#include "ch.h" #include "hal.h" #include "chprintf.h" #include "debug.h" #include "threads.h" #include "ov5640.h" #include "pi2c.h" #include "ssdv.h" #include "aprs.h" #include "radio.h" #include "base91.h" #include #include "types.h" #include "sleep.h" #include "watchdog.h" #include "flash.h" #include "sd.h" #include "collector.h" #include "image.h" const uint8_t noCameraFound[4071] = { 0xFF, 0xD8, 0xFF, 0xE0, 0x00, 0x10, 0x4A, 0x46, 0x49, 0x46, 0x00, 0x01, 0x01, 0x01, 0x00, 0x48, 0x00, 0x48, 0x00, 0x00, 0xFF, 0xDB, 0x00, 0x43, 0x00, 0x10, 0x0B, 0x0C, 0x0E, 0x0C, 0x0A, 0x10, 0x0E, 0x0D, 0x0E, 0x12, 0x11, 0x10, 0x13, 0x18, 0x28, 0x1A, 0x18, 0x16, 0x16, 0x18, 0x31, 0x23, 0x25, 0x1D, 0x28, 0x3A, 0x33, 0x3D, 0x3C, 0x39, 0x33, 0x38, 0x37, 0x40, 0x48, 0x5C, 0x4E, 0x40, 0x44, 0x57, 0x45, 0x37, 0x38, 0x50, 0x6D, 0x51, 0x57, 0x5F, 0x62, 0x67, 0x68, 0x67, 0x3E, 0x4D, 0x71, 0x79, 0x70, 0x64, 0x78, 0x5C, 0x65, 0x67, 0x63, 0xFF, 0xDB, 0x00, 0x43, 0x01, 0x11, 0x12, 0x12, 0x18, 0x15, 0x18, 0x2F, 0x1A, 0x1A, 0x2F, 0x63, 0x42, 0x38, 0x42, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0x63, 0xFF, 0xC0, 0x00, 0x11, 0x08, 0x00, 0x80, 0x00, 0xA0, 0x03, 0x01, 0x11, 0x00, 0x02, 0x11, 0x01, 0x03, 0x11, 0x01, 0xFF, 0xC4, 0x00, 0x1B, 0x00, 0x00, 0x02, 0x03, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x02, 0x04, 0x05, 0x07, 0x06, 0x01, 0xFF, 0xC4, 0x00, 0x47, 0x10, 0x00, 0x00, 0x05, 0x02, 0x02, 0x05, 0x05, 0x0C, 0x06, 0x09, 0x05, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x11, 0x12, 0x21, 0x06, 0x13, 0x31, 0x41, 0x81, 0x14, 0x15, 0x16, 0x42, 0x51, 0x22, 0x32, 0x53, 0x54, 0x61, 0x71, 0x91, 0x92, 0xA1, 0xC1, 0xE1, 0xE2, 0x36, 0x55, 0x63, 0x93, 0xA3, 0xB3, 0x23, 0x24, 0x52, 0x62, 0x64, 0x65, 0xA2, 0xB1, 0xD1, 0x07, 0x35, 0x43, 0x74, 0x82, 0xB2, 0xFF, 0xC4, 0x00, 0x1A, 0x01, 0x01, 0x01, 0x00, 0x03, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x02, 0x03, 0x04, 0x06, 0x01, 0xFF, 0xC4, 0x00, 0x39, 0x11, 0x01, 0x00, 0x00, 0x03, 0x04, 0x06, 0x07, 0x05, 0x08, 0x03, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x11, 0x05, 0x12, 0x51, 0xC1, 0x03, 0x04, 0x13, 0x31, 0x42, 0x81, 0x14, 0x15, 0x21, 0x43, 0x52, 0xA1, 0xE1, 0x06, 0x32, 0x33, 0x61, 0x62, 0x16, 0x22, 0x41, 0x63, 0x71, 0x82, 0xA2, 0xE2, 0x23, 0x24, 0xD1, 0x91, 0xFF, 0xDA, 0x00, 0x0C, 0x03, 0x01, 0x00, 0x02, 0x11, 0x03, 0x11, 0x00, 0x3F, 0x00, 0xF4, 0x00, 0x00, 0x0A, 0x7F, 0xAB, 0xC4, 0x49, 0xB4, 0xF8, 0x39, 0xE4, 0xD9, 0x21, 0x22, 0x43, 0x60, 0x01, 0x5E, 0x66, 0xC4, 0x71, 0xF7, 0x0B, 0xD6, 0x2F, 0x79, 0xCB, 0x34, 0x5B, 0x5F, 0x83, 0x9E, 0x4A, 0xC2, 0xF2, 0x20, 0x00, 0x97, 0xFA, 0xBC, 0x44, 0x9B, 0x4F, 0x74, 0x9C, 0xF2, 0x67, 0x21, 0x22, 0x43, 0x60, 0x00, 0x89, 0x7D, 0xEA, 0x3C, 0xE6, 0x2F, 0x58, 0xBD, 0xE7, 0x2C, 0xDE, 0x9B, 0xD9, 0xFE, 0xF7, 0xF6, 0xE6, 0xAA, 0x2F, 0x3D, 0x30, 0x00, 0xA7, 0xFA, 0xBC, 0x44, 0x9B, 0x4F, 0x83, 0x9E, 0x4C, 0xE4, 0x24, 0x48, 0x6C, 0x00, 0x2B, 0xCC, 0xD8, 0x8E, 0x3E, 0xE1, 0x7A, 0xC5, 0xEF, 0x39, 0x66, 0x8B, 0x6B, 0xF0, 0x73, 0xC9, 0x58, 0x5E, 0x44, 0x00, 0x3A, 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, 0x55, 0x1E, 0x49, 0xD0, 0x00, 0x29, 0xFE, 0xAF, 0x11, 0x26, 0xD3, 0xE0, 0xE7, 0x93, 0x64, 0x84, 0x89, 0x0D, 0x80, 0x05, 0x79, 0x9B, 0x11, 0xC7, 0xDC, 0x2F, 0x58, 0xBD, 0xE7, 0x2C, 0xD1, 0x6D, 0x7E, 0x0E, 0x79, 0x2B, 0x0B, 0xC8, 0x80, 0x02, 0x5F, 0xEA, 0xF1, 0x12, 0x6D, 0x3D, 0xD2, 0x73, 0xC9, 0x9C, 0x84, 0x89, 0x0D, 0x80, 0x02, 0x25, 0xF7, 0xA8, 0xF3, 0x98, 0xBD, 0x62, 0xF7, 0x9C, 0xB3, 0x7A, 0x6F, 0x67, 0xFB, 0xDF, 0xDB, 0x9A, 0xA8, 0xBC, 0xF4, 0xC0, 0x02, 0x9F, 0xEA, 0xF1, 0x12, 0x6D, 0x3E, 0x0E, 0x79, 0x33, 0x90, 0x91, 0x21, 0xB0, 0x00, 0xAF, 0x33, 0x62, 0x38, 0xFB, 0x85, 0xEB, 0x17, 0xBC, 0xE5, 0x9A, 0x2D, 0xAF, 0xC1, 0xCF, 0x25, 0x61, 0x79, 0x10, 0x00, 0xEA, 0xA3, 0xC9, 0x3A, 0x00, 0x05, 0x3F, 0xD5, 0xE2, 0x24, 0xDA, 0x7C, 0x1C, 0xF2, 0x6C, 0x90, 0x91, 0x21, 0xB0, 0x00, 0xAF, 0x33, 0x62, 0x38, 0xFB, 0x85, 0xEB, 0x17, 0xBC, 0xE5, 0x9A, 0x2D, 0xAF, 0xC1, 0xCF, 0x25, 0x61, 0x79, 0x10, 0x00, 0x4B, 0xFD, 0x5E, 0x22, 0x4D, 0xA7, 0xBA, 0x4E, 0x79, 0x33, 0x90, 0x91, 0x21, 0xB0, 0x00, 0x44, 0xBE, 0xF5, 0x1E, 0x73, 0x17, 0xAC, 0x5E, 0xF3, 0x96, 0x6F, 0x4D, 0xEC, 0xFF, 0x00, 0x7B, 0xFB, 0x73, 0x55, 0x17, 0x9E, 0x98, 0x00, 0x53, 0xFD, 0x5E, 0x22, 0x4D, 0xA7, 0xC1, 0xCF, 0x26, 0x72, 0x12, 0x24, 0x36, 0x00, 0x15, 0xE6, 0x6C, 0x47, 0x1F, 0x70, 0xBD, 0x62, 0xF7, 0x9C, 0xB3, 0x45, 0xB5, 0xF8, 0x39, 0xE4, 0xAC, 0x2F, 0x22, 0x00, 0x1D, 0x54, 0x79, 0x27, 0x43, 0x0A, 0xAF, 0xA4, 0xCC, 0xD2, 0xA6, 0x9C, 0x67, 0x23, 0xB8, 0xE2, 0x89, 0x24, 0xAC, 0x49, 0x32, 0x22, 0xCC, 0x06, 0x7B, 0x9A, 0x6B, 0x1D, 0x76, 0xB4, 0x47, 0x4A, 0xDF, 0xBC, 0x43, 0x8F, 0x5B, 0xD5, 0xA3, 0xA7, 0xBB, 0x48, 0xD2, 0x95, 0x65, 0x2C, 0xD4, 0x43, 0xA6, 0x31, 0xFC, 0x51, 0xDF, 0x58, 0x87, 0x17, 0x56, 0x4F, 0xE2, 0x65, 0x7C, 0x74, 0xC6, 0x3F, 0x8A, 0x3B, 0xEB, 0x10, 0x75, 0x64, 0xFE, 0x22, 0xF9, 0x4F, 0xE9, 0x6B, 0x0E, 0x92, 0x6D, 0x15, 0xC2, 0xB7, 0xEF, 0x10, 0xA3, 0xA8, 0x68, 0x63, 0xAA, 0xDE, 0xAC, 0x6B, 0x5A, 0x79, 0x55, 0xC3, 0xAE, 0xEA, 0xF1, 0xD6, 0x2E, 0xD2, 0x34, 0xA5, 0x72, 0x2B, 0xA4, 0xEC, 0xF8, 0xB3, 0x9E, 0xB1, 0x0A, 0x1B, 0x68, 0x60, 0xE0, 0xEA, 0xC9, 0xFC, 0x43, 0xA4, 0xEC, 0xF8, 0xB3, 0x9E, 0xB1, 0x06, 0xDA, 0x18, 0x1D, 0x59, 0x3F, 0x89, 0x07, 0x34, 0x91, 0x95, 0xDA, 0xD1, 0xD6, 0x56, 0xF2, 0x90, 0xE3, 0xD6, 0xE4, 0xDB, 0xDD, 0xA7, 0x65, 0x2A, 0xCA, 0x5B, 0x3A, 0x68, 0x71, 0x21, 0xD2, 0x16, 0xBC, 0x02, 0xFD, 0x24, 0x38, 0xBA, 0x1C, 0xD8, 0xB2, 0xE8, 0x13, 0x62, 0x3A, 0x42, 0xD7, 0x80, 0x5F, 0xA4, 0x83, 0xA1, 0xCD, 0x89, 0xD0, 0x26, 0xC4, 0xB7, 0xAB, 0xAD, 0x3A, 0x49, 0x22, 0x65, 0x65, 0x6F, 0x29, 0x0A, 0x3A, 0x87, 0xFA, 0xB7, 0xAB, 0xDB, 0x5A, 0x79, 0x55, 0x56, 0xCD, 0xFF, 0x00, 0x4E, 0xFD, 0xEE, 0xDA, 0xD3, 0xCA, 0xBF, 0xF4, 0x9E, 0x77, 0x6F, 0xC1, 0x2B, 0xD2, 0x28, 0xF4, 0xC9, 0x70, 0x55, 0xE9, 0xF2, 0xE0, 0x39, 0xDD, 0xBF, 0x04, 0xAF, 0x48, 0x74, 0xC9, 0x70, 0x3A, 0x7C, 0xB8, 0x20, 0xE5, 0x51, 0x0B, 0xB5, 0x9B, 0x51, 0x5B, 0xCA, 0x38, 0xF5, 0xB9, 0xF6, 0xF7, 0x69, 0xD9, 0x4A, 0xB2, 0x96, 0xD1, 0x96, 0x1C, 0x28, 0x73, 0x8A, 0x3C, 0x1A, 0xBD, 0x23, 0x8B, 0x63, 0x1C, 0x59, 0x75, 0x9C, 0x9E, 0x11, 0xCE, 0x28, 0xF0, 0x6A, 0xF4, 0x86, 0xC6, 0x38, 0x9D, 0x67, 0x27, 0x84, 0xA7, 0xE6, 0x25, 0xD2, 0x4D, 0x90, 0x65, 0x61, 0x47, 0x50, 0xD3, 0x43, 0x55, 0xBD, 0x58, 0x56, 0xB4, 0xF2, 0xAB, 0x87, 0x5D, 0xD6, 0x21, 0xAC, 0x5D, 0xA4, 0x29, 0x4A, 0xE4, 0x5A, 0x5D, 0x25, 0x28, 0x8A, 0xDB, 0x45, 0x4D, 0x16, 0xBF, 0x2E, 0x92, 0x78, 0x49, 0x08, 0x6F, 0x4F, 0x8C, 0x94, 0x30, 0x50, 0x60, 0xEA, 0xA3, 0xC9, 0x3A, 0x18, 0x6C, 0x9B, 0x85, 0xA5, 0x55, 0x63, 0x65, 0xC4, 0xB4, 0xE9, 0x52, 0x97, 0x81, 0xC5, 0x2B, 0x09, 0x20, 0xEE, 0x9B, 0x19, 0x99, 0xEC, 0xB7, 0x68, 0x08, 0xD3, 0xA4, 0xB4, 0xFE, 0x93, 0xE8, 0xFA, 0x1C, 0x92, 0xC4, 0xBA, 0x8B, 0x68, 0x7C, 0xA5, 0x3E, 0xC9, 0x92, 0x89, 0x57, 0x4A, 0xB0, 0x16, 0x22, 0xC8, 0xCC, 0x8A, 0xE0, 0x30, 0xE5, 0x4B, 0x4D, 0x5A, 0x4C, 0x08, 0x4E, 0xD7, 0x64, 0xCE, 0x69, 0xD9, 0x48, 0x4A, 0xD0, 0xEB, 0x1A, 0xB2, 0x41, 0x19, 0xDB, 0x15, 0xEE, 0x79, 0xE6, 0x60, 0x17, 0xA4, 0x95, 0x99, 0xBC, 0xB6, 0xA1, 0x4A, 0x49, 0xA5, 0xA8, 0x08, 0x70, 0xDA, 0x44, 0x74, 0xA0, 0x89, 0x29, 0x24, 0x2B, 0x23, 0x2C, 0xB6, 0xE5, 0x7E, 0x20, 0x3D, 0x0D, 0x6E, 0x94, 0xFA, 0x34, 0x35, 0x50, 0x8D, 0x85, 0xA5, 0x10, 0x18, 0x61, 0xF4, 0x9D, 0xB6, 0xB8, 0x66, 0xAD, 0x6E, 0x7D, 0x84, 0x4A, 0xB8, 0x06, 0x9B, 0x69, 0x98, 0x5A, 0x38, 0xDA, 0x52, 0x5A, 0xF8, 0x4C, 0x44, 0x90, 0x5B, 0x6E, 0xA6, 0xD6, 0x78, 0x17, 0x97, 0x90, 0xC9, 0x07, 0xC4, 0xC0, 0x78, 0x5A, 0xE7, 0xFB, 0xED, 0x43, 0xFE, 0xCB, 0x9F, 0xFD, 0x18, 0x0A, 0x20, 0x3D, 0x66, 0x88, 0x2A, 0x42, 0x28, 0x55, 0xD5, 0x43, 0x92, 0xDC, 0x57, 0xCB, 0x93, 0xE1, 0x75, 0xC7, 0x09, 0x09, 0x4F, 0x74, 0xAB, 0xDC, 0xCF, 0x22, 0xCA, 0xE5, 0xC4, 0x05, 0x6D, 0x23, 0xA9, 0x13, 0x55, 0x98, 0x72, 0xA9, 0xF2, 0x9B, 0x54, 0xC6, 0xA2, 0xA1, 0x2F, 0xC8, 0x8E, 0x45, 0x65, 0x3B, 0x63, 0x25, 0x1D, 0xED, 0x63, 0xB9, 0x1E, 0xD0, 0x1A, 0xF5, 0xA2, 0x3A, 0xA7, 0xFA, 0x90, 0xCD, 0x3A, 0x6B, 0xA6, 0xA8, 0x8D, 0x38, 0x93, 0x43, 0x6A, 0xD8, 0x57, 0x6D, 0x2A, 0x32, 0xE2, 0x65, 0x6E, 0x20, 0x31, 0xF9, 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bool camera_mtx_init = false; ssdv_packet_t packetRepeats[16]; bool reject_pri; bool reject_sec; /* * Memory pool integrity checking... will expand to be that */ static struct pool_header *pktSystemCheck(void) { extern guarded_memory_pool_t *ccm_pool; return ((struct pool_header *)(ccm_pool->pool.next))->next; } 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) { 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; if(r <= 0) { TRACE_ERROR("SSDV > Premature end of file"); return false; } ssdv_enc_feed(&ssdv, b, r); } if(c == SSDV_EOI) { return true; } else if(c != SSDV_OK) { return false; } if(i == packet_id) { // Sync byte, CRC and FEC of SSDV not transmitted (because its not necessary inside an APRS packet) base91_encode(&pkt[6], pkt_base91, 174); packet_t packet = aprs_encode_data_packet(conf->call, conf->path, 'I', pkt_base91); if(packet == NULL) { TRACE_WARN("IMG > No free packet objects for transmission"); return false; } 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 packet TX on radio"); return false; } } chThdSleep(TIME_MS2I(10)); // Leave other threads some time i++; } } /* * Transmit image packets. * Return true if no SSDV encoding error or false on encoding error. */ static bool transmit_image_packets(const uint8_t *image, uint32_t image_len, thd_img_conf_t* conf, uint8_t image_id) { uint8_t pkt[SSDV_PKT_SIZE]; uint8_t pkt_base91[256] = {0}; /* FIXME: This doesn't work with burst mode packet sends. */ // 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, conf->radio_conf.freq, 0, 0, conf->radio_conf.pwr, conf->radio_conf.mod, conf->radio_conf.rssi)) { /* Packet has been released by transmit. */ TRACE_ERROR("IMG > Unable to send redundant image on radio"); } } chThdSleep(TIME_MS2I(10)); // Leave other threads some time } /* Prepare for new image encode and send. */ ssdv_t ssdv; const uint8_t *b; uint32_t bi = 0; uint8_t c = SSDV_OK; /* Initialize SSDV, output buffer and input buffer. */ ssdv_enc_init(&ssdv, SSDV_TYPE_PADDING, "N0CALL", image_id, conf->quality); ssdv_enc_set_buffer(&ssdv, pkt); ssdv_enc_feed(&ssdv, image, 0); while(c != SSDV_EOI) { /* * Next encode packets. * Packet burst send is available if redundant TX is not requested. * Limiting the number of packets in a burst is important. * Else APRS-IS may drop fast arriving packets. * Also having a send_spacing > 0 is important. * This allows APRS-IS time to forward packets from its buffer. */ uint8_t buffers = fmin((NUMBER_COMMON_PKT_BUFFERS / 2), 5); uint8_t chain = (conf->radio_conf.mod == MOD_2FSK && !conf->radio_conf.redundantTx) ? buffers : 1; TRACE_INFO("IMG > Encode APRS/SSDV packet(s) %i", chain); /* Packet linking control. */ packet_t head = NULL; packet_t previous = NULL; while(chain-- > 0) { while((c = ssdv_enc_get_packet(&ssdv)) == SSDV_FEED_ME) { b = &image[bi++]; if(bi > image_len) { TRACE_ERROR("SSDV > Premature end of file"); if(head != NULL) { pktReleaseBufferChain(head); } return false; } ssdv_enc_feed(&ssdv, b, 1); } if(c == SSDV_EOI) { TRACE_INFO("SSDV > ssdv_enc_get_packet said EOI"); break; } else if(c != SSDV_OK) { TRACE_ERROR("SSDV > ssdv_enc_get_packet failed: %i", c); if(head != NULL) { pktReleaseBufferChain(head); } return false; } /* * Sync byte, CRC and FEC of SSDV not transmitted. * Not necessary inside an APRS packet. */ base91_encode(&pkt[6], pkt_base91, 174); 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"); /* Error so release any linked packets. */ if(head != NULL) { pktReleaseBufferChain(head); } return false; } if(previous != NULL) /* Link the next packet into the chain. */ previous->nextp = packet; else /* This is the first packet. */ head = packet; /* Now set new packet as previous. */ previous = packet; } /* End while(chain-- > 0) */ /* If we have some image packet(s) to transmit then do it. */ if(head != NULL) { if(!transmitOnRadio(head, 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"); /* Transmit on radio will release the packet chain. */ } else { // Packet spacing (delay) if(conf->thread_conf.send_spacing) chThdSleep(conf->thread_conf.send_spacing); } } chThdSleep(TIME_MS2I(10)); // Leave other threads some time } /* End while(c!= SSDV_EOI) */ // 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 } } chThdSleep(TIME_MS2I(10)); // Leave other threads some time } // 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; } return true; } /** * 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) { while((c = ssdv_enc_get_packet(&ssdv)) == SSDV_FEED_ME) { b = &image[bi++]; if(bi > image_len) { TRACE_ERROR("CAM > Error in image (Premature end of file %d)", i); return false; } ssdv_enc_feed(&ssdv, b, 1); } if(c == SSDV_EOI) // End of image return true; if(c != SSDV_OK) { TRACE_ERROR("CAM > Error in image (ssdv_enc_get_packet failed: %d %d)", c, i); return false; } i++; chThdSleep(TIME_MS2I(5)); } } static bool camInitialized = false; uint32_t takePicture(uint8_t* buffer, uint32_t size, resolution_t res, bool enableJpegValidation) { uint32_t size_sampled = 0; // 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; } TRACE_DEBUG("CAM > Pool link 0x%x", pktSystemCheck()); // Sample data from pseudo DCMI through DMA into RAM size_sampled = OV5640_Snapshot2RAM(buffer, size, res); TRACE_DEBUG("CAM > Pool link 0x%x", pktSystemCheck()); if(size_sampled == 0) continue; // Switch off camera if(!conf_sram.keep_cam_switched_on) { OV5640_deinit(); camInitialized = false; } // Validate JPEG image if(enableJpegValidation) { TRACE_INFO("CAM > Validate integrity of JPEG"); jpegValid = analyze_image(buffer, size); 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); return size_sampled; } 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; soibuf_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); } if(conf->radio_conf.mod == MOD_2FSK && conf->radio_conf.redundantTx) { TRACE_WARN("IMG > Redundant TX disables 2FSK burst send mode"); } // 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 or capture failed after retries. 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); } } /* * */ void start_image_thread(thd_img_conf_t *conf) { thread_t *th = chThdCreateFromHeap(NULL, THD_WORKING_AREA_SIZE(40 * 1024), "IMG", LOWPRIO, imgThread, conf); if(!th) { // Print startup error, do not start watchdog for this thread TRACE_ERROR("IMG > Could not startup thread" " (not enough memory available)"); } }