
0x29, 0xF3, 0x25, 0xB1, 0xC9, 0xF5, 0x2C, 0xB0, 0x66, 0xB6, 0x73, 0xBE, 0x2C, 0x36, 0x57, 0x66,
|
|
|
|
|
0x67, 0x9E, 0xD2, 0x01, 0x17, 0x68, 0xB0, 0xDD, 0xD3, 0x1A, 0x64, 0x24, 0xB2, 0xDB, 0x04, 0xB6,
|
|
|
|
|
0x10, 0xF4, 0xC6, 0x09, 0x46, 0xA4, 0xB6, 0xB2, 0x23, 0x52, 0x93, 0xB4, 0xEC, 0x56, 0x22, 0x2D,
|
|
|
|
|
0xBB, 0xC0, 0x64, 0xE9, 0x4C, 0x56, 0x19, 0x9B, 0x1A, 0x4C, 0x46, 0x92, 0xCC, 0x79, 0xB1, 0x9B,
|
|
|
|
|
0x7D, 0x2D, 0xA7, 0x63, 0x66, 0x65, 0x63, 0x4D, 0xF7, 0xE6, 0x5E, 0xD0, 0x18, 0xA0, 0x3D, 0xAE,
|
|
|
|
|
0x95, 0x45, 0x8F, 0x4E, 0x7A, 0x6B, 0x51, 0xA1, 0x51, 0x52, 0xCA, 0x52, 0x44, 0x92, 0x37, 0x3F,
|
|
|
|
|
0x58, 0x2C, 0x49, 0x2C, 0xC9, 0x38, 0xB6, 0xDC, 0xEE, 0x59, 0x6C, 0x00, 0x4B, 0xA5, 0x53, 0x8A,
|
|
|
|
|
0x75, 0x4A, 0x88, 0x88, 0x48, 0x4A, 0xA1, 0x42, 0xD7, 0x22, 0x51, 0x29, 0x5A, 0xC5, 0x38, 0x49,
|
|
|
|
|
0x4A, 0x8E, 0xF9, 0xDA, 0xC7, 0x7B, 0x5A, 0xC0, 0x28, 0xBD, 0x4F, 0x88, 0x9A, 0x8E, 0x8C, 0x36,
|
|
|
|
|
0x4C, 0x20, 0x91, 0x29, 0xB6, 0x4D, 0xE2, 0xFD, 0xB3, 0x35, 0xD8, 0xEF, 0xC0, 0x06, 0x8D, 0x56,
|
|
|
|
|
0x89, 0x01, 0x54, 0x29, 0xBC, 0x9E, 0x3A, 0x1B, 0x96, 0xDC, 0x99, 0x0B, 0x6D, 0x49, 0xCA, 0xE8,
|
|
|
|
|
0x6D, 0xC3, 0x23, 0x4F, 0x04, 0x9D, 0xFF, 0x00, 0xF2, 0x01, 0x95, 0xB8, 0x74, 0xEA, 0x52, 0x6A,
|
|
|
|
|
0xEF, 0x35, 0x4C, 0x8A, 0xEE, 0xA6, 0x4B, 0x2D, 0xA1, 0x0E, 0x11, 0xD9, 0x29, 0x53, 0x69, 0x33,
|
|
|
|
|
0xB5, 0x8C, 0xB7, 0x80, 0xF3, 0x9A, 0x41, 0x02, 0x3C, 0x2A, 0x84, 0x65, 0xC3, 0x4A, 0x91, 0x1E,
|
|
|
|
|
0x5C, 0x66, 0xE4, 0xA1, 0xB5, 0x2A, 0xE6, 0x82, 0x51, 0x1F, 0x73, 0x7D, 0xFB, 0x07, 0x46, 0xA9,
|
|
|
|
|
0xF1, 0xA5, 0x7C, 0x9B, 0x72, 0x88, 0xF4, 0xAD, 0x0E, 0xAA, 0x3C, 0x93, 0xA1, 0xE4, 0xEA, 0xF2,
|
|
|
|
|
0xD7, 0x06, 0xB9, 0x51, 0x57, 0x26, 0x79, 0xE4, 0xCA, 0xA7, 0xAA, 0x32, 0x4D, 0x09, 0xC8, 0x8D,
|
|
|
|
|
0x56, 0xCF, 0xD8, 0x01, 0x68, 0xD2, 0x89, 0x4D, 0xC4, 0xA5, 0xA4, 0xE9, 0xCE, 0xAD, 0xE8, 0x86,
|
|
|
|
|
0x64, 0xE9, 0xA8, 0x8C, 0x89, 0xE4, 0xE1, 0xC1, 0xD9, 0x7B, 0xE1, 0xB6, 0x7E, 0x41, 0xF2, 0x33,
|
|
|
|
|
0x42, 0x1B, 0xE2, 0x32, 0xEA, 0x52, 0xC9, 0xCA, 0x63, 0x54, 0xDA, 0x74, 0x09, 0x2C, 0xC5, 0x43,
|
|
|
|
|
0xA6, 0xFA, 0x8D, 0xD3, 0xC4, 0xA5, 0xAC, 0xCA, 0xDB, 0x88, 0xAC, 0x44, 0x59, 0x0C, 0x76, 0x92,
|
|
|
|
|
0x62, 0x51, 0x91, 0xC9, 0x64, 0x78, 0x07, 0x7D, 0x43, 0x0D, 0xA4, 0x98, 0x94, 0x6E, 0x4D, 0x9F,
|
|
|
|
|
0x1E, 0xA2, 0xC9, 0x3D, 0x3E, 0x97, 0x28, 0xEA, 0x09, 0x63, 0x55, 0xAC, 0x42, 0xEC, 0x87, 0x0C,
|
|
|
|
|
0x8A, 0xC9, 0x5A, 0x8A, 0xD7, 0xB9, 0x65, 0xB0, 0xF3, 0xB0, 0xCA, 0x58, 0xC2, 0x6D, 0xDD, 0xAF,
|
|
|
|
|
0x91, 0x9A, 0x12, 0xEF, 0x68, 0x33, 0xA5, 0x92, 0xA3, 0xD4, 0x21, 0x6A, 0x63, 0xC9, 0xE6, 0xD8,
|
|
|
|
|
0xEC, 0x25, 0x95, 0x46, 0x3F, 0xF9, 0x2C, 0x93, 0x2B, 0x9E, 0x5B, 0x73, 0x2F, 0x40, 0xCA, 0x91,
|
|
|
|
|
0x63, 0xB4, 0x93, 0x15, 0x04, 0xD5, 0xD4, 0xDA, 0x28, 0xAD, 0xB5, 0x1A, 0x49, 0x22, 0x9C, 0xEA,
|
|
|
|
|
0x96, 0xBF, 0xB4, 0x49, 0xB8, 0x4B, 0x22, 0xF6, 0x05, 0x22, 0x6D, 0x24, 0xC4, 0xE7, 0x2A, 0xD0,
|
|
|
|
|
0xE5, 0xC2, 0x99, 0x16, 0x74, 0x19, 0xD8, 0x1F, 0xA8, 0x2E, 0x6A, 0x4D, 0x93, 0x24, 0x99, 0x5C,
|
|
|
|
|
0xAC, 0x44, 0x77, 0x23, 0xED, 0x31, 0xF2, 0x31, 0xA6, 0xF2, 0xFC, 0xB8, 0xA9, 0xA2, 0x6B, 0x31,
|
|
|
|
|
0xA9, 0xD5, 0x68, 0x31, 0x22, 0xCA, 0xD5, 0x4D, 0xD4, 0xEA, 0xCD, 0xD3, 0x23, 0x52, 0x30, 0x1D,
|
|
|
|
|
0xCE, 0xF6, 0x22, 0xBD, 0xFC, 0x83, 0x1B, 0xD2, 0xE2, 0xFB, 0x7E, 0x5C, 0x5A, 0x48, 0xD2, 0x6C,
|
|
|
|
|
0x3F, 0xAE, 0x14, 0x39, 0x25, 0x53, 0x38, 0x27, 0x11, 0x4F, 0x15, 0xAC, 0xA3, 0xCA, 0xCE, 0x1E,
|
|
|
|
|
0x57, 0xC5, 0x90, 0x5E, 0x97, 0x12, 0xFC, 0xB8, 0xB3, 0x6A, 0xF5, 0x77, 0xEA, 0xD4, 0xA8, 0x2C,
|
|
|
|
|
0xCB, 0x6D, 0xF5, 0xCB, 0x8C, 0xA5, 0xDD, 0xE5, 0x16, 0x4B, 0x4A, 0x8E, 0xFE, 0x92, 0xB1, 0x10,
|
|
|
|
|
0xCA, 0x5F, 0xBD, 0xBB, 0xB5, 0x94, 0xBF, 0x7B, 0xDD, 0xED, 0x62, 0xEA, 0x9C, 0xFD, 0x85, 0x7A,
|
|
|
|
|
0x06, 0x57, 0x66, 0xC1, 0x95, 0xC9, 0xB0, 0x69, 0x69, 0x14, 0xE3, 0xAC, 0x56, 0xE4, 0x4F, 0x6D,
|
|
|
|
|
0x87, 0x1B, 0x4B, 0xB8, 0x6C, 0x95, 0x15, 0xCC, 0xAC, 0x92, 0x2F, 0x70, 0x5D, 0x9B, 0x02, 0xE4,
|
|
|
|
|
0xD8, 0x34, 0xE4, 0x69, 0x1B, 0x6E, 0x72, 0xA9, 0x69, 0x80, 0xEA, 0x6A, 0x72, 0xE3, 0x72, 0x67,
|
|
|
|
|
0x5C, 0x35, 0xFE, 0x8E, 0xD6, 0x22, 0x35, 0x12, 0x6D, 0x7B, 0x99, 0x11, 0x6F, 0xCB, 0xFB, 0xFC,
|
|
|
|
|
0x8C, 0x29, 0xBD, 0xF6, 0xE4, 0xD8, 0x21, 0x12, 0xB9, 0x10, 0x9B, 0xA7, 0x39, 0x3A, 0x9F, 0x21,
|
|
|
|
|
0xE9, 0x54, 0xD2, 0xB3, 0x2A, 0x6D, 0xDC, 0x29, 0x59, 0x11, 0xDD, 0x24, 0xA2, 0xB1, 0xEC, 0xF2,
|
|
|
|
|
0x0C, 0x6B, 0x03, 0x67, 0x3E, 0x00, 0xB4, 0x95, 0xC3, 0x28, 0x2B, 0x54, 0x75, 0x1B, 0xCC, 0x4A,
|
|
|
|
|
0x75, 0xF7, 0x72, 0xEE, 0x5C, 0x27, 0x0F, 0xBA, 0x49, 0x17, 0x94, 0x8C, 0xCB, 0x88, 0x56, 0x06,
|
|
|
|
|
0xCE, 0x7C, 0x16, 0x6A, 0x1A, 0x49, 0x02, 0xA2, 0x75, 0x04, 0xCB, 0x85, 0x2C, 0x9A, 0x94, 0xF3,
|
|
|
|
|
0x6E, 0xA4, 0x9B, 0x5A, 0x52, 0x65, 0x85, 0x04, 0x9B, 0x19, 0x99, 0x1F, 0x60, 0xCA, 0x58, 0x46,
|
|
|
|
|
0x6D, 0xDD, 0xAC, 0x63, 0x2C, 0x65, 0xDF, 0x06, 0x25, 0x56, 0xA4, 0xBA, 0xAD, 0x41, 0x0F, 0x6A,
|
|
|
|
|
0x49, 0x96, 0x9B, 0x42, 0x5A, 0x69, 0xA2, 0x3B, 0x93, 0x68, 0x49, 0x64, 0x57, 0xDE, 0x3A, 0xB5,
|
|
|
|
|
0x59, 0x26, 0x86, 0x9A, 0x58, 0xC6, 0x0C, 0x26, 0x8F, 0x61, 0x03, 0xD1, 0x34, 0xBA, 0xA8, 0xF2,
|
|
|
|
|
0x4E, 0x80, 0x01, 0x4F, 0xF5, 0x78, 0x89, 0x36, 0x9F, 0x07, 0x3C, 0x9B, 0x24, 0x24, 0x48, 0x6C,
|
|
|
|
|
0x00, 0x2B, 0xCC, 0xD8, 0x8E, 0x3E, 0xE1, 0x7A, 0xC5, 0xEF, 0x39, 0x66, 0x8B, 0x6B, 0xF0, 0x73,
|
|
|
|
|
0xC9, 0x58, 0x5E, 0x44, 0x00, 0x12, 0xFF, 0x00, 0x57, 0x88, 0x93, 0x69, 0xEE, 0x93, 0x9E, 0x4C,
|
|
|
|
|
0xE4, 0x24, 0x48, 0x6C, 0x00, 0x11, 0x2F, 0xBD, 0x47, 0x9C, 0xC5, 0xEB, 0x17, 0xBC, 0xE5, 0x9B,
|
|
|
|
|
0xD3, 0x7B, 0x3F, 0xDE, 0xFE, 0xDC, 0xD5, 0x45, 0xE7, 0xA6, 0x00, 0x14, 0xFF, 0x00, 0x57, 0x88,
|
|
|
|
|
0x93, 0x69, 0xF0, 0x73, 0xC9, 0x9C, 0x84, 0x89, 0x0D, 0x80, 0x05, 0x79, 0x9B, 0x11, 0xC7, 0xDC,
|
|
|
|
|
0x2F, 0x58, 0xBD, 0xE7, 0x2C, 0xD1, 0x6D, 0x7E, 0x0E, 0x79, 0x2B, 0x0B, 0xC8, 0x80, 0x07, 0xAC,
|
|
|
|
|
0xE9, 0xA2, 0x7E, 0xAF, 0x3F, 0xBF, 0xF9, 0x44, 0x8E, 0xAC, 0x8F, 0x8F, 0xCB, 0xD5, 0xB2, 0xF8,
|
|
|
|
|
0xE9, 0xA2, 0x7E, 0xAF, 0x3F, 0xBF, 0xF9, 0x43, 0xAB, 0x23, 0xE3, 0xF2, 0xF5, 0x2F, 0x96, 0xEE,
|
|
|
|
|
0x98, 0x92, 0xAD, 0x6A, 0x7E, 0xCF, 0xB7, 0xF9, 0x44, 0x9B, 0x4E, 0xCC, 0xF7, 0x3E, 0xFE, 0x3F,
|
|
|
|
|
0x87, 0xE9, 0xF3, 0x6C, 0x92, 0x72, 0xFA, 0x5D, 0xFC, 0xBF, 0xF1, 0xFE, 0x51, 0x23, 0xAA, 0xFE,
|
|
|
|
|
0xBF, 0x2F, 0x56, 0xCB, 0xE3, 0xA5, 0xDF, 0xCB, 0xFF, 0x00, 0x1F, 0xE5, 0x0E, 0xAB, 0xFA, 0xFC,
|
|
|
|
|
0xBD, 0x4B, 0xE6, 0x35, 0xA4, 0x05, 0x34, 0x8E, 0xF1, 0x4D, 0xBC, 0x1F, 0x6B, 0x7B, 0xDF, 0x81,
|
|
|
|
|
0x76, 0x0A, 0xF6, 0x66, 0xA5, 0xB2, 0xBF, 0xF7, 0xAB, 0x5A, 0x7E, 0x1F, 0xAF, 0xCD, 0xAE, 0x7B,
|
|
|
|
|
0x3F, 0xA7, 0xF1, 0x5D, 0xBB, 0xF2, 0xAE, 0xFE, 0x70, 0xC0, 0xCE, 0x71, 0x4F, 0x82, 0x3F, 0x5B,
|
|
|
|
|
0xE0, 0x2B, 0x6C, 0x63, 0x8B, 0x5F, 0xD9, 0xBF, 0xCD, 0xFE, 0x3F, 0xD8, 0x73, 0x8A, 0x7C, 0x11,
|
|
|
|
|
0xFA, 0xDF, 0x00, 0xD8, 0xC7, 0x13, 0xEC, 0xDF, 0xE6, 0xFF, 0x00, 0x1F, 0xEC, 0xA9, 0x3A, 0xAE,
|
|
|
|
|
0x4D, 0x6A, 0xED, 0x1F, 0x15, 0xEF, 0xD7, 0xB7, 0x67, 0x90, 0x4D, 0xB4, 0x35, 0x5B, 0xF7, 0x7B,
|
|
|
|
|
0x71, 0xC9, 0xA3, 0x4F, 0x62, 0xF4, 0x7A, 0x7F, 0x92, 0xB5, 0xF9, 0x7A, 0xAA, 0x73, 0xEF, 0xF0,
|
|
|
|
|
0xBF, 0x89, 0xF0, 0x13, 0x3A, 0x17, 0xD5, 0xE5, 0xEA, 0xE7, 0xEA, 0xFF, 0x00, 0xAB, 0xCB, 0xD4,
|
|
|
|
|
0x73, 0xEF, 0xF0, 0xBF, 0x89, 0xF0, 0x0E, 0x85, 0xF5, 0x79, 0x7A, 0x9D, 0x5F, 0xF5, 0x79, 0x7A,
|
|
|
|
|
0xAD, 0xC1, 0x7C, 0xAA, 0xA4, 0xE1, 0x1A, 0x4D, 0x9D, 0x55, 0xB7, 0xE2, 0xBD, 0xEF, 0xE6, 0xEC,
|
|
|
|
|
0x14, 0xAC, 0xF9, 0x3A, 0x3D, 0xEE, 0xDA, 0xD6, 0x99, 0xBA, 0x34, 0x3A, 0xD7, 0x55, 0xD7, 0xB2,
|
|
|
|
|
0xF5, 0xEE, 0x54, 0xA7, 0xFE, 0xE2, 0xB7, 0xCD, 0xC9, 0xF0, 0xA7, 0xEA, 0xFC, 0x45, 0x3D, 0xB4,
|
|
|
|
|
0x70, 0x6F, 0xFB, 0x49, 0xF9, 0x5F, 0xCB, 0xFA, 0x8E, 0x6E, 0x4F, 0x85, 0x3F, 0x57, 0xE2, 0x1B,
|
|
|
|
|
0x68, 0xE0, 0x7D, 0xA4, 0xFC, 0xAF, 0xE5, 0xFD, 0x59, 0xB5, 0x84, 0x14, 0x2D, 0x4D, 0x8C, 0xDC,
|
|
|
|
|
0xC7, 0x8B, 0xC9, 0x6B, 0x5B, 0xFC, 0x8E, 0x1D, 0x77, 0xFC, 0xB7, 0x7F, 0x0A, 0x57, 0x27, 0x6E,
|
|
|
|
|
0xA9, 0x6E, 0x6D, 0xAF, 0x7F, 0x8E, 0x94, 0xA7, 0xE3, 0xFA, 0xFC, 0x99, 0xBC, 0xB3, 0xEC, 0xFF,
|
|
|
|
|
0x00, 0xAB, 0xE0, 0x27, 0xEC, 0x3E, 0x6E, 0xEE, 0xB4, 0xFA, 0x3C, 0xFD, 0x07, 0x2C, 0xFB, 0x3F,
|
|
|
|
|
0xEA, 0xF8, 0x06, 0xC3, 0xE6, 0x75, 0xA7, 0xD1, 0xE7, 0xE8, 0xD2, 0xA3, 0xD2, 0xCA, 0xBA, 0x4F,
|
|
|
|
|
0x5D, 0xE3, 0x8F, 0xA8, 0xC3, 0xD4, 0xC7, 0x8B, 0x15, 0xFC, 0xA5, 0x6E, 0xF7, 0xDA, 0x3B, 0xF5,
|
|
|
|
|
0x2D, 0x3F, 0x45, 0xBD, 0xD9, 0x5A, 0xD3, 0xE5, 0xBA, 0xBF, 0xAE, 0x2E, 0x2D, 0x6F, 0x58, 0xE9,
|
|
|
|
|
0x37, 0x7B, 0x29, 0x4A, 0xFC, 0xFF, 0x00, 0xE3, 0x4B, 0xA1, 0x69, 0xFA, 0xC0, 0xFE, 0xE3, 0xE6,
|
|
|
|
|
0x1D, 0xFD, 0x67, 0x1F, 0x07, 0x9F, 0xA3, 0x86, 0xE0, 0xE8, 0x5A, 0x7E, 0xB0, 0x3F, 0xB8, 0xF9,
|
|
|
|
|
0x83, 0xAC, 0xE3, 0xE0, 0xF3, 0xF4, 0x2E, 0x3C, 0xA5, 0x8C, 0x51, 0xE9, 0x1A, 0x2F, 0x13, 0x58,
|
|
|
|
|
0xB1, 0x87, 0x48, 0xD1, 0x78, 0x87, 0xC3, 0x23, 0xEC, 0x13, 0x6D, 0x09, 0xA1, 0xA4, 0xBB, 0x73,
|
|
|
|
|
0xB6, 0x95, 0xC9, 0x9C, 0x91, 0x84, 0x17, 0xE2, 0xD0, 0xAA, 0x93, 0x23, 0xA5, 0xF8, 0xD0, 0x9D,
|
|
|
|
|
0x75, 0xA5, 0xDF, 0x0A, 0xD2, 0x59, 0x1D, 0x8E, 0xC7, 0xED, 0x21, 0x2E, 0x30, 0xA6, 0xF6, 0xD3,
|
|
|
|
|
0x7A, 0x33, 0x5A, 0xFA, 0xB5, 0xFF, 0x00, 0x40, 0xF8, 0x2E, 0xD3, 0xB4, 0x7A, 0xAE, 0xDE, 0xB3,
|
|
|
|
|
0x1C, 0x07, 0x93, 0x7B, 0x5A, 0xE5, 0xE7, 0x1D, 0x9A, 0xA6, 0x92, 0x59, 0x2F, 0x5E, 0x8E, 0x19,
|
|
|
|
|
0xBB, 0xF5, 0x2D, 0x24, 0x92, 0x5E, 0xBD, 0x1A, 0x6E, 0xCD, 0x73, 0x98, 0xAA, 0x9E, 0x24, 0xEF,
|
|
|
|
|
0xA0, 0x76, 0x6D, 0xF4, 0x78, 0xA8, 0x74, 0x9D, 0x17, 0x89, 0x95, 0xCA, 0x59, 0xF0, 0x84, 0x36,
|
|
|
|
|
0x5E, 0x83, 0xEE, 0xDF, 0x47, 0x8A, 0x9D, 0x41, 0xC4, 0x3B, 0xAB, 0xC0, 0xA2, 0x55, 0xAF, 0x7B,
|
|
|
|
|
0x70, 0x1C, 0x7A, 0xDC, 0x23, 0x3D, 0xDB, 0xBF, 0x3C, 0x9C, 0x1A, 0xEC, 0xF2, 0xCF, 0x76, 0xEC,
|
|
|
|
|
0x6B, 0xBF, 0x25, 0x2B, 0x1F, 0x60, 0xE3, 0xD9, 0x4F, 0x82, 0x7D, 0xD8, 0x8B, 0x18, 0xF9, 0x1D,
|
|
|
|
|
0x1C, 0xD0, 0x85, 0x63, 0x02, 0x91, 0x83, 0x5F, 0x47, 0xE5, 0x33, 0x1B, 0x94, 0x6B, 0x9C, 0x4A,
|
|
|
|
|
0x31, 0x60, 0xB5, 0xF7, 0xDB, 0x17, 0xF9, 0x19, 0xE8, 0xA6, 0x84, 0x2B, 0x54, 0xCB, 0x43, 0x45,
|
|
|
|
|
0x3E, 0x92, 0xED, 0xC8, 0x56, 0x95, 0xC9, 0xB1, 0xCE, 0x70, 0xBC, 0x61, 0x03, 0x76, 0xD2, 0x5C,
|
|
|
|
|
0x53, 0x3A, 0x2E, 0x9B, 0xC2, 0x39, 0xCE, 0x17, 0x8C, 0x20, 0x36, 0x92, 0xE2, 0x74, 0x5D, 0x37,
|
|
|
|
|
0x85, 0x8F, 0xA4, 0x12, 0x98, 0x91, 0xC9, 0xB5, 0x2E, 0xA5, 0x78, 0x71, 0xDE, 0xDB, 0xBB, 0xD1,
|
|
|
|
|
0xA7, 0x4B, 0x34, 0x23, 0x4A, 0x29, 0xD9, 0xFA, 0x29, 0xF4, 0x77, 0xAF, 0xC2, 0x95, 0xA6, 0x6C,
|
|
|
|
|
0x72, 0x32, 0x3D, 0x83, 0x4A, 0x93, 0xE9, 0x11, 0x9E, 0xC0, 0x1E, 0x8F, 0x44, 0x66, 0xC6, 0x83,
|
|
|
|
|
0xCB, 0x39, 0x53, 0xC9, 0x6B, 0x1E, 0xAF, 0x0E, 0x2D, 0xF6, 0xC5, 0x7F, 0xEE, 0x40, 0x3D, 0x1F,
|
|
|
|
|
0x3E, 0x53, 0x3C, 0x75, 0xAF, 0x48, 0x03, 0x9F, 0x29, 0x9E, 0x3A, 0xD7, 0xA4, 0x07, 0x3D, 0x1D,
|
|
|
|
|
0xAE, 0x60, 0x00, 0x01, 0xD5, 0x34, 0x23, 0xE8, 0xA4, 0x2F, 0x3B, 0x9F, 0x98, 0xA1, 0xCB, 0xA4,
|
|
|
|
|
0xF7, 0xA2, 0xDF, 0x2E, 0xE6, 0xF0, 0xC1, 0x90, 0x00, 0x00, 0xE1, 0x85, 0xB0, 0x85, 0x56, 0xF8,
|
|
|
|
|
0x00, 0x7D, 0x00, 0x05, 0x77, 0xA6, 0x35, 0x69, 0xFE, 0x1C, 0x58, 0xCD, 0xB8, 0xB1, 0x3D, 0xA4,
|
|
|
|
|
0x00, 0x00, 0x45, 0x7B, 0x80, 0x08, 0xDE, 0x01, 0xA8, 0xDE, 0x00, 0x5E, 0xE0, 0x10, 0x00, 0x00,
|
|
|
|
|
0x68, 0xED, 0x73, 0x00, 0x00, 0x0E, 0xA9, 0xA1, 0x1F, 0x45, 0x21, 0x79, 0xDC, 0xFC, 0xC5, 0x0E,
|
|
|
|
|
0x5D, 0x27, 0xBD, 0x16, 0xF9, 0x77, 0x37, 0x86, 0x0C, 0x80, 0x00, 0x07, 0x0C, 0x2D, 0x84, 0x2A,
|
|
|
|
|
0xB7, 0xC0, 0x03, 0xE8, 0x00, 0x2B, 0xBD, 0x31, 0xAB, 0x4F, 0xF0, 0xE2, 0xC6, 0x6D, 0xC5, 0x89,
|
|
|
|
|
0xED, 0x20, 0x00, 0x02, 0x2B, 0xDC, 0x00, 0x46, 0xF0, 0x0D, 0x46, 0xF0, 0x02, 0xF7, 0x00, 0x80,
|
|
|
|
|
0x00, 0x03, 0x47, 0x6B, 0x98, 0x00, 0x00, 0x75, 0x4D, 0x08, 0xFA, 0x29, 0x0B, 0xCE, 0xE7, 0xE6,
|
|
|
|
|
0x28, 0x72, 0xE9, 0x3D, 0xE8, 0xB7, 0xCB, 0xB9, 0xBC, 0x30, 0x64, 0x00, 0x00, 0x38, 0x61, 0x6C,
|
|
|
|
|
0x21, 0x55, 0xBE, 0x00, 0x1F, 0x40, 0x01, 0x5D, 0xE9, 0x8D, 0x5A, 0x7F, 0x87, 0x16, 0x33, 0x6E,
|
|
|
|
|
0x2C, 0x4F, 0x69, 0x00, 0x00, 0x11, 0x5E, 0xE0, 0x02, 0x37, 0x80, 0x6A, 0x37, 0x80, 0x17, 0xB8,
|
|
|
|
|
0x04, 0x00, 0x00, 0x1A, 0x3B, 0x5C, 0xC0, 0x00, 0x03, 0xAA, 0x68, 0x47, 0xD1, 0x48, 0x5E, 0x77,
|
|
|
|
|
0x3F, 0x31, 0x43, 0x97, 0x49, 0xEF, 0x45, 0xBE, 0x5D, 0xCD, 0xE1, 0x83, 0x20, 0x00, 0x01, 0xC3,
|
|
|
|
|
0x0B, 0x61, 0x0A, 0xAD, 0xF0, 0x00, 0xFA, 0x00, 0x0A, 0xEF, 0x4C, 0x6A, 0xD3, 0xFC, 0x38, 0xB1,
|
|
|
|
|
0x9B, 0x71, 0x62, 0x7B, 0x48, 0x00, 0x00, 0x8A, 0xF7, 0x00, 0x11, 0xBC, 0x03, 0x51, 0xBC, 0x00,
|
|
|
|
|
0xBD, 0xC0, 0x20, 0x00, 0x01, 0xFF, 0xD9
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
uint32_t gimage_id; // Global image ID (for all image threads)
|
|
|
|
|
mutex_t camera_mtx;
|
|
|
|
|
bool camera_mtx_init = false;
|
|
|
|
|
|
2018-03-01 18:59:59 +00:00
|
|
|
ssdv_packet_t packetRepeats[16];
|
|
|
|
|
bool reject_pri;
|
|
|
|
|
bool reject_sec;
|
|
|
|
|
|
2018-03-30 03:51:50 +00:00
|
|
|
static bool transmit_image_packet(const uint8_t *image, uint32_t image_len, thd_img_conf_t* conf, uint8_t image_id, uint16_t packet_id)
|
2018-01-15 21:16:54 +00:00
|
|
|
{
|
2018-03-01 18:59:59 +00:00
|
|
|
ssdv_t ssdv;
|
|
|
|
|
uint8_t pkt[SSDV_PKT_SIZE];
|
|
|
|
|
uint8_t pkt_base91[256] = {0};
|
|
|
|
|
const uint8_t *b;
|
|
|
|
|
uint32_t bi = 0;
|
|
|
|
|
uint8_t c = SSDV_OK;
|
|
|
|
|
uint16_t i = 0;
|
|
|
|
|
|
|
|
|
|
// Init SSDV (FEC at 2FSK, non FEC at APRS)
|
|
|
|
|
bi = 0;
|
|
|
|
|
ssdv_enc_init(&ssdv, SSDV_TYPE_PADDING, "N0CALL", image_id, conf->quality);
|
|
|
|
|
ssdv_enc_set_buffer(&ssdv, pkt);
|
|
|
|
|
|
|
|
|
|
while(true)
|
|
|
|
|
{
|
|
|
|
|
while((c = ssdv_enc_get_packet(&ssdv)) == SSDV_FEED_ME)
|
|
|
|
|
{
|
|
|
|
|
b = &image[bi];
|
|
|
|
|
uint8_t r = bi < image_len-128 ? 128 : image_len - bi;
|
|
|
|
|
bi += r;
|
2018-01-19 04:05:50 +00:00
|
|
|
|
2018-03-01 18:59:59 +00:00
|
|
|
if(r <= 0)
|
|
|
|
|
{
|
|
|
|
|
TRACE_ERROR("SSDV > Premature end of file");
|
2018-03-30 03:51:50 +00:00
|
|
|
return false;
|
2018-03-01 18:59:59 +00:00
|
|
|
}
|
|
|
|
|
ssdv_enc_feed(&ssdv, b, r);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if(c == SSDV_EOI) {
|
2018-03-30 03:51:50 +00:00
|
|
|
return true;
|
2018-03-01 18:59:59 +00:00
|
|
|
} else if(c != SSDV_OK) {
|
2018-03-30 03:51:50 +00:00
|
|
|
return false;
|
2018-03-01 18:59:59 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if(i == packet_id) {
|
2018-03-30 03:51:50 +00:00
|
|
|
// Sync byte, CRC and FEC of SSDV not transmitted (because its not necessary inside an APRS packet)
|
2018-03-01 18:59:59 +00:00
|
|
|
base91_encode(&pkt[6], pkt_base91, 174);
|
|
|
|
|
packet_t packet = aprs_encode_data_packet(conf->call, conf->path, 'I', pkt_base91);
|
2018-03-29 16:57:34 +00:00
|
|
|
if(packet == NULL) {
|
2018-03-30 03:51:50 +00:00
|
|
|
TRACE_WARN("IMG > No free packet objects for transmission");
|
|
|
|
|
return false;
|
2018-03-29 16:57:34 +00:00
|
|
|
}
|
2018-03-30 03:51:50 +00:00
|
|
|
if(!transmitOnRadio(packet,
|
2018-04-01 15:36:47 +00:00
|
|
|
conf->radio_conf.freq,
|
|
|
|
|
0,
|
|
|
|
|
0,
|
|
|
|
|
conf->radio_conf.pwr,
|
|
|
|
|
conf->radio_conf.mod,
|
|
|
|
|
conf->radio_conf.rssi)) {
|
2018-03-01 18:59:59 +00:00
|
|
|
|
2018-03-30 03:51:50 +00:00
|
|
|
TRACE_ERROR("IMG > Unable to send image packet TX on radio");
|
|
|
|
|
return false;
|
|
|
|
|
}
|
2018-03-01 18:59:59 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
|
|
chThdSleep(TIME_MS2I(10)); // Leave other threads some time
|
|
|
|
|
|
|
|
|
|
i++;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
2018-03-30 03:51:50 +00:00
|
|
|
/*
|
|
|
|
|
* Transmit image packets.
|
2018-04-03 13:14:31 +00:00
|
|
|
* Return true if no SSDV encoding error or false on encoding error.
|
2018-03-30 03:51:50 +00:00
|
|
|
*/
|
2018-04-03 13:14:31 +00:00
|
|
|
static bool transmit_image_packets(const uint8_t *image,
|
|
|
|
|
uint32_t image_len,
|
|
|
|
|
thd_img_conf_t* conf,
|
|
|
|
|
uint8_t image_id) {
|
|
|
|
|
ssdv_t ssdv;
|
|
|
|
|
uint8_t pkt[SSDV_PKT_SIZE];
|
|
|
|
|
uint8_t pkt_base91[256] = {0};
|
|
|
|
|
const uint8_t *b;
|
|
|
|
|
uint32_t bi = 0;
|
|
|
|
|
uint8_t c = SSDV_OK;
|
|
|
|
|
|
|
|
|
|
// Init SSDV (FEC at 2FSK, non FEC at APRS)
|
|
|
|
|
bi = 0;
|
|
|
|
|
ssdv_enc_init(&ssdv, SSDV_TYPE_PADDING, "N0CALL", image_id, conf->quality);
|
|
|
|
|
|
|
|
|
|
/* Initialize output buffer and input buffer. */
|
|
|
|
|
ssdv_enc_set_buffer(&ssdv, pkt);
|
|
|
|
|
ssdv_enc_feed(&ssdv, image, 0);
|
|
|
|
|
|
|
|
|
|
do {
|
|
|
|
|
// Process redundant transmission from last cycle
|
|
|
|
|
if(strlen((char*)pkt_base91) && conf->radio_conf.redundantTx) {
|
|
|
|
|
packet_t packet = aprs_encode_data_packet(conf->call, conf->path, 'I', pkt_base91);
|
|
|
|
|
if(packet == NULL) {
|
|
|
|
|
TRACE_ERROR("IMG > No available packet for redundant image transmission");
|
|
|
|
|
} else {
|
|
|
|
|
if(!transmitOnRadio(packet,
|
2018-03-07 14:15:59 +00:00
|
|
|
conf->radio_conf.freq,
|
2018-04-01 15:36:47 +00:00
|
|
|
0,
|
|
|
|
|
0,
|
2018-03-07 14:15:59 +00:00
|
|
|
conf->radio_conf.pwr,
|
2018-04-01 15:36:47 +00:00
|
|
|
conf->radio_conf.mod,
|
|
|
|
|
conf->radio_conf.rssi)) {
|
2018-04-03 13:14:31 +00:00
|
|
|
TRACE_ERROR("IMG > Unable to send redundant image on radio");
|
2018-03-29 04:52:09 +00:00
|
|
|
}
|
2018-04-03 13:14:31 +00:00
|
|
|
}
|
|
|
|
|
chThdSleep(TIME_MS2I(10)); // Leave other threads some time
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// Encode packet
|
|
|
|
|
TRACE_INFO("IMG > Encode APRS/SSDV packet");
|
|
|
|
|
/* TODO: re-implement chunk sized SSDV conversions. */
|
|
|
|
|
while((c = ssdv_enc_get_packet(&ssdv)) == SSDV_FEED_ME) {
|
|
|
|
|
b = &image[bi++];
|
|
|
|
|
if(bi > image_len) {
|
|
|
|
|
TRACE_ERROR("SSDV > Premature end of file");
|
|
|
|
|
return false;
|
|
|
|
|
}
|
|
|
|
|
ssdv_enc_feed(&ssdv, b, 1);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if(c == SSDV_EOI) {
|
|
|
|
|
TRACE_INFO("SSDV > ssdv_enc_get_packet said EOI");
|
|
|
|
|
return true;
|
|
|
|
|
} else if(c != SSDV_OK) {
|
|
|
|
|
TRACE_ERROR("SSDV > ssdv_enc_get_packet failed: %i", c);
|
|
|
|
|
return false;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// Sync byte, CRC and FEC of SSDV not transmitted (because its not necessary inside an APRS packet)
|
|
|
|
|
base91_encode(&pkt[6], pkt_base91, 174);
|
|
|
|
|
|
2018-04-05 06:06:40 +00:00
|
|
|
/* TODO: Implement en bloc send using chained buffers. */
|
2018-04-03 13:14:31 +00:00
|
|
|
packet_t packet = aprs_encode_data_packet(conf->call, conf->path, 'I', pkt_base91);
|
|
|
|
|
if(packet == NULL) {
|
|
|
|
|
TRACE_ERROR("IMG > No available packet for image transmission");
|
|
|
|
|
} else {
|
|
|
|
|
if(!transmitOnRadio(packet,
|
|
|
|
|
conf->radio_conf.freq,
|
|
|
|
|
0,
|
|
|
|
|
0,
|
|
|
|
|
conf->radio_conf.pwr,
|
|
|
|
|
conf->radio_conf.mod,
|
|
|
|
|
conf->radio_conf.rssi)) {
|
|
|
|
|
TRACE_ERROR("IMG > Unable to send image on radio");
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
chThdSleep(TIME_MS2I(10)); // Leave other threads some time
|
|
|
|
|
|
|
|
|
|
// Repeat packets
|
|
|
|
|
for(uint8_t i=0; i<16; i++) {
|
|
|
|
|
if(packetRepeats[i].n_done && image_id == packetRepeats[i].image_id) {
|
|
|
|
|
if(!transmit_image_packet(image, image_len, conf, image_id, packetRepeats[i].packet_id)) {
|
|
|
|
|
TRACE_ERROR("IMG > Failed re-send of image %i", image_id);
|
|
|
|
|
} else {
|
|
|
|
|
packetRepeats[i].n_done = false; // Set done
|
2018-03-30 03:51:50 +00:00
|
|
|
}
|
2018-04-03 13:14:31 +00:00
|
|
|
}
|
|
|
|
|
chThdSleep(TIME_MS2I(100)); // Leave other threads some time
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// Packet spacing (delay)
|
|
|
|
|
if(conf->thread_conf.packet_spacing)
|
|
|
|
|
chThdSleep(conf->thread_conf.packet_spacing);
|
|
|
|
|
|
|
|
|
|
// Handle image rejection flag
|
|
|
|
|
if((conf == &conf_sram.img_pri) && reject_pri) { // Image rejected
|
|
|
|
|
reject_pri = false;
|
|
|
|
|
}
|
|
|
|
|
if((conf == &conf_sram.img_sec) && reject_sec) { // Image rejected
|
|
|
|
|
reject_sec = false;
|
|
|
|
|
}
|
|
|
|
|
} while(true);
|
2018-01-15 21:16:54 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* Analyzes the image for JPEG errors. Returns true if the image is error free.
|
|
|
|
|
*/
|
|
|
|
|
static bool analyze_image(uint8_t *image, uint32_t image_len)
|
|
|
|
|
{
|
|
|
|
|
return true;
|
|
|
|
|
#if !OV5640_USE_DMA_DBM
|
|
|
|
|
if(image_len >= 65535)
|
|
|
|
|
{
|
|
|
|
|
TRACE_ERROR("CAM > Camera has %d bytes allocated but DMA DBM not activated", image_len);
|
|
|
|
|
TRACE_ERROR("CAM > DMA can only use 65535 bytes only");
|
|
|
|
|
image_len = 65535;
|
|
|
|
|
}
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
ssdv_t ssdv;
|
|
|
|
|
uint8_t pkt[SSDV_PKT_SIZE];
|
|
|
|
|
uint8_t *b;
|
|
|
|
|
uint32_t bi = 0;
|
|
|
|
|
uint16_t i = 0;
|
|
|
|
|
uint8_t c = SSDV_OK;
|
|
|
|
|
|
|
|
|
|
ssdv_enc_init(&ssdv, SSDV_TYPE_NOFEC, "", 0, 7);
|
|
|
|
|
ssdv_enc_set_buffer(&ssdv, pkt);
|
|
|
|
|
|
|
|
|
|
while(true) // FIXME: I get caught in these loops occasionally and never return
|
|
|
|
|
{
|
|
|
|
|
while((c = ssdv_enc_get_packet(&ssdv)) == SSDV_FEED_ME)
|
|
|
|
|
{
|
|
|
|
|
b = &image[bi];
|
|
|
|
|
uint8_t r = bi < image_len-128 ? 128 : image_len - bi;
|
|
|
|
|
bi += r;
|
|
|
|
|
if(r <= 0)
|
|
|
|
|
{
|
|
|
|
|
TRACE_ERROR("CAM > Error in image (Premature end of file %d)", i);
|
|
|
|
|
return false;
|
|
|
|
|
}
|
|
|
|
|
ssdv_enc_feed(&ssdv, b, r);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if(c == SSDV_EOI) // End of image
|
|
|
|
|
return true;
|
|
|
|
|
|
|
|
|
|
if(c != SSDV_OK) // Error in JPEG image
|
|
|
|
|
{
|
|
|
|
|
TRACE_ERROR("CAM > Error in image (ssdv_enc_get_packet failed: %d %d)", c, i);
|
|
|
|
|
return false;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
i++;
|
2018-01-20 12:44:37 +00:00
|
|
|
chThdSleep(TIME_MS2I(5));
|
2018-01-15 21:16:54 +00:00
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
static bool camInitialized = false;
|
|
|
|
|
|
2018-02-07 09:26:23 +00:00
|
|
|
uint32_t takePicture(uint8_t* buffer, uint32_t size, resolution_t res, bool enableJpegValidation)
|
2018-01-15 21:16:54 +00:00
|
|
|
{
|
2018-02-07 09:26:23 +00:00
|
|
|
uint32_t size_sampled = 0;
|
2018-01-15 21:16:54 +00:00
|
|
|
|
|
|
|
|
// Initialize mutex
|
|
|
|
|
if(!camera_mtx_init)
|
|
|
|
|
chMtxObjectInit(&camera_mtx);
|
|
|
|
|
camera_mtx_init = true;
|
|
|
|
|
|
|
|
|
|
// Lock camera
|
|
|
|
|
TRACE_INFO("IMG > Lock camera");
|
|
|
|
|
chMtxLock(&camera_mtx);
|
|
|
|
|
|
|
|
|
|
// Detect camera
|
|
|
|
|
if(camInitialized || OV5640_isAvailable()) { // OV5640 available
|
|
|
|
|
|
|
|
|
|
TRACE_INFO("IMG > OV5640 found");
|
|
|
|
|
|
|
|
|
|
uint8_t cntr = 5;
|
|
|
|
|
bool jpegValid;
|
|
|
|
|
do {
|
|
|
|
|
// Init camera
|
|
|
|
|
if(!camInitialized) {
|
|
|
|
|
OV5640_init();
|
|
|
|
|
camInitialized = true;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// Sample data from pseudo DCMI through DMA into RAM
|
2018-02-07 09:26:23 +00:00
|
|
|
size_sampled = OV5640_Snapshot2RAM(buffer, size, res);
|
2018-01-15 21:16:54 +00:00
|
|
|
|
|
|
|
|
// Switch off camera
|
2018-02-17 20:04:15 +00:00
|
|
|
if(!conf_sram.keep_cam_switched_on) {
|
2018-01-15 21:16:54 +00:00
|
|
|
OV5640_deinit();
|
|
|
|
|
camInitialized = false;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// Validate JPEG image
|
|
|
|
|
if(enableJpegValidation)
|
|
|
|
|
{
|
|
|
|
|
TRACE_INFO("CAM > Validate integrity of JPEG");
|
2018-02-07 09:26:23 +00:00
|
|
|
jpegValid = analyze_image(buffer, size);
|
2018-01-15 21:16:54 +00:00
|
|
|
TRACE_INFO("CAM > JPEG image %s", jpegValid ? "valid" : "invalid");
|
|
|
|
|
} else {
|
|
|
|
|
jpegValid = true;
|
|
|
|
|
}
|
|
|
|
|
} while(!jpegValid && cntr--);
|
|
|
|
|
|
|
|
|
|
} else { // Camera not found
|
|
|
|
|
|
|
|
|
|
camInitialized = false;
|
|
|
|
|
TRACE_ERROR("IMG > No camera found");
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// Unlock camera
|
|
|
|
|
TRACE_INFO("IMG > Unlock camera");
|
|
|
|
|
chMtxUnlock(&camera_mtx);
|
|
|
|
|
|
2018-02-07 09:26:23 +00:00
|
|
|
return size_sampled;
|
2018-01-15 21:16:54 +00:00
|
|
|
}
|
|
|
|
|
|
2018-04-03 13:14:31 +00:00
|
|
|
THD_FUNCTION(imgThread, arg) {
|
|
|
|
|
thd_img_conf_t* conf = (thd_img_conf_t*)arg;
|
|
|
|
|
|
|
|
|
|
if(conf->thread_conf.init_delay) chThdSleep(conf->thread_conf.init_delay);
|
|
|
|
|
TRACE_INFO("IMG > Startup image thread");
|
|
|
|
|
|
|
|
|
|
// Create buffer
|
|
|
|
|
//uint8_t buffer[conf->buf_size] __attribute__((aligned(DMA_FIFO_BURST_ALIGN)));
|
|
|
|
|
|
|
|
|
|
sysinterval_t time = chVTGetSystemTime();
|
|
|
|
|
while(true) {
|
|
|
|
|
TRACE_INFO("IMG > Do module IMAGE cycle");
|
|
|
|
|
if(!p_sleep(&conf->thread_conf.sleep_conf)) {
|
|
|
|
|
// Take picture
|
|
|
|
|
|
|
|
|
|
/* Create image capture buffer. */
|
|
|
|
|
uint8_t *buffer = chHeapAllocAligned(NULL, conf->buf_size, DMA_FIFO_BURST_ALIGN);
|
|
|
|
|
if(buffer != NULL) {
|
|
|
|
|
uint32_t size_sampled = takePicture(buffer, conf->buf_size, conf->res, true);
|
|
|
|
|
gimage_id++; // Increase SSDV image counter
|
|
|
|
|
|
|
|
|
|
// Radio transmission
|
|
|
|
|
if(size_sampled) {
|
|
|
|
|
// Write picture to SD card
|
|
|
|
|
TRACE_INFO("IMG > Save image to SD card");
|
|
|
|
|
if(initSD())
|
|
|
|
|
{
|
|
|
|
|
char filename[32];
|
|
|
|
|
chsnprintf(filename, sizeof(filename), "r%02xi%04x.jpg", getLastDataPoint()->reset % 0xFF, (gimage_id-1) % 0xFFFF);
|
|
|
|
|
|
|
|
|
|
// Find SOI
|
|
|
|
|
uint32_t soi;
|
|
|
|
|
for(soi=0; soi<conf->buf_size; soi++) {
|
|
|
|
|
if(buffer[soi] == 0xFF && buffer[soi+1] == 0xD8)
|
|
|
|
|
break;
|
|
|
|
|
}
|
|
|
|
|
TRACE_DEBUG("IMG > SOI at byte %d");
|
|
|
|
|
writeBufferToFile(filename, &buffer[soi], size_sampled-soi);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// Encode and transmit picture
|
|
|
|
|
TRACE_INFO("IMG > Encode/Transmit SSDV ID=%d", gimage_id-1);
|
|
|
|
|
if(!transmit_image_packets(buffer, size_sampled, conf, (uint8_t)(gimage_id-1))) {
|
|
|
|
|
TRACE_ERROR("IMG > Error in encoding snapshot image %i - discarded", gimage_id-1);
|
|
|
|
|
/* Allow time for output queue to be processed. */
|
|
|
|
|
chThdSleep(TIME_S2I(10));
|
|
|
|
|
}
|
|
|
|
|
} else { // No camera found
|
|
|
|
|
TRACE_INFO("IMG > Encode/Transmit SSDV (camera error) ID=%d", gimage_id-1);
|
|
|
|
|
if(!transmit_image_packets(noCameraFound, sizeof(noCameraFound), conf, (uint8_t)(gimage_id-1))) {
|
|
|
|
|
TRACE_ERROR("IMG > Error in encoding dummy image %i - discarded", gimage_id-1);
|
|
|
|
|
/* Allow time for output queue to be processed. */
|
|
|
|
|
chThdSleep(TIME_S2I(10));
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
/* Return the buffer to the heap. */
|
|
|
|
|
chHeapFree(buffer);
|
|
|
|
|
} else {
|
|
|
|
|
/* Could not get a capture buffer. */
|
|
|
|
|
TRACE_WARN("IMG > Unable to get capture buffer for image %i", gimage_id-1);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
chThdSleep(TIME_MS2I(10));
|
|
|
|
|
time = waitForTrigger(time, conf->thread_conf.cycle);
|
|
|
|
|
}
|
2018-01-15 21:16:54 +00:00
|
|
|
}
|
|
|
|
|
|
2018-03-30 03:51:50 +00:00
|
|
|
/*
|
|
|
|
|
*
|
|
|
|
|
*/
|
2018-02-07 09:26:23 +00:00
|
|
|
void start_image_thread(thd_img_conf_t *conf)
|
2018-01-15 21:16:54 +00:00
|
|
|
{
|
2018-04-03 13:14:31 +00:00
|
|
|
thread_t *th = chThdCreateFromHeap(NULL, THD_WORKING_AREA_SIZE(40 * 1024), "IMG", LOWPRIO, imgThread, conf);
|
2018-01-15 21:16:54 +00:00
|
|
|
if(!th) {
|
|
|
|
|
// Print startup error, do not start watchdog for this thread
|
|
|
|
|
TRACE_ERROR("IMG > Could not startup thread (not enough memory available)");
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
