From 2e637cef7ca01460b52d71da2b51adb4ba3bbc0b Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Wed, 9 May 2018 18:24:27 +0000
Subject: [PATCH 01/60] Added basic HABPack support, LoRa only

---
 README.md              |    5 +
 tracker/cmp.c          | 2665 ++++++++++++++++++++++++++++++++++++++++
 tracker/cmp.h          |  404 ++++++
 tracker/habpack.c      |  116 ++
 tracker/habpack.h      |   47 +
 tracker/lora.c         |   13 +-
 tracker/misc.h         |    1 +
 tracker/prediction.txt | 2075 +++++++++++++++++++++++++++++++
 8 files changed, 5323 insertions(+), 3 deletions(-)
 create mode 100755 tracker/cmp.c
 create mode 100755 tracker/cmp.h
 create mode 100755 tracker/habpack.c
 create mode 100755 tracker/habpack.h
 create mode 100644 tracker/prediction.txt

diff --git a/README.md b/README.md
index a53e22b..03e3359 100755
--- a/README.md
+++ b/README.md
@@ -61,6 +61,11 @@ It is therefore possible to overlay downloaded images with telemetry data, as te
 
 ## Change Log ##
 
+09/04/2018
+==========
+
+- Added HABPack support for LoRa, using encoder by Phil Crump.  Enable with LORA_HABPack_n=Y
+
 04/02/2018
 ==========
 
diff --git a/tracker/cmp.c b/tracker/cmp.c
new file mode 100755
index 0000000..1d39b94
--- /dev/null
+++ b/tracker/cmp.c
@@ -0,0 +1,2665 @@
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+
+#include "cmp.h"
+
+static const uint32_t version = 10;
+static const uint32_t mp_version = 5;
+
+enum {
+  POSITIVE_FIXNUM_MARKER = 0x00,
+  FIXMAP_MARKER          = 0x80,
+  FIXARRAY_MARKER        = 0x90,
+  FIXSTR_MARKER          = 0xA0,
+  NIL_MARKER             = 0xC0,
+  FALSE_MARKER           = 0xC2,
+  TRUE_MARKER            = 0xC3,
+  BIN8_MARKER            = 0xC4,
+  BIN16_MARKER           = 0xC5,
+  BIN32_MARKER           = 0xC6,
+  EXT8_MARKER            = 0xC7,
+  EXT16_MARKER           = 0xC8,
+  EXT32_MARKER           = 0xC9,
+  FLOAT_MARKER           = 0xCA,
+  DOUBLE_MARKER          = 0xCB,
+  U8_MARKER              = 0xCC,
+  U16_MARKER             = 0xCD,
+  U32_MARKER             = 0xCE,
+  U64_MARKER             = 0xCF,
+  S8_MARKER              = 0xD0,
+  S16_MARKER             = 0xD1,
+  S32_MARKER             = 0xD2,
+  S64_MARKER             = 0xD3,
+  FIXEXT1_MARKER         = 0xD4,
+  FIXEXT2_MARKER         = 0xD5,
+  FIXEXT4_MARKER         = 0xD6,
+  FIXEXT8_MARKER         = 0xD7,
+  FIXEXT16_MARKER        = 0xD8,
+  STR8_MARKER            = 0xD9,
+  STR16_MARKER           = 0xDA,
+  STR32_MARKER           = 0xDB,
+  ARRAY16_MARKER         = 0xDC,
+  ARRAY32_MARKER         = 0xDD,
+  MAP16_MARKER           = 0xDE,
+  MAP32_MARKER           = 0xDF,
+  NEGATIVE_FIXNUM_MARKER = 0xE0
+};
+
+enum {
+  FIXARRAY_SIZE        = 0xF,
+  FIXMAP_SIZE          = 0xF,
+  FIXSTR_SIZE          = 0x1F
+};
+
+enum {
+  ERROR_NONE,
+  STR_DATA_LENGTH_TOO_LONG_ERROR,
+  BIN_DATA_LENGTH_TOO_LONG_ERROR,
+  ARRAY_LENGTH_TOO_LONG_ERROR,
+  MAP_LENGTH_TOO_LONG_ERROR,
+  INPUT_VALUE_TOO_LARGE_ERROR,
+  FIXED_VALUE_WRITING_ERROR,
+  TYPE_MARKER_READING_ERROR,
+  TYPE_MARKER_WRITING_ERROR,
+  DATA_READING_ERROR,
+  DATA_WRITING_ERROR,
+  EXT_TYPE_READING_ERROR,
+  EXT_TYPE_WRITING_ERROR,
+  INVALID_TYPE_ERROR,
+  LENGTH_READING_ERROR,
+  LENGTH_WRITING_ERROR,
+  ERROR_MAX
+};
+
+const char *cmp_error_messages[ERROR_MAX + 1] = {
+  "No Error",
+  "Specified string data length is too long (> 0xFFFFFFFF)",
+  "Specified binary data length is too long (> 0xFFFFFFFF)",
+  "Specified array length is too long (> 0xFFFFFFFF)",
+  "Specified map length is too long (> 0xFFFFFFFF)",
+  "Input value is too large",
+  "Error writing fixed value",
+  "Error reading type marker",
+  "Error writing type marker",
+  "Error reading packed data",
+  "Error writing packed data",
+  "Error reading ext type",
+  "Error writing ext type",
+  "Invalid type",
+  "Error reading size",
+  "Error writing size",
+  "Max Error"
+};
+
+static const int32_t _i = 1;
+#define is_bigendian() ((*(char *)&_i) == 0)
+
+static uint16_t be16(uint16_t x) {
+  char *b = (char *)&x;
+
+  if (!is_bigendian()) {
+    char swap = 0;
+
+    swap = b[0];
+    b[0] = b[1];
+    b[1] = swap;
+  }
+
+  return x;
+}
+
+static uint32_t be32(uint32_t x) {
+  char *b = (char *)&x;
+
+  if (!is_bigendian()) {
+    char swap = 0;
+
+    swap = b[0];
+    b[0] = b[3];
+    b[3] = swap;
+
+    swap = b[1];
+    b[1] = b[2];
+    b[2] = swap;
+  }
+
+  return x;
+}
+
+static uint64_t be64(uint64_t x) {
+  char *b = (char *)&x;
+
+  if (!is_bigendian()) {
+    char swap = 0;
+
+    swap = b[0];
+    b[0] = b[7];
+    b[7] = swap;
+
+    swap = b[1];
+    b[1] = b[6];
+    b[6] = swap;
+
+    swap = b[2];
+    b[2] = b[5];
+    b[5] = swap;
+
+    swap = b[3];
+    b[3] = b[4];
+    b[4] = swap;
+  }
+
+  return x;
+}
+
+static float befloat(float x) {
+  char *b = (char *)&x;
+
+  if (!is_bigendian()) {
+    char swap = 0;
+
+    swap = b[0];
+    b[0] = b[3];
+    b[3] = swap;
+
+    swap = b[1];
+    b[1] = b[2];
+    b[2] = swap;
+  }
+
+  return x;
+}
+
+static double bedouble(double x) {
+  char *b = (char *)&x;
+
+  if (!is_bigendian()) {
+    char swap = 0;
+
+    swap = b[0];
+    b[0] = b[7];
+    b[7] = swap;
+
+    swap = b[1];
+    b[1] = b[6];
+    b[6] = swap;
+
+    swap = b[2];
+    b[2] = b[5];
+    b[5] = swap;
+
+    swap = b[3];
+    b[3] = b[4];
+    b[4] = swap;
+  }
+
+  return x;
+}
+
+static bool read_byte(cmp_ctx_t *ctx, uint8_t *x) {
+  return ctx->read(ctx, x, sizeof(uint8_t));
+}
+
+static bool write_byte(cmp_ctx_t *ctx, uint8_t x) {
+  return (ctx->write(ctx, &x, sizeof(uint8_t)) == (sizeof(uint8_t)));
+}
+
+static bool read_type_marker(cmp_ctx_t *ctx, uint8_t *marker) {
+  if (read_byte(ctx, marker))
+    return true;
+
+  ctx->error = TYPE_MARKER_READING_ERROR;
+  return false;
+}
+
+static bool write_type_marker(cmp_ctx_t *ctx, uint8_t marker) {
+  if (write_byte(ctx, marker))
+    return true;
+
+  ctx->error = TYPE_MARKER_WRITING_ERROR;
+  return false;
+}
+
+static bool write_fixed_value(cmp_ctx_t *ctx, uint8_t value) {
+  if (write_byte(ctx, value))
+    return true;
+
+  ctx->error = FIXED_VALUE_WRITING_ERROR;
+  return false;
+}
+
+void cmp_init(cmp_ctx_t *ctx, void *buf, cmp_reader read, cmp_writer write) {
+  ctx->error = ERROR_NONE;
+  ctx->buf = buf;
+  ctx->read = read;
+  ctx->write = write;
+}
+
+uint32_t cmp_version(void) {
+  return version;
+}
+
+uint32_t cmp_mp_version(void) {
+  return mp_version;
+}
+
+const char* cmp_strerror(cmp_ctx_t *ctx) {
+  if (ctx->error > ERROR_NONE && ctx->error < ERROR_MAX)
+    return cmp_error_messages[ctx->error];
+
+  return "";
+}
+
+bool cmp_write_pfix(cmp_ctx_t *ctx, uint8_t c) {
+  if (c <= 0x7F)
+    return write_fixed_value(ctx, c);
+
+  ctx->error = INPUT_VALUE_TOO_LARGE_ERROR;
+  return false;
+}
+
+bool cmp_write_nfix(cmp_ctx_t *ctx, int8_t c) {
+  if (c >= -32 && c <= -1)
+    return write_fixed_value(ctx, c);
+
+  ctx->error = INPUT_VALUE_TOO_LARGE_ERROR;
+  return false;
+}
+
+bool cmp_write_sfix(cmp_ctx_t *ctx, int8_t c) {
+  if (c >= 0)
+    return cmp_write_pfix(ctx, c);
+  if (c >= -32 && c <= -1)
+    return cmp_write_nfix(ctx, c);
+
+  ctx->error = INPUT_VALUE_TOO_LARGE_ERROR;
+  return false;
+}
+
+bool cmp_write_s8(cmp_ctx_t *ctx, int8_t c) {
+  if (!write_type_marker(ctx, S8_MARKER))
+    return false;
+
+  return ctx->write(ctx, &c, sizeof(int8_t));
+}
+
+bool cmp_write_s16(cmp_ctx_t *ctx, int16_t s) {
+  if (!write_type_marker(ctx, S16_MARKER))
+    return false;
+
+  s = be16(s);
+
+  return ctx->write(ctx, &s, sizeof(int16_t));
+}
+
+bool cmp_write_s32(cmp_ctx_t *ctx, int32_t i) {
+  if (!write_type_marker(ctx, S32_MARKER))
+    return false;
+
+  i = be32(i);
+
+  return ctx->write(ctx, &i, sizeof(int32_t));
+}
+
+bool cmp_write_s64(cmp_ctx_t *ctx, int64_t l) {
+  if (!write_type_marker(ctx, S64_MARKER))
+    return false;
+
+  l = be64(l);
+
+  return ctx->write(ctx, &l, sizeof(int64_t));
+}
+
+bool cmp_write_sint(cmp_ctx_t *ctx, int64_t d) {
+  if (d >= 0)
+    return cmp_write_uint(ctx, d);
+  if (d >= -32)
+    return cmp_write_nfix(ctx, d);
+  if (d >= -128)
+    return cmp_write_s8(ctx, d);
+  if (d >= -32768)
+    return cmp_write_s16(ctx, d);
+  if (d >= (-2147483647 - 1))
+    return cmp_write_s32(ctx, d);
+
+  return cmp_write_s64(ctx, d);
+}
+
+bool cmp_write_ufix(cmp_ctx_t *ctx, uint8_t c) {
+  return cmp_write_pfix(ctx, c);
+}
+
+bool cmp_write_u8(cmp_ctx_t *ctx, uint8_t c) {
+  if (!write_type_marker(ctx, U8_MARKER))
+    return false;
+
+  return ctx->write(ctx, &c, sizeof(uint8_t));
+}
+
+bool cmp_write_u16(cmp_ctx_t *ctx, uint16_t s) {
+  if (!write_type_marker(ctx, U16_MARKER))
+    return false;
+
+  s = be16(s);
+
+  return ctx->write(ctx, &s, sizeof(uint16_t));
+}
+
+bool cmp_write_u32(cmp_ctx_t *ctx, uint32_t i) {
+  if (!write_type_marker(ctx, U32_MARKER))
+    return false;
+
+  i = be32(i);
+
+  return ctx->write(ctx, &i, sizeof(uint32_t));
+}
+
+bool cmp_write_u64(cmp_ctx_t *ctx, uint64_t l) {
+  if (!write_type_marker(ctx, U64_MARKER))
+    return false;
+
+  l = be64(l);
+
+  return ctx->write(ctx, &l, sizeof(uint64_t));
+}
+
+bool cmp_write_uint(cmp_ctx_t *ctx, uint64_t u) {
+  if (u <= 0x7F)
+    return cmp_write_pfix(ctx, u);
+  if (u <= 0xFF)
+    return cmp_write_u8(ctx, u);
+  if (u <= 0xFFFF)
+    return cmp_write_u16(ctx, u);
+  if (u <= 0xFFFFFFFF)
+    return cmp_write_u32(ctx, u);
+
+  return cmp_write_u64(ctx, u);
+}
+
+bool cmp_write_float(cmp_ctx_t *ctx, float f) {
+  if (!write_type_marker(ctx, FLOAT_MARKER))
+    return false;
+
+  f = befloat(f);
+
+  return ctx->write(ctx, &f, sizeof(float));
+}
+
+bool cmp_write_double(cmp_ctx_t *ctx, double d) {
+  if (!write_type_marker(ctx, DOUBLE_MARKER))
+    return false;
+
+  d = bedouble(d);
+
+  return ctx->write(ctx, &d, sizeof(double));
+}
+
+bool cmp_write_nil(cmp_ctx_t *ctx) {
+  return write_type_marker(ctx, NIL_MARKER);
+}
+
+bool cmp_write_true(cmp_ctx_t *ctx) {
+  return write_type_marker(ctx, TRUE_MARKER);
+}
+
+bool cmp_write_false(cmp_ctx_t *ctx) {
+  return write_type_marker(ctx, FALSE_MARKER);
+}
+
+bool cmp_write_bool(cmp_ctx_t *ctx, bool b) {
+  if (b)
+    return cmp_write_true(ctx);
+
+  return cmp_write_false(ctx);
+}
+
+bool cmp_write_u8_as_bool(cmp_ctx_t *ctx, uint8_t b) {
+  if (b)
+    return cmp_write_true(ctx);
+
+  return cmp_write_false(ctx);
+}
+
+bool cmp_write_fixstr_marker(cmp_ctx_t *ctx, uint8_t size) {
+  if (size <= FIXSTR_SIZE)
+    return write_fixed_value(ctx, FIXSTR_MARKER | size);
+
+  ctx->error = INPUT_VALUE_TOO_LARGE_ERROR;
+  return false;
+}
+
+bool cmp_write_fixstr(cmp_ctx_t *ctx, const char *data, uint8_t size) {
+  if (!cmp_write_fixstr_marker(ctx, size))
+    return false;
+
+  if (size == 0)
+    return true;
+
+  if (ctx->write(ctx, data, size))
+    return true;
+
+  ctx->error = DATA_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_str8_marker(cmp_ctx_t *ctx, uint8_t size) {
+  if (!write_type_marker(ctx, STR8_MARKER))
+    return false;
+
+  if (ctx->write(ctx, &size, sizeof(uint8_t)))
+    return true;
+
+  ctx->error = LENGTH_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_str8(cmp_ctx_t *ctx, const char *data, uint8_t size) {
+  if (!cmp_write_str8_marker(ctx, size))
+    return false;
+
+  if (size == 0)
+    return true;
+
+  if (ctx->write(ctx, data, size))
+    return true;
+
+  ctx->error = DATA_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_str16_marker(cmp_ctx_t *ctx, uint16_t size) {
+  if (!write_type_marker(ctx, STR16_MARKER))
+    return false;
+
+  size = be16(size);
+
+  if (ctx->write(ctx, &size, sizeof(uint16_t)))
+    return true;
+
+  ctx->error = LENGTH_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_str16(cmp_ctx_t *ctx, const char *data, uint16_t size) {
+  if (!cmp_write_str16_marker(ctx, size))
+    return false;
+
+  if (size == 0)
+    return true;
+
+  if (ctx->write(ctx, data, size))
+    return true;
+
+  ctx->error = DATA_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_str32_marker(cmp_ctx_t *ctx, uint32_t size) {
+  if (!write_type_marker(ctx, STR32_MARKER))
+    return false;
+
+  size = be32(size);
+
+  if (ctx->write(ctx, &size, sizeof(uint32_t)))
+    return true;
+
+  ctx->error = LENGTH_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_str32(cmp_ctx_t *ctx, const char *data, uint32_t size) {
+  if (!cmp_write_str32_marker(ctx, size))
+    return false;
+
+  if (size == 0)
+    return true;
+
+  if (ctx->write(ctx, data, size))
+    return true;
+
+  ctx->error = DATA_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_str_marker(cmp_ctx_t *ctx, uint32_t size) {
+  if (size <= FIXSTR_SIZE)
+    return cmp_write_fixstr_marker(ctx, size);
+  if (size <= 0xFF)
+    return cmp_write_str8_marker(ctx, size);
+  if (size <= 0xFFFF)
+    return cmp_write_str16_marker(ctx, size);
+
+  return cmp_write_str32_marker(ctx, size);
+}
+
+bool cmp_write_str(cmp_ctx_t *ctx, const char *data, uint32_t size) {
+  if (size <= FIXSTR_SIZE)
+    return cmp_write_fixstr(ctx, data, size);
+  if (size <= 0xFF)
+    return cmp_write_str8(ctx, data, size);
+  if (size <= 0xFFFF)
+    return cmp_write_str16(ctx, data, size);
+
+  return cmp_write_str32(ctx, data, size);
+}
+
+bool cmp_write_bin8_marker(cmp_ctx_t *ctx, uint8_t size) {
+  if (!write_type_marker(ctx, BIN8_MARKER))
+    return false;
+
+  if (ctx->write(ctx, &size, sizeof(uint8_t)))
+    return true;
+
+  ctx->error = LENGTH_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_bin8(cmp_ctx_t *ctx, const void *data, uint8_t size) {
+  if (!cmp_write_bin8_marker(ctx, size))
+    return false;
+
+  if (size == 0)
+    return true;
+
+  if (ctx->write(ctx, data, size))
+    return true;
+
+  ctx->error = DATA_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_bin16_marker(cmp_ctx_t *ctx, uint16_t size) {
+  if (!write_type_marker(ctx, BIN16_MARKER))
+    return false;
+
+  size = be16(size);
+
+  if (ctx->write(ctx, &size, sizeof(uint16_t)))
+    return true;
+
+  ctx->error = LENGTH_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_bin16(cmp_ctx_t *ctx, const void *data, uint16_t size) {
+  if (!cmp_write_bin16_marker(ctx, size))
+    return false;
+
+  if (size == 0)
+    return true;
+
+  if (ctx->write(ctx, data, size))
+    return true;
+
+  ctx->error = DATA_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_bin32_marker(cmp_ctx_t *ctx, uint32_t size) {
+  if (!write_type_marker(ctx, BIN32_MARKER))
+    return false;
+
+  size = be32(size);
+
+  if (ctx->write(ctx, &size, sizeof(uint32_t)))
+    return true;
+
+  ctx->error = LENGTH_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_bin32(cmp_ctx_t *ctx, const void *data, uint32_t size) {
+  if (!cmp_write_bin32_marker(ctx, size))
+    return false;
+
+  if (size == 0)
+    return true;
+
+  if (ctx->write(ctx, data, size))
+    return true;
+
+  ctx->error = DATA_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_bin_marker(cmp_ctx_t *ctx, uint32_t size) {
+  if (size <= 0xFF)
+    return cmp_write_bin8_marker(ctx, size);
+  if (size <= 0xFFFF)
+    return cmp_write_bin16_marker(ctx, size);
+
+  return cmp_write_bin32_marker(ctx, size);
+}
+
+bool cmp_write_bin(cmp_ctx_t *ctx, const void *data, uint32_t size) {
+  if (size <= 0xFF)
+    return cmp_write_bin8(ctx, data, size);
+  if (size <= 0xFFFF)
+    return cmp_write_bin16(ctx, data, size);
+
+  return cmp_write_bin32(ctx, data, size);
+}
+
+bool cmp_write_fixarray(cmp_ctx_t *ctx, uint8_t size) {
+  if (size <= FIXARRAY_SIZE)
+    return write_fixed_value(ctx, FIXARRAY_MARKER | size);
+
+  ctx->error = INPUT_VALUE_TOO_LARGE_ERROR;
+  return false;
+}
+
+bool cmp_write_array16(cmp_ctx_t *ctx, uint16_t size) {
+  if (!write_type_marker(ctx, ARRAY16_MARKER))
+    return false;
+
+  size = be16(size);
+
+  if (ctx->write(ctx, &size, sizeof(uint16_t)))
+    return true;
+
+  ctx->error = LENGTH_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_array32(cmp_ctx_t *ctx, uint32_t size) {
+  if (!write_type_marker(ctx, ARRAY32_MARKER))
+    return false;
+
+  size = be32(size);
+
+  if (ctx->write(ctx, &size, sizeof(uint32_t)))
+    return true;
+
+  ctx->error = LENGTH_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_array(cmp_ctx_t *ctx, uint32_t size) {
+  if (size <= FIXARRAY_SIZE)
+    return cmp_write_fixarray(ctx, size);
+  if (size <= 0xFFFF)
+    return cmp_write_array16(ctx, size);
+
+  return cmp_write_array32(ctx, size);
+}
+
+bool cmp_write_fixmap(cmp_ctx_t *ctx, uint8_t size) {
+  if (size <= FIXMAP_SIZE)
+    return write_fixed_value(ctx, FIXMAP_MARKER | size);
+
+  ctx->error = INPUT_VALUE_TOO_LARGE_ERROR;
+  return false;
+}
+
+bool cmp_write_map16(cmp_ctx_t *ctx, uint16_t size) {
+  if (!write_type_marker(ctx, MAP16_MARKER))
+    return false;
+
+  size = be16(size);
+
+  if (ctx->write(ctx, &size, sizeof(uint16_t)))
+    return true;
+
+  ctx->error = LENGTH_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_map32(cmp_ctx_t *ctx, uint32_t size) {
+  if (!write_type_marker(ctx, MAP32_MARKER))
+    return false;
+
+  size = be32(size);
+
+  if (ctx->write(ctx, &size, sizeof(uint32_t)))
+    return true;
+
+  ctx->error = LENGTH_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_map(cmp_ctx_t *ctx, uint32_t size) {
+  if (size <= FIXMAP_SIZE)
+    return cmp_write_fixmap(ctx, size);
+  if (size <= 0xFFFF)
+    return cmp_write_map16(ctx, size);
+
+  return cmp_write_map32(ctx, size);
+}
+
+bool cmp_write_fixext1_marker(cmp_ctx_t *ctx, int8_t type) {
+  if (!write_type_marker(ctx, FIXEXT1_MARKER))
+    return false;
+
+  if (ctx->write(ctx, &type, sizeof(int8_t)))
+    return true;
+
+  ctx->error = EXT_TYPE_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_fixext1(cmp_ctx_t *ctx, int8_t type, const void *data) {
+  if (!cmp_write_fixext1_marker(ctx, type))
+    return false;
+
+  if (ctx->write(ctx, data, 1))
+    return true;
+
+  ctx->error = DATA_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_fixext2_marker(cmp_ctx_t *ctx, int8_t type) {
+  if (!write_type_marker(ctx, FIXEXT2_MARKER))
+    return false;
+
+  if (ctx->write(ctx, &type, sizeof(int8_t)))
+    return true;
+
+  ctx->error = EXT_TYPE_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_fixext2(cmp_ctx_t *ctx, int8_t type, const void *data) {
+  if (!cmp_write_fixext2_marker(ctx, type))
+    return false;
+
+  if (ctx->write(ctx, data, 2))
+    return true;
+
+  ctx->error = DATA_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_fixext4_marker(cmp_ctx_t *ctx, int8_t type) {
+  if (!write_type_marker(ctx, FIXEXT4_MARKER))
+    return false;
+
+  if (ctx->write(ctx, &type, sizeof(int8_t)))
+    return true;
+
+  ctx->error = EXT_TYPE_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_fixext4(cmp_ctx_t *ctx, int8_t type, const void *data) {
+  if (!cmp_write_fixext4_marker(ctx, type))
+    return false;
+
+  if (ctx->write(ctx, data, 4))
+    return true;
+
+  ctx->error = DATA_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_fixext8_marker(cmp_ctx_t *ctx, int8_t type) {
+  if (!write_type_marker(ctx, FIXEXT8_MARKER))
+    return false;
+
+  if (ctx->write(ctx, &type, sizeof(int8_t)))
+    return true;
+
+  ctx->error = EXT_TYPE_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_fixext8(cmp_ctx_t *ctx, int8_t type, const void *data) {
+  if (!cmp_write_fixext8_marker(ctx, type))
+    return false;
+
+  if (ctx->write(ctx, data, 8))
+    return true;
+
+  ctx->error = DATA_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_fixext16_marker(cmp_ctx_t *ctx, int8_t type) {
+  if (!write_type_marker(ctx, FIXEXT16_MARKER))
+    return false;
+
+  if (ctx->write(ctx, &type, sizeof(int8_t)))
+    return true;
+
+  ctx->error = EXT_TYPE_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_fixext16(cmp_ctx_t *ctx, int8_t type, const void *data) {
+  if (!cmp_write_fixext16_marker(ctx, type))
+    return false;
+
+  if (ctx->write(ctx, data, 16))
+    return true;
+
+  ctx->error = DATA_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_ext8_marker(cmp_ctx_t *ctx, int8_t type, uint8_t size) {
+  if (!write_type_marker(ctx, EXT8_MARKER))
+    return false;
+
+  if (!ctx->write(ctx, &size, sizeof(uint8_t))) {
+    ctx->error = LENGTH_WRITING_ERROR;
+    return false;
+  }
+
+  if (ctx->write(ctx, &type, sizeof(int8_t)))
+    return true;
+
+  ctx->error = EXT_TYPE_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_ext8(cmp_ctx_t *ctx, int8_t tp, uint8_t sz, const void *data) {
+  if (!cmp_write_ext8_marker(ctx, tp, sz))
+    return false;
+
+  if (ctx->write(ctx, data, sz))
+    return true;
+
+  ctx->error = DATA_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_ext16_marker(cmp_ctx_t *ctx, int8_t type, uint16_t size) {
+  if (!write_type_marker(ctx, EXT16_MARKER))
+    return false;
+
+  size = be16(size);
+
+  if (!ctx->write(ctx, &size, sizeof(uint16_t))) {
+    ctx->error = LENGTH_WRITING_ERROR;
+    return false;
+  }
+
+  if (ctx->write(ctx, &type, sizeof(int8_t)))
+    return true;
+
+  ctx->error = EXT_TYPE_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_ext16(cmp_ctx_t *ctx, int8_t tp, uint16_t sz, const void *data) {
+  if (!cmp_write_ext16_marker(ctx, tp, sz))
+    return false;
+
+  if (ctx->write(ctx, data, sz))
+    return true;
+
+  ctx->error = DATA_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_ext32_marker(cmp_ctx_t *ctx, int8_t type, uint32_t size) {
+  if (!write_type_marker(ctx, EXT32_MARKER))
+    return false;
+
+  size = be32(size);
+
+  if (!ctx->write(ctx, &size, sizeof(uint32_t))) {
+    ctx->error = LENGTH_WRITING_ERROR;
+    return false;
+  }
+
+  if (ctx->write(ctx, &type, sizeof(int8_t)))
+    return true;
+
+  ctx->error = EXT_TYPE_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_ext32(cmp_ctx_t *ctx, int8_t tp, uint32_t sz, const void *data) {
+  if (!cmp_write_ext32_marker(ctx, tp, sz))
+    return false;
+
+  if (ctx->write(ctx, data, sz))
+    return true;
+
+  ctx->error = DATA_WRITING_ERROR;
+  return false;
+}
+
+bool cmp_write_ext_marker(cmp_ctx_t *ctx, int8_t tp, uint32_t sz) {
+  if (sz == 1)
+    return cmp_write_fixext1_marker(ctx, tp);
+  if (sz == 2)
+    return cmp_write_fixext2_marker(ctx, tp);
+  if (sz == 4)
+    return cmp_write_fixext4_marker(ctx, tp);
+  if (sz == 8)
+    return cmp_write_fixext8_marker(ctx, tp);
+  if (sz == 16)
+    return cmp_write_fixext16_marker(ctx, tp);
+  if (sz <= 0xFF)
+    return cmp_write_ext8_marker(ctx, tp, sz);
+  if (sz <= 0xFFFF)
+    return cmp_write_ext16_marker(ctx, tp, sz);
+
+  return cmp_write_ext32_marker(ctx, tp, sz);
+}
+
+bool cmp_write_ext(cmp_ctx_t *ctx, int8_t tp, uint32_t sz, const void *data) {
+  if (sz == 1)
+    return cmp_write_fixext1(ctx, tp, data);
+  if (sz == 2)
+    return cmp_write_fixext2(ctx, tp, data);
+  if (sz == 4)
+    return cmp_write_fixext4(ctx, tp, data);
+  if (sz == 8)
+    return cmp_write_fixext8(ctx, tp, data);
+  if (sz == 16)
+    return cmp_write_fixext16(ctx, tp, data);
+  if (sz <= 0xFF)
+    return cmp_write_ext8(ctx, tp, sz, data);
+  if (sz <= 0xFFFF)
+    return cmp_write_ext16(ctx, tp, sz, data);
+
+  return cmp_write_ext32(ctx, tp, sz, data);
+}
+
+bool cmp_write_object(cmp_ctx_t *ctx, cmp_object_t *obj) {
+  switch(obj->type) {
+    case CMP_TYPE_POSITIVE_FIXNUM:
+      return cmp_write_pfix(ctx, obj->as.u8);
+    case CMP_TYPE_FIXMAP:
+      return cmp_write_fixmap(ctx, obj->as.map_size);
+    case CMP_TYPE_FIXARRAY:
+      return cmp_write_fixarray(ctx, obj->as.array_size);
+    case CMP_TYPE_FIXSTR:
+      return cmp_write_fixstr_marker(ctx, obj->as.str_size);
+    case CMP_TYPE_NIL:
+      return cmp_write_nil(ctx);
+    case CMP_TYPE_BOOLEAN:
+      if (obj->as.boolean)
+        return cmp_write_true(ctx);
+      return cmp_write_false(ctx);
+    case CMP_TYPE_BIN8:
+      return cmp_write_bin8_marker(ctx, obj->as.bin_size);
+    case CMP_TYPE_BIN16:
+      return cmp_write_bin16_marker(ctx, obj->as.bin_size);
+    case CMP_TYPE_BIN32:
+      return cmp_write_bin32_marker(ctx, obj->as.bin_size);
+    case CMP_TYPE_EXT8:
+      return cmp_write_ext8_marker(ctx, obj->as.ext.type, obj->as.ext.size);
+    case CMP_TYPE_EXT16:
+      return cmp_write_ext16_marker(ctx, obj->as.ext.type, obj->as.ext.size);
+    case CMP_TYPE_EXT32:
+      return cmp_write_ext32_marker(ctx, obj->as.ext.type, obj->as.ext.size);
+    case CMP_TYPE_FLOAT:
+      return cmp_write_float(ctx, obj->as.flt);
+    case CMP_TYPE_DOUBLE:
+      return cmp_write_double(ctx, obj->as.dbl);
+    case CMP_TYPE_UINT8:
+      return cmp_write_u8(ctx, obj->as.u8);
+    case CMP_TYPE_UINT16:
+      return cmp_write_u16(ctx, obj->as.u16);
+    case CMP_TYPE_UINT32:
+      return cmp_write_u32(ctx, obj->as.u32);
+    case CMP_TYPE_UINT64:
+      return cmp_write_u64(ctx, obj->as.u64);
+    case CMP_TYPE_SINT8:
+      return cmp_write_s8(ctx, obj->as.s8);
+    case CMP_TYPE_SINT16:
+      return cmp_write_s16(ctx, obj->as.s16);
+    case CMP_TYPE_SINT32:
+      return cmp_write_s32(ctx, obj->as.s32);
+    case CMP_TYPE_SINT64:
+      return cmp_write_s64(ctx, obj->as.s64);
+    case CMP_TYPE_FIXEXT1:
+      return cmp_write_fixext1_marker(ctx, obj->as.ext.type);
+    case CMP_TYPE_FIXEXT2:
+      return cmp_write_fixext2_marker(ctx, obj->as.ext.type);
+    case CMP_TYPE_FIXEXT4:
+      return cmp_write_fixext4_marker(ctx, obj->as.ext.type);
+    case CMP_TYPE_FIXEXT8:
+      return cmp_write_fixext8_marker(ctx, obj->as.ext.type);
+    case CMP_TYPE_FIXEXT16:
+      return cmp_write_fixext16_marker(ctx, obj->as.ext.type);
+    case CMP_TYPE_STR8:
+      return cmp_write_str8_marker(ctx, obj->as.str_size);
+    case CMP_TYPE_STR16:
+      return cmp_write_str16_marker(ctx, obj->as.str_size);
+    case CMP_TYPE_STR32:
+      return cmp_write_str32_marker(ctx, obj->as.str_size);
+    case CMP_TYPE_ARRAY16:
+      return cmp_write_array16(ctx, obj->as.array_size);
+    case CMP_TYPE_ARRAY32:
+      return cmp_write_array32(ctx, obj->as.array_size);
+    case CMP_TYPE_MAP16:
+      return cmp_write_map16(ctx, obj->as.map_size);
+    case CMP_TYPE_MAP32:
+      return cmp_write_map32(ctx, obj->as.map_size);
+    case CMP_TYPE_NEGATIVE_FIXNUM:
+      return cmp_write_nfix(ctx, obj->as.s8);
+    default:
+      ctx->error = INVALID_TYPE_ERROR;
+      return false;
+  }
+}
+
+bool cmp_read_pfix(cmp_ctx_t *ctx, uint8_t *c) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  if (obj.type != CMP_TYPE_POSITIVE_FIXNUM) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  *c = obj.as.u8;
+  return true;
+}
+
+bool cmp_read_nfix(cmp_ctx_t *ctx, int8_t *c) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  if (obj.type != CMP_TYPE_NEGATIVE_FIXNUM) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  *c = obj.as.s8;
+  return true;
+}
+
+bool cmp_read_sfix(cmp_ctx_t *ctx, int8_t *c) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  switch (obj.type) {
+    case CMP_TYPE_POSITIVE_FIXNUM:
+    case CMP_TYPE_NEGATIVE_FIXNUM:
+      *c = obj.as.s8;
+      return true;
+    default:
+      ctx->error = INVALID_TYPE_ERROR;
+      return false;
+  }
+}
+
+bool cmp_read_s8(cmp_ctx_t *ctx, int8_t *c) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  if (obj.type != CMP_TYPE_SINT8) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  *c = obj.as.s8;
+  return true;
+}
+
+bool cmp_read_s16(cmp_ctx_t *ctx, int16_t *s) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  if (obj.type != CMP_TYPE_SINT16) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  *s = obj.as.s16;
+  return true;
+}
+
+bool cmp_read_s32(cmp_ctx_t *ctx, int32_t *i) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  if (obj.type != CMP_TYPE_SINT32) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  *i = obj.as.s32;
+  return true;
+}
+
+bool cmp_read_s64(cmp_ctx_t *ctx, int64_t *l) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  if (obj.type != CMP_TYPE_SINT64) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  *l = obj.as.s64;
+  return true;
+}
+
+bool cmp_read_char(cmp_ctx_t *ctx, int8_t *c) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  switch (obj.type) {
+    case CMP_TYPE_POSITIVE_FIXNUM:
+    case CMP_TYPE_NEGATIVE_FIXNUM:
+    case CMP_TYPE_SINT8:
+      *c = obj.as.s8;
+      return true;
+    case CMP_TYPE_UINT8:
+      if (obj.as.u8 <= 127) {
+        *c = obj.as.u8;
+        return true;
+      }
+      else {
+        ctx->error = INVALID_TYPE_ERROR;
+        return false;
+      }
+    default:
+      ctx->error = INVALID_TYPE_ERROR;
+      return false;
+  }
+}
+
+bool cmp_read_short(cmp_ctx_t *ctx, int16_t *s) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  switch (obj.type) {
+    case CMP_TYPE_POSITIVE_FIXNUM:
+    case CMP_TYPE_NEGATIVE_FIXNUM:
+    case CMP_TYPE_SINT8:
+      *s = obj.as.s8;
+      return true;
+    case CMP_TYPE_UINT8:
+      *s = obj.as.u8;
+      return true;
+    case CMP_TYPE_SINT16:
+      *s = obj.as.s16;
+      return true;
+    case CMP_TYPE_UINT16:
+      if (obj.as.u16 <= 32767) {
+        *s = obj.as.u16;
+        return true;
+      }
+      else {
+        ctx->error = INVALID_TYPE_ERROR;
+        return false;
+      }
+    default:
+      ctx->error = INVALID_TYPE_ERROR;
+      return false;
+  }
+}
+
+bool cmp_read_int(cmp_ctx_t *ctx, int32_t *i) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  switch (obj.type) {
+    case CMP_TYPE_POSITIVE_FIXNUM:
+    case CMP_TYPE_NEGATIVE_FIXNUM:
+    case CMP_TYPE_SINT8:
+      *i = obj.as.s8;
+      return true;
+    case CMP_TYPE_UINT8:
+      *i = obj.as.u8;
+      return true;
+    case CMP_TYPE_SINT16:
+      *i = obj.as.s16;
+      return true;
+    case CMP_TYPE_UINT16:
+      *i = obj.as.u16;
+      return true;
+    case CMP_TYPE_SINT32:
+      *i = obj.as.s32;
+      return true;
+    case CMP_TYPE_UINT32:
+      if (obj.as.u32 <= 2147483647) {
+        *i = obj.as.u32;
+        return true;
+      }
+      else {
+        ctx->error = INVALID_TYPE_ERROR;
+        return false;
+      }
+    default:
+      ctx->error = INVALID_TYPE_ERROR;
+      return false;
+  }
+}
+
+bool cmp_read_long(cmp_ctx_t *ctx, int64_t *d) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  switch (obj.type) {
+    case CMP_TYPE_POSITIVE_FIXNUM:
+    case CMP_TYPE_NEGATIVE_FIXNUM:
+    case CMP_TYPE_SINT8:
+      *d = obj.as.s8;
+      return true;
+    case CMP_TYPE_UINT8:
+      *d = obj.as.u8;
+      return true;
+    case CMP_TYPE_SINT16:
+      *d = obj.as.s16;
+      return true;
+    case CMP_TYPE_UINT16:
+      *d = obj.as.u16;
+      return true;
+    case CMP_TYPE_SINT32:
+      *d = obj.as.s32;
+      return true;
+    case CMP_TYPE_UINT32:
+      *d = obj.as.u32;
+      return true;
+    case CMP_TYPE_SINT64:
+      *d = obj.as.s64;
+      return true;
+    case CMP_TYPE_UINT64:
+      if (obj.as.u64 <= 9223372036854775807) {
+        *d = obj.as.u64;
+        return true;
+      }
+      else {
+        ctx->error = INVALID_TYPE_ERROR;
+        return false;
+      }
+    default:
+      ctx->error = INVALID_TYPE_ERROR;
+      return false;
+  }
+}
+
+bool cmp_read_sinteger(cmp_ctx_t *ctx, int64_t *d) {
+  return cmp_read_long(ctx, d);
+}
+
+bool cmp_read_ufix(cmp_ctx_t *ctx, uint8_t *c) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  if (obj.type != CMP_TYPE_NEGATIVE_FIXNUM) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  *c = obj.as.u8;
+  return true;
+}
+
+bool cmp_read_u8(cmp_ctx_t *ctx, uint8_t *c) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  if (obj.type != CMP_TYPE_UINT8) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  *c = obj.as.u8;
+  return true;
+}
+
+bool cmp_read_u16(cmp_ctx_t *ctx, uint16_t *s) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  if (obj.type != CMP_TYPE_UINT16) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  *s = obj.as.u16;
+  return true;
+}
+
+bool cmp_read_u32(cmp_ctx_t *ctx, uint32_t *i) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  if (obj.type != CMP_TYPE_UINT32) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  *i = obj.as.u32;
+  return true;
+}
+
+bool cmp_read_u64(cmp_ctx_t *ctx, uint64_t *l) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  if (obj.type != CMP_TYPE_UINT64) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  *l = obj.as.u64;
+  return true;
+}
+
+bool cmp_read_uchar(cmp_ctx_t *ctx, uint8_t *c) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  switch (obj.type) {
+    case CMP_TYPE_POSITIVE_FIXNUM:
+    case CMP_TYPE_UINT8:
+      *c = obj.as.u8;
+      return true;
+    default:
+      ctx->error = INVALID_TYPE_ERROR;
+      return false;
+  }
+}
+
+bool cmp_read_ushort(cmp_ctx_t *ctx, uint16_t *s) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  switch (obj.type) {
+    case CMP_TYPE_POSITIVE_FIXNUM:
+    case CMP_TYPE_UINT8:
+      *s = obj.as.u8;
+      return true;
+    case CMP_TYPE_UINT16:
+      *s = obj.as.u16;
+      return true;
+    default:
+      ctx->error = INVALID_TYPE_ERROR;
+      return false;
+  }
+}
+
+bool cmp_read_uint(cmp_ctx_t *ctx, uint32_t *i) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  switch (obj.type) {
+    case CMP_TYPE_POSITIVE_FIXNUM:
+    case CMP_TYPE_UINT8:
+      *i = obj.as.u8;
+      return true;
+    case CMP_TYPE_UINT16:
+      *i = obj.as.u16;
+      return true;
+    case CMP_TYPE_UINT32:
+      *i = obj.as.u32;
+      return true;
+    default:
+      ctx->error = INVALID_TYPE_ERROR;
+      return false;
+  }
+}
+
+bool cmp_read_ulong(cmp_ctx_t *ctx, uint64_t *u) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  switch (obj.type) {
+    case CMP_TYPE_POSITIVE_FIXNUM:
+    case CMP_TYPE_UINT8:
+      *u = obj.as.u8;
+      return true;
+    case CMP_TYPE_UINT16:
+      *u = obj.as.u16;
+      return true;
+    case CMP_TYPE_UINT32:
+      *u = obj.as.u32;
+      return true;
+    case CMP_TYPE_UINT64:
+      *u = obj.as.u64;
+      return true;
+    default:
+      ctx->error = INVALID_TYPE_ERROR;
+      return false;
+  }
+}
+
+bool cmp_read_uinteger(cmp_ctx_t *ctx, uint64_t *d) {
+  return cmp_read_ulong(ctx, d);
+}
+
+bool cmp_read_float(cmp_ctx_t *ctx, float *f) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  if (obj.type != CMP_TYPE_FLOAT) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  *f = obj.as.flt;
+
+  return true;
+}
+
+bool cmp_read_double(cmp_ctx_t *ctx, double *d) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  if (obj.type != CMP_TYPE_DOUBLE) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  *d = obj.as.dbl;
+
+  return true;
+}
+
+bool cmp_read_nil(cmp_ctx_t *ctx) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  if (obj.type == CMP_TYPE_NIL)
+    return true;
+
+  ctx->error = INVALID_TYPE_ERROR;
+  return false;
+}
+
+bool cmp_read_bool(cmp_ctx_t *ctx, bool *b) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  if (obj.type != CMP_TYPE_BOOLEAN) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  if (obj.as.boolean)
+    *b = true;
+  else
+    *b = false;
+
+  return true;
+}
+
+bool cmp_read_bool_as_u8(cmp_ctx_t *ctx, uint8_t *b) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  if (obj.type != CMP_TYPE_BOOLEAN) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  if (obj.as.boolean)
+    *b = 1;
+  else
+    *b = 0;
+
+  return true;
+}
+
+bool cmp_read_str_size(cmp_ctx_t *ctx, uint32_t *size) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  switch (obj.type) {
+    case CMP_TYPE_FIXSTR:
+    case CMP_TYPE_STR8:
+    case CMP_TYPE_STR16:
+    case CMP_TYPE_STR32:
+      *size = obj.as.str_size;
+      return true;
+    default:
+      ctx->error = INVALID_TYPE_ERROR;
+      return false;
+  }
+}
+
+bool cmp_read_str(cmp_ctx_t *ctx, char *data, uint32_t *size) {
+  uint32_t str_size = 0;
+
+  if (!cmp_read_str_size(ctx, &str_size))
+    return false;
+
+  if ((str_size + 1) > *size) {
+    *size = str_size;
+    ctx->error = STR_DATA_LENGTH_TOO_LONG_ERROR;
+    return false;
+  }
+
+  if (!ctx->read(ctx, data, str_size)) {
+    ctx->error = DATA_READING_ERROR;
+    return false;
+  }
+
+  data[str_size] = 0;
+
+  *size = str_size;
+  return true;
+}
+
+bool cmp_read_bin_size(cmp_ctx_t *ctx, uint32_t *size) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  switch (obj.type) {
+    case CMP_TYPE_BIN8:
+    case CMP_TYPE_BIN16:
+    case CMP_TYPE_BIN32:
+      *size = obj.as.bin_size;
+      return true;
+    default:
+      ctx->error = INVALID_TYPE_ERROR;
+      return false;
+  }
+}
+
+bool cmp_read_bin(cmp_ctx_t *ctx, void *data, uint32_t *size) {
+  uint32_t bin_size = 0;
+
+  if (!cmp_read_bin_size(ctx, &bin_size))
+    return false;
+
+  if (bin_size > *size) {
+    ctx->error = BIN_DATA_LENGTH_TOO_LONG_ERROR;
+    return false;
+  }
+
+  if (!ctx->read(ctx, data, bin_size)) {
+    ctx->error = DATA_READING_ERROR;
+    return false;
+  }
+
+  *size = bin_size;
+  return true;
+}
+
+bool cmp_read_array(cmp_ctx_t *ctx, uint32_t *size) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  switch (obj.type) {
+    case CMP_TYPE_FIXARRAY:
+    case CMP_TYPE_ARRAY16:
+    case CMP_TYPE_ARRAY32:
+      *size = obj.as.array_size;
+      return true;
+    default:
+      ctx->error = INVALID_TYPE_ERROR;
+      return false;
+  }
+}
+
+bool cmp_read_map(cmp_ctx_t *ctx, uint32_t *size) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  switch (obj.type) {
+    case CMP_TYPE_FIXMAP:
+    case CMP_TYPE_MAP16:
+    case CMP_TYPE_MAP32:
+      *size = obj.as.map_size;
+      return true;
+    default:
+      ctx->error = INVALID_TYPE_ERROR;
+      return false;
+  }
+}
+
+bool cmp_read_fixext1_marker(cmp_ctx_t *ctx, int8_t *type) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+  
+  if (obj.type != CMP_TYPE_FIXEXT1) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  *type = obj.as.ext.type;
+  return true;
+}
+
+bool cmp_read_fixext1(cmp_ctx_t *ctx, int8_t *type, void *data) {
+  if (!cmp_read_fixext1_marker(ctx, type))
+    return false;
+
+  if (ctx->read(ctx, data, 1))
+    return true;
+
+  ctx->error = DATA_READING_ERROR;
+  return false;
+}
+
+bool cmp_read_fixext2_marker(cmp_ctx_t *ctx, int8_t *type) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+  
+  if (obj.type != CMP_TYPE_FIXEXT2) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  *type = obj.as.ext.type;
+  return true;
+}
+
+bool cmp_read_fixext2(cmp_ctx_t *ctx, int8_t *type, void *data) {
+  if (!cmp_read_fixext2_marker(ctx, type))
+    return false;
+
+  if (ctx->read(ctx, data, 2))
+    return true;
+
+  ctx->error = DATA_READING_ERROR;
+  return false;
+}
+
+bool cmp_read_fixext4_marker(cmp_ctx_t *ctx, int8_t *type) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+  
+  if (obj.type != CMP_TYPE_FIXEXT4) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  *type = obj.as.ext.type;
+  return true;
+}
+
+bool cmp_read_fixext4(cmp_ctx_t *ctx, int8_t *type, void *data) {
+  if (!cmp_read_fixext4_marker(ctx, type))
+    return false;
+
+  if (ctx->read(ctx, data, 4))
+    return true;
+
+  ctx->error = DATA_READING_ERROR;
+  return false;
+}
+
+bool cmp_read_fixext8_marker(cmp_ctx_t *ctx, int8_t *type) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+  
+  if (obj.type != CMP_TYPE_FIXEXT8) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  *type = obj.as.ext.type;
+  return true;
+}
+
+bool cmp_read_fixext8(cmp_ctx_t *ctx, int8_t *type, void *data) {
+  if (!cmp_read_fixext8_marker(ctx, type))
+    return false;
+
+  if (ctx->read(ctx, data, 8))
+    return true;
+
+  ctx->error = DATA_READING_ERROR;
+  return false;
+}
+
+bool cmp_read_fixext16_marker(cmp_ctx_t *ctx, int8_t *type) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+  
+  if (obj.type != CMP_TYPE_FIXEXT16) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  *type = obj.as.ext.type;
+  return true;
+}
+
+bool cmp_read_fixext16(cmp_ctx_t *ctx, int8_t *type, void *data) {
+  if (!cmp_read_fixext16_marker(ctx, type))
+    return false;
+
+  if (ctx->read(ctx, data, 16))
+    return true;
+
+  ctx->error = DATA_READING_ERROR;
+  return false;
+}
+
+bool cmp_read_ext8_marker(cmp_ctx_t *ctx, int8_t *type, uint8_t *size) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  if (obj.type != CMP_TYPE_EXT8) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  *type = obj.as.ext.type;
+  *size = obj.as.ext.size;
+
+  return true;
+}
+
+bool cmp_read_ext8(cmp_ctx_t *ctx, int8_t *type, uint8_t *size, void *data) {
+  if (!cmp_read_ext8_marker(ctx, type, size))
+    return false;
+
+  if (ctx->read(ctx, data, *size))
+    return true;
+
+  ctx->error = DATA_READING_ERROR;
+  return false;
+}
+
+bool cmp_read_ext16_marker(cmp_ctx_t *ctx, int8_t *type, uint16_t *size) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  if (obj.type != CMP_TYPE_EXT16) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  *type = obj.as.ext.type;
+  *size = obj.as.ext.size;
+
+  return true;
+}
+
+bool cmp_read_ext16(cmp_ctx_t *ctx, int8_t *type, uint16_t *size, void *data) {
+  if (!cmp_read_ext16_marker(ctx, type, size))
+    return false;
+
+  if (ctx->read(ctx, data, *size))
+    return true;
+
+  ctx->error = DATA_READING_ERROR;
+  return false;
+}
+
+bool cmp_read_ext32_marker(cmp_ctx_t *ctx, int8_t *type, uint32_t *size) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  if (obj.type != CMP_TYPE_EXT32) {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  *type = obj.as.ext.type;
+  *size = obj.as.ext.size;
+
+  return true;
+}
+
+bool cmp_read_ext32(cmp_ctx_t *ctx, int8_t *type, uint32_t *size, void *data) {
+  if (!cmp_read_ext32_marker(ctx, type, size))
+    return false;
+
+  if (ctx->read(ctx, data, *size))
+    return true;
+
+  ctx->error = DATA_READING_ERROR;
+  return false;
+}
+
+bool cmp_read_ext_marker(cmp_ctx_t *ctx, int8_t *type, uint32_t *size) {
+  cmp_object_t obj;
+
+  if (!cmp_read_object(ctx, &obj))
+    return false;
+
+  switch (obj.type) {
+    case CMP_TYPE_FIXEXT1:
+    case CMP_TYPE_FIXEXT2:
+    case CMP_TYPE_FIXEXT4:
+    case CMP_TYPE_FIXEXT8:
+    case CMP_TYPE_FIXEXT16:
+    case CMP_TYPE_EXT8:
+    case CMP_TYPE_EXT16:
+    case CMP_TYPE_EXT32:
+      *type = obj.as.ext.type;
+      *size = obj.as.ext.size;
+      return true;
+    default:
+      ctx->error = INVALID_TYPE_ERROR;
+      return false;
+  }
+}
+
+bool cmp_read_ext(cmp_ctx_t *ctx, int8_t *type, uint32_t *size, void *data) {
+  if (!cmp_read_ext_marker(ctx, type, size))
+    return false;
+
+  if (ctx->read(ctx, data, *size))
+    return true;
+
+  ctx->error = DATA_READING_ERROR;
+  return false;
+}
+
+bool cmp_read_object(cmp_ctx_t *ctx, cmp_object_t *obj) {
+  uint8_t type_marker = 0;
+
+  if (!read_type_marker(ctx, &type_marker))
+    return false;
+
+  if (type_marker <= 0x7F) {
+    obj->type = CMP_TYPE_POSITIVE_FIXNUM;
+    obj->as.u8 = type_marker;
+  }
+  else if (type_marker <= 0x8F) {
+    obj->type = CMP_TYPE_FIXMAP;
+    obj->as.map_size = type_marker & FIXMAP_SIZE;
+  }
+  else if (type_marker <= 0x9F) {
+    obj->type = CMP_TYPE_FIXARRAY;
+    obj->as.array_size = type_marker & FIXARRAY_SIZE;
+  }
+  else if (type_marker <= 0xBF) {
+    obj->type = CMP_TYPE_FIXSTR;
+    obj->as.str_size = type_marker & FIXSTR_SIZE;
+  }
+  else if (type_marker == NIL_MARKER) {
+    obj->type = CMP_TYPE_NIL;
+    obj->as.u8 = 0;
+  }
+  else if (type_marker == FALSE_MARKER) {
+    obj->type = CMP_TYPE_BOOLEAN;
+    obj->as.boolean = false;
+  }
+  else if (type_marker == TRUE_MARKER) {
+    obj->type = CMP_TYPE_BOOLEAN;
+    obj->as.boolean = true;
+  }
+  else if (type_marker == BIN8_MARKER) {
+    obj->type = CMP_TYPE_BIN8;
+    if (!ctx->read(ctx, &obj->as.u8, sizeof(uint8_t))) {
+      ctx->error = LENGTH_READING_ERROR;
+      return false;
+    }
+    obj->as.bin_size = obj->as.u8;
+  }
+  else if (type_marker == BIN16_MARKER) {
+    obj->type = CMP_TYPE_BIN16;
+    if (!ctx->read(ctx, &obj->as.u16, sizeof(uint16_t))) {
+      ctx->error = LENGTH_READING_ERROR;
+      return false;
+    }
+    obj->as.bin_size = be16(obj->as.u16);
+  }
+  else if (type_marker == BIN32_MARKER) {
+    obj->type = CMP_TYPE_BIN32;
+    if (!ctx->read(ctx, &obj->as.u32, sizeof(uint32_t))) {
+      ctx->error = LENGTH_READING_ERROR;
+      return false;
+    }
+    obj->as.bin_size = be32(obj->as.u32);
+  }
+  else if (type_marker == EXT8_MARKER) {
+    uint8_t ext_size;
+    int8_t ext_type;
+
+    obj->type = CMP_TYPE_EXT8;
+    if (!ctx->read(ctx, &ext_size, sizeof(uint8_t))) {
+      ctx->error = LENGTH_READING_ERROR;
+      return false;
+    }
+    if (!ctx->read(ctx, &ext_type, sizeof(int8_t))) {
+      ctx->error = EXT_TYPE_READING_ERROR;
+      return false;
+    }
+    obj->as.ext.size = ext_size;
+    obj->as.ext.type = ext_type;
+  }
+  else if (type_marker == EXT16_MARKER) {
+    int8_t ext_type;
+    uint16_t ext_size;
+
+    obj->type = CMP_TYPE_EXT16;
+    if (!ctx->read(ctx, &ext_size, sizeof(uint16_t))) {
+      ctx->error = LENGTH_READING_ERROR;
+      return false;
+    }
+    if (!ctx->read(ctx, &ext_type, sizeof(int8_t))) {
+      ctx->error = EXT_TYPE_READING_ERROR;
+      return false;
+    }
+    obj->as.ext.size = be16(ext_size);
+    obj->as.ext.type = ext_type;
+  }
+  else if (type_marker == EXT32_MARKER) {
+    int8_t ext_type;
+    uint32_t ext_size;
+
+    obj->type = CMP_TYPE_EXT32;
+    if (!ctx->read(ctx, &ext_size, sizeof(uint32_t))) {
+      ctx->error = LENGTH_READING_ERROR;
+      return false;
+    }
+    if (!ctx->read(ctx, &ext_type, sizeof(int8_t))) {
+      ctx->error = EXT_TYPE_READING_ERROR;
+      return false;
+    }
+    obj->as.ext.size = be32(ext_size);
+    obj->as.ext.type = ext_type;
+  }
+  else if (type_marker == FLOAT_MARKER) {
+    obj->type = CMP_TYPE_FLOAT;
+    if (!ctx->read(ctx, &obj->as.flt, sizeof(float))) {
+      ctx->error = DATA_READING_ERROR;
+      return false;
+    }
+    obj->as.flt = befloat(obj->as.flt);
+  }
+  else if (type_marker == DOUBLE_MARKER) {
+    obj->type = CMP_TYPE_DOUBLE;
+    if (!ctx->read(ctx, &obj->as.dbl, sizeof(double))) {
+      ctx->error = DATA_READING_ERROR;
+      return false;
+    }
+    obj->as.dbl = bedouble(obj->as.dbl);
+  }
+  else if (type_marker == U8_MARKER) {
+    obj->type = CMP_TYPE_UINT8;
+    if (!ctx->read(ctx, &obj->as.u8, sizeof(uint8_t))) {
+      ctx->error = DATA_READING_ERROR;
+      return false;
+    }
+  }
+  else if (type_marker == U16_MARKER) {
+    obj->type = CMP_TYPE_UINT16;
+    if (!ctx->read(ctx, &obj->as.u16, sizeof(uint16_t))) {
+      ctx->error = DATA_READING_ERROR;
+      return false;
+    }
+    obj->as.u16 = be16(obj->as.u16);
+  }
+  else if (type_marker == U32_MARKER) {
+    obj->type = CMP_TYPE_UINT32;
+    if (!ctx->read(ctx, &obj->as.u32, sizeof(uint32_t))) {
+      ctx->error = DATA_READING_ERROR;
+      return false;
+    }
+    obj->as.u32 = be32(obj->as.u32);
+  }
+  else if (type_marker == U64_MARKER) {
+    obj->type = CMP_TYPE_UINT64;
+    if (!ctx->read(ctx, &obj->as.u64, sizeof(uint64_t))) {
+      ctx->error = DATA_READING_ERROR;
+      return false;
+    }
+    obj->as.u64 = be64(obj->as.u64);
+  }
+  else if (type_marker == S8_MARKER) {
+    obj->type = CMP_TYPE_SINT8;
+    if (!ctx->read(ctx, &obj->as.s8, sizeof(int8_t))) {
+      ctx->error = DATA_READING_ERROR;
+      return false;
+    }
+  }
+  else if (type_marker == S16_MARKER) {
+    obj->type = CMP_TYPE_SINT16;
+    if (!ctx->read(ctx, &obj->as.s16, sizeof(int16_t))) {
+      ctx->error = DATA_READING_ERROR;
+      return false;
+    }
+    obj->as.s16 = be16(obj->as.s16);
+  }
+  else if (type_marker == S32_MARKER) {
+    obj->type = CMP_TYPE_SINT32;
+    if (!ctx->read(ctx, &obj->as.s32, sizeof(int32_t))) {
+      ctx->error = DATA_READING_ERROR;
+      return false;
+    }
+    obj->as.s32 = be32(obj->as.s32);
+  }
+  else if (type_marker == S64_MARKER) {
+    obj->type = CMP_TYPE_SINT64;
+    if (!ctx->read(ctx, &obj->as.s64, sizeof(int64_t))) {
+      ctx->error = DATA_READING_ERROR;
+      return false;
+    }
+    obj->as.s64 = be64(obj->as.s64);
+  }
+  else if (type_marker == FIXEXT1_MARKER) {
+    obj->type = CMP_TYPE_FIXEXT1;
+    if (!ctx->read(ctx, &obj->as.ext.type, sizeof(int8_t))) {
+      ctx->error = EXT_TYPE_READING_ERROR;
+      return false;
+    }
+    obj->as.ext.size = 1;
+  }
+  else if (type_marker == FIXEXT2_MARKER) {
+    obj->type = CMP_TYPE_FIXEXT2;
+    if (!ctx->read(ctx, &obj->as.ext.type, sizeof(int8_t))) {
+      ctx->error = EXT_TYPE_READING_ERROR;
+      return false;
+    }
+    obj->as.ext.size = 2;
+  }
+  else if (type_marker == FIXEXT4_MARKER) {
+    obj->type = CMP_TYPE_FIXEXT4;
+    if (!ctx->read(ctx, &obj->as.ext.type, sizeof(int8_t))) {
+      ctx->error = EXT_TYPE_READING_ERROR;
+      return false;
+    }
+    obj->as.ext.size = 4;
+  }
+  else if (type_marker == FIXEXT8_MARKER) {
+    obj->type = CMP_TYPE_FIXEXT8;
+    if (!ctx->read(ctx, &obj->as.ext.type, sizeof(int8_t))) {
+      ctx->error = EXT_TYPE_READING_ERROR;
+      return false;
+    }
+    obj->as.ext.size = 8;
+  }
+  else if (type_marker == FIXEXT16_MARKER) {
+    obj->type = CMP_TYPE_FIXEXT16;
+    if (!ctx->read(ctx, &obj->as.ext.type, sizeof(int8_t))) {
+      ctx->error = EXT_TYPE_READING_ERROR;
+      return false;
+    }
+    obj->as.ext.size = 16;
+  }
+  else if (type_marker == STR8_MARKER) {
+    obj->type = CMP_TYPE_STR8;
+    if (!ctx->read(ctx, &obj->as.u8, sizeof(uint8_t))) {
+      ctx->error = DATA_READING_ERROR;
+      return false;
+    }
+    obj->as.str_size = obj->as.u8;
+  }
+  else if (type_marker == STR16_MARKER) {
+    obj->type = CMP_TYPE_STR16;
+    if (!ctx->read(ctx, &obj->as.u16, sizeof(uint16_t))) {
+      ctx->error = DATA_READING_ERROR;
+      return false;
+    }
+    obj->as.str_size = be16(obj->as.u16);
+  }
+  else if (type_marker == STR32_MARKER) {
+    obj->type = CMP_TYPE_STR32;
+    if (!ctx->read(ctx, &obj->as.u32, sizeof(uint32_t))) {
+      ctx->error = DATA_READING_ERROR;
+      return false;
+    }
+    obj->as.str_size = be32(obj->as.u32);
+  }
+  else if (type_marker == ARRAY16_MARKER) {
+    obj->type = CMP_TYPE_ARRAY16;
+    if (!ctx->read(ctx, &obj->as.u16, sizeof(uint16_t))) {
+      ctx->error = DATA_READING_ERROR;
+      return false;
+    }
+    obj->as.array_size = be16(obj->as.u16);
+  }
+  else if (type_marker == ARRAY32_MARKER) {
+    obj->type = CMP_TYPE_ARRAY32;
+    if (!ctx->read(ctx, &obj->as.u32, sizeof(uint32_t))) {
+      ctx->error = DATA_READING_ERROR;
+      return false;
+    }
+    obj->as.array_size = be32(obj->as.u32);
+  }
+  else if (type_marker == MAP16_MARKER) {
+    obj->type = CMP_TYPE_MAP16;
+    if (!ctx->read(ctx, &obj->as.u16, sizeof(uint16_t))) {
+      ctx->error = DATA_READING_ERROR;
+      return false;
+    }
+    obj->as.map_size = be16(obj->as.u16);
+  }
+  else if (type_marker == MAP32_MARKER) {
+    obj->type = CMP_TYPE_MAP32;
+    if (!ctx->read(ctx, &obj->as.u32, sizeof(uint32_t))) {
+      ctx->error = DATA_READING_ERROR;
+      return false;
+    }
+    obj->as.map_size = be32(obj->as.u32);
+  }
+  else if (type_marker >= NEGATIVE_FIXNUM_MARKER) {
+    obj->type = CMP_TYPE_NEGATIVE_FIXNUM;
+    obj->as.s8 = type_marker;
+  }
+  else {
+    ctx->error = INVALID_TYPE_ERROR;
+    return false;
+  }
+
+  return true;
+}
+
+bool cmp_object_is_char(cmp_object_t *obj) {
+  switch (obj->type) {
+    case CMP_TYPE_NEGATIVE_FIXNUM:
+    case CMP_TYPE_SINT8:
+      return true;
+    default:
+      return false;
+  }
+}
+
+bool cmp_object_is_short(cmp_object_t *obj) {
+  switch (obj->type) {
+    case CMP_TYPE_NEGATIVE_FIXNUM:
+    case CMP_TYPE_SINT8:
+    case CMP_TYPE_SINT16:
+      return true;
+    default:
+      return false;
+  }
+}
+
+bool cmp_object_is_int(cmp_object_t *obj) {
+  switch (obj->type) {
+    case CMP_TYPE_NEGATIVE_FIXNUM:
+    case CMP_TYPE_SINT8:
+    case CMP_TYPE_SINT16:
+    case CMP_TYPE_SINT32:
+      return true;
+    default:
+      return false;
+  }
+}
+
+bool cmp_object_is_long(cmp_object_t *obj) {
+  switch (obj->type) {
+    case CMP_TYPE_NEGATIVE_FIXNUM:
+    case CMP_TYPE_SINT8:
+    case CMP_TYPE_SINT16:
+    case CMP_TYPE_SINT32:
+    case CMP_TYPE_SINT64:
+      return true;
+    default:
+      return false;
+  }
+}
+
+bool cmp_object_is_sinteger(cmp_object_t *obj) {
+  return cmp_object_is_long(obj);
+}
+
+bool cmp_object_is_uchar(cmp_object_t *obj) {
+  switch (obj->type) {
+    case CMP_TYPE_POSITIVE_FIXNUM:
+    case CMP_TYPE_UINT8:
+      return true;
+    default:
+      return false;
+  }
+}
+
+bool cmp_object_is_ushort(cmp_object_t *obj) {
+  switch (obj->type) {
+    case CMP_TYPE_POSITIVE_FIXNUM:
+    case CMP_TYPE_UINT8:
+      return true;
+    case CMP_TYPE_UINT16:
+      return true;
+    default:
+      return false;
+  }
+}
+
+bool cmp_object_is_uint(cmp_object_t *obj) {
+  switch (obj->type) {
+    case CMP_TYPE_POSITIVE_FIXNUM:
+    case CMP_TYPE_UINT8:
+    case CMP_TYPE_UINT16:
+    case CMP_TYPE_UINT32:
+      return true;
+    default:
+      return false;
+  }
+}
+
+bool cmp_object_is_ulong(cmp_object_t *obj) {
+  switch (obj->type) {
+    case CMP_TYPE_POSITIVE_FIXNUM:
+    case CMP_TYPE_UINT8:
+    case CMP_TYPE_UINT16:
+    case CMP_TYPE_UINT32:
+    case CMP_TYPE_UINT64:
+      return true;
+    default:
+      return false;
+  }
+}
+
+bool cmp_object_is_uinteger(cmp_object_t *obj) {
+  return cmp_object_is_ulong(obj);
+}
+
+bool cmp_object_is_float(cmp_object_t *obj) {
+  if (obj->type == CMP_TYPE_FLOAT)
+    return true;
+
+  return false;
+}
+
+bool cmp_object_is_double(cmp_object_t *obj) {
+  if (obj->type == CMP_TYPE_DOUBLE)
+    return true;
+
+  return false;
+}
+
+bool cmp_object_is_nil(cmp_object_t *obj) {
+  if (obj->type == CMP_TYPE_NIL)
+    return true;
+
+  return false;
+}
+
+bool cmp_object_is_bool(cmp_object_t *obj) {
+  if (obj->type == CMP_TYPE_BOOLEAN)
+    return true;
+
+  return false;
+}
+
+bool cmp_object_is_str(cmp_object_t *obj) {
+  switch (obj->type) {
+    case CMP_TYPE_FIXSTR:
+    case CMP_TYPE_STR8:
+    case CMP_TYPE_STR16:
+    case CMP_TYPE_STR32:
+      return true;
+    default:
+      return false;
+  }
+}
+
+bool cmp_object_is_bin(cmp_object_t *obj) {
+  switch (obj->type) {
+    case CMP_TYPE_BIN8:
+    case CMP_TYPE_BIN16:
+    case CMP_TYPE_BIN32:
+      return true;
+    default:
+      return false;
+  }
+}
+
+bool cmp_object_is_array(cmp_object_t *obj) {
+  switch (obj->type) {
+    case CMP_TYPE_FIXARRAY:
+    case CMP_TYPE_ARRAY16:
+    case CMP_TYPE_ARRAY32:
+      return true;
+    default:
+      return false;
+  }
+}
+
+bool cmp_object_is_map(cmp_object_t *obj) {
+  switch (obj->type) {
+    case CMP_TYPE_FIXMAP:
+    case CMP_TYPE_MAP16:
+    case CMP_TYPE_MAP32:
+      return true;
+    default:
+      return false;
+  }
+}
+
+bool cmp_object_is_ext(cmp_object_t *obj) {
+  switch (obj->type) {
+    case CMP_TYPE_FIXEXT1:
+    case CMP_TYPE_FIXEXT2:
+    case CMP_TYPE_FIXEXT4:
+    case CMP_TYPE_FIXEXT8:
+    case CMP_TYPE_FIXEXT16:
+    case CMP_TYPE_EXT8:
+    case CMP_TYPE_EXT16:
+    case CMP_TYPE_EXT32:
+      return true;
+    default:
+      return false;
+  }
+}
+
+bool cmp_object_as_char(cmp_object_t *obj, int8_t *c) {
+  switch (obj->type) {
+    case CMP_TYPE_POSITIVE_FIXNUM:
+    case CMP_TYPE_NEGATIVE_FIXNUM:
+    case CMP_TYPE_SINT8:
+      *c = obj->as.s8;
+      return true;
+    case CMP_TYPE_UINT8:
+      if (obj->as.u8 <= 127) {
+        *c = obj->as.s8;
+        return true;
+      }
+  }
+
+  return false;
+}
+
+bool cmp_object_as_short(cmp_object_t *obj, int16_t *s) {
+  switch (obj->type) {
+    case CMP_TYPE_POSITIVE_FIXNUM:
+    case CMP_TYPE_NEGATIVE_FIXNUM:
+    case CMP_TYPE_SINT8:
+      *s = obj->as.s8;
+      return true;
+    case CMP_TYPE_UINT8:
+      *s = obj->as.u8;
+      return true;
+    case CMP_TYPE_SINT16:
+      *s = obj->as.s16;
+      return true;
+    case CMP_TYPE_UINT16:
+      if (obj->as.u16 <= 32767) {
+        *s = obj->as.u16;
+        return true;
+      }
+  }
+
+  return false;
+}
+
+bool cmp_object_as_int(cmp_object_t *obj, int32_t *i) {
+  switch (obj->type) {
+    case CMP_TYPE_POSITIVE_FIXNUM:
+    case CMP_TYPE_NEGATIVE_FIXNUM:
+    case CMP_TYPE_SINT8:
+      *i = obj->as.s8;
+      return true;
+    case CMP_TYPE_UINT8:
+      *i = obj->as.u8;
+      return true;
+    case CMP_TYPE_SINT16:
+      *i = obj->as.s16;
+      return true;
+    case CMP_TYPE_UINT16:
+      *i = obj->as.u16;
+      return true;
+    case CMP_TYPE_SINT32:
+      *i = obj->as.s32;
+      return true;
+    case CMP_TYPE_UINT32:
+      if (obj->as.u32 <= 2147483647) {
+        *i = obj->as.u32;
+        return true;
+      }
+  }
+
+  return false;
+}
+
+bool cmp_object_as_long(cmp_object_t *obj, int64_t *d) {
+  switch (obj->type) {
+    case CMP_TYPE_POSITIVE_FIXNUM:
+    case CMP_TYPE_NEGATIVE_FIXNUM:
+    case CMP_TYPE_SINT8:
+      *d = obj->as.s8;
+      return true;
+    case CMP_TYPE_UINT8:
+      *d = obj->as.u8;
+      return true;
+    case CMP_TYPE_SINT16:
+      *d = obj->as.s16;
+      return true;
+    case CMP_TYPE_UINT16:
+      *d = obj->as.u16;
+      return true;
+    case CMP_TYPE_SINT32:
+      *d = obj->as.s32;
+      return true;
+    case CMP_TYPE_UINT32:
+      *d = obj->as.u32;
+      return true;
+    case CMP_TYPE_SINT64:
+      *d = obj->as.s64;
+      return true;
+    case CMP_TYPE_UINT64:
+      if (obj->as.u64 <= 9223372036854775807) {
+        *d = obj->as.u64;
+        return true;
+      }
+  }
+
+  return false;
+}
+
+bool cmp_object_as_sinteger(cmp_object_t *obj, int64_t *d) {
+  return cmp_object_as_long(obj, d);
+}
+
+bool cmp_object_as_uchar(cmp_object_t *obj, uint8_t *c) {
+  switch (obj->type) {
+    case CMP_TYPE_POSITIVE_FIXNUM:
+    case CMP_TYPE_UINT8:
+      *c = obj->as.u8;
+      return true;
+  }
+
+  return false;
+}
+
+bool cmp_object_as_ushort(cmp_object_t *obj, uint16_t *s) {
+  switch (obj->type) {
+    case CMP_TYPE_POSITIVE_FIXNUM:
+    case CMP_TYPE_UINT8:
+      *s = obj->as.u8;
+      return true;
+    case CMP_TYPE_UINT16:
+      *s = obj->as.u16;
+      return true;
+  }
+
+  return false;
+}
+
+bool cmp_object_as_uint(cmp_object_t *obj, uint32_t *i) {
+  switch (obj->type) {
+    case CMP_TYPE_POSITIVE_FIXNUM:
+    case CMP_TYPE_UINT8:
+      *i = obj->as.u8;
+      return true;
+    case CMP_TYPE_UINT16:
+      *i = obj->as.u16;
+      return true;
+    case CMP_TYPE_UINT32:
+      *i = obj->as.u32;
+      return true;
+  }
+
+  return false;
+}
+
+bool cmp_object_as_ulong(cmp_object_t *obj, uint64_t *u) {
+  switch (obj->type) {
+    case CMP_TYPE_POSITIVE_FIXNUM:
+    case CMP_TYPE_UINT8:
+      *u = obj->as.u8;
+      return true;
+    case CMP_TYPE_UINT16:
+      *u = obj->as.u16;
+      return true;
+    case CMP_TYPE_UINT32:
+      *u = obj->as.u32;
+      return true;
+    case CMP_TYPE_UINT64:
+      *u = obj->as.u64;
+      return true;
+  }
+
+  return false;
+}
+
+bool cmp_object_as_uinteger(cmp_object_t *obj, uint64_t *d) {
+  return cmp_object_as_ulong(obj, d);
+}
+
+bool cmp_object_as_float(cmp_object_t *obj, float *f) {
+  if (obj->type == CMP_TYPE_FLOAT) {
+    *f = obj->as.flt;
+    return true;
+  }
+
+  return false;
+}
+
+bool cmp_object_as_double(cmp_object_t *obj, double *d) {
+  if (obj->type == CMP_TYPE_DOUBLE) {
+    *d = obj->as.dbl;
+    return true;
+  }
+
+  return false;
+}
+
+bool cmp_object_as_bool(cmp_object_t *obj, bool *b) {
+  if (obj->type == CMP_TYPE_BOOLEAN) {
+    if (obj->as.boolean)
+      *b = true;
+    else
+      *b = false;
+
+    return true;
+  }
+
+  return false;
+}
+
+bool cmp_object_as_str(cmp_object_t *obj, uint32_t *size) {
+  switch (obj->type) {
+    case CMP_TYPE_FIXSTR:
+    case CMP_TYPE_STR8:
+    case CMP_TYPE_STR16:
+    case CMP_TYPE_STR32:
+      *size = obj->as.str_size;
+      return true;
+  }
+
+  return false;
+}
+
+bool cmp_object_as_bin(cmp_object_t *obj, uint32_t *size) {
+  switch (obj->type) {
+    case CMP_TYPE_BIN8:
+    case CMP_TYPE_BIN16:
+    case CMP_TYPE_BIN32:
+      *size = obj->as.bin_size;
+      return true;
+  }
+
+  return false;
+}
+
+bool cmp_object_as_array(cmp_object_t *obj, uint32_t *size) {
+  switch (obj->type) {
+    case CMP_TYPE_FIXARRAY:
+    case CMP_TYPE_ARRAY16:
+    case CMP_TYPE_ARRAY32:
+      *size = obj->as.array_size;
+      return true;
+  }
+
+  return false;
+}
+
+bool cmp_object_as_map(cmp_object_t *obj, uint32_t *size) {
+  switch (obj->type) {
+    case CMP_TYPE_FIXMAP:
+    case CMP_TYPE_MAP16:
+    case CMP_TYPE_MAP32:
+      *size = obj->as.map_size;
+      return true;
+  }
+
+  return false;
+}
+
+bool cmp_object_as_ext(cmp_object_t *obj, int8_t *type, uint32_t *size) {
+  switch (obj->type) {
+    case CMP_TYPE_FIXEXT1:
+    case CMP_TYPE_FIXEXT2:
+    case CMP_TYPE_FIXEXT4:
+    case CMP_TYPE_FIXEXT8:
+    case CMP_TYPE_FIXEXT16:
+    case CMP_TYPE_EXT8:
+    case CMP_TYPE_EXT16:
+    case CMP_TYPE_EXT32:
+      *type = obj->as.ext.type;
+      *size = obj->as.ext.size;
+      return true;
+  }
+
+  return false;
+}
+
+/* vi: set et ts=2 sw=2: */
diff --git a/tracker/cmp.h b/tracker/cmp.h
new file mode 100755
index 0000000..fef008e
--- /dev/null
+++ b/tracker/cmp.h
@@ -0,0 +1,404 @@
+#ifndef CMP_H__
+#define CMP_H__
+
+struct cmp_ctx_s;
+
+typedef bool   (*cmp_reader)(struct cmp_ctx_s *ctx, void *data, size_t limit);
+typedef size_t (*cmp_writer)(struct cmp_ctx_s *ctx, const void *data,
+                                                    size_t count);
+
+enum {
+  CMP_TYPE_POSITIVE_FIXNUM, /*  0 */
+  CMP_TYPE_FIXMAP,          /*  1 */
+  CMP_TYPE_FIXARRAY,        /*  2 */
+  CMP_TYPE_FIXSTR,          /*  3 */
+  CMP_TYPE_NIL,             /*  4 */
+  CMP_TYPE_BOOLEAN,         /*  5 */
+  CMP_TYPE_BIN8,            /*  6 */
+  CMP_TYPE_BIN16,           /*  7 */
+  CMP_TYPE_BIN32,           /*  8 */
+  CMP_TYPE_EXT8,            /*  9 */
+  CMP_TYPE_EXT16,           /* 10 */
+  CMP_TYPE_EXT32,           /* 11 */
+  CMP_TYPE_FLOAT,           /* 12 */
+  CMP_TYPE_DOUBLE,          /* 13 */
+  CMP_TYPE_UINT8,           /* 14 */
+  CMP_TYPE_UINT16,          /* 15 */
+  CMP_TYPE_UINT32,          /* 16 */
+  CMP_TYPE_UINT64,          /* 17 */
+  CMP_TYPE_SINT8,           /* 18 */
+  CMP_TYPE_SINT16,          /* 19 */
+  CMP_TYPE_SINT32,          /* 20 */
+  CMP_TYPE_SINT64,          /* 21 */
+  CMP_TYPE_FIXEXT1,         /* 22 */
+  CMP_TYPE_FIXEXT2,         /* 23 */
+  CMP_TYPE_FIXEXT4,         /* 24 */
+  CMP_TYPE_FIXEXT8,         /* 25 */
+  CMP_TYPE_FIXEXT16,        /* 26 */
+  CMP_TYPE_STR8,            /* 27 */
+  CMP_TYPE_STR16,           /* 28 */
+  CMP_TYPE_STR32,           /* 29 */
+  CMP_TYPE_ARRAY16,         /* 30 */
+  CMP_TYPE_ARRAY32,         /* 31 */
+  CMP_TYPE_MAP16,           /* 32 */
+  CMP_TYPE_MAP32,           /* 33 */
+  CMP_TYPE_NEGATIVE_FIXNUM  /* 34 */
+};
+
+typedef struct cmp_ext_s {
+  int8_t type;
+  uint32_t size;
+} cmp_ext_t;
+
+union cmp_object_data_u {
+  bool      boolean;
+  uint8_t   u8;
+  uint16_t  u16;
+  uint32_t  u32;
+  uint64_t  u64;
+  int8_t    s8;
+  int16_t   s16;
+  int32_t   s32;
+  int64_t   s64;
+  float     flt;
+  double    dbl;
+  uint32_t  array_size;
+  uint32_t  map_size;
+  uint32_t  str_size;
+  uint32_t  bin_size;
+  cmp_ext_t ext;
+};
+
+typedef struct cmp_ctx_s {
+  uint8_t     error;
+  void       *buf;
+  cmp_reader  read;
+  cmp_writer  write;
+} cmp_ctx_t;
+
+typedef struct cmp_object_s {
+  uint8_t type;
+  union cmp_object_data_u as;
+} cmp_object_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * ============================================================================
+ * === Main API
+ * ============================================================================
+ */
+
+/* Initializes a CMP context */
+void cmp_init(cmp_ctx_t *ctx, void *buf, cmp_reader read, cmp_writer write);
+
+/* Returns CMP's version */
+uint32_t cmp_version(void);
+
+/* Returns the MessagePack version employed by CMP */
+uint32_t cmp_mp_version(void);
+
+/* Returns a string description of a CMP context's error */
+const char* cmp_strerror(cmp_ctx_t *ctx);
+
+/* Writes a signed integer to the backend */
+bool cmp_write_sint(cmp_ctx_t *ctx, int64_t d);
+
+/* Writes an unsigned integer to the backend */
+bool cmp_write_uint(cmp_ctx_t *ctx, uint64_t u);
+
+/* Writes a single-precision float to the backend */
+bool cmp_write_float(cmp_ctx_t *ctx, float f);
+
+/* Writes a double-precision float to the backend */
+bool cmp_write_double(cmp_ctx_t *ctx, double d);
+
+/* Writes NULL to the backend */
+bool cmp_write_nil(cmp_ctx_t *ctx);
+
+/* Writes true to the backend */
+bool cmp_write_true(cmp_ctx_t *ctx);
+
+/* Writes false to the backend */
+bool cmp_write_false(cmp_ctx_t *ctx);
+
+/* Writes a boolean value to the backend */
+bool cmp_write_bool(cmp_ctx_t *ctx, bool b);
+
+/*
+ * Writes an unsigned char's value to the backend as a boolean.  This is useful
+ * if you are using a different boolean type in your application.
+ */
+bool cmp_write_u8_as_bool(cmp_ctx_t *ctx, uint8_t b);
+
+/*
+ * Writes a string to the backend; according to the MessagePack spec, this must
+ * be encoded using UTF-8, but CMP leaves that job up to the programmer.
+ */
+bool cmp_write_str(cmp_ctx_t *ctx, const char *data, uint32_t size);
+
+/*
+ * Writes the string marker to the backend.  This is useful if you are writing
+ * data in chunks instead of a single shot.
+ */
+bool cmp_write_str_marker(cmp_ctx_t *ctx, uint32_t size);
+
+/* Writes binary data to the backend */
+bool cmp_write_bin(cmp_ctx_t *ctx, const void *data, uint32_t size);
+
+/*
+ * Writes the binary data marker to the backend.  This is useful if you are
+ * writing data in chunks instead of a single shot.
+ */
+bool cmp_write_bin_marker(cmp_ctx_t *ctx, uint32_t size);
+
+/* Writes an array to the backend. */
+bool cmp_write_array(cmp_ctx_t *ctx, uint32_t size);
+
+/* Writes a map to the backend. */
+bool cmp_write_map(cmp_ctx_t *ctx, uint32_t size);
+
+/* Writes an extended type to the backend */
+bool cmp_write_ext(cmp_ctx_t *ctx, int8_t type, uint32_t size,
+                                   const void *data);
+
+/*
+ * Writes the extended type marker to the backend.  This is useful if you want
+ * to write the type's data in chunks instead of a single shot.
+ */
+bool cmp_write_ext_marker(cmp_ctx_t *ctx, int8_t type, uint32_t size);
+
+/* Writes an object to the backend */
+bool cmp_write_object(cmp_ctx_t *ctx, cmp_object_t *obj);
+
+/* Reads a signed integer that fits inside a signed char */
+bool cmp_read_char(cmp_ctx_t *ctx, int8_t *c);
+
+/* Reads a signed integer that fits inside a signed short */
+bool cmp_read_short(cmp_ctx_t *ctx, int16_t *s);
+
+/* Reads a signed integer that fits inside a signed int */
+bool cmp_read_int(cmp_ctx_t *ctx, int32_t *i);
+
+/* Reads a signed integer that fits inside a signed long */
+bool cmp_read_long(cmp_ctx_t *ctx, int64_t *d);
+
+/* Reads a signed integer */
+bool cmp_read_sinteger(cmp_ctx_t *ctx, int64_t *d);
+
+/* Reads an unsigned integer that fits inside an unsigned char */
+bool cmp_read_uchar(cmp_ctx_t *ctx, uint8_t *c);
+
+/* Reads an unsigned integer that fits inside an unsigned short */
+bool cmp_read_ushort(cmp_ctx_t *ctx, uint16_t *s);
+
+/* Reads an unsigned integer that fits inside an unsigned int */
+bool cmp_read_uint(cmp_ctx_t *ctx, uint32_t *i);
+
+/* Reads an unsigned integer that fits inside an unsigned long */
+bool cmp_read_ulong(cmp_ctx_t *ctx, uint64_t *u);
+
+/* Reads an unsigned integer */
+bool cmp_read_uinteger(cmp_ctx_t *ctx, uint64_t *u);
+
+/* Reads a single-precision float from the backend */
+bool cmp_read_float(cmp_ctx_t *ctx, float *f);
+
+/* Reads a double-precision float from the backend */
+bool cmp_read_double(cmp_ctx_t *ctx, double *d);
+
+/* "Reads" (more like "skips") a NULL value from the backend */
+bool cmp_read_nil(cmp_ctx_t *ctx);
+
+/* Reads a boolean from the backend */
+bool cmp_read_bool(cmp_ctx_t *ctx, bool *b);
+
+/*
+ * Reads a boolean as an unsigned char from the backend; this is useful if your
+ * application uses a different boolean type.
+ */
+bool cmp_read_bool_as_u8(cmp_ctx_t *ctx, uint8_t *b);
+
+/* Reads a string's size from the backend */
+bool cmp_read_str_size(cmp_ctx_t *ctx, uint32_t *size);
+
+/*
+ * Reads a string from the backend; according to the spec, the string's data
+ * ought to be encoded using UTF-8, 
+ */
+bool cmp_read_str(cmp_ctx_t *ctx, char *data, uint32_t *size);
+
+/* Reads the size of packed binary data from the backend */
+bool cmp_read_bin_size(cmp_ctx_t *ctx, uint32_t *size);
+
+/* Reads packed binary data from the backend */
+bool cmp_read_bin(cmp_ctx_t *ctx, void *data, uint32_t *size);
+
+/* Reads an array from the backend */
+bool cmp_read_array(cmp_ctx_t *ctx, uint32_t *size);
+
+/* Reads a map from the backend */
+bool cmp_read_map(cmp_ctx_t *ctx, uint32_t *size);
+
+/* Reads the extended type's marker from the backend */
+bool cmp_read_ext_marker(cmp_ctx_t *ctx, int8_t *type, uint32_t *size);
+
+/* Reads an extended type from the backend */
+bool cmp_read_ext(cmp_ctx_t *ctx, int8_t *type, uint32_t *size, void *data);
+
+/* Reads an object from the backend */
+bool cmp_read_object(cmp_ctx_t *ctx, cmp_object_t *obj);
+
+/*
+ * ============================================================================
+ * === Specific API
+ * ============================================================================
+ */
+
+bool cmp_write_pfix(cmp_ctx_t *ctx, uint8_t c);
+bool cmp_write_nfix(cmp_ctx_t *ctx, int8_t c);
+
+bool cmp_write_sfix(cmp_ctx_t *ctx, int8_t c);
+bool cmp_write_s8(cmp_ctx_t *ctx, int8_t c);
+bool cmp_write_s16(cmp_ctx_t *ctx, int16_t s);
+bool cmp_write_s32(cmp_ctx_t *ctx, int32_t i);
+bool cmp_write_s64(cmp_ctx_t *ctx, int64_t l);
+
+bool cmp_write_ufix(cmp_ctx_t *ctx, uint8_t c);
+bool cmp_write_u8(cmp_ctx_t *ctx, uint8_t c);
+bool cmp_write_u16(cmp_ctx_t *ctx, uint16_t s);
+bool cmp_write_u32(cmp_ctx_t *ctx, uint32_t i);
+bool cmp_write_u64(cmp_ctx_t *ctx, uint64_t l);
+
+bool cmp_write_fixstr_marker(cmp_ctx_t *ctx, uint8_t size);
+bool cmp_write_fixstr(cmp_ctx_t *ctx, const char *data, uint8_t size);
+bool cmp_write_str8_marker(cmp_ctx_t *ctx, uint8_t size);
+bool cmp_write_str8(cmp_ctx_t *ctx, const char *data, uint8_t size);
+bool cmp_write_str16_marker(cmp_ctx_t *ctx, uint16_t size);
+bool cmp_write_str16(cmp_ctx_t *ctx, const char *data, uint16_t size);
+bool cmp_write_str32_marker(cmp_ctx_t *ctx, uint32_t size);
+bool cmp_write_str32(cmp_ctx_t *ctx, const char *data, uint32_t size);
+
+bool cmp_write_bin8_marker(cmp_ctx_t *ctx, uint8_t size);
+bool cmp_write_bin8(cmp_ctx_t *ctx, const void *data, uint8_t size);
+bool cmp_write_bin16_marker(cmp_ctx_t *ctx, uint16_t size);
+bool cmp_write_bin16(cmp_ctx_t *ctx, const void *data, uint16_t size);
+bool cmp_write_bin32_marker(cmp_ctx_t *ctx, uint32_t size);
+bool cmp_write_bin32(cmp_ctx_t *ctx, const void *data, uint32_t size);
+
+bool cmp_write_fixarray(cmp_ctx_t *ctx, uint8_t size);
+bool cmp_write_array16(cmp_ctx_t *ctx, uint16_t size);
+bool cmp_write_array32(cmp_ctx_t *ctx, uint32_t size);
+
+bool cmp_write_fixmap(cmp_ctx_t *ctx, uint8_t size);
+bool cmp_write_map16(cmp_ctx_t *ctx, uint16_t size);
+bool cmp_write_map32(cmp_ctx_t *ctx, uint32_t size);
+
+bool cmp_write_fixext1_marker(cmp_ctx_t *ctx, int8_t type);
+bool cmp_write_fixext1(cmp_ctx_t *ctx, int8_t type, const void *data);
+bool cmp_write_fixext2_marker(cmp_ctx_t *ctx, int8_t type);
+bool cmp_write_fixext2(cmp_ctx_t *ctx, int8_t type, const void *data);
+bool cmp_write_fixext4_marker(cmp_ctx_t *ctx, int8_t type);
+bool cmp_write_fixext4(cmp_ctx_t *ctx, int8_t type, const void *data);
+bool cmp_write_fixext8_marker(cmp_ctx_t *ctx, int8_t type);
+bool cmp_write_fixext8(cmp_ctx_t *ctx, int8_t type, const void *data);
+bool cmp_write_fixext16_marker(cmp_ctx_t *ctx, int8_t type);
+bool cmp_write_fixext16(cmp_ctx_t *ctx, int8_t type, const void *data);
+
+bool cmp_write_ext8_marker(cmp_ctx_t *ctx, int8_t type, uint8_t size);
+bool cmp_write_ext8(cmp_ctx_t *ctx, int8_t type, uint8_t size,
+                                    const void *data);
+bool cmp_write_ext16_marker(cmp_ctx_t *ctx, int8_t type, uint16_t size);
+bool cmp_write_ext16(cmp_ctx_t *ctx, int8_t type, uint16_t size,
+                                     const void *data);
+bool cmp_write_ext32_marker(cmp_ctx_t *ctx, int8_t type, uint32_t size);
+bool cmp_write_ext32(cmp_ctx_t *ctx, int8_t type, uint32_t size,
+                                     const void *data);
+
+bool cmp_read_pfix(cmp_ctx_t *ctx, uint8_t *c);
+bool cmp_read_nfix(cmp_ctx_t *ctx, int8_t *c);
+
+bool cmp_read_sfix(cmp_ctx_t *ctx, int8_t *c);
+bool cmp_read_s8(cmp_ctx_t *ctx, int8_t *c);
+bool cmp_read_s16(cmp_ctx_t *ctx, int16_t *s);
+bool cmp_read_s32(cmp_ctx_t *ctx, int32_t *i);
+bool cmp_read_s64(cmp_ctx_t *ctx, int64_t *l);
+
+bool cmp_read_ufix(cmp_ctx_t *ctx, uint8_t *c);
+bool cmp_read_u8(cmp_ctx_t *ctx, uint8_t *c);
+bool cmp_read_u16(cmp_ctx_t *ctx, uint16_t *s);
+bool cmp_read_u32(cmp_ctx_t *ctx, uint32_t *i);
+bool cmp_read_u64(cmp_ctx_t *ctx, uint64_t *l);
+
+bool cmp_read_fixext1_marker(cmp_ctx_t *ctx, int8_t *type);
+bool cmp_read_fixext1(cmp_ctx_t *ctx, int8_t *type, void *data);
+bool cmp_read_fixext2_marker(cmp_ctx_t *ctx, int8_t *type);
+bool cmp_read_fixext2(cmp_ctx_t *ctx, int8_t *type, void *data);
+bool cmp_read_fixext4_marker(cmp_ctx_t *ctx, int8_t *type);
+bool cmp_read_fixext4(cmp_ctx_t *ctx, int8_t *type, void *data);
+bool cmp_read_fixext8_marker(cmp_ctx_t *ctx, int8_t *type);
+bool cmp_read_fixext8(cmp_ctx_t *ctx, int8_t *type, void *data);
+bool cmp_read_fixext16_marker(cmp_ctx_t *ctx, int8_t *type);
+bool cmp_read_fixext16(cmp_ctx_t *ctx, int8_t *type, void *data);
+
+bool cmp_read_ext8_marker(cmp_ctx_t *ctx, int8_t *type, uint8_t *size);
+bool cmp_read_ext8(cmp_ctx_t *ctx, int8_t *type, uint8_t *size, void *data);
+bool cmp_read_ext16_marker(cmp_ctx_t *ctx, int8_t *type, uint16_t *size);
+bool cmp_read_ext16(cmp_ctx_t *ctx, int8_t *type, uint16_t *size, void *data);
+bool cmp_read_ext32_marker(cmp_ctx_t *ctx, int8_t *type, uint32_t *size);
+bool cmp_read_ext32(cmp_ctx_t *ctx, int8_t *type, uint32_t *size, void *data);
+
+/*
+ * ============================================================================
+ * === Object API
+ * ============================================================================
+ */
+
+bool cmp_object_is_char(cmp_object_t *obj);
+bool cmp_object_is_short(cmp_object_t *obj);
+bool cmp_object_is_int(cmp_object_t *obj);
+bool cmp_object_is_long(cmp_object_t *obj);
+bool cmp_object_is_sinteger(cmp_object_t *obj);
+bool cmp_object_is_uchar(cmp_object_t *obj);
+bool cmp_object_is_ushort(cmp_object_t *obj);
+bool cmp_object_is_uint(cmp_object_t *obj);
+bool cmp_object_is_ulong(cmp_object_t *obj);
+bool cmp_object_is_uinteger(cmp_object_t *obj);
+bool cmp_object_is_float(cmp_object_t *obj);
+bool cmp_object_is_double(cmp_object_t *obj);
+bool cmp_object_is_nil(cmp_object_t *obj);
+bool cmp_object_is_bool(cmp_object_t *obj);
+bool cmp_object_is_str(cmp_object_t *obj);
+bool cmp_object_is_bin(cmp_object_t *obj);
+bool cmp_object_is_array(cmp_object_t *obj);
+bool cmp_object_is_map(cmp_object_t *obj);
+bool cmp_object_is_ext(cmp_object_t *obj);
+
+bool cmp_object_as_char(cmp_object_t *obj, int8_t *c);
+bool cmp_object_as_short(cmp_object_t *obj, int16_t *s);
+bool cmp_object_as_int(cmp_object_t *obj, int32_t *i);
+bool cmp_object_as_long(cmp_object_t *obj, int64_t *d);
+bool cmp_object_as_sinteger(cmp_object_t *obj, int64_t *d);
+bool cmp_object_as_uchar(cmp_object_t *obj, uint8_t *c);
+bool cmp_object_as_ushort(cmp_object_t *obj, uint16_t *s);
+bool cmp_object_as_uint(cmp_object_t *obj, uint32_t *i);
+bool cmp_object_as_ulong(cmp_object_t *obj, uint64_t *u);
+bool cmp_object_as_uinteger(cmp_object_t *obj, uint64_t *u);
+bool cmp_object_as_float(cmp_object_t *obj, float *f);
+bool cmp_object_as_double(cmp_object_t *obj, double *d);
+bool cmp_object_as_bool(cmp_object_t *obj, bool *b);
+bool cmp_object_as_str(cmp_object_t *obj, uint32_t *size);
+bool cmp_object_as_bin(cmp_object_t *obj, uint32_t *size);
+bool cmp_object_as_array(cmp_object_t *obj, uint32_t *size);
+bool cmp_object_as_map(cmp_object_t *obj, uint32_t *size);
+bool cmp_object_as_ext(cmp_object_t *obj, int8_t *type, uint32_t *size);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* CMP_H__ */
+
+/* vi: set et ts=2 sw=2: */
diff --git a/tracker/habpack.c b/tracker/habpack.c
new file mode 100755
index 0000000..991b975
--- /dev/null
+++ b/tracker/habpack.c
@@ -0,0 +1,116 @@
+#define _GNU_SOURCE
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+#include <linux/i2c-dev.h>
+#include <fcntl.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <unistd.h>
+#include <sys/ipc.h>
+#include <sys/shm.h>
+#include <errno.h>
+#include <wiringPi.h>
+#include <wiringPiSPI.h>
+#include <sys/types.h>
+#include <dirent.h>
+#include <string.h>
+#include <stdarg.h>
+#include <ctype.h>
+#include <inttypes.h>
+
+#include "gps.h"
+#include "misc.h"
+#include "cmp.h"
+#include "habpack.h"
+
+int HABpackBufferLength;
+
+static size_t file_writer(cmp_ctx_t *ctx, const void *data, size_t count) {
+
+	uint16_t i;
+
+	for (i = 0; i < count; i++)
+	{
+		((char*)ctx->buf)[HABpackBufferLength] = *((uint8_t*)data);
+		data++;
+		HABpackBufferLength++;
+	}
+	return count;
+}
+
+int BuildHABpackPacket(unsigned char *Packet, int Channel, struct TGPS *GPS)
+{	
+	int32_t _latitude = GPS->Latitude * 10e6;
+	int32_t _longitude = GPS->Longitude * 10e6;
+	int32_t _altitude = GPS->Altitude;
+	uint8_t _hour = GPS->Hours;
+	uint8_t _minute = GPS->Minutes;
+	uint8_t _second = GPS->Seconds;
+	uint8_t _sats = GPS->Satellites;
+	uint8_t total_send, send_voltage, send_prediction, send_temperature;
+
+	Config.Channels[Channel].SentenceCounter++;
+	
+	cmp_ctx_t cmp;
+	cmp_init(&cmp, (void*)Packet, 0, file_writer);
+	HABpackBufferLength = 0;
+	
+	send_voltage = ((Config.BoardType != 3) && (Config.BoardType != 4) && (!Config.DisableADC)) ? 1 : 0;
+	send_prediction = (Config.EnableLandingPrediction && (Config.PredictionID[0] == '\0')) ? 1 : 0;
+	send_temperature = (GPS->DS18B20Count > 1) ? 2 : 1;
+
+	total_send = 5 + send_temperature + send_voltage + send_prediction;
+	
+	cmp_write_map(&cmp,total_send);
+
+	cmp_write_uint(&cmp, HABPACK_CALLSIGN);
+	cmp_write_str(&cmp, Config.Channels[Channel].PayloadID, strlen(Config.Channels[Channel].PayloadID));
+
+	cmp_write_uint(&cmp, HABPACK_SENTENCE_ID);
+	cmp_write_uint(&cmp, Config.Channels[Channel].SentenceCounter);
+
+	cmp_write_uint(&cmp, HABPACK_TIME);
+	cmp_write_uint(&cmp, (uint32_t)_hour*(3600) + (uint32_t)_minute*60 + (uint32_t)_second);
+
+	cmp_write_uint(&cmp, HABPACK_POSITION);
+	cmp_write_array(&cmp, 3);						// 3 fields to follow - lat/lon/alt
+	cmp_write_sint(&cmp, _latitude);
+	cmp_write_sint(&cmp, _longitude);
+	cmp_write_sint(&cmp, _altitude);
+
+	cmp_write_uint(&cmp, HABPACK_GNSS_SATELLITES);
+	cmp_write_uint(&cmp, _sats);
+	
+	cmp_write_uint(&cmp, HABPACK_INTERNAL_TEMPERATURE);
+	cmp_write_sint(&cmp, (int32_t)(GPS->DS18B20Temperature[(GPS->DS18B20Count > 1) ? (1-Config.ExternalDS18B20) : 0] * 1000.0));
+	if (send_temperature > 1)
+	{
+		cmp_write_uint(&cmp, HABPACK_EXTERNAL_TEMPERATURE);
+		cmp_write_sint(&cmp, (int32_t)(GPS->DS18B20Temperature[Config.ExternalDS18B20] * 1000.0));
+	}
+
+	if (send_voltage)
+	{
+		cmp_write_uint(&cmp, HABPACK_VOLTAGE);
+		cmp_write_sint(&cmp, (int32_t)(GPS->BatteryVoltage * 1000));
+	}
+
+	// Landing Prediction, if enabled
+	if (send_prediction)
+	{
+		cmp_write_uint(&cmp, HABPACK_PREDICTED_LANDING_POSITION);
+		cmp_write_array(&cmp, 2);				// 2 fields to follow, lat/lon
+		
+		cmp_write_sint(&cmp, GPS->PredictedLatitude * 10e6);
+		cmp_write_sint(&cmp, GPS->PredictedLongitude * 10e6);
+	}
+	
+	return HABpackBufferLength;
+}
+
diff --git a/tracker/habpack.h b/tracker/habpack.h
new file mode 100755
index 0000000..30a4535
--- /dev/null
+++ b/tracker/habpack.h
@@ -0,0 +1,47 @@
+#ifndef __HABPACK_H__
+#define __HABPACK_H__
+
+/* Core Telemetry */
+#define HABPACK_CALLSIGN            0
+#define HABPACK_SENTENCE_ID         1
+#define HABPACK_TIME                2
+#define HABPACK_POSITION            3
+#define HABPACK_GNSS_SATELLITES     4
+#define HABPACK_GNSS_LOCK           5
+#define HABPACK_VOLTAGE             6
+
+/* Environmental Telemetry */
+#define HABPACK_INTERNAL_TEMPERATURE    10
+#define HABPACK_EXTERNAL_TEMPERATURE    11
+#define HABPACK_PRESSURE    12
+#define HABPACK_RELATIVE_HUMIDITY       13
+#define HABPACK_ABSOLUTE_HUMIDITY       14
+
+/* Calling Beacon */
+#define HABPACK_DOWNLINK_FREQUENCY          20
+/* Common LoRa Mode */
+#define HABPACK_DOWNLINK_LORA_MODE          21
+/* _or_ Custom LoRa Parameters */
+#define HABPACK_DOWNLINK_LORA_IMPLICIT      22
+#define HABPACK_DOWNLINK_LORA_ERRORCODING   23
+#define HABPACK_DOWNLINK_LORA_BANDWIDTH     24
+#define HABPACK_DOWNLINK_LORA_SPREADING     25
+#define HABPACK_DOWNLINK_LORA_LDO           26
+
+/* Uplink */
+#define HABPACK_UPLINK_COUNT                30
+
+/* Landing Prediction */
+#define HABPACK_PREDICTED_LANDING_TIME      40
+#define HABPACK_PREDICTED_LANDING_POSITION  41
+
+/* Multi-Position. TODO: Parsing unimplemented */
+#define HABPACK_MULTI_POS_POSITION_SCALING  60
+#define HABPACK_MULTI_POS_ALTITUDE_SCALING  61
+#define HABPACK_MULTI_POS_ARRAY             62
+
+int BuildHABpackPacket(unsigned char *Packet, int Channel, struct TGPS *GPS);
+
+#endif /* __HABPACK_H__ */
+
+
diff --git a/tracker/lora.c b/tracker/lora.c
index 0f1ba5c..7f2c101 100755
--- a/tracker/lora.c
+++ b/tracker/lora.c
@@ -27,6 +27,7 @@
 #ifdef EXTRAS_PRESENT
 #	include "ex_lora.h"
 #endif	
+#include "habpack.h"
 
 // RFM98
 uint8_t currentMode = 0x81;
@@ -829,8 +830,9 @@ void LoadLoRaConfig(FILE *fp, struct TConfig *Config)
 				}
 			}
 
-			ReadBoolean(fp, "LORA_Binary", LoRaChannel, 0, &(Config->LoRaDevices[LoRaChannel].Binary));			
-			printf("      - Using %s Transmissions\n", Config->LoRaDevices[LoRaChannel].Binary ? "Binary" : "ASCII");
+			ReadBoolean(fp, "LORA_HABPack", LoRaChannel, 0, &(Config->LoRaDevices[LoRaChannel].HABPack));
+			ReadBoolean(fp, "LORA_Binary", LoRaChannel, 0, &(Config->LoRaDevices[LoRaChannel].Binary));
+			printf("      - Using %s Transmissions\n", Config->LoRaDevices[LoRaChannel].HABPack ? "HABPack" : (Config->LoRaDevices[LoRaChannel].Binary ? "Binary" : "ASCII"));
 			
 			ReadBoolean(fp, "LORA_ListenOnly", LoRaChannel, 0, &(Config->LoRaDevices[LoRaChannel].ListenOnly));
 			if (Config->LoRaDevices[LoRaChannel].ListenOnly)
@@ -1063,7 +1065,12 @@ void *LoRaLoop(void *some_void_ptr)
 
 					// Telemetry packet
 					
-					if (Config.LoRaDevices[LoRaChannel].Binary)
+					if (Config.LoRaDevices[LoRaChannel].HABPack)
+					{
+						PacketLength = BuildHABpackPacket(Sentence, Channel, GPS);
+						printf("LoRa%d: HABPack %d bytes\n", LoRaChannel, PacketLength);
+					}
+					else if (Config.LoRaDevices[LoRaChannel].Binary)
 					{
 						PacketLength = BuildLoRaPositionPacket(Sentence, LoRaChannel, GPS);
 						printf("LoRa%d: Binary packet %d bytes\n", LoRaChannel, PacketLength);
diff --git a/tracker/misc.h b/tracker/misc.h
index b81a81d..e6ec482 100755
--- a/tracker/misc.h
+++ b/tracker/misc.h
@@ -25,6 +25,7 @@ struct TLoRaDevice
 	int RepeatSlot;
 	int UplinkSlot;
 	int Binary;
+	int HABPack;
 	int LastTxAt;
 	int LastRxAt;
 	int AirCount;
diff --git a/tracker/prediction.txt b/tracker/prediction.txt
new file mode 100644
index 0000000..baffe49
--- /dev/null
+++ b/tracker/prediction.txt
@@ -0,0 +1,2075 @@
+223, 52.252197, -0.092529, 52.252331, -0.092491, 0.500000
+262, 52.252407, -0.092696, 52.252869, -0.093063, 0.500000
+302, 52.252426, -0.092510, 52.252491, -0.091864, 0.500000
+351, 52.252579, -0.092783, 52.252922, -0.092557, 0.500000
+380, 52.252560, -0.092882, 52.252571, -0.092512, 0.500000
+411, 52.252541, -0.092941, 52.252541, -0.092499, 0.500000
+438, 52.252560, -0.093013, 52.252586, -0.092669, 0.500000
+468, 52.252678, -0.092851, 52.252960, -0.092021, 0.500000
+498, 52.252792, -0.092966, 52.253185, -0.092920, 0.500000
+527, 52.253040, -0.092735, 52.253674, -0.092469, 0.500000
+554, 52.253269, -0.092526, 52.254097, -0.092087, 0.500000
+586, 52.253418, -0.092504, 52.254257, -0.092397, 0.500000
+611, 52.253677, -0.092300, 52.254963, -0.091556, 0.500000
+640, 52.253761, -0.092334, 52.255165, -0.091637, 0.500000
+665, 52.253990, -0.091953, 52.255795, -0.090349, 0.500000
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From 09feda42686d574e5801ac3b6f3cf22dcee58cb5 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Wed, 9 May 2018 18:25:04 +0000
Subject: [PATCH 02/60] Added basic HABPack support, LoRa only

---
 tracker/prediction.txt | 2075 ----------------------------------------
 1 file changed, 2075 deletions(-)
 delete mode 100644 tracker/prediction.txt

diff --git a/tracker/prediction.txt b/tracker/prediction.txt
deleted file mode 100644
index baffe49..0000000
--- a/tracker/prediction.txt
+++ /dev/null
@@ -1,2075 +0,0 @@
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From 8d539017d52e408f4fb4d4ae59afc45b804b6097 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Sun, 3 Jun 2018 10:19:59 +0000
Subject: [PATCH 03/60] Support for Python camera script

---
 tracker/gopro.py  | 52 +++++++++++++++++++++++++++++++++++++++++++++++
 tracker/misc.c    |  5 +++++
 tracker/snapper.c | 48 +++++++++++++++++++++++++------------------
 tracker/tracker.c |  2 +-
 4 files changed, 86 insertions(+), 21 deletions(-)
 create mode 100755 tracker/gopro.py

diff --git a/tracker/gopro.py b/tracker/gopro.py
new file mode 100755
index 0000000..21dfb89
--- /dev/null
+++ b/tracker/gopro.py
@@ -0,0 +1,52 @@
+from goprocam import GoProCamera
+import os
+import time
+from jpegtran import JPEGImage
+
+camera = GoProCamera.GoPro()
+
+if not os.path.isdir('images'):
+	os.mkdir('images')
+for i in range(0,5):
+	folder = 'images/' + ['RTTY','APRS','LORA0','LORA1','FULL'][i]
+	if not os.path.isdir(folder):
+		os.mkdir(folder)
+
+while True:
+	for i in range(0,5):
+		filename = 'take_pic_' + str(i)
+		if os.path.isfile(filename):
+			os.remove(filename) 
+			os.chdir('images/' + ['RTTY','APRS','LORA0','LORA1','FULL'][i])
+			camera.downloadLastMedia(camera.take_photo(0))
+			os.chdir('../..')
+		
+		filename = 'convert_' + str(i)
+		if os.path.isfile(filename):
+			# Read and delete conversion file
+			file = open(filename, 'r')
+			lines = file.read().splitlines()			
+			file.close()
+			
+			if os.path.isfile('ssdv.jpg'):
+				os.remove('ssdv.jpg')
+			
+			# resize selected image file
+			image=JPEGImage(lines[3])
+			image.downscale(int(lines[4]), int(lines[5])).save('ssdv.jpg')
+			
+			# run SSDV conversion
+			os.system('ssdv ' + lines[1] + ' -e -c ' + lines[0] + ' -i ' + lines[2] + ' ssdv.jpg ' + lines[6])
+
+			# Move all images that werre considered
+			folder1 = "images/" + ['RTTY','APRS','LORA0','LORA1','FULL'][i]
+			folder2 = folder1 + "/" + time.strftime("%d_%m_%y")
+			if not os.path.isdir(folder2):
+				os.mkdir(folder2)
+			os.system("mv " + folder1 + "/*.JPG " + folder2)
+
+			os.remove(filename)
+			os.system("echo DONE > ssdv_done_" + str(i))
+
+	time.sleep(1)
+done
diff --git a/tracker/misc.c b/tracker/misc.c
index 9c49f39..d779ff1 100755
--- a/tracker/misc.c
+++ b/tracker/misc.c
@@ -608,6 +608,11 @@ int ReadCameraType(FILE *fp, char *keyword)
 		return 3;		// GPHOTO2
 	}
 	
+	if ((*Temp == 'P') || (*Temp == 'p'))
+	{
+		return 4;		// Python script e.g. for GoPro
+	}
+	
 	return 0;
 }
 
diff --git a/tracker/snapper.c b/tracker/snapper.c
index fb61229..a81b007 100755
--- a/tracker/snapper.c
+++ b/tracker/snapper.c
@@ -85,7 +85,7 @@ void FindBestImageAndRequestConversion(int Channel, int width, int height)
 	{
 		while ((ep = readdir (dp)) != NULL)
 		{
-			if (strstr(ep->d_name, ".jpg") != NULL)
+			if (strstr(ep->d_name, ".JPG") != NULL)
 			{
 				if (strchr(ep->d_name, '~') == NULL)
 				{
@@ -116,28 +116,36 @@ void FindBestImageAndRequestConversion(int Channel, int width, int height)
 
 			sprintf(Config.Channels[Channel].ssdv_filename, "ssdv_%d_%d.bin", Channel, Config.Channels[Channel].SSDVFileNumber);
 			
-			// External script for ImageMagick etc.
-			fprintf(fp, "rm -f ssdv.jpg\n");
-			fprintf(fp, "if [ -e process_image ]\n");
-			fprintf(fp, "then\n");
-			fprintf(fp, "	./process_image %d %s %d %d\n", Channel, LargestFileName, width, height);
-			fprintf(fp, "else\n");
-			// Just copy file, unless we're using gphoto2 in which case we need to resize, meaning imagemagick *must* be installed
-			if (Config.Camera == 3)
+			if (Config.Camera == 4)
 			{
-				// resize
-				fprintf(fp, "	convert %s -resize %dx%d ssdv.jpg\n", LargestFileName, width, height);
+				// Just write parameters to file, and leave it to the external script to do the rest
+				fprintf(fp, "%s\n%.6s\n%d\n%s\n%d\n%d\n%s\n", Config.Channels[Channel].PayloadID, Config.SSDVSettings, Config.Channels[Channel].SSDVFileNumber, LargestFileName, width, height, Config.Channels[Channel].ssdv_filename);
 			}
 			else
 			{
-				fprintf(fp, "	cp %s ssdv.jpg\n", LargestFileName);
+				// External script for ImageMagick etc.
+				fprintf(fp, "rm -f ssdv.jpg\n");
+				fprintf(fp, "if [ -e process_image ]\n");
+				fprintf(fp, "then\n");
+				fprintf(fp, "	./process_image %d %s %d %d\n", Channel, LargestFileName, width, height);
+				fprintf(fp, "else\n");
+				// Just copy file, unless we're using gphoto2 in which case we need to resize, meaning imagemagick *must* be installed
+				if (Config.Camera == 3)
+				{
+					// resize
+					fprintf(fp, "	convert %s -resize %dx%d ssdv.jpg\n", LargestFileName, width, height);
+				}
+				else
+				{
+					fprintf(fp, "	cp %s ssdv.jpg\n", LargestFileName);
+				}
+				fprintf(fp, "fi\n");
+				
+				fprintf(fp, "ssdv %s -e -c %.6s -i %d %s %s\n", Config.SSDVSettings, Config.Channels[Channel].PayloadID, Config.Channels[Channel].SSDVFileNumber, "ssdv.jpg", Config.Channels[Channel].ssdv_filename);
+				fprintf(fp, "mkdir -p %s/$1\n", SSDVFolder);
+				fprintf(fp, "mv %s/*.JPG %s/$1\n", SSDVFolder, SSDVFolder);
+				fprintf(fp, "echo DONE > %s\n", Config.Channels[Channel].ssdv_done);
 			}
-			fprintf(fp, "fi\n");
-			
-			fprintf(fp, "ssdv %s -e -c %.6s -i %d %s %s\n", Config.SSDVSettings, Config.Channels[Channel].PayloadID, Config.Channels[Channel].SSDVFileNumber, "ssdv.jpg", Config.Channels[Channel].ssdv_filename);
-			fprintf(fp, "mkdir -p %s/$1\n", SSDVFolder);
-			fprintf(fp, "mv %s/*.jpg %s/$1\n", SSDVFolder, SSDVFolder);
-			fprintf(fp, "echo DONE > %s\n", Config.Channels[Channel].ssdv_done);
 			fclose(fp);
 			chmod(Config.Channels[Channel].convert_file, S_IRUSR | S_IWUSR | S_IXUSR | S_IRGRP | S_IWGRP | S_IXGRP | S_IROTH | S_IWOTH | S_IXOTH); 
 		}
@@ -216,7 +224,7 @@ void *CameraLoop(void *some_void_ptr)
 									// Full size images are saved in dated folder names
 									fprintf(fp, "mkdir -p %s/$2\n", Config.Channels[Channel].SSDVFolder);
 
-									sprintf(FileName, "%s/$2/$1.jpg", Config.Channels[Channel].SSDVFolder);				
+									sprintf(FileName, "%s/$2/$1.JPG", Config.Channels[Channel].SSDVFolder);				
 
 									if (Config.Camera == 3)
 									{
@@ -240,7 +248,7 @@ void *CameraLoop(void *some_void_ptr)
 								}
 								else
 								{
-									sprintf(FileName, "%s/$1.jpg", Config.Channels[Channel].SSDVFolder);
+									sprintf(FileName, "%s/$1.JPG", Config.Channels[Channel].SSDVFolder);
 
 									if (Config.Camera == 3)
 									{
diff --git a/tracker/tracker.c b/tracker/tracker.c
index c3b2069..581f1c3 100755
--- a/tracker/tracker.c
+++ b/tracker/tracker.c
@@ -92,7 +92,7 @@ speed_t BaudToSpeed(int baud)
 
 void LoadConfigFile(struct TConfig *Config)
 {
-	const char* CameraTypes[4] = {"None", "CSI Pi Camera - raspistill", "USB webcam - fswebcam", "USB camera - gphoto2"};
+	const char* CameraTypes[5] = {"None", "CSI Pi Camera - raspistill", "USB webcam - fswebcam", "USB camera - gphoto2", "Python Script"};
 	FILE *fp;
 	int BaudRate;
 	char *filename = "/boot/pisky.txt";

From 335a355ee597f9c6ecedfbb59f374c987d5f0d02 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Sun, 3 Jun 2018 11:50:30 +0000
Subject: [PATCH 04/60] Quick tidy

---
 tracker/gps.h     | 2 +-
 tracker/misc.h    | 1 -
 tracker/tracker.c | 1 -
 3 files changed, 1 insertion(+), 3 deletions(-)

diff --git a/tracker/gps.h b/tracker/gps.h
index 880b8bc..0337f41 100755
--- a/tracker/gps.h
+++ b/tracker/gps.h
@@ -1,6 +1,6 @@
 // Types
 
-typedef enum {fmIdle, fmLaunched, fmDescending, fmHoming, fmDirect, fmDownwind, fmLanding, fmLanded} TFlightMode;
+typedef enum {fmIdle, fmLaunched, fmDescending, fmHoming, fmDirect, fmDownwind, fmUpwind, fmLanding, fmLanded} TFlightMode;
 
 struct TGPS
 {
diff --git a/tracker/misc.h b/tracker/misc.h
index e6ec482..d12b1ed 100755
--- a/tracker/misc.h
+++ b/tracker/misc.h
@@ -203,7 +203,6 @@ struct TConfig
 	// Landing prediction
 	int EnableLandingPrediction;
 	int32_t TargetAltitude;
-	int32_t LandingAltitude;
 	
 	float cd_area;
 	float payload_weight;
diff --git a/tracker/tracker.c b/tracker/tracker.c
index 581f1c3..4a43c35 100755
--- a/tracker/tracker.c
+++ b/tracker/tracker.c
@@ -252,7 +252,6 @@ void LoadConfigFile(struct TConfig *Config)
 		Config->cd_area = ReadFloat(fp, "cd_area", -1, 0, 0.66);
 		Config->payload_weight = ReadFloat(fp, "payload_weight", -1, 0, 0.66);
 		Config->TargetAltitude = ReadInteger(fp, "Target_Altitude", -1, 0, 0);
-		Config->LandingAltitude = ReadInteger(fp, "Landing_Altitude", -1, 0, Config->TargetAltitude + 200);
 		ReadString(fp, "prediction_id", -1, Config->PredictionID, sizeof(Config->PredictionID), 0);
 	}
 	

From def91e5d1f85662018acecd13e76939a26c71f7b Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Fri, 7 Sep 2018 08:16:20 +0000
Subject: [PATCH 05/60] L80 support

---
 tracker/gps.c        | 161 ++++++++++++++++++++++++++++---------------
 tracker/lora.c       |  76 +++++++++++++++++---
 tracker/misc.c       |   9 +++
 tracker/misc.h       |   5 ++
 tracker/prediction.h |   2 +-
 tracker/tracker.c    |  11 +++
 6 files changed, 198 insertions(+), 66 deletions(-)

diff --git a/tracker/gps.c b/tracker/gps.c
index c0a90a6..231ff50 100755
--- a/tracker/gps.c
+++ b/tracker/gps.c
@@ -13,6 +13,7 @@
 
 #define _GNU_SOURCE 1
 
+
 #include <stdio.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -405,7 +406,7 @@ void FixUBXChecksum(unsigned char *Message, int Length)
 }
 
 
-void SendUBX(struct gps_info *bb, unsigned char *MSG, int len)
+void SendToGPS(struct gps_info *bb, unsigned char *MSG, int len)
 {
 	if (bb->ConnectionMode == cmSerial)
 	{
@@ -417,58 +418,89 @@ void SendUBX(struct gps_info *bb, unsigned char *MSG, int len)
 	}
 }
 
-void SetFlightMode(struct gps_info *bb)
+void SetFlightMode(struct gps_info *bb, int High)
 {
-    // Send navigation configuration command
-    unsigned char setNav[] = {0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0xDC};
-    SendUBX(bb, setNav, sizeof(setNav));
-	printf ("Setting flight mode\n");
+	if (Config.GPSModel == 'U')
+	{
+		// Send navigation configuration command
+		unsigned char setNav[] = {0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0xDC};
+		
+		SendToGPS(bb, setNav, sizeof(setNav));
+		
+		printf ("Setting UBlox flight mode\n");
+	}
+	else if (Config.GPSModel == 'M')
+	{
+		// char *VehicleMode = "$PMTK886,0*28\r\n";
+		char *PedestrianMode = "$PMTK886,1*29\r\n";
+		char *BalloonMode = "$PMTK886,3*2B\r\n";
+		
+		if (High)
+		{
+			SendToGPS(bb, (unsigned char *)BalloonMode, strlen(BalloonMode));
+			printf ("Setting balloon mode\n");
+		}
+		else
+		{
+			SendToGPS(bb, (unsigned char *)PedestrianMode, strlen(PedestrianMode));
+			printf ("Setting pedestrian mode\n");
+		}
+	}
 }
 
 void SetPowerMode(struct gps_info *bb, int SavePower)
 {
-	unsigned char setPSM[] = {0xB5, 0x62, 0x06, 0x11, 0x02, 0x00, 0x08, 0x01, 0x22, 0x92 };
-  
-	setPSM[7] = SavePower ? 1 : 0;
-	
-	printf ("Setting power-saving %s\n", SavePower ? "ON" : "OFF");
-  
-	FixUBXChecksum(setPSM, sizeof(setPSM));
-  
-	SendUBX(bb, setPSM, sizeof(setPSM));
+	if (Config.GPSModel == 'U')
+	{
+		unsigned char setPSM[] = {0xB5, 0x62, 0x06, 0x11, 0x02, 0x00, 0x08, 0x01, 0x22, 0x92 };
+	  
+		setPSM[7] = SavePower ? 1 : 0;
+		
+		printf ("Setting power-saving %s\n", SavePower ? "ON" : "OFF");
+	  
+		FixUBXChecksum(setPSM, sizeof(setPSM));
+	  
+		SendToGPS(bb, setPSM, sizeof(setPSM));
+	}
 }
 
 void setGPS_GNSS(struct gps_info *bb)
 {
-  // Sets CFG-GNSS to disable everything other than GPS GNSS
-  // solution. Failure to do this means GPS power saving 
-  // doesn't work. Not needed for MAX7, needed for MAX8's
-	unsigned char setgnss[] = {
-    0xB5, 0x62, 0x06, 0x3E, 0x2C, 0x00, 0x00, 0x00,
-    0x20, 0x05, 0x00, 0x08, 0x10, 0x00, 0x01, 0x00,
-    0x01, 0x01, 0x01, 0x01, 0x03, 0x00, 0x00, 0x00,
-    0x01, 0x01, 0x03, 0x08, 0x10, 0x00, 0x00, 0x00,
-    0x01, 0x01, 0x05, 0x00, 0x03, 0x00, 0x00, 0x00,
-    0x01, 0x01, 0x06, 0x08, 0x0E, 0x00, 0x00, 0x00,
-    0x01, 0x01, 0xFC, 0x11   };
-
-	printf ("Disabling GNSS\n");
-
-    SendUBX(bb, setgnss, sizeof(setgnss));
+	if (Config.GPSModel == 'U')
+	{
+		// Sets CFG-GNSS to disable everything other than GPS GNSS
+		// solution. Failure to do this means GPS power saving 
+		// doesn't work. Not needed for MAX7, needed for MAX8's
+		unsigned char setgnss[] = {
+		0xB5, 0x62, 0x06, 0x3E, 0x2C, 0x00, 0x00, 0x00,
+		0x20, 0x05, 0x00, 0x08, 0x10, 0x00, 0x01, 0x00,
+		0x01, 0x01, 0x01, 0x01, 0x03, 0x00, 0x00, 0x00,
+		0x01, 0x01, 0x03, 0x08, 0x10, 0x00, 0x00, 0x00,
+		0x01, 0x01, 0x05, 0x00, 0x03, 0x00, 0x00, 0x00,
+		0x01, 0x01, 0x06, 0x08, 0x0E, 0x00, 0x00, 0x00,
+		0x01, 0x01, 0xFC, 0x11   };
+
+		printf ("Disabling GNSS\n");
+
+		SendToGPS(bb, setgnss, sizeof(setgnss));
+	}
 }
 
 void setGPS_DynamicModel6(struct gps_info *bb)
 {
-  uint8_t setdm6[] = {
-    0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06,
-    0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00,
-    0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C,
-    0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0xDC           };
+	if (Config.GPSModel == 'U')
+	{
+		uint8_t setdm6[] = {
+			0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06,
+			0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00,
+			0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C,
+			0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+			0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0xDC};
 
-	printf ("Setting dynamic model 6\n");
+		printf ("Setting dynamic model 6\n");
 
-    SendUBX(bb, setdm6, sizeof(setdm6));
+		SendToGPS(bb, setdm6, sizeof(setdm6));
+	}
 }
 
 float FixPosition(float Position)
@@ -652,34 +684,48 @@ void ProcessLine(struct gps_info *bb, struct TGPS *GPS, char *Buffer, int Count,
 		else if (strncmp(Buffer+3, "GSV", 3) == 0)
         {
             // Disable GSV
-            printf("Disabling GSV\r\n");
-            unsigned char setGSV[] = { 0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x03, 0x39 };
-            SendUBX(bb, setGSV, sizeof(setGSV));
+			if (Config.GPSModel == 'U')
+			{
+				printf("Disabling GSV\r\n");
+				unsigned char setGSV[] = { 0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x03, 0x39 };
+				SendToGPS(bb, setGSV, sizeof(setGSV));
+			}
+			else if (Config.GPSModel == 'M')
+			{
+				printf("Disabling GSV etc\r\n");
+				char *setRMCGGAOnly = "$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n";
+				SendToGPS(bb, (unsigned char *)setRMCGGAOnly, strlen(setRMCGGAOnly));
+			}
         }
 		else if (strncmp(Buffer+3, "GLL", 3) == 0)
         {
             // Disable GLL
-            printf("Disabling GLL\r\n");
-            unsigned char setGLL[] = { 0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x2B };
-            SendUBX(bb, setGLL, sizeof(setGLL));
+			if (Config.GPSModel == 'U')
+			{
+				printf("Disabling GLL\r\n");
+				unsigned char setGLL[] = { 0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x2B };
+				SendToGPS(bb, setGLL, sizeof(setGLL));
+			}
         }
 		else if (strncmp(Buffer+3, "GSA", 3) == 0)
         {
             // Disable GSA
-            printf("Disabling GSA\r\n");
-            unsigned char setGSA[] = { 0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x32 };
-            SendUBX(bb, setGSA, sizeof(setGSA));
+			if (Config.GPSModel == 'U')
+			{
+				printf("Disabling GSA\r\n");
+				unsigned char setGSA[] = { 0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x32 };
+				SendToGPS(bb, setGSA, sizeof(setGSA));
+			}
         }
 		else if (strncmp(Buffer+3, "VTG", 3) == 0)
         {
             // Disable VTG
-            printf("Disabling VTG\r\n");
-            unsigned char setVTG[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x05, 0x47};
-            SendUBX(bb, setVTG, sizeof(setVTG));
-        }
-        else
-        {
-            printf("Unknown NMEA sentence: %s\n", Buffer);
+			if (Config.GPSModel == 'U')
+			{
+				printf("Disabling VTG\r\n");
+				unsigned char setVTG[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x05, 0x47};
+				SendToGPS(bb, setVTG, sizeof(setVTG));
+			}
         }
     }
     else
@@ -756,7 +802,10 @@ void *GPSLoop(void *some_void_ptr)
                	if (Character == '\n')
                	{
                		Line[Length] = '\0';
-					// puts(Line);
+					if (Config.ShowGPS)
+					{
+						printf("%s", Line);
+					}
 					
 					if ((fp != NULL) && (strstr(Line, "GGA") != NULL))
 					{
@@ -795,7 +844,7 @@ void *GPSLoop(void *some_void_ptr)
 						}
 						else if (SentenceCount == 40)
 						{
-							SetFlightMode(&bb);
+							SetFlightMode(&bb, GPS->Altitude > 5000);
 						}
 					}
 
diff --git a/tracker/lora.c b/tracker/lora.c
index 7f2c101..c025606 100755
--- a/tracker/lora.c
+++ b/tracker/lora.c
@@ -68,13 +68,26 @@ struct TLoRaMode
 
 int Records, FileNumber;
 
+void SetCS(int LoRaChannel, int Value)
+{
+	if (Config.LoRaDevices[LoRaChannel].CS > 0)
+	{
+		digitalWrite(Config.LoRaDevices[LoRaChannel].CS, Value);
+	}
+}
+
 void writeRegister(int Channel, uint8_t reg, uint8_t val)
 {
 	unsigned char data[2];
 	
 	data[0] = reg | 0x80;
 	data[1] = val;
+
+	SetCS(Channel, 0);
+	
 	wiringPiSPIDataRW(Channel, data, 2);
+	
+	SetCS(Channel, 1);
 }
 
 uint8_t readRegister(int Channel, uint8_t reg)
@@ -84,7 +97,13 @@ uint8_t readRegister(int Channel, uint8_t reg)
 	
 	data[0] = reg & 0x7F;
 	data[1] = 0;
+
+	SetCS(Channel, 0);
+
 	wiringPiSPIDataRW(Channel, data, 2);
+
+	SetCS(Channel, 1);
+	
 	val = data[1];
 
     return val;
@@ -122,11 +141,16 @@ void setMode(int LoRaChannel, uint8_t newMode)
   
 	if(newMode != RF98_MODE_SLEEP)
 	{
-		// printf("Waiting for Mode Change\n");
-		while(digitalRead(Config.LoRaDevices[LoRaChannel].DIO5) == 0)
+		if (Config.LoRaDevices[LoRaChannel].DIO5 > 0)
 		{
-		} 
-		// printf("Mode change completed\n");
+			while(digitalRead(Config.LoRaDevices[LoRaChannel].DIO5) == 0)
+			{
+			} 
+		}
+		else
+		{
+			delay(10);
+		}
 	}
 	
 	return;
@@ -180,9 +204,21 @@ void setupRFM98(int LoRaChannel)
 	if (Config.LoRaDevices[LoRaChannel].InUse)
 	{
 		// initialize the pins
-		printf("LoRa channel %d DIO0=%d DIO5=%d\n", LoRaChannel, Config.LoRaDevices[LoRaChannel].DIO0, Config.LoRaDevices[LoRaChannel].DIO5);
+		printf("LoRa channel %d DIO0=%d DIO5=%d, CS=%d\n", LoRaChannel, Config.LoRaDevices[LoRaChannel].DIO0, Config.LoRaDevices[LoRaChannel].DIO5, Config.LoRaDevices[LoRaChannel].CS);
 		pinMode(Config.LoRaDevices[LoRaChannel].DIO0, INPUT);
-		pinMode(Config.LoRaDevices[LoRaChannel].DIO5, INPUT);
+		if (Config.LoRaDevices[LoRaChannel].DIO5 > 0)
+		{
+			pinMode(Config.LoRaDevices[LoRaChannel].DIO5, INPUT);
+		}
+		if (Config.LoRaDevices[LoRaChannel].CS > 0)
+		{
+			pinMode(Config.LoRaDevices[LoRaChannel].CS, OUTPUT);
+		}
+		if (Config.LoRaDevices[LoRaChannel].CS >= 0)
+		{
+			pinMode(Config.LoRaDevices[LoRaChannel].RST, OUTPUT);
+			digitalWrite(Config.LoRaDevices[LoRaChannel].RST, 1);
+		}
 
 		if (wiringPiSPISetup(LoRaChannel, 500000) < 0)
 		{
@@ -227,9 +263,12 @@ void SendLoRaData(int LoRaChannel, unsigned char *buffer, int Length)
 	{
 		data[i+1] = buffer[i];
 	}
+
+	SetCS(LoRaChannel, 0);
+	
 	wiringPiSPIDataRW(LoRaChannel, data, Length+1);
 
-// printf("Set Tx Mode\n");
+	SetCS(LoRaChannel, 1);
 
 	// Set the length. For implicit mode, since the length needs to match what the receiver expects, we have to set a value which is 255 for an SSDV packet
 	writeRegister(LoRaChannel, REG_PAYLOAD_LENGTH, Config.LoRaDevices[LoRaChannel].PayloadLength ? Config.LoRaDevices[LoRaChannel].PayloadLength : Length);
@@ -501,7 +540,13 @@ int receiveMessage(int LoRaChannel, unsigned char *message)
 		writeRegister(LoRaChannel, REG_FIFO_ADDR_PTR, currentAddr);   
 		
 		data[0] = REG_FIFO;
+		
+		SetCS(LoRaChannel, 0);
+		
 		wiringPiSPIDataRW(LoRaChannel, data, Bytes+1);
+
+		SetCS(LoRaChannel, 1);
+		
 		for (i=0; i<=Bytes; i++)
 		{
 			message[i] = data[i+1];
@@ -656,7 +701,7 @@ int CheckForFreeChannel(struct TGPS *GPS)
 		{
 			if ((Config.LoRaDevices[LoRaChannel].LoRaMode != lmSending) || digitalRead(Config.LoRaDevices[LoRaChannel].DIO0))
 			{
-				// printf ("LoRa Channel %d is free\n", Channel);
+				// printf ("LoRa Channel %d is free\n", LoRaChannel);
 				// Either not sending, or was but now it's sent.  Clear the flag if we need to
 				if (Config.LoRaDevices[LoRaChannel].LoRaMode == lmSending)
 				{
@@ -781,7 +826,20 @@ void LoadLoRaConfig(FILE *fp, struct TConfig *Config)
 			Config->LoRaDevices[LoRaChannel].DIO0 = ReadInteger(fp, "LORA_DIO0", LoRaChannel, 0, Config->LoRaDevices[LoRaChannel].DIO0);
 			Config->LoRaDevices[LoRaChannel].DIO5 = ReadInteger(fp, "LORA_DIO5", LoRaChannel, 0, Config->LoRaDevices[LoRaChannel].DIO5);
 			printf("      - DIO0=%d DIO5=%d\n", Config->LoRaDevices[LoRaChannel].DIO0, Config->LoRaDevices[LoRaChannel].DIO5);
-			
+
+			// CS for those stupid boards that don't use standard Pi CS pins ...
+			Config->LoRaDevices[LoRaChannel].CS = ReadInteger(fp, "LORA_CS", LoRaChannel, 0, 0);
+			if (Config->LoRaDevices[LoRaChannel].CS > 0)
+			{
+				printf("      - **NON STANDARD** CS pin %d\n", Config->LoRaDevices[LoRaChannel].CS);
+			}
+
+			Config->LoRaDevices[LoRaChannel].RST = ReadInteger(fp, "LORA_RST", LoRaChannel, 0, -1);
+			if (Config->LoRaDevices[LoRaChannel].RST >= 0)
+			{
+				printf("      - RST pin %d\n", Config->LoRaDevices[LoRaChannel].RST);
+			}
+
 			if (Config->Camera)
 			{
 				Config->Channels[Channel].ImageWidthWhenLow = ReadInteger(fp, "LORA_low_width", LoRaChannel, 0, 320);
diff --git a/tracker/misc.c b/tracker/misc.c
index d779ff1..cef0fd5 100755
--- a/tracker/misc.c
+++ b/tracker/misc.c
@@ -616,6 +616,15 @@ int ReadCameraType(FILE *fp, char *keyword)
 	return 0;
 }
 
+char ReadCharacter(FILE *fp, char *keyword)
+{
+	char Temp[8];
+	
+	ReadString(fp, keyword, -1, Temp, sizeof(Temp), 0);
+	
+	return *Temp;
+}
+
 int ReadBoolean(FILE *fp, char *keyword, int Channel, int NeedValue, int *Result)
 {
 	char Temp[32];
diff --git a/tracker/misc.h b/tracker/misc.h
index d12b1ed..44de568 100755
--- a/tracker/misc.h
+++ b/tracker/misc.h
@@ -11,6 +11,8 @@ struct TLoRaDevice
 	int InUse;
 	int DIO0;
 	int DIO5;
+	int CS;
+	int RST;
 	char Frequency[8];
 	int SpeedMode;
 	int Power;
@@ -168,6 +170,8 @@ struct TConfig
 	int LED_Warn;
 	
 	// GPS Settings
+	int GPSModel;
+	int ShowGPS;
 	int SDA;
 	int SCL;
 	char GPSDevice[64];
@@ -227,6 +231,7 @@ int ReadBoolean(FILE *fp, char *keyword, int Channel, int NeedValue, int *Result
 void ReadString(FILE *fp, char *keyword, int Channel, char *Result, int Length, int NeedValue);
 int ReadCameraType(FILE *fp, char *keyword);
 int ReadInteger(FILE *fp, char *keyword, int Channel, int NeedValue, int DefaultValue);
+char ReadCharacter(FILE *fp, char *keyword);
 double ReadFloat(FILE *fp, char *keyword, int Channel, int NeedValue, double DefaultValue);
 void AppendCRC(char *Temp);
 void LogMessage(const char *format, ...);
diff --git a/tracker/prediction.h b/tracker/prediction.h
index ce6076b..651d31e 100755
--- a/tracker/prediction.h
+++ b/tracker/prediction.h
@@ -1,6 +1,6 @@
 #define DEG2RAD (3.142 / 180)
 #define SLOTSIZE 100
-#define SLOTS (45000 / SLOTSIZE)
+#define SLOTS (60000 / SLOTSIZE)
 #define POLL_PERIOD 5
 
 struct TPosition
diff --git a/tracker/tracker.c b/tracker/tracker.c
index 4a43c35..48f8a65 100755
--- a/tracker/tracker.c
+++ b/tracker/tracker.c
@@ -262,6 +262,17 @@ void LoadConfigFile(struct TConfig *Config)
 	Config->ExternalDataFileName[0] = '\0';
 	ReadString(fp, "external_data", -1, Config->ExternalDataFileName, sizeof(Config->ExternalDataFileName), 0);
 
+	// GPS model
+	Config->GPSModel = ReadCharacter(fp, "gps_model");
+	if (Config->GPSModel == '\0')
+	{
+		Config->GPSModel = 'U';			// Default UBlox
+	}
+	
+	// Show GPS NMEA ?
+	Config->ShowGPS = 0;
+	ReadBoolean(fp, "show_gps", -1, 0, &(Config->ShowGPS));
+	
 	// Serial GPS
 	Config->GPSDevice[0] = '\0';
 	ReadString(fp, "gps_device", -1, Config->GPSDevice, sizeof(Config->GPSDevice), 0);

From 30943ab8ea988695e4e158648f1855fd9fa906bd Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@scs.co.uk>
Date: Wed, 26 Sep 2018 17:37:25 +0000
Subject: [PATCH 06/60] Added support for RTTY via LoRa module

---
 README.md              |  28 ++++
 tracker/lora.c         | 317 ++++++++++++++++++++++++++++++++++++++---
 tracker/lora.h         |  17 ++-
 tracker/misc.c         |  13 +-
 tracker/misc.h         |  19 +++
 tracker/pisky.txt      |  48 +++++++
 tracker/prediction.txt | Bin 0 -> 128810 bytes
 7 files changed, 410 insertions(+), 32 deletions(-)
 create mode 100755 tracker/pisky.txt
 create mode 100644 tracker/prediction.txt

diff --git a/README.md b/README.md
index 03e3359..a5f78fb 100755
--- a/README.md
+++ b/README.md
@@ -12,6 +12,29 @@ Software support is provided for customers who have purchased a PITS, PITS Zero
 
 Follow the instructions at http://www.pi-in-the-sky.com/index.php?id=sd-card-image-from-scratch
 
+## RTTY through LoRa ##
+
+To understand the settings, first take note that PITS has a concept of "radio channels" where a channel is a particular radio transmitter not mode (RTTY or LoRa).  We are using one of the LoRa devices (channels) to transmit RTTY.  So our settings are associated with the particular LoRa module (in CE0 or CE1 position).  Essentially we are overriding the normal LoRa functionality by telling the software to transmitt RTTY as well as or instead of the LoRa packets.
+
+These are the new settings (shown for channel 0)
+
+
+- LORA\_RTTY\_Frequency_0=<RTTY Frequency\>.  Without this, RTTY will use the same frequency as LoRa.  I recommend that you keep the frequencies apart so that your RTTY receiving software does not try to track the LoRa trransmissions.
+- LORA\_RTTY\_Baud_0=<baud rate\>.  Choose 50 (better range) or 300 (faster, allows for SSDV, easier for dl-fldigi to lock to).
+- LORA\_RTTY\_Shift_0=<carrier shift in Hz\>.  The carrier shift must be numerically greater than the baud rate.  Note that the LoRa chip steps in multiples of 30.5Hz.
+- LORA\_RTTY\_Count_0=<count\>.  This is how many RTTY packets are sent one after the other before transmitting any LoRa packets.  2 is recommended in case the RTTY decoder misses the start of the first packet.
+- LORA\_RTTY\_Every_0=<count\>.  This is how many LoRa packets are sent one after the other before transmitting any RTTY packets.  Set to zero to disable LoRa (and only send RTTY).
+- LORA\_RTTY\_Preamble_0=<bits\>.  Sets the length of preamble (constant carrier) before sending RTTY data.  Default is 8 and seems to be plenty.
+
+Example:
+
+	LORA_RTTY_Frequency_0=434.350
+	LORA_RTTY_Baud_0=300
+	LORA_RTTY_Shift_0=610
+	LORA_RTTY_Count_0=2
+	LORA_RTTY_Every_0=12
+	LORA_RTTY_Preamble_0=8
+
 
 ## USB Camera ##
 
@@ -61,6 +84,11 @@ It is therefore possible to overlay downloaded images with telemetry data, as te
 
 ## Change Log ##
 
+26/09/2018
+==========
+
+- Added support for RTTY via LoRa module
+
 09/04/2018
 ==========
 
diff --git a/tracker/lora.c b/tracker/lora.c
index c025606..0ca4e22 100755
--- a/tracker/lora.c
+++ b/tracker/lora.c
@@ -1,4 +1,5 @@
 #include <unistd.h>
+#include <unistd.h>
 #include <sys/types.h>
 #include <sys/stat.h>
 #include <ctype.h>
@@ -117,7 +118,7 @@ void setMode(int LoRaChannel, uint8_t newMode)
   switch (newMode) 
   {
     case RF98_MODE_TX:
-      writeRegister(LoRaChannel, REG_LNA, LNA_OFF_GAIN);  // TURN LNA OFF FOR TRANSMITT
+      writeRegister(LoRaChannel, REG_LNA, LNA_OFF_GAIN);  // TURN LNA OFF FOR TRANSMIT
       writeRegister(LoRaChannel, REG_PA_CONFIG, Config.LoRaDevices[LoRaChannel].Power);
       writeRegister(LoRaChannel, REG_OPMODE, newMode);
       currentMode = newMode; 
@@ -152,8 +153,6 @@ void setMode(int LoRaChannel, uint8_t newMode)
 			delay(10);
 		}
 	}
-	
-	return;
 }
  
 void SetLoRaFrequency(int LoRaChannel, double Frequency)
@@ -166,13 +165,13 @@ void SetLoRaFrequency(int LoRaChannel, double Frequency)
 
 	setMode(LoRaChannel, RF98_MODE_SLEEP);
 
-	FrequencyValue = (unsigned long)(Frequency * 7110656 / 434);
+	FrequencyValue = (unsigned long)(Frequency * (1.0 - Config.LoRaDevices[LoRaChannel].PPM/1000000.0) * 7110656 / 434);
 	
 	// printf("Channel %d frequency %lf FrequencyValue = %06lXh\n", LoRaChannel, Frequency, FrequencyValue);
 	
-	writeRegister(LoRaChannel, 0x06, (FrequencyValue >> 16) & 0xFF);		// Set frequency
-	writeRegister(LoRaChannel, 0x07, (FrequencyValue >> 8) & 0xFF);
-	writeRegister(LoRaChannel, 0x08, FrequencyValue & 0xFF);
+	writeRegister(LoRaChannel, REG_FRF_MSB, (FrequencyValue >> 16) & 0xFF);		// Set frequency
+	writeRegister(LoRaChannel, REG_FRF_MID, (FrequencyValue >> 8) & 0xFF);
+	writeRegister(LoRaChannel, REG_FRF_LSB, FrequencyValue & 0xFF);
 }
 
 void setLoRaMode(int LoRaChannel)
@@ -204,7 +203,6 @@ void setupRFM98(int LoRaChannel)
 	if (Config.LoRaDevices[LoRaChannel].InUse)
 	{
 		// initialize the pins
-		printf("LoRa channel %d DIO0=%d DIO5=%d, CS=%d\n", LoRaChannel, Config.LoRaDevices[LoRaChannel].DIO0, Config.LoRaDevices[LoRaChannel].DIO5, Config.LoRaDevices[LoRaChannel].CS);
 		pinMode(Config.LoRaDevices[LoRaChannel].DIO0, INPUT);
 		if (Config.LoRaDevices[LoRaChannel].DIO5 > 0)
 		{
@@ -241,6 +239,10 @@ void setupRFM98(int LoRaChannel)
 	}
 }
 
+void SwitchToLoRaMode(int LoRaChannel)
+{
+	setupRFM98(LoRaChannel);
+}
 
 void SendLoRaData(int LoRaChannel, unsigned char *buffer, int Length)
 {
@@ -249,6 +251,13 @@ void SendLoRaData(int LoRaChannel, unsigned char *buffer, int Length)
 	
 	// printf("LoRa Channel %d Sending %d bytes\n", LoRaChannel, Length);
 
+	if (Config.LoRaDevices[LoRaChannel].InRTTYMode != 0)
+	{
+		// Set LoRa mode
+		SwitchToLoRaMode(LoRaChannel);
+		Config.LoRaDevices[LoRaChannel].InRTTYMode = 0;
+	}
+
 	Config.LoRaDevices[LoRaChannel].MillisSinceLastPacket = 0;
 
 	setMode(LoRaChannel, RF98_MODE_STANDBY);
@@ -277,8 +286,166 @@ void SendLoRaData(int LoRaChannel, unsigned char *buffer, int Length)
 	setMode(LoRaChannel, RF98_MODE_TX);
 	
 	Config.LoRaDevices[LoRaChannel].LoRaMode = lmSending;
+	Config.LoRaDevices[LoRaChannel].SendingRTTY = 0;
+}
+
+void SwitchToFSKMode(int LoRaChannel)
+{
+	unsigned long FrequencyValue;
+	
+	uint8_t mode = readRegister(LoRaChannel, REG_OPMODE);
+	mode |= (1<<3); 													//set LF range
+
+	if (mode & (1<<7))  //if in lora mode
+	{
+		writeRegister(LoRaChannel, REG_OPMODE,(mode & ~(uint8_t)7));		//set to sleep mode so fsk bit can be written
+	}
+	else
+	{
+		writeRegister(LoRaChannel, REG_OPMODE,(mode & ~(uint8_t)7) | 1);	//set to standby mode so various settings can be written	
+	}
+
+	mode = readRegister(LoRaChannel, REG_OPMODE);
+	writeRegister(LoRaChannel, REG_OPMODE, mode & ~(uint8_t)(7<<5));         //set to FSK
+
+    writeRegister(LoRaChannel, REG_LNA, LNA_OFF_GAIN);  // TURN LNA OFF FOR TRANSMIT
+    writeRegister(LoRaChannel, REG_PA_CONFIG, Config.LoRaDevices[LoRaChannel].Power);
+	  
+	// Frequency
+	FrequencyValue = (unsigned long)(Config.LoRaDevices[LoRaChannel].RTTYFrequency * (1.0 - Config.LoRaDevices[LoRaChannel].PPM/1000000.0) * 7110656 / 434);
+	writeRegister(LoRaChannel, REG_FRF_MSB, (FrequencyValue >> 16) & 0xFF);		// Set frequency
+	writeRegister(LoRaChannel, REG_FRF_MID, (FrequencyValue >> 8) & 0xFF);
+	writeRegister(LoRaChannel, REG_FRF_LSB, FrequencyValue & 0xFF);
+	
+	//write modem config
+	writeRegister(LoRaChannel, REG_BITRATE_LSB, Config.LoRaDevices[LoRaChannel].FSKBitRate & 0xFF);
+	writeRegister(LoRaChannel, REG_BITRATE_MSB, (Config.LoRaDevices[LoRaChannel].FSKBitRate >> 8) & 0xFF);
+	writeRegister(LoRaChannel, REG_FDEV_LSB, (Config.LoRaDevices[LoRaChannel].RTTYShift / 122) & 0xFF);
+	writeRegister(LoRaChannel, REG_FDEV_MSB, 0);
+	writeRegister(LoRaChannel, REG_PREAMBLE_LSB_FSK, 0);		// Preamble
+	writeRegister(LoRaChannel, REG_PREAMBLE_MSB_FSK, 0);
+	
+	// writeRegister(LoRaChannel, REG_PACKET_CONFIG1, 0x80);		// variable length, no DC fix, no CRC, no addressing
+	writeRegister(LoRaChannel, REG_PACKET_CONFIG1, 0x00);		// fixed length, no DC fix, no CRC, no addressing
+	writeRegister(LoRaChannel, REG_PAYLOAD_LENGTH_FSK, 0);
+
 }
 
+int FSKPacketSent(int LoRaChannel)
+{
+	return ((readRegister(LoRaChannel, REG_IRQ_FLAGS2) & 0x48) != 0);
+}
+
+int FSKBufferLow(int LoRaChannel)
+{
+	return (readRegister(LoRaChannel, REG_IRQ_FLAGS2) & 0x20) == 0;
+}
+
+void AddBytesToFSKBuffer(int LoRaChannel, int MaxBytes)
+{
+	unsigned char data[65], temp;
+	int i;
+	uint8_t BytesWritten = 0;
+
+	if (Config.LoRaDevices[LoRaChannel].RTTYIndex < Config.LoRaDevices[LoRaChannel].RTTYLength)
+	{
+		data[BytesWritten++] = REG_FIFO | 0x80;
+		
+		// printf("*** %d of %d *** \n", Config.LoRaDevices[LoRaChannel].RTTYIndex, Config.LoRaDevices[LoRaChannel].RTTYLength);
+
+		while((BytesWritten <= (MaxBytes-Config.LoRaDevices[LoRaChannel].FSKOverSample+1)) &&
+			  (Config.LoRaDevices[LoRaChannel].RTTYIndex < Config.LoRaDevices[LoRaChannel].RTTYLength))
+		{
+			if (Config.LoRaDevices[LoRaChannel].RTTYMask < 0)  //start bit
+			{
+				temp = 0xFF;
+				Config.LoRaDevices[LoRaChannel].RTTYMask++;
+			}
+			else if (Config.LoRaDevices[LoRaChannel].RTTYMask == 0)  //start bit
+			{
+				temp = 0;
+				Config.LoRaDevices[LoRaChannel].RTTYMask = 1;
+			}
+			else if (Config.LoRaDevices[LoRaChannel].RTTYMask >= (1<<Config.LoRaDevices[LoRaChannel].RTTYBitLength))  //stop bits
+			{
+				Config.LoRaDevices[LoRaChannel].RTTYMask <<= 1;
+				temp = 0xFF;
+				if (Config.LoRaDevices[LoRaChannel].RTTYMask >= (1<<(Config.LoRaDevices[LoRaChannel].RTTYBitLength+2)))
+				{
+					Config.LoRaDevices[LoRaChannel].RTTYMask = 0;
+					Config.LoRaDevices[LoRaChannel].RTTYIndex++;
+				}
+			}
+			else  //databits
+			{
+				if (Config.LoRaDevices[LoRaChannel].RTTYBuffer[Config.LoRaDevices[LoRaChannel].RTTYIndex] & Config.LoRaDevices[LoRaChannel].RTTYMask)
+				{
+					temp = 0xFF;
+				}
+				else
+				{
+					temp = 0x0;
+				}
+				Config.LoRaDevices[LoRaChannel].RTTYMask <<= 1;
+			}
+
+			for (i = 0; i < Config.LoRaDevices[LoRaChannel].FSKOverSample; i++)
+			{
+				data[BytesWritten++] = temp;
+			}
+		}
+
+		/*
+		LogMessage("*** ADDED %d BYTES ***\n", BytesWritten-1);
+		for (i = 1; i <= BytesWritten; i++)
+		{
+			printf("%c", data[i] ? '-' : '_');
+		}
+		printf("\n");
+		*/
+
+		SetCS(LoRaChannel, 0);
+		wiringPiSPIDataRW(LoRaChannel, data, BytesWritten);
+		SetCS(LoRaChannel, 1);
+
+		// printf("IRQ[%d] = %02X, MODE = %02X\n", LoRaChannel, readRegister(LoRaChannel, REG_IRQ_FLAGS2), readRegister(LoRaChannel, REG_OPMODE));
+	}
+}
+
+void SendLoRaRTTY(int LoRaChannel, unsigned char *buffer, int Length)
+{
+	// printf("LoRa Channel %d Sending %d bytes\n", LoRaChannel, Length);
+
+	if (Config.LoRaDevices[LoRaChannel].InRTTYMode != 1)
+	{
+		// Set RTTY mode
+		SwitchToFSKMode(LoRaChannel);
+		Config.LoRaDevices[LoRaChannel].InRTTYMode = 1;
+	}
+
+	Config.LoRaDevices[LoRaChannel].MillisSinceLastPacket = 0;
+	
+	// Fill in RTTY buffer
+	memcpy(Config.LoRaDevices[LoRaChannel].RTTYBuffer, buffer, Length);
+	Config.LoRaDevices[LoRaChannel].RTTYLength = Length;
+	Config.LoRaDevices[LoRaChannel].RTTYIndex = 0;
+	Config.LoRaDevices[LoRaChannel].RTTYMask = -Config.LoRaDevices[LoRaChannel].RTTYPreamble;
+	
+	// Set FIFO threshold
+	uint8_t r = readRegister(LoRaChannel, REG_FIFO_THRESH);	
+	writeRegister(LoRaChannel, REG_FIFO_THRESH,(r&(~0x3F)) | 20);			// 20 = FIFO threshold
+	
+	writeRegister(LoRaChannel, REG_OPMODE, 0x0B);		// Tx mode
+
+	// Populate FIFO
+	AddBytesToFSKBuffer(LoRaChannel, 64);
+	
+	// Set channel state
+	Config.LoRaDevices[LoRaChannel].LoRaMode = lmSending;
+	Config.LoRaDevices[LoRaChannel].SendingRTTY = 1;
+}
+
+
 int BuildLoRaCall(unsigned char *TxLine, int LoRaChannel)
 {
     sprintf((char *)TxLine, "^^%s,%s,%d,%d,%d,%d,%d",
@@ -318,7 +485,7 @@ int BuildLoRaPositionPacket(unsigned char *TxLine, int LoRaChannel, struct TGPS
 	return sizeof(struct TBinaryPacket);
 }
 
-int SendLoRaImage(int LoRaChannel)
+int SendLoRaImage(int LoRaChannel, int RTTYMode)
 {
     unsigned char Buffer[256];
     size_t Count;
@@ -342,7 +509,14 @@ int SendLoRaImage(int LoRaChannel)
 			
 			printf("LORA%d: SSDV image %d packet %d of %d %s\r\n", LoRaChannel, Config.Channels[Channel].SSDVImageNumber, Config.Channels[Channel].SSDVPacketNumber+1, Config.Channels[Channel].SSDVNumberOfPackets, ResentPacket ? "** RESEND **" : "");
 			
-			SendLoRaData(LoRaChannel, Buffer+1, 255);
+			if (RTTYMode)
+			{
+				SendLoRaRTTY(LoRaChannel, Buffer+1, 255);
+			}
+			else
+			{
+				SendLoRaData(LoRaChannel, Buffer+1, 255);
+			}
 		
 			SentSomething = 1;
         }
@@ -811,6 +985,8 @@ void LoadLoRaConfig(FILE *fp, struct TConfig *Config)
 		
 		if (Config->LoRaDevices[LoRaChannel].Frequency[0])
 		{
+			Config->LoRaDevices[LoRaChannel].PPM = ReadFloat(fp, "LORA_PPM", LoRaChannel, 0, 0);
+
 			printf("LORA%d - frequency set to %s\n", LoRaChannel, Config->LoRaDevices[LoRaChannel].Frequency);
 			Config->LoRaDevices[LoRaChannel].InUse = 1;
 			Config->Channels[Channel].Enabled = 1;
@@ -1003,7 +1179,39 @@ void LoadLoRaConfig(FILE *fp, struct TConfig *Config)
 				{
 					printf("      - Calling Packet will be sent on %s every %d packets\n", Config->LoRaDevices[LoRaChannel].CallingFrequency, Config->LoRaDevices[LoRaChannel].CallingCount);
 				}
-			}			
+			}
+
+			// RTTY using LoRa chip
+			Config->LoRaDevices[LoRaChannel].RTTYBaudRate = ReadInteger(fp, "LORA_RTTY_Baud", LoRaChannel, 0, 0);
+			if (Config->LoRaDevices[LoRaChannel].RTTYBaudRate > 0)
+			{
+				Config->LoRaDevices[LoRaChannel].RTTYFrequency = ReadFloat(fp, "LORA_RTTY_Frequency", LoRaChannel, 0, atof(Config->LoRaDevices[LoRaChannel].Frequency));
+				Config->LoRaDevices[LoRaChannel].RTTYShift = ReadInteger(fp, "LORA_RTTY_Shift", LoRaChannel, 0, 488);
+				printf("      - RTTY Enabled at %d baud, %dHz shift\n", Config->LoRaDevices[LoRaChannel].RTTYBaudRate, Config->LoRaDevices[LoRaChannel].RTTYShift);
+				
+				if (Config->LoRaDevices[LoRaChannel].RTTYBaudRate == 50)
+				{
+					Config->LoRaDevices[LoRaChannel].FSKBitRate = 40000;
+					Config->LoRaDevices[LoRaChannel].FSKOverSample = 2;
+					Config->LoRaDevices[LoRaChannel].RTTYBitLength = 7;
+				}
+				else
+				{
+					// 300 baud
+					Config->LoRaDevices[LoRaChannel].FSKBitRate = 13333;	// 53333;
+					Config->LoRaDevices[LoRaChannel].FSKOverSample = 1;
+					Config->LoRaDevices[LoRaChannel].RTTYBitLength = 8;
+				}
+				
+				Config->LoRaDevices[LoRaChannel].RTTYCount = ReadInteger(fp, "LORA_RTTY_Count", LoRaChannel, 0, 1);
+				Config->LoRaDevices[LoRaChannel].RTTYEvery = ReadInteger(fp, "LORA_RTTY_Every", LoRaChannel, 0, 1);
+				Config->LoRaDevices[LoRaChannel].RTTYPreamble = ReadInteger(fp, "LORA_RTTY_Preamble", LoRaChannel, 0, 8);
+
+				printf("      - %d RTTY sentences for every %d LoRa packets\n", Config->LoRaDevices[LoRaChannel].RTTYCount, Config->LoRaDevices[LoRaChannel].RTTYEvery); 
+			}
+			
+			Config->LoRaDevices[LoRaChannel].InRTTYMode = -1;		
+			
 #			ifdef EXTRAS_PRESENT
 				LoadExtraLoRaConfig(fp, Config, LoRaChannel);
 #			endif	
@@ -1014,6 +1222,31 @@ void LoadLoRaConfig(FILE *fp, struct TConfig *Config)
 		}
 	}
 }
+
+
+void CheckFSKBuffers(struct TGPS *GPS)
+{
+	int LoRaChannel;
+	
+	for (LoRaChannel=0; LoRaChannel<=1; LoRaChannel++)
+	{
+		if ((Config.LoRaDevices[LoRaChannel].LoRaMode == lmSending) && Config.LoRaDevices[LoRaChannel].SendingRTTY)
+		{
+			// Check if packet sent
+			if (FSKPacketSent(LoRaChannel))
+			{
+				// printf("*** PACKET SENT ***\n");
+				Config.LoRaDevices[LoRaChannel].LoRaMode = lmIdle;
+				Config.LoRaDevices[LoRaChannel].SendingRTTY = 0;
+			}
+			else if (FSKBufferLow(LoRaChannel))
+			{
+				AddBytesToFSKBuffer(LoRaChannel, 64 - 20);
+			}
+		}
+	}
+}
+
 	
 void *LoRaLoop(void *some_void_ptr)
 {	
@@ -1026,19 +1259,25 @@ void *LoRaLoop(void *some_void_ptr)
 
 	for (LoRaChannel=0; LoRaChannel<2; LoRaChannel++)
 	{
-		setupRFM98(LoRaChannel);
-		if (Config.LoRaDevices[LoRaChannel].SpeedMode == 2)
+		if (Config.LoRaDevices[LoRaChannel].InUse)
 		{
-			startReceiving(LoRaChannel);
+			printf("LoRa channel %d DIO0=%d DIO5=%d, CS=%d\n", LoRaChannel, Config.LoRaDevices[LoRaChannel].DIO0, Config.LoRaDevices[LoRaChannel].DIO5, Config.LoRaDevices[LoRaChannel].CS);
+			setupRFM98(LoRaChannel);
+			if (Config.LoRaDevices[LoRaChannel].SpeedMode == 2)
+			{
+				startReceiving(LoRaChannel);
+			}
+			
+			Config.LoRaDevices[LoRaChannel].PacketsSinceLastCall = Config.LoRaDevices[LoRaChannel].CallingCount;		// So we do the calling channel first
 		}
-		
-		Config.LoRaDevices[LoRaChannel].PacketsSinceLastCall = Config.LoRaDevices[LoRaChannel].CallingCount;		// So we do the calling channel first
 	}
 	
 	while (1)
 	{	
 		delay(LoopMS);								// To stop this loop gobbling up CPU
 
+		CheckFSKBuffers(GPS);
+		
 		CheckForPacketOnListeningChannels(GPS);
 		
 		LoRaChannel = CheckForFreeChannel(GPS);		// 0 or 1 if there's a free channel and we should be sending on that channel now
@@ -1115,12 +1354,40 @@ void *LoRaLoop(void *some_void_ptr)
 			}
 			else
 			{			
-				int MaxImagePackets;
-
-				if ((Config.Channels[Channel].SendMode == 0) || (Config.Channels[Channel].ImagePackets == 0))
+				int MaxImagePackets, DoRTTY, PacketLength, SentSomething;
+				
+				
+				DoRTTY = 0;
+				
+				if ((Config.LoRaDevices[LoRaChannel].RTTYBaudRate > 0) && (Config.LoRaDevices[LoRaChannel].RTTYCount > 0))
 				{
-					int PacketLength;
+					DoRTTY = Config.LoRaDevices[LoRaChannel].RTTYPacketIndex < Config.LoRaDevices[LoRaChannel].RTTYCount;
+				}
+				
+				SentSomething = 1;
+				
+				if (DoRTTY)
+				{
+					if ((Config.Channels[Channel].SendMode == 0) || (Config.Channels[Channel].ImagePackets == 0) || (Config.LoRaDevices[LoRaChannel].RTTYEvery > 0))
+					{
+						PacketLength = BuildSentence(Sentence, Channel, GPS);
+						LogMessage("RTTY%d: %s", LoRaChannel, Sentence);
+						if (Config.EnableTelemetryLogging)
+						{
+							WriteLog("telemetry.txt", (char *)Sentence);
+						}
+										
+						SendLoRaRTTY(LoRaChannel, Sentence, PacketLength);		
 
+						Config.LoRaDevices[LoRaChannel].PacketsSinceLastCall++;
+					}
+					else
+					{
+						SendLoRaImage(LoRaChannel, 1);
+					}
+				}
+				else if ((Config.Channels[Channel].SendMode == 0) || (Config.Channels[Channel].ImagePackets == 0))
+				{
 					// Telemetry packet
 					
 					if (Config.LoRaDevices[LoRaChannel].HABPack)
@@ -1157,8 +1424,16 @@ void *LoRaLoop(void *some_void_ptr)
 				{
 					// Image packet
 					
-					SendLoRaImage(LoRaChannel);
+					SentSomething = SendLoRaImage(LoRaChannel, 0);
 				}
+				
+				if (SentSomething && (Config.LoRaDevices[LoRaChannel].RTTYBaudRate > 0) && (Config.LoRaDevices[LoRaChannel].RTTYCount > 0))
+				{
+					if (++Config.LoRaDevices[LoRaChannel].RTTYPacketIndex >= (Config.LoRaDevices[LoRaChannel].RTTYCount + Config.LoRaDevices[LoRaChannel].RTTYEvery))
+					{
+						Config.LoRaDevices[LoRaChannel].RTTYPacketIndex = 0;
+					}
+				}				
 
 				if (Config.Channels[Channel].ImagePackets == 0)
 				{
diff --git a/tracker/lora.h b/tracker/lora.h
index f493742..b26895c 100755
--- a/tracker/lora.h
+++ b/tracker/lora.h
@@ -1,11 +1,21 @@
 #define REG_FIFO                    0x00
+#define REG_BITRATE_MSB    			0x02
+#define REG_BITRATE_LSB    			0x03
+#define REG_FDEV_MSB                0x04
+#define REG_FDEV_LSB                0x05
+#define REG_FRF_MSB                 0x06
+#define REG_FRF_MID                 0x07
+#define REG_FRF_LSB                 0x08
 #define REG_FIFO_ADDR_PTR           0x0D 
 #define REG_FIFO_TX_BASE_AD         0x0E
 #define REG_FIFO_RX_BASE_AD         0x0F
 #define REG_RX_NB_BYTES             0x13
 #define REG_OPMODE                  0x01
 #define REG_FIFO_RX_CURRENT_ADDR    0x10
+#define REG_IRQ_FLAGS_MASK          0x11
 #define REG_IRQ_FLAGS               0x12
+#define REG_IRQ_FLAGS1              0x3E
+#define REG_IRQ_FLAGS2              0x3F
 #define REG_PACKET_SNR				0x19
 #define REG_PACKET_RSSI				0x1A
 #define REG_CURRENT_RSSI			0x1B
@@ -15,11 +25,16 @@
 #define REG_MODEM_CONFIG2           0x1E
 #define REG_MODEM_CONFIG3           0x26
 #define REG_PAYLOAD_LENGTH          0x22
-#define REG_IRQ_FLAGS_MASK          0x11
 #define REG_HOP_PERIOD              0x24
 #define REG_FREQ_ERROR				0x28
 #define REG_DETECT_OPT				0x31
 #define	REG_DETECTION_THRESHOLD		0x37
+#define REG_PREAMBLE_MSB_FSK 		0x25
+#define REG_PREAMBLE_LSB_FSK 		0x26
+#define REG_SYNC_CONFIG             0x27
+#define REG_PACKET_CONFIG1	  		0x30
+#define REG_PAYLOAD_LENGTH_FSK      0x32
+#define REG_FIFO_THRESH             0x35
 
 // MODES
 #define RF98_MODE_RX_CONTINUOUS     0x85
diff --git a/tracker/misc.c b/tracker/misc.c
index cef0fd5..d6a5764 100755
--- a/tracker/misc.c
+++ b/tracker/misc.c
@@ -732,23 +732,16 @@ int prog_count(char* name)
 
 void LogMessage(const char *format, ...)
 {
-	#define MAX_LEN 180
-	char Buffer[300];
+	#define MAX_LEN 300
+	char Buffer[MAX_LEN];
 	
     va_list args;
     va_start(args, format);
 
-    vsprintf(Buffer, format, args);
+    vsnprintf(Buffer, MAX_LEN, format, args);
 
     va_end(args);
 
-	// if (strlen(Buffer) > MAX_LEN)
-	// {
-		// Buffer[MAX_LEN-2] = '.';
-		// Buffer[MAX_LEN-1] = '.';
-		// Buffer[MAX_LEN] = 0;
-	// }
-
 	if (Buffer[strlen(Buffer)-1] == '\n')
 	{
 		Buffer[strlen(Buffer)-1] = '\0';
diff --git a/tracker/misc.h b/tracker/misc.h
index 44de568..c08972c 100755
--- a/tracker/misc.h
+++ b/tracker/misc.h
@@ -14,6 +14,7 @@ struct TLoRaDevice
 	int CS;
 	int RST;
 	char Frequency[8];
+    float PPM;
 	int SpeedMode;
 	int Power;
 	int PayloadLength;
@@ -40,6 +41,7 @@ struct TLoRaDevice
 	int UplinkRepeatLength;
 	int SendRepeatedPacket;
 	tLoRaMode LoRaMode;
+    int SendingRTTY;
 	char CallingFrequency[8];
 	int CallingCount;
 	int PacketsSinceLastCall;
@@ -66,6 +68,23 @@ struct TLoRaDevice
 	int LastPacketSNR;
 	int PacketCount;
 	int ListenOnly;					// True for listen-only payload that waits for an uplink before responding (or times out and sends anyway)
+    
+    // RTTY settings
+    int RTTYBaudRate;
+    double RTTYFrequency;
+    int RTTYShift;
+    int RTTYCount;
+    int RTTYEvery;
+    int RTTYPacketIndex;
+    int RTTYBitLength;
+    int InRTTYMode;
+    unsigned int FSKBitRate;
+    int FSKOverSample;
+	char RTTYBuffer[256];
+    int RTTYIndex;
+    int RTTYMask;
+    int RTTYLength;
+    int RTTYPreamble;
 	
 #	ifdef EXTRAS_PRESENT
 #		include "ex_misc_lora.h"
diff --git a/tracker/pisky.txt b/tracker/pisky.txt
new file mode 100755
index 0000000..1d41ed6
--- /dev/null
+++ b/tracker/pisky.txt
@@ -0,0 +1,48 @@
+payload=CHANGEME
+disable_monitor=Y
+frequency=434.250
+baud=300
+camera=Y
+low_width=320
+low_height=240
+high=2000
+high_width=640
+high_height=480
+image_packets=4
+enable_bmp085=N
+external_temperature=1
+adc_vmax=18.5
+logging=GPS,Telemetry
+Disable_ADC=Y
+GPS_Device=/dev/ttyAMA0
+GPS_Model=M
+Show_GPS=N
+info_messages=2
+Disable_RTTY=Y
+
+full_low_width=640
+full_low_height=480
+full_high_width=2592
+full_high_height=1944
+full_image_period=60
+
+landing_prediction=Y
+cd_area=0.66
+payload_weight=1.0
+
+LORA_Frequency_0=434.450
+LORA_Payload_0=PTE2
+LORA_Mode_0=1
+LORA_PPM_0=-11.5
+LORA_RTTY_Frequency_0=434.350
+LORA_RTTY_Baud_0=300
+LORA_RTTY_Shift_0=610
+LORA_RTTY_Count_0=2
+LORA_RTTY_Every_0=12
+LORA_RTTY_Preamble_0=8
+LORA_Low_Height_0=0
+LORA_High_Width_0=0
+LORA_High_Height_0=480
+LORA_Image_Period_0=30
+LORA_Image_Packets_0=8
+
diff --git a/tracker/prediction.txt b/tracker/prediction.txt
new file mode 100644
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literal 0
HcmV?d00001


From 482f263da100e363141ff63d186d738920d39a2f Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@scs.co.uk>
Date: Wed, 26 Sep 2018 17:38:52 +0000
Subject: [PATCH 07/60] Added support for RTTY via LoRa module

---
 tracker/pisky.txt | 48 -----------------------------------------------
 1 file changed, 48 deletions(-)
 delete mode 100755 tracker/pisky.txt

diff --git a/tracker/pisky.txt b/tracker/pisky.txt
deleted file mode 100755
index 1d41ed6..0000000
--- a/tracker/pisky.txt
+++ /dev/null
@@ -1,48 +0,0 @@
-payload=CHANGEME
-disable_monitor=Y
-frequency=434.250
-baud=300
-camera=Y
-low_width=320
-low_height=240
-high=2000
-high_width=640
-high_height=480
-image_packets=4
-enable_bmp085=N
-external_temperature=1
-adc_vmax=18.5
-logging=GPS,Telemetry
-Disable_ADC=Y
-GPS_Device=/dev/ttyAMA0
-GPS_Model=M
-Show_GPS=N
-info_messages=2
-Disable_RTTY=Y
-
-full_low_width=640
-full_low_height=480
-full_high_width=2592
-full_high_height=1944
-full_image_period=60
-
-landing_prediction=Y
-cd_area=0.66
-payload_weight=1.0
-
-LORA_Frequency_0=434.450
-LORA_Payload_0=PTE2
-LORA_Mode_0=1
-LORA_PPM_0=-11.5
-LORA_RTTY_Frequency_0=434.350
-LORA_RTTY_Baud_0=300
-LORA_RTTY_Shift_0=610
-LORA_RTTY_Count_0=2
-LORA_RTTY_Every_0=12
-LORA_RTTY_Preamble_0=8
-LORA_Low_Height_0=0
-LORA_High_Width_0=0
-LORA_High_Height_0=480
-LORA_Image_Period_0=30
-LORA_Image_Packets_0=8
-

From b2b3f8c0f915247a817bc2ad6891853e3c5d9fdc Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Thu, 27 Sep 2018 16:50:14 +0000
Subject: [PATCH 08/60] Tidy

---
 tracker/lora.c | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/tracker/lora.c b/tracker/lora.c
index 0ca4e22..bb8ea3f 100755
--- a/tracker/lora.c
+++ b/tracker/lora.c
@@ -1213,7 +1213,7 @@ void LoadLoRaConfig(FILE *fp, struct TConfig *Config)
 			Config->LoRaDevices[LoRaChannel].InRTTYMode = -1;		
 			
 #			ifdef EXTRAS_PRESENT
-				LoadExtraLoRaConfig(fp, Config, LoRaChannel);
+//				LoadExtraLoRaConfig(fp, Config, LoRaChannel);
 #			endif	
 		}
 		else
@@ -1401,10 +1401,10 @@ void *LoRaLoop(void *some_void_ptr)
 						printf("LoRa%d: Binary packet %d bytes\n", LoRaChannel, PacketLength);
 					}
 #					ifdef EXTRAS_PRESENT
-					else if (TimeForCustomLoRaPacket(&Config, LoRaChannel))
-					{
-						PacketLength = BuildCustomLoRaPacket(Sentence, LoRaChannel, GPS);
-					}
+//					else if (TimeForCustomLoRaPacket(&Config, LoRaChannel))
+					// {
+						// PacketLength = BuildCustomLoRaPacket(Sentence, LoRaChannel, GPS);
+					// }
 #					endif	
 					else
 					{

From e13ee0ebb0d9178b1c172bd3df7e412b9ef2acc9 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Thu, 27 Sep 2018 17:03:29 +0000
Subject: [PATCH 09/60] Tidy

---
 tracker/lora.c | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/tracker/lora.c b/tracker/lora.c
index bb8ea3f..0ca4e22 100755
--- a/tracker/lora.c
+++ b/tracker/lora.c
@@ -1213,7 +1213,7 @@ void LoadLoRaConfig(FILE *fp, struct TConfig *Config)
 			Config->LoRaDevices[LoRaChannel].InRTTYMode = -1;		
 			
 #			ifdef EXTRAS_PRESENT
-//				LoadExtraLoRaConfig(fp, Config, LoRaChannel);
+				LoadExtraLoRaConfig(fp, Config, LoRaChannel);
 #			endif	
 		}
 		else
@@ -1401,10 +1401,10 @@ void *LoRaLoop(void *some_void_ptr)
 						printf("LoRa%d: Binary packet %d bytes\n", LoRaChannel, PacketLength);
 					}
 #					ifdef EXTRAS_PRESENT
-//					else if (TimeForCustomLoRaPacket(&Config, LoRaChannel))
-					// {
-						// PacketLength = BuildCustomLoRaPacket(Sentence, LoRaChannel, GPS);
-					// }
+					else if (TimeForCustomLoRaPacket(&Config, LoRaChannel))
+					{
+						PacketLength = BuildCustomLoRaPacket(Sentence, LoRaChannel, GPS);
+					}
 #					endif	
 					else
 					{

From 61d80736a1389031382addff5199cafff1712dcd Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Thu, 27 Sep 2018 17:14:37 +0000
Subject: [PATCH 10/60] Tidy

---
 .gitignore             |   3 ++-
 tracker/prediction.txt | Bin 128810 -> 0 bytes
 2 files changed, 2 insertions(+), 1 deletion(-)
 delete mode 100644 tracker/prediction.txt

diff --git a/.gitignore b/.gitignore
index a9c44f0..3ce6f9f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,7 +5,7 @@ tracker/tracker
 tracker/download
 tracker/keep
 tracker/ssdv_done_*
-tracker/coonvert_*
+tracker/convert_*
 tracker/tweets.log
 tracker/webstuff.py
 tracker/batc
@@ -18,6 +18,7 @@ tracker/ex_*
 *.old
 telemetry.txt
 gps.txt
+prediction.txt
 take*
 convert*
 *.bin
diff --git a/tracker/prediction.txt b/tracker/prediction.txt
deleted file mode 100644
index d5fed7720efb3836c6a71b7c6f95566f2c0186a5..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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From c84af875413441f43b4613d9cb0347eea3453e43 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Wed, 21 Nov 2018 10:52:10 +0000
Subject: [PATCH 11/60] Minor updates

---
 tracker/gps.c        |  2 ++
 tracker/gps.h        |  5 +--
 tracker/lora.c       | 44 ++++++++++++++++++------
 tracker/misc.c       |  4 +--
 tracker/misc.h       |  5 ++-
 tracker/prediction.c | 81 ++++++++++++++++++++++++--------------------
 tracker/prediction.h |  1 +
 7 files changed, 89 insertions(+), 53 deletions(-)

diff --git a/tracker/gps.c b/tracker/gps.c
index 231ff50..1b18f6e 100755
--- a/tracker/gps.c
+++ b/tracker/gps.c
@@ -592,6 +592,8 @@ void ProcessLine(struct gps_info *bb, struct TGPS *GPS, char *Buffer, int Count,
 						if (GPS->Altitude > GPS->MaximumAltitude)
 						{
 							GPS->MaximumAltitude = GPS->Altitude;
+							GPS->BurstLatitude = GPS->Latitude;
+							GPS->BurstLongitude = GPS->Longitude;
 						}
 						if ((GPS->Altitude < GPS->MinimumAltitude) || (GPS->MinimumAltitude == 0))
 						{
diff --git a/tracker/gps.h b/tracker/gps.h
index 0337f41..813c9ce 100755
--- a/tracker/gps.h
+++ b/tracker/gps.h
@@ -7,7 +7,7 @@ struct TGPS
 	// GPS
 	long SecondsInDay;					// Time in seconds since midnight
 	int Hours, Minutes, Seconds;
-	float Longitude, Latitude;
+	double Longitude, Latitude;
 	int32_t Altitude;
 	unsigned int Satellites;
 	int Speed;
@@ -16,6 +16,7 @@ struct TGPS
 	
 	// Calculated from GPS
 	int32_t MaximumAltitude, MinimumAltitude;
+    double BurstLatitude, BurstLongitude;
 	float AscentRate;
 	
 	// Sensors
@@ -31,7 +32,7 @@ struct TGPS
 	TFlightMode FlightMode;
 	
 	// Prediction
-	float PredictedLongitude, PredictedLatitude;
+	double PredictedLongitude, PredictedLatitude;
 	float PredictedLandingSpeed;
 	int TimeTillLanding;
 	float CDA;
diff --git a/tracker/lora.c b/tracker/lora.c
index 0ca4e22..967e4f9 100755
--- a/tracker/lora.c
+++ b/tracker/lora.c
@@ -167,7 +167,7 @@ void SetLoRaFrequency(int LoRaChannel, double Frequency)
 
 	FrequencyValue = (unsigned long)(Frequency * (1.0 - Config.LoRaDevices[LoRaChannel].PPM/1000000.0) * 7110656 / 434);
 	
-	// printf("Channel %d frequency %lf FrequencyValue = %06lXh\n", LoRaChannel, Frequency, FrequencyValue);
+	printf("Channel %d frequency %lf FrequencyValue = %06lXh\n", LoRaChannel, Frequency, FrequencyValue);
 	
 	writeRegister(LoRaChannel, REG_FRF_MSB, (FrequencyValue >> 16) & 0xFF);		// Set frequency
 	writeRegister(LoRaChannel, REG_FRF_MID, (FrequencyValue >> 8) & 0xFF);
@@ -545,24 +545,35 @@ int TDMTimeToSendOnThisChannel(int LoRaChannel, struct TGPS *GPS)
 			if (CycleSeconds == Config.LoRaDevices[LoRaChannel].Slot)
 			{
 				Config.LoRaDevices[LoRaChannel].LastTxAt = GPS->SecondsInDay;
-				Config.LoRaDevices[LoRaChannel].SendRepeatedPacket = 0;
+				Config.LoRaDevices[LoRaChannel].SendPacketType = ptNormal;
 				return 1;
 			}
 
 			if (Config.LoRaDevices[LoRaChannel].PacketRepeatLength && (CycleSeconds == Config.LoRaDevices[LoRaChannel].RepeatSlot))
 			{
 				Config.LoRaDevices[LoRaChannel].LastTxAt = GPS->SecondsInDay;
-				Config.LoRaDevices[LoRaChannel].SendRepeatedPacket = 1;
+				Config.LoRaDevices[LoRaChannel].SendPacketType = ptBalloonRepeat;
 				return 1;
 			}
 			
 			if (Config.LoRaDevices[LoRaChannel].UplinkRepeatLength && (CycleSeconds == Config.LoRaDevices[LoRaChannel].UplinkSlot))
 			{
 				Config.LoRaDevices[LoRaChannel].LastTxAt = GPS->SecondsInDay;
-				Config.LoRaDevices[LoRaChannel].SendRepeatedPacket = 2;
+				Config.LoRaDevices[LoRaChannel].SendPacketType = ptUplinkRepeat;
 				return 1;
 			}
 			
+			if (CycleSeconds == Config.LoRaDevices[LoRaChannel].CallingSlot)
+			{
+				if (Config.LoRaDevices[LoRaChannel].CallingFrequency[0] &&
+				    Config.LoRaDevices[LoRaChannel].CallingCount &&
+					(Config.LoRaDevices[LoRaChannel].PacketsSinceLastCall >= Config.LoRaDevices[LoRaChannel].CallingCount))
+				{
+					Config.LoRaDevices[LoRaChannel].LastTxAt = GPS->SecondsInDay;
+					Config.LoRaDevices[LoRaChannel].SendPacketType = ptCallingMode;
+					return 1;
+				}
+			}
 		}
 	}
 	
@@ -1178,6 +1189,11 @@ void LoadLoRaConfig(FILE *fp, struct TConfig *Config)
 				if (Config->LoRaDevices[LoRaChannel].CallingCount)
 				{
 					printf("      - Calling Packet will be sent on %s every %d packets\n", Config->LoRaDevices[LoRaChannel].CallingFrequency, Config->LoRaDevices[LoRaChannel].CallingCount);
+					Config->LoRaDevices[LoRaChannel].CallingSlot = ReadInteger(fp, "LORA_Calling_Slot", LoRaChannel, 0, -1);
+					if (Config->LoRaDevices[LoRaChannel].CallingSlot >= 0)
+					{
+						printf("      - Calling Packet will be sent in slot %d\n", Config->LoRaDevices[LoRaChannel].CallingSlot);
+					}
 				}
 			}
 
@@ -1305,16 +1321,24 @@ void *LoRaLoop(void *some_void_ptr)
 								  Config.LoRaDevices[LoRaChannel].LowDataRateOptimize);
 				printf("Reset after Uplink Mode\n");
 			}
-			
-			// Now decide what, if anything, to send
 
+			// Calling mode needed ?
+			if ((Config.LoRaDevices[LoRaChannel].CycleTime <= 0) &&
+			    Config.LoRaDevices[LoRaChannel].CallingFrequency[0] &&
+				Config.LoRaDevices[LoRaChannel].CallingCount &&
+				(Config.LoRaDevices[LoRaChannel].PacketsSinceLastCall >= Config.LoRaDevices[LoRaChannel].CallingCount))
+			{
+				Config.LoRaDevices[LoRaChannel].SendPacketType = ptCallingMode;
+			}
+
+			// Now decide what, if anything, to send
 			// Handle deliberate delays between packets
 			if ((Config.LoRaDevices[LoRaChannel].PacketEveryMilliSeconds > 0) && ((Config.LoRaDevices[LoRaChannel].MillisSinceLastPacket += LoopMS) < Config.LoRaDevices[LoRaChannel].PacketEveryMilliSeconds))
 			{
 				// Deliberate delay, and we're not there yet
 				// DO NOTHING!
 			}			
-			else if (Config.LoRaDevices[LoRaChannel].SendRepeatedPacket == 2)
+			else if (Config.LoRaDevices[LoRaChannel].SendPacketType == ptUplinkRepeat)
 			{
 				printf("Repeating uplink packet of %d bytes\n", Config.LoRaDevices[LoRaChannel].UplinkRepeatLength);
 				
@@ -1322,7 +1346,7 @@ void *LoRaLoop(void *some_void_ptr)
 				
 				Config.LoRaDevices[LoRaChannel].UplinkRepeatLength = 0;
 			}
-			else if (Config.LoRaDevices[LoRaChannel].SendRepeatedPacket == 1)
+			else if (Config.LoRaDevices[LoRaChannel].SendPacketType == ptBalloonRepeat)
 			{
 				printf("Repeating balloon packet of %d bytes\n", Config.LoRaDevices[LoRaChannel].PacketRepeatLength);
 				
@@ -1330,9 +1354,7 @@ void *LoRaLoop(void *some_void_ptr)
 				
 				Config.LoRaDevices[LoRaChannel].PacketRepeatLength = 0;
 			}
-			else if (Config.LoRaDevices[LoRaChannel].CallingFrequency[0] &&
-					 Config.LoRaDevices[LoRaChannel].CallingCount &&
-					 (Config.LoRaDevices[LoRaChannel].PacketsSinceLastCall >= Config.LoRaDevices[LoRaChannel].CallingCount))
+			else if (Config.LoRaDevices[LoRaChannel].SendPacketType == ptCallingMode)
 			{
 				int PacketLength;
 				double Frequency;
diff --git a/tracker/misc.c b/tracker/misc.c
index d6a5764..117008f 100755
--- a/tracker/misc.c
+++ b/tracker/misc.c
@@ -787,7 +787,7 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 	
 	ExtraFields7 = "";
 	
-	if (ShowFields) printf("%s: ID,Ctr,Time,Lat,Lon,Alt,Sped,Head,Sats,Int.Temp", Channels[Channel]);
+	if (ShowFields) printf("%s: ID,Ctr,Time,Lat,Lon,Alt,Speed,Head,Sats,Int.Temp", Channels[Channel]);
 	
 	
 	// Battery voltage and current, if available
@@ -856,7 +856,7 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 
 		if (Config.LoRaDevices[LoRaChannel].EnableMessageStatus)
 		{	
-			sprintf(ExtraFields6, ",%s", Config.LoRaDevices[LoRaChannel].LastCommand);
+			sprintf(ExtraFields6, ",%c", Config.LoRaDevices[LoRaChannel].LastCommand[0]);
 			if (ShowFields) printf(",Command");
 		}
 		
diff --git a/tracker/misc.h b/tracker/misc.h
index c08972c..129bc65 100755
--- a/tracker/misc.h
+++ b/tracker/misc.h
@@ -6,6 +6,8 @@
 
 typedef enum {lmIdle, lmListening, lmSending} tLoRaMode;
 
+typedef enum {ptNormal, ptCallingMode, ptBalloonRepeat, ptUplinkRepeat} tPacketType;
+
 struct TLoRaDevice
 {
 	int InUse;
@@ -39,11 +41,12 @@ struct TLoRaDevice
 	unsigned char UplinkPacket[256];
 	int PacketRepeatLength;
 	int UplinkRepeatLength;
-	int SendRepeatedPacket;
+	tPacketType SendPacketType;
 	tLoRaMode LoRaMode;
     int SendingRTTY;
 	char CallingFrequency[8];
 	int CallingCount;
+    int CallingSlot;
 	int PacketsSinceLastCall;
 	int ReturnStateAfterCall;
 	
diff --git a/tracker/prediction.c b/tracker/prediction.c
index 253a239..9a14276 100755
--- a/tracker/prediction.c
+++ b/tracker/prediction.c
@@ -94,11 +94,9 @@ void *PredictionLoop(void *some_void_ptr)
 	{
 		sleep(POLL_PERIOD);
 				
-		if (GPS->Satellites >= 4)
+		if ((GPS->Satellites >= 4) && (GPS->Latitude >= -90) && (GPS->Latitude <= 90) && (GPS->Longitude >= -180) && (GPS->Longitude <= 180))
 		{
 			int Slot;
-			double Latitude, Longitude, TimeInSlot, DescentRate, TimeTillLanding;
-			unsigned long Altitude, DistanceInSlot;
 			char Temp[200];
 			
 			if ((GPS->FlightMode >= fmLaunched) && (GPS->FlightMode < fmLanded))
@@ -126,42 +124,12 @@ void *PredictionLoop(void *some_void_ptr)
 
 				}
 				
-				// Estimate landing position
-				Altitude = GPS->Altitude;
-				Latitude = GPS->Latitude;
-				Longitude = GPS->Longitude;
-				TimeTillLanding = 0;
-				
-				Slot = GetSlot(Altitude);
-				DistanceInSlot = Altitude + 1 - (Slot * SLOTSIZE);
 				
-				while (Altitude > Config.TargetAltitude)
-				{
-					Slot = GetSlot(Altitude);
-					
-					if (Slot == GetSlot(Config.TargetAltitude))
-					{
-						DistanceInSlot = Altitude - Config.TargetAltitude;
-					}
-					
-					DescentRate = CalculateDescentRate(Config.payload_weight, GPS->CDA, Altitude);
-					TimeInSlot = DistanceInSlot / DescentRate;
-					
-					Latitude += Positions[Slot].LatitudeDelta * TimeInSlot;
-					Longitude += Positions[Slot].LongitudeDelta * TimeInSlot;
-					
-					// printf("SLOT %d: alt %lu, lat=%lf, long=%lf, rate=%lf, dist=%lu, time=%lf\n", Slot, Altitude, Latitude, Longitude, DescentRate, DistanceInSlot, TimeInSlot);
-					
-					TimeTillLanding = TimeTillLanding + TimeInSlot;
-					Altitude -= DistanceInSlot;
-					DistanceInSlot = SLOTSIZE;
-				}
-							
-				GPS->PredictedLatitude = Latitude;
-				GPS->PredictedLongitude = Longitude;
+				// Estimate landing position
+				GPS->TimeTillLanding = CalculateLandingPosition(GPS, GPS->Latitude, GPS->Longitude, GPS->Altitude, &(GPS->PredictedLatitude), &(GPS->PredictedLongitude));
+
 				GPS->PredictedLandingSpeed = CalculateDescentRate(Config.payload_weight, GPS->CDA, Config.TargetAltitude);
-				GPS->TimeTillLanding = TimeTillLanding;
-								
+				
 				printf("Expected Descent Rate = %4.1lf (now) %3.1lf (landing), time till landing %d\n", 
 						CalculateDescentRate(Config.payload_weight, GPS->CDA, GPS->Altitude),
 						GPS->PredictedLandingSpeed,
@@ -188,3 +156,42 @@ void *PredictionLoop(void *some_void_ptr)
 	return 0;
 }
 
+
+int CalculateLandingPosition(struct TGPS *GPS, double Latitude, double Longitude, int32_t Altitude, double *PredictedLatitude, double *PredictedLongitude)
+{
+	double TimeTillLanding, TimeInSlot, DescentRate;
+	int Slot;
+	int32_t DistanceInSlot;
+	
+	TimeTillLanding = 0;
+	
+	Slot = GetSlot(Altitude);
+	DistanceInSlot = Altitude + 1 - (Slot * SLOTSIZE);
+	
+	while (Altitude > Config.TargetAltitude)
+	{
+		Slot = GetSlot(Altitude);
+		
+		if (Slot == GetSlot(Config.TargetAltitude))
+		{
+			DistanceInSlot = Altitude - Config.TargetAltitude;
+		}
+		
+		DescentRate = CalculateDescentRate(Config.payload_weight, GPS->CDA, Altitude);
+		TimeInSlot = DistanceInSlot / DescentRate;
+		
+		Latitude += Positions[Slot].LatitudeDelta * TimeInSlot;
+		Longitude += Positions[Slot].LongitudeDelta * TimeInSlot;
+		
+		// printf("SLOT %d: alt %lu, lat=%lf, long=%lf, rate=%lf, dist=%lu, time=%lf\n", Slot, Altitude, Latitude, Longitude, DescentRate, DistanceInSlot, TimeInSlot);
+		
+		TimeTillLanding = TimeTillLanding + TimeInSlot;
+		Altitude -= DistanceInSlot;
+		DistanceInSlot = SLOTSIZE;
+	}
+				
+	*PredictedLatitude = Latitude;
+	*PredictedLongitude = Longitude;
+	
+	return TimeTillLanding;	
+}
diff --git a/tracker/prediction.h b/tracker/prediction.h
index 651d31e..b43fdad 100755
--- a/tracker/prediction.h
+++ b/tracker/prediction.h
@@ -11,3 +11,4 @@ struct TPosition
 
 void *PredictionLoop(void *some_void_ptr);
 int GetSlot(int32_t Altitude);
+int CalculateLandingPosition(struct TGPS *GPS, double Latitude, double Longitude, int32_t Altitude, double *PredictedLatitude, double *PredictedLongitude);

From 5a6c3078b83d997f9bf0000ce106e48005e89534 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Wed, 21 Nov 2018 15:54:30 +0000
Subject: [PATCH 12/60] Added support for MS5611 pressure/temperature sensor

---
 README.md         |  23 ++++-
 tracker/MS5611.c  | 227 ++++++++++++++++++++++++++++++++++++++++++++++
 tracker/MS5611.h  |   1 +
 tracker/misc.c    |   5 +
 tracker/misc.h    |   1 +
 tracker/tracker.c |  20 +++-
 6 files changed, 274 insertions(+), 3 deletions(-)
 create mode 100755 tracker/MS5611.c
 create mode 100755 tracker/MS5611.h

diff --git a/README.md b/README.md
index a5f78fb..4aba647 100755
--- a/README.md
+++ b/README.md
@@ -12,6 +12,17 @@ Software support is provided for customers who have purchased a PITS, PITS Zero
 
 Follow the instructions at http://www.pi-in-the-sky.com/index.php?id=sd-card-image-from-scratch
 
+## Additional Sensors ##
+
+You can enable any **one** of these supported sensor devices using these lines in pisky.txt:
+
+	Enable_BME280=Y
+	Enable_MS5611=Y
+	Enable_BMP085=Y
+
+All of them measure pressure and temperature; the BME280 also measures humidity.
+ 
+
 ## RTTY through LoRa ##
 
 To understand the settings, first take note that PITS has a concept of "radio channels" where a channel is a particular radio transmitter not mode (RTTY or LoRa).  We are using one of the LoRa devices (channels) to transmit RTTY.  So our settings are associated with the particular LoRa module (in CE0 or CE1 position).  Essentially we are overriding the normal LoRa functionality by telling the software to transmitt RTTY as well as or instead of the LoRa packets.
@@ -84,6 +95,11 @@ It is therefore possible to overlay downloaded images with telemetry data, as te
 
 ## Change Log ##
 
+21/11/2018
+==========
+
+- Added support for MS5611 Pressure/Temperature Sensor
+
 26/09/2018
 ==========
 
@@ -250,7 +266,12 @@ It is therefore possible to overlay downloaded images with telemetry data, as te
 - Added support for second (external) DS18B20 temperature sensor
 - Fix to occassional missing packets
 - Support for Pi V2 B
-- Protect against BMP085/180 being disconnected after initialisation
+- Protect against 
+- 
+- 
+- 
+- 
+- 085/180 being disconnected after initialisation
 
 19/12/2014
 
diff --git a/tracker/MS5611.c b/tracker/MS5611.c
new file mode 100755
index 0000000..c55796e
--- /dev/null
+++ b/tracker/MS5611.c
@@ -0,0 +1,227 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <linux/i2c-dev.h>
+#include <fcntl.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <unistd.h>
+#include <sys/ipc.h>
+#include <sys/shm.h>
+#include <errno.h>
+#include <wiringPi.h>
+#include <wiringPiI2C.h>
+#include <inttypes.h>
+
+#include "gps.h"
+#include "misc.h"
+#include "MS5611.h"
+
+#define MS5611_ADDRESS			0x77
+
+#define MS5611_CMD_ADC_READ     0x00
+#define MS5611_CMD_RESET        0x1E
+#define MS5611_CMD_CONV_D1      0x40
+#define MS5611_CMD_CONV_D2      0x50
+#define MS5611_CMD_READ_PROM    0xA2
+
+#define MS5611_ULTRA_HIGH_RES   0x08
+#define MS5611_HIGH_RES         0x06
+#define MS5611_STANDARD         0x04
+#define MS5611_LOW_POWER        0x02
+#define MS5611_ULTRA_LOW_POWER  0x00
+
+void ms5611WriteRegister(int fd, int Value)
+{
+	unsigned char buf[1];
+  
+	buf[0] = Value;
+	
+	if ((write(fd, buf, 1)) != 1)
+	{
+		printf("Error writing to MS5611\n");
+	}
+}
+
+uint16_t ms5611ReadRegister16(int fd, uint8_t address)
+{
+	unsigned char buf[2];
+
+	buf[0] = address;
+
+	if ((write(fd, buf, 1)) != 1) {								// Send register we want to read from	
+		printf("Error writing to i2c slave\n");
+		return -1;
+	}
+	
+	if (read(fd, buf, 2) != 2) {								// Read back data into buf[]
+		printf("Unable to read from slave\n");
+		return -1;
+	}
+
+	return (uint16_t) buf[0]<<8 | buf[1];
+}
+
+int32_t ms5611ReadRegister24(int fd, uint8_t address)
+{
+	unsigned char buf[3];
+
+	buf[0] = address;
+
+	// Send register we want to read from	
+	if ((write(fd, buf, 1)) != 1)
+	{
+		printf("Error writing to i2c slave\n");
+		return -1;
+	}
+	
+	// Read back data into buf[]
+	if (read(fd, buf, 3) != 3)
+	{
+		printf("Unable to read from slave\n");
+		return -1;
+	}
+
+	return (int32_t) buf[0]<<16 | buf[1]<<8 | buf[2];
+}
+
+void ms5611ReadPROM(int fd, uint16_t *fc)
+{
+    for (uint8_t offset = 0; offset < 6; offset++)
+    {
+		fc[offset] = ms5611ReadRegister16(fd, MS5611_CMD_READ_PROM + (offset * 2));
+    }
+}
+
+uint32_t ms5611ReadRawTemperature(int fd)
+{
+	ms5611WriteRegister(fd, MS5611_CMD_CONV_D2 + MS5611_ULTRA_HIGH_RES);
+
+    delay(10);
+
+    return ms5611ReadRegister24(fd, MS5611_CMD_ADC_READ);
+}
+
+uint32_t ms5611ReadRawPressure(int fd)
+{
+	ms5611WriteRegister(fd, MS5611_CMD_CONV_D1 + MS5611_ULTRA_HIGH_RES);
+
+    delay(10);
+
+    return ms5611ReadRegister24(fd, MS5611_CMD_ADC_READ);
+}
+
+double ms5611ReadTemperature(int fd, uint16_t *fc, int compensation)
+{
+    uint32_t D2;
+    int32_t dT, TEMP, TEMP2;
+
+    D2 = ms5611ReadRawTemperature(fd);
+    dT = D2 - (uint32_t)fc[4] * 256;
+	TEMP = 2000 + ((int64_t) dT * fc[5]) / 8388608;
+    TEMP2 = 0;
+
+    if (compensation)
+    {
+		if (TEMP < 2000)
+		{
+			TEMP2 = (dT * dT) / (2 << 30);
+		}
+    }
+
+    TEMP = TEMP - TEMP2;
+
+    return ((double)TEMP/100);
+}
+
+
+double ms5611ReadPressure(int fd, uint16_t *fc, int compensation)
+{
+    uint32_t D1, D2;
+    int32_t dT;
+    int64_t OFF, SENS, TEMP3;
+
+    D1 = ms5611ReadRawPressure(fd);
+
+    D2 = ms5611ReadRawTemperature(fd);
+    
+	dT = D2 - (uint32_t)fc[4] * 256;
+
+    OFF = (int64_t)fc[1] * 65536 + (int64_t)fc[3] * dT / 128;
+    
+	SENS = (int64_t)fc[0] * 32768 + (int64_t)fc[2] * dT / 256;
+
+    if (compensation)
+    {
+		int32_t TEMP;
+		int64_t OFF2, SENS2;
+		
+		TEMP = 2000 + ((int64_t) dT * fc[5]) / 8388608;
+
+		OFF2 = 0;
+		SENS2 = 0;
+
+		if (TEMP < 2000)
+		{
+			OFF2 = 5 * ((TEMP - 2000) * (TEMP - 2000)) / 2;
+			SENS2 = 5 * ((TEMP - 2000) * (TEMP - 2000)) / 4;
+		}
+
+		if (TEMP < -1500)
+		{
+			OFF2 = OFF2 + 7 * ((TEMP + 1500) * (TEMP + 1500));
+			SENS2 = SENS2 + 11 * ((TEMP + 1500) * (TEMP + 1500)) / 2;
+		}
+
+		OFF = OFF - OFF2;
+		SENS = SENS - SENS2;
+    }
+
+	TEMP3 = (D1 * SENS) / 2097152 - OFF;
+	
+    return  (double)TEMP3 / 327680.0;
+}
+
+void *MS5611Loop(void *some_void_ptr)
+{
+	struct TGPS *GPS;
+	int fd;
+	uint16_t fc[6];
+
+	GPS = (struct TGPS *)some_void_ptr;
+
+	// Initialise BMP085
+	if ((fd = open_i2c(MS5611_ADDRESS)) >= 0)
+	{
+		printf("MS6511 found OK\n");
+				
+		// Reset device
+		ms5611WriteRegister(fd, MS5611_CMD_RESET);
+		
+		delay(100);
+
+		ms5611ReadPROM(fd, fc);
+		
+		close(fd);
+		
+		while (1)
+		{
+			if ((fd = open_i2c(MS5611_ADDRESS)) >= 0)
+			{
+				GPS->BMP180Temperature = ms5611ReadTemperature(fd, fc, 1);
+				GPS->Pressure = ms5611ReadPressure(fd, fc, GPS->BMP180Temperature);
+
+				printf("**** Temperature is %5.2lf\n", GPS->BMP180Temperature);
+				printf("**** Pressure is %5.2lf\n", GPS->Pressure);
+
+				close(fd);
+			}
+
+			sleep(10);
+		}
+	}
+	return 0;
+}
+
diff --git a/tracker/MS5611.h b/tracker/MS5611.h
new file mode 100755
index 0000000..0f695a3
--- /dev/null
+++ b/tracker/MS5611.h
@@ -0,0 +1 @@
+void *MS5611Loop(void *some_void_ptr);
diff --git a/tracker/misc.c b/tracker/misc.c
index 117008f..f1c6d21 100755
--- a/tracker/misc.c
+++ b/tracker/misc.c
@@ -816,6 +816,11 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 		sprintf(ExtraFields2, ",%.1f,%.0f,%0.1f", GPS->BMP180Temperature, GPS->Pressure, GPS->Humidity);
 		if (ShowFields) printf(",BME.Temp,Pressure,Humidity");
 	}
+	else if (Config.EnableMS5611)
+	{
+		sprintf(ExtraFields2, ",%.1f,%.1f", GPS->BMP180Temperature, GPS->Pressure);
+		if (ShowFields) printf(",BMP.Temp,Pressure");
+	}
 	else if (Config.EnableBMP085)
 	{
 		sprintf(ExtraFields2, ",%.1f,%.0f", GPS->BMP180Temperature, GPS->Pressure);
diff --git a/tracker/misc.h b/tracker/misc.h
index 129bc65..5d2a354 100755
--- a/tracker/misc.h
+++ b/tracker/misc.h
@@ -180,6 +180,7 @@ struct TConfig
 	// Extra devices
 	int EnableBMP085;
 	int EnableBME280;
+    int EnableMS5611;
 	int ExternalDS18B20;
 	
 	// Logging
diff --git a/tracker/tracker.c b/tracker/tracker.c
index 48f8a65..2d9faf2 100755
--- a/tracker/tracker.c
+++ b/tracker/tracker.c
@@ -48,6 +48,7 @@
 #include "led.h"
 #include "bmp085.h"
 #include "bme280.h"
+#include "MS5611.h"
 #include "aprs.h"
 #include "lora.h"
 #include "pipe.h"
@@ -168,6 +169,12 @@ void LoadConfigFile(struct TConfig *Config)
 		printf("BME280 Enabled\n");
 	}
 
+	ReadBoolean(fp, "enable_ms5611", -1, 0, &(Config->EnableMS5611));
+	if (Config->EnableMS5611)
+	{
+		printf("MS5611 Enabled\n");
+	}
+
 	ReadString(fp, "pipe_payload", -1, Config->Channels[PIPE_CHANNEL].PayloadID, sizeof(Config->Channels[PIPE_CHANNEL].PayloadID), 0);
 	if (Config->Channels[PIPE_CHANNEL].PayloadID[0])
 	{
@@ -631,7 +638,7 @@ int main(void)
 	unsigned char Sentence[200];
 	struct stat st = {0};
 	struct TGPS GPS;
-	pthread_t PredictionThread, LoRaThread, APRSThread, GPSThread, DS18B20Thread, ADCThread, CameraThread, BMP085Thread, BME280Thread, LEDThread, LogThread, PipeThread;
+	pthread_t PredictionThread, LoRaThread, APRSThread, GPSThread, DS18B20Thread, ADCThread, CameraThread, BMP085Thread, BME280Thread, MS5611Thread, LEDThread, LogThread, PipeThread;
 	if (prog_count("tracker") > 1)
 	
 	{
@@ -909,7 +916,16 @@ int main(void)
 			return 1;
 		}
 	}
-	
+		
+	if (Config.EnableMS5611)
+	{
+		if (pthread_create(&MS5611Thread, NULL, MS5611Loop, &GPS))
+		{
+			fprintf(stderr, "Error creating MS5611 thread\n");
+			return 1;
+		}
+	}
+		
 	if (Config.Channels[PIPE_CHANNEL].PayloadID[0])
 	{
 		if (pthread_create(&PipeThread, NULL, PipeLoop, &GPS))

From 37fbd29fff4d60b29350f409aaa83dc8b8af38d3 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Thu, 22 Nov 2018 14:34:41 +0000
Subject: [PATCH 13/60] Added support for V1 and V2 Strobon LEDs

---
 README.md         | 22 +++++++++++++++++++++-
 tracker/gps.c     |  9 +++++++++
 tracker/misc.c    | 17 ++++++++++++++++-
 tracker/misc.h    |  5 +++++
 tracker/tracker.c | 38 +++++++++++++++++++++++++++++---------
 5 files changed, 80 insertions(+), 11 deletions(-)

diff --git a/README.md b/README.md
index 4aba647..7733e5b 100755
--- a/README.md
+++ b/README.md
@@ -12,6 +12,21 @@ Software support is provided for customers who have purchased a PITS, PITS Zero
 
 Follow the instructions at http://www.pi-in-the-sky.com/index.php?id=sd-card-image-from-scratch
 
+## Strobon LED strobe light ##
+
+These are **very** bright LED strobe lights made for RC models.  You can power them from the Pi 5V and 0V lines; note that they do pull 1A for 20ms for each flash, which might cause issues depending on the power supply; if in doubt add some capacitance at the strobe.
+
+The LED uses a PWM input to control its mode.  Choose any free pin, e.g. **BCM** pin 18 which is only used if you have an APRS board.  Configure as follows, being careful to use BCM pin numbers and **not** WiringPi pin numbers:
+ 
+
+	Strobe_Pin=18
+	Strobe_Alt=1000
+
+For the above settings, the strobe light will come on during flight once the payload descends below 1000m.
+
+Both V1 and V2 Strobons have been tested to work fine.  PITS controls the LED by using a standard 50Hz PWM signal set with 1ms pulse for off and 2ms for on.  Note that when powered up, the V2 model strobes until PITS starts; the V1 starts up as off.
+
+
 ## Additional Sensors ##
 
 You can enable any **one** of these supported sensor devices using these lines in pisky.txt:
@@ -25,7 +40,7 @@ All of them measure pressure and temperature; the BME280 also measures humidity.
 
 ## RTTY through LoRa ##
 
-To understand the settings, first take note that PITS has a concept of "radio channels" where a channel is a particular radio transmitter not mode (RTTY or LoRa).  We are using one of the LoRa devices (channels) to transmit RTTY.  So our settings are associated with the particular LoRa module (in CE0 or CE1 position).  Essentially we are overriding the normal LoRa functionality by telling the software to transmitt RTTY as well as or instead of the LoRa packets.
+To understand the settings, first take note that PITS has a concept of "radio channels" where a channel is a particular radio transmitter not mode (RTTY or LoRa).  We are using one of the LoRa devices (channels) to transmit RTTY.  So our settings are associated with the particular LoRa module (in CE0 or CE1 position).  Essentially we are overriding the normal LoRa functionality by telling the software to transmit RTTY as well as or instead of the LoRa packets.
 
 These are the new settings (shown for channel 0)
 
@@ -95,6 +110,11 @@ It is therefore possible to overlay downloaded images with telemetry data, as te
 
 ## Change Log ##
 
+22/11/2018
+==========
+
+- Added support for Strobon V1 and V2 PWM-controlled LED strobe lights
+
 21/11/2018
 ==========
 
diff --git a/tracker/gps.c b/tracker/gps.c
index 1b18f6e..c5d1188 100755
--- a/tracker/gps.c
+++ b/tracker/gps.c
@@ -624,6 +624,15 @@ void ProcessLine(struct gps_info *bb, struct TGPS *GPS, char *Buffer, int Count,
 							GPS->FlightMode = fmLanded;
 							printf("*** LANDED ***\n");
 						}
+						
+						// Strobe control
+						if (Config.BlinkenLight >= 0)
+						{
+							// if ((GPS->FlightMode >= fmDescending) && (GPS->Altitude < Config.FlashBelow))
+							{
+								ControlPWMOutput(Config.BlinkenLight, 2000);
+							}
+						}
 					}
 				}
 				if (ActionMask & 2)
diff --git a/tracker/misc.c b/tracker/misc.c
index f1c6d21..b184745 100755
--- a/tracker/misc.c
+++ b/tracker/misc.c
@@ -14,6 +14,7 @@
 #include <errno.h>
 #include <wiringPi.h>
 #include <wiringPiSPI.h>
+#include <pigpio.h> 
 #include <sys/types.h>
 #include <dirent.h>
 #include <string.h>
@@ -982,4 +983,18 @@ int FixDirection180(int Angle)
 	}
 	
 	return Angle;
-}
\ No newline at end of file
+}
+
+void SetupPWMFrequency(int Pin, int Frequency)
+{
+//	return softPwmCreate(Pin, 0, 100);
+	gpioSetPWMfrequency(Pin, Frequency);
+	// gpioServo(18, 2000);
+}
+
+void ControlPWMOutput(int Pin, int Period)
+{
+//	softPwmWrite (Pin, Level);
+	gpioServo(Pin, Period);
+}
+
diff --git a/tracker/misc.h b/tracker/misc.h
index 5d2a354..85558b5 100755
--- a/tracker/misc.h
+++ b/tracker/misc.h
@@ -237,6 +237,9 @@ struct TConfig
 	
 	// External data file (read into telemetry)
 	char ExternalDataFileName[100];
+    
+    int BlinkenLight;
+    int FlashBelow;
 	
 #	ifdef EXTRAS_PRESENT
 #		include "ex_misc_config.h"
@@ -269,3 +272,5 @@ int GetBoardType(int *i2cChannel);
 int NoMoreSSDVPacketsToSend(int Channel);
 int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS);
 int FixDirection180(int Angle);
+void SetupPWMFrequency(int Pin, int Frequency);
+void ControlPWMOutput(int Pin, int Period);
diff --git a/tracker/tracker.c b/tracker/tracker.c
index 2d9faf2..31e2bbf 100755
--- a/tracker/tracker.c
+++ b/tracker/tracker.c
@@ -304,6 +304,15 @@ void LoadConfigFile(struct TConfig *Config)
 
 	Config->QuietRTTYDuringLoRaUplink = 0;
 	ReadBoolean(fp, "quiet_rtty_for_uplink", -1, 0, &(Config->QuietRTTYDuringLoRaUplink));
+	
+	Config->BlinkenLight = ReadInteger(fp, "Strobe_Pin", -1, 0, -1);
+	if (Config->BlinkenLight >= 0)
+	{
+		Config->FlashBelow = ReadInteger(fp, "Strobe_Alt", -1, 0, Config->SSDVHigh);
+
+		printf("Enabled PCM Strobe Light on pin %d after descending below %d metres\n", Config->BlinkenLight, Config->FlashBelow);
+	}
+	
 
 	LoadAPRSConfig(fp, Config);
 	
@@ -341,12 +350,6 @@ void SetMTX2Frequency(char *FrequencyString)
 	snprintf(_mtx2command,17,"@PRG_%02X%06lX\r",_mtx2int-1, _mtx2fractional);
 	printf("MTX2 command  is %s\n", _mtx2command);
 	
-	if (gpioInitialise() < 0)
-	{
-		printf("pigpio initialisation failed.\n");
-		return;
-	}
-
 	gpioSetMode(NTX2B_ENABLE_BCM, PI_OUTPUT);	
 	
 	gpioWaveAddNew();
@@ -365,7 +368,7 @@ void SetMTX2Frequency(char *FrequencyString)
 		}
 	}
 	
-	gpioTerminate();
+	// gpioTerminate();
 }
 
 char *SerialPortName(void)
@@ -731,6 +734,12 @@ int main(void)
 		printf("Cannot initialise WiringPi\n");
 		exit (1);
 	}
+	
+	if (gpioInitialise() < 0)
+	{
+		printf("pigpio initialisation failed.\n");
+		exit (1);
+	}	
 
 	// Switch off the radio till it's configured
 	pinMode (NTX2B_ENABLE, OUTPUT);
@@ -743,7 +752,8 @@ int main(void)
 		pinMode (UBLOX_ENABLE, OUTPUT);
 		digitalWrite (UBLOX_ENABLE, 0);
 	}
-
+	
+		
 	if (!Config.DisableRTTY)
 	{
 		if (*Config.Frequency)
@@ -770,7 +780,15 @@ int main(void)
 		
 		digitalWrite (NTX2B_ENABLE, 1);
 	}
-		
+	
+	
+	// Turn strobe light off
+	if (Config.BlinkenLight >= 0)
+	{
+		SetupPWMFrequency(Config.BlinkenLight, 50);
+		ControlPWMOutput(Config.BlinkenLight, 1000);
+	}
+			
 	// SSDV Folders
 	sprintf(Config.Channels[0].SSDVFolder, "%s/RTTY", SSDVFolder);
 	*Config.Channels[1].SSDVFolder = '\0';										// No folder for APRS images
@@ -1008,4 +1026,6 @@ int main(void)
 			}
 		}
 	}
+	
+	gpioTerminate();
 }

From cb415ad96409a41d11d4ef757c1d9e71dcefb1e3 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Thu, 22 Nov 2018 15:20:08 +0000
Subject: [PATCH 14/60] Support for Strobon LEDs

---
 tracker/gps.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tracker/gps.c b/tracker/gps.c
index c5d1188..84aafbf 100755
--- a/tracker/gps.c
+++ b/tracker/gps.c
@@ -628,7 +628,7 @@ void ProcessLine(struct gps_info *bb, struct TGPS *GPS, char *Buffer, int Count,
 						// Strobe control
 						if (Config.BlinkenLight >= 0)
 						{
-							// if ((GPS->FlightMode >= fmDescending) && (GPS->Altitude < Config.FlashBelow))
+							if ((GPS->FlightMode >= fmDescending) && (GPS->Altitude < Config.FlashBelow))
 							{
 								ControlPWMOutput(Config.BlinkenLight, 2000);
 							}

From 701f26484f1593102619fda2e5229ed3032e5892 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Thu, 22 Nov 2018 15:41:49 +0000
Subject: [PATCH 15/60] Added piezo buzzer support

---
 README.md         | 16 +++++++++++++++-
 tracker/gps.c     | 15 ++++++++++++++-
 tracker/misc.h    |  4 ++++
 tracker/tracker.c | 16 ++++++++++++++++
 4 files changed, 49 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 7733e5b..581e50b 100755
--- a/README.md
+++ b/README.md
@@ -12,12 +12,26 @@ Software support is provided for customers who have purchased a PITS, PITS Zero
 
 Follow the instructions at http://www.pi-in-the-sky.com/index.php?id=sd-card-image-from-scratch
 
+
+## Piezo Buzzer ##
+
+A piezo buzzer is another helpful device for locating a landed payload.  Use one that will operate from 3V and consumes less than 20mA; I use RS 617-3069 which is very loud.  Connect to a 0V pin on the Pi GPIO connector, and a spare I/O pin.
+
+Configure as follows, being careful to use a WiringPi pin number:
+ 
+	Piezo_Pin=4
+	Piezpo_Alt=1000
+
+For the above settings, the buzzer light will come on during flight once the payload descends below 1000m.
+
+
+
 ## Strobon LED strobe light ##
 
 These are **very** bright LED strobe lights made for RC models.  You can power them from the Pi 5V and 0V lines; note that they do pull 1A for 20ms for each flash, which might cause issues depending on the power supply; if in doubt add some capacitance at the strobe.
 
 The LED uses a PWM input to control its mode.  Choose any free pin, e.g. **BCM** pin 18 which is only used if you have an APRS board.  Configure as follows, being careful to use BCM pin numbers and **not** WiringPi pin numbers:
- 
+
 
 	Strobe_Pin=18
 	Strobe_Alt=1000
diff --git a/tracker/gps.c b/tracker/gps.c
index 84aafbf..b38c12b 100755
--- a/tracker/gps.c
+++ b/tracker/gps.c
@@ -630,7 +630,20 @@ void ProcessLine(struct gps_info *bb, struct TGPS *GPS, char *Buffer, int Count,
 						{
 							if ((GPS->FlightMode >= fmDescending) && (GPS->Altitude < Config.FlashBelow))
 							{
-								ControlPWMOutput(Config.BlinkenLight, 2000);
+								if (!Config.Flashing)
+								{
+									ControlPWMOutput(Config.BlinkenLight, 2000);
+									Config.Flashing = 1;
+								}
+							}
+						}
+						
+						// Strobe control
+						if (Config.PiezoPin >= 0)
+						{
+							if ((GPS->FlightMode >= fmDescending) && (GPS->Altitude < Config.WhistleBelow))
+							{
+								digitalWrite(Config.PiezoPin, 1);
 							}
 						}
 					}
diff --git a/tracker/misc.h b/tracker/misc.h
index 85558b5..449720a 100755
--- a/tracker/misc.h
+++ b/tracker/misc.h
@@ -240,6 +240,10 @@ struct TConfig
     
     int BlinkenLight;
     int FlashBelow;
+    int Flashing;
+	    
+    int PiezoPin;
+    int WhistleBelow;
 	
 #	ifdef EXTRAS_PRESENT
 #		include "ex_misc_config.h"
diff --git a/tracker/tracker.c b/tracker/tracker.c
index 31e2bbf..ca2af74 100755
--- a/tracker/tracker.c
+++ b/tracker/tracker.c
@@ -309,10 +309,18 @@ void LoadConfigFile(struct TConfig *Config)
 	if (Config->BlinkenLight >= 0)
 	{
 		Config->FlashBelow = ReadInteger(fp, "Strobe_Alt", -1, 0, Config->SSDVHigh);
+		Config->Flashing = 0;
 
 		printf("Enabled PCM Strobe Light on pin %d after descending below %d metres\n", Config->BlinkenLight, Config->FlashBelow);
 	}
 	
+	Config->PiezoPin = ReadInteger(fp, "Piezo_Pin", -1, 0, -1);
+	if (Config->PiezoPin >= 0)
+	{
+		Config->WhistleBelow = ReadInteger(fp, "Piezo_Alt", -1, 0, Config->SSDVHigh);
+
+		printf("Enabled Piezo Buzzer on pin %d after descending below %d metres\n", Config->PiezoPin, Config->WhistleBelow);
+	}
 
 	LoadAPRSConfig(fp, Config);
 	
@@ -788,6 +796,14 @@ int main(void)
 		SetupPWMFrequency(Config.BlinkenLight, 50);
 		ControlPWMOutput(Config.BlinkenLight, 1000);
 	}
+	
+	// Turn piezo buzzer off
+	if (Config.PiezoPin >= 0)
+	{
+		digitalWrite (Config.PiezoPin, 0);
+		pinMode (Config.PiezoPin, OUTPUT);
+	}
+	
 			
 	// SSDV Folders
 	sprintf(Config.Channels[0].SSDVFolder, "%s/RTTY", SSDVFolder);

From 5787df60793b9a5b18689ac2638ca36beaae8151 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Fri, 30 Nov 2018 09:42:25 +0000
Subject: [PATCH 16/60] SSDV Uplink fixes; LoRa RTTY fix

---
 tracker/lora.c | 11 ++++++++++-
 tracker/misc.c |  4 ++++
 2 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/tracker/lora.c b/tracker/lora.c
index 967e4f9..0f4a767 100755
--- a/tracker/lora.c
+++ b/tracker/lora.c
@@ -241,7 +241,16 @@ void setupRFM98(int LoRaChannel)
 
 void SwitchToLoRaMode(int LoRaChannel)
 {
-	setupRFM98(LoRaChannel);
+	setLoRaMode(LoRaChannel);
+
+	SetLoRaParameters(LoRaChannel,
+					  Config.LoRaDevices[LoRaChannel].ImplicitOrExplicit,
+					  Config.LoRaDevices[LoRaChannel].ErrorCoding,
+					  Config.LoRaDevices[LoRaChannel].Bandwidth,
+					  Config.LoRaDevices[LoRaChannel]. SpreadingFactor,
+					  Config.LoRaDevices[LoRaChannel].LowDataRateOptimize);
+						  
+	// setupRFM98(LoRaChannel);
 }
 
 void SendLoRaData(int LoRaChannel, unsigned char *buffer, int Length)
diff --git a/tracker/misc.c b/tracker/misc.c
index b184745..df0a9c5 100755
--- a/tracker/misc.c
+++ b/tracker/misc.c
@@ -220,6 +220,10 @@ void StartNewFileIfNeeded(int Channel)
 					RecordCount = MAX_SSDV_PACKETS;
 				}
 				
+				// FIFO for SSDV buffers
+				memcpy(&(Config.Channels[Channel].SSDVPackets[2]), &(Config.Channels[Channel].SSDVPackets[1]), sizeof(Config.Channels[Channel].SSDVPackets[2]));
+				memcpy(&(Config.Channels[Channel].SSDVPackets[1]), &(Config.Channels[Channel].SSDVPackets[0]), sizeof(Config.Channels[Channel].SSDVPackets[1]));
+				
 				// Now fill in list of un-sent packets
 				for (i=0; i<RecordCount; i++)
 				{

From 9ab9fc7c3dfc8ac188194fe183ceac1ed7cd0147 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Tue, 4 Dec 2018 09:03:07 +0000
Subject: [PATCH 17/60] Added take_photo.sample as documented for gphoto2 usage

---
 .gitignore                | 2 +-
 tracker/take_photo.sample | 3 +++
 2 files changed, 4 insertions(+), 1 deletion(-)
 create mode 100755 tracker/take_photo.sample

diff --git a/.gitignore b/.gitignore
index 3ce6f9f..d7d39b0 100644
--- a/.gitignore
+++ b/.gitignore
@@ -19,7 +19,7 @@ tracker/ex_*
 telemetry.txt
 gps.txt
 prediction.txt
-take*
+take_pic*
 convert*
 *.bin
 accelcal.txt
diff --git a/tracker/take_photo.sample b/tracker/take_photo.sample
new file mode 100755
index 0000000..58dd843
--- /dev/null
+++ b/tracker/take_photo.sample
@@ -0,0 +1,3 @@
+gphoto2 --set-config-index /capturesettings/aperture=0
+gphoto2 --set-config /capturesettings/shutterspeed=1/10
+gphoto2 --capture-image-and-download --force-overwrite --filename $1

From 209b5629fe1ee815e2fc01c3604b92f55df168e5 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Thu, 6 Dec 2018 12:19:11 +0000
Subject: [PATCH 18/60] Minor change to MS5611 to work on old compilers

---
 tracker/MS5611.c | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/tracker/MS5611.c b/tracker/MS5611.c
index c55796e..0a88035 100755
--- a/tracker/MS5611.c
+++ b/tracker/MS5611.c
@@ -89,7 +89,9 @@ int32_t ms5611ReadRegister24(int fd, uint8_t address)
 
 void ms5611ReadPROM(int fd, uint16_t *fc)
 {
-    for (uint8_t offset = 0; offset < 6; offset++)
+	uint8_t offset;
+	
+    for (offset = 0; offset < 6; offset++)
     {
 		fc[offset] = ms5611ReadRegister16(fd, MS5611_CMD_READ_PROM + (offset * 2));
     }

From 1f6400b29a0874c94031c330de88ef2c3217bbdc Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Wed, 23 Jan 2019 15:51:32 +0000
Subject: [PATCH 19/60] Fixed calling mode

---
 tracker/lora.c | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/tracker/lora.c b/tracker/lora.c
index 0f4a767..2d36e6f 100755
--- a/tracker/lora.c
+++ b/tracker/lora.c
@@ -167,7 +167,7 @@ void SetLoRaFrequency(int LoRaChannel, double Frequency)
 
 	FrequencyValue = (unsigned long)(Frequency * (1.0 - Config.LoRaDevices[LoRaChannel].PPM/1000000.0) * 7110656 / 434);
 	
-	printf("Channel %d frequency %lf FrequencyValue = %06lXh\n", LoRaChannel, Frequency, FrequencyValue);
+	// printf("Channel %d frequency %lf FrequencyValue = %06lXh\n", LoRaChannel, Frequency, FrequencyValue);
 	
 	writeRegister(LoRaChannel, REG_FRF_MSB, (FrequencyValue >> 16) & 0xFF);		// Set frequency
 	writeRegister(LoRaChannel, REG_FRF_MID, (FrequencyValue >> 8) & 0xFF);
@@ -1313,6 +1313,8 @@ void *LoRaLoop(void *some_void_ptr)
 			
 			Channel = LoRaChannel + LORA_CHANNEL;
 			
+			Config.LoRaDevices[LoRaChannel].SendPacketType = ptNormal;
+			
 			if (Config.LoRaDevices[LoRaChannel].ReturnStateAfterCall)
 			{
 				double Frequency;
@@ -1328,7 +1330,7 @@ void *LoRaLoop(void *some_void_ptr)
 								  Config.LoRaDevices[LoRaChannel].Bandwidth,
 								  Config.LoRaDevices[LoRaChannel]. SpreadingFactor,
 								  Config.LoRaDevices[LoRaChannel].LowDataRateOptimize);
-				printf("Reset after Uplink Mode\n");
+				// printf("Reset after Uplink Mode\n");
 			}
 
 			// Calling mode needed ?
@@ -1370,7 +1372,7 @@ void *LoRaLoop(void *some_void_ptr)
 
 				sscanf(Config.LoRaDevices[LoRaChannel].CallingFrequency, "%lf", &Frequency);
 				SetLoRaFrequency(LoRaChannel, Frequency);
-				printf("Calling frequency is %lf\n", Frequency);
+				// printf("Calling frequency is %lf\n", Frequency);
 				
 				SetLoRaParameters(LoRaChannel, EXPLICIT_MODE, ERROR_CODING_4_8, BANDWIDTH_41K7, SPREADING_11, 0);	// 0x08);
 

From 3f10e4dc0f6b4e320aa1c35e50e4f1eb3a32409d Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Thu, 9 May 2019 09:40:58 +0000
Subject: [PATCH 20/60] Cache writes to log files

---
 tracker/gps.c        | 11 ++-----
 tracker/lora.c       |  8 ++---
 tracker/misc.c       | 75 +++++++++++++++++++++++++++++++++++++++++---
 tracker/misc.h       |  4 ++-
 tracker/prediction.c |  2 +-
 tracker/tracker.c    |  6 +---
 6 files changed, 82 insertions(+), 24 deletions(-)

diff --git a/tracker/gps.c b/tracker/gps.c
index b38c12b..d7c2264 100755
--- a/tracker/gps.c
+++ b/tracker/gps.c
@@ -653,10 +653,8 @@ void ProcessLine(struct gps_info *bb, struct TGPS *GPS, char *Buffer, int Count,
 					GPS->Satellites = satellites;
 				}
 			}
-			if (Config.EnableGPSLogging)
-			{
-				WriteLog("gps.txt", Buffer);
-			}
+
+			WriteGPSLog(Buffer);
 		}
 		else if (strncmp(Buffer+3, "RMC", 3) == 0)
 		{
@@ -700,10 +698,7 @@ void ProcessLine(struct gps_info *bb, struct TGPS *GPS, char *Buffer, int Count,
 				}
 			}
 
-			if (Config.EnableGPSLogging)
-			{
-				WriteLog("gps.txt", Buffer);
-			}
+			WriteGPSLog(Buffer);
 		}
 		else if (strncmp(Buffer+3, "GSV", 3) == 0)
         {
diff --git a/tracker/lora.c b/tracker/lora.c
index 2d36e6f..3cdc245 100755
--- a/tracker/lora.c
+++ b/tracker/lora.c
@@ -1405,10 +1405,8 @@ void *LoRaLoop(void *some_void_ptr)
 					{
 						PacketLength = BuildSentence(Sentence, Channel, GPS);
 						LogMessage("RTTY%d: %s", LoRaChannel, Sentence);
-						if (Config.EnableTelemetryLogging)
-						{
-							WriteLog("telemetry.txt", (char *)Sentence);
-						}
+
+						WriteTelemetryLog((char *)Sentence);
 										
 						SendLoRaRTTY(LoRaChannel, Sentence, PacketLength);		
 
@@ -1445,7 +1443,7 @@ void *LoRaLoop(void *some_void_ptr)
 						LogMessage("LORA%d: %s", LoRaChannel, Sentence);
 						if (Config.EnableTelemetryLogging)
 						{
-							WriteLog("telemetry.txt", (char *)Sentence);
+							WriteTelemetryLog((char *)Sentence);
 						}
 					}
 									
diff --git a/tracker/misc.c b/tracker/misc.c
index df0a9c5..1b7a4dc 100755
--- a/tracker/misc.c
+++ b/tracker/misc.c
@@ -39,14 +39,81 @@ char Hex(unsigned char Character)
 	return HexTable[Character & 15];
 }
 
-void WriteLog(char *FileName, char *Buffer)
+void WriteGPSLog(char *Buffer)
 {
-	FILE *fp;
+	static FILE *fp = NULL;
+	static int LineCount = 0;
 	
-	if ((fp = fopen(FileName, "at")) != NULL)
+	if (Config.EnableGPSLogging)
+	{
+		if (LineCount > 120)
+		{
+			fclose(fp);
+			fp = NULL;
+			LineCount = 0;
+		}
+		
+		if (fp == NULL)
+		{
+			fp = fopen("gps.txt", "at");
+		}
+		
+		if (fp != NULL)
+		{
+			fputs(Buffer, fp);
+			LineCount++;
+		}
+	}
+}
+
+void WriteTelemetryLog(char *Buffer)
+{
+	static FILE *fp = NULL;
+	static int LineCount = 0;
+	
+	if (Config.EnableTelemetryLogging)
+	{
+		if (LineCount > 100)
+		{
+			fclose(fp);
+			fp = NULL;
+			LineCount = 0;
+		}
+		
+		if (fp == NULL)
+		{
+			fp = fopen("telemetry.txt", "at");
+		}
+		
+		if (fp != NULL)
+		{
+			fputs(Buffer, fp);
+			LineCount++;
+		}
+	}
+}
+
+void WritePredictionLog(char *Buffer)
+{
+	static FILE *fp = NULL;
+	static int LineCount = 0;
+	
+	if (LineCount > 60)
 	{
-		fputs(Buffer, fp);
 		fclose(fp);
+		fp = NULL;
+		LineCount = 0;
+	}
+	
+	if (fp == NULL)
+	{
+		fp = fopen("prediction.txt", "at");
+	}
+	
+	if (fp != NULL)
+	{
+		fputs(Buffer, fp);
+		LineCount++;
 	}
 }
 
diff --git a/tracker/misc.h b/tracker/misc.h
index 449720a..6ea4dfd 100755
--- a/tracker/misc.h
+++ b/tracker/misc.h
@@ -253,7 +253,9 @@ struct TConfig
 extern struct TConfig Config;
 
 char Hex(unsigned char Character);
-void WriteLog(char *FileName, char *Buffer);
+void WriteGPSLog(char *Buffer);
+void WriteTelemetryLog(char *Buffer);
+void WritePredictionLog(char *Buffer);
 short open_i2c(int address);
 int FileExists(char *filename);
 int ReadBooleanFromString(FILE *fp, char *keyword, char *searchword);
diff --git a/tracker/prediction.c b/tracker/prediction.c
index 9a14276..cbae7cd 100755
--- a/tracker/prediction.c
+++ b/tracker/prediction.c
@@ -144,7 +144,7 @@ void *PredictionLoop(void *some_void_ptr)
 #				endif	
 				
 				sprintf(Temp, "%" PRId32 ", %f, %f, %f, %f, %lf\n", GPS->Altitude, GPS->Latitude, GPS->Longitude, GPS->PredictedLatitude, GPS->PredictedLongitude, GPS->CDA);
-				WriteLog("prediction.txt", Temp);
+				WritePredictionLog(Temp);
 			}
 			
 			PreviousLatitude = GPS->Latitude;
diff --git a/tracker/tracker.c b/tracker/tracker.c
index ca2af74..a381707 100755
--- a/tracker/tracker.c
+++ b/tracker/tracker.c
@@ -514,14 +514,10 @@ int OpenSerialPort(void)
 
 void SendSentence(int fd, char *TxLine)
 {
-	// printf("Sending sentence ...\n");
 	write(fd, TxLine, strlen(TxLine));
 
 	// Log now while we're waiting for the serial port, to eliminate or at least reduce downtime whilst logging
-	if (Config.EnableTelemetryLogging)
-	{
-		WriteLog("telemetry.txt", TxLine);
-	}
+	WriteTelemetryLog(TxLine);
 	
 	// Wait till those characters get sent
 	tcsetattr(fd, TCSAFLUSH, &options);

From 0ae06cebb61ed756c6cd8ba9601b53bd4c5b6e78 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Thu, 9 May 2019 11:18:10 +0000
Subject: [PATCH 21/60] Send prediction payload before actual payload

---
 tracker/misc.c | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/tracker/misc.c b/tracker/misc.c
index 1b7a4dc..3b56ba4 100755
--- a/tracker/misc.c
+++ b/tracker/misc.c
@@ -837,7 +837,7 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 	static int FirstTime=1;
 	int LoRaChannel;
 	int ShowFields;
-	char TimeBuffer[12], ExtraFields1[20], ExtraFields2[20], ExtraFields3[20], ExtraFields4[64], ExtraFields5[32], ExtraFields6[32], *ExtraFields7;
+	char TimeBuffer[12], ExtraFields1[20], ExtraFields2[20], ExtraFields3[20], ExtraFields4[64], ExtraFields5[32], ExtraFields6[32], *ExtraFields7, Sentence[256];
 	
 	if (FirstTime)
 	{
@@ -984,7 +984,7 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 	// Bouy mode or normal mode ?
 	if ((Config.BuoyModeAltitude > 0) && (GPS->Altitude < Config.BuoyModeAltitude))
 	{
-		sprintf((char *)TxLine, "$$%s,%d,%s,%7.5lf,%7.5lf",
+		sprintf(Sentence, "$$%s,%d,%s,%7.5lf,%7.5lf",
 				Config.Channels[Channel].PayloadID,
 				Config.Channels[Channel].SentenceCounter,
 				TimeBuffer,
@@ -999,7 +999,7 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 			
 		if (ShowFields) printf("\n");
 		
-		sprintf((char *)TxLine, "$$%s,%d,%s,%7.5lf,%7.5lf,%5.5" PRId32  ",%d,%d,%d,%3.1f%s%s%s%s%s%s%s%s",
+		sprintf(Sentence, "$$%s,%d,%s,%7.5lf,%7.5lf,%5.5" PRId32  ",%d,%d,%d,%3.1f%s%s%s%s%s%s%s%s",
 				Config.Channels[Channel].PayloadID,
 				Config.Channels[Channel].SentenceCounter,
 				TimeBuffer,
@@ -1020,7 +1020,7 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 				ExtraFields7);
 	}
 	
-	AppendCRC((char *)TxLine);
+	AppendCRC(Sentence);
 	
 	// Separate sentence for landing prediction ?
 	if (Config.PredictionID[0])
@@ -1036,7 +1036,13 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 				GPS->PredictedLongitude,
 				0);
 		AppendCRC((char *)PredictionPayload);
-		strcat((char *)TxLine, PredictionPayload);
+		
+		strcpy((char *)TxLine, PredictionPayload);
+		strcat((char *)TxLine, Sentence);
+	}
+	else
+	{
+		strcpy((char *)TxLine, Sentence);
 	}
 
 	return strlen((char *)TxLine) + 1;

From 5f0fb3210edc8ba95c2fda84b60d27956035c107 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Sun, 7 Jul 2019 13:21:15 +0100
Subject: [PATCH 22/60] Fixed CRC check for replaying GPS file

---
 tracker/gopro.py                           |   8 ++++---
 tracker/gps.c                              |  23 ++++++++++++---------
 tracker/images/LORA0/100GOPRO-GOPR1767.MP4 | Bin 0 -> 13184701 bytes
 tracker/startup                            |   4 +++-
 4 files changed, 21 insertions(+), 14 deletions(-)
 create mode 100644 tracker/images/LORA0/100GOPRO-GOPR1767.MP4

diff --git a/tracker/gopro.py b/tracker/gopro.py
index 21dfb89..b62163d 100755
--- a/tracker/gopro.py
+++ b/tracker/gopro.py
@@ -43,9 +43,11 @@
 			folder2 = folder1 + "/" + time.strftime("%d_%m_%y")
 			if not os.path.isdir(folder2):
 				os.mkdir(folder2)
-			os.system("mv " + folder1 + "/*.JPG " + folder2)
-
-			os.remove(filename)
+			try:
+				os.system("mv " + folder1 + "/*.JPG " + folder2)
+				os.remove(filename)
+			finally:
+				pass
 			os.system("echo DONE > ssdv_done_" + str(i))
 
 	time.sleep(1)
diff --git a/tracker/gps.c b/tracker/gps.c
index d7c2264..601be6f 100755
--- a/tracker/gps.c
+++ b/tracker/gps.c
@@ -375,16 +375,19 @@ uint8_t GPSGetc(struct gps_info *bb)
 
 int GPSChecksumOK(char *Buffer, int Count)
 {
-  unsigned char XOR, i, c;
+	unsigned char XOR, i, c, Star;
 
-  XOR = 0;
-  for (i = 1; i < (Count-4); i++)
-  {
-    c = Buffer[i];
-    XOR ^= c;
-  }
+	// Find star
+	for (Star=Count; (Star > 1) && (Buffer[Star] != '*'); Star--);
+	
+	XOR = 0;
+	for (i = 1; i < Star; i++)
+	{
+		c = Buffer[i];
+		XOR ^= c;
+	}
 
-  return (Buffer[Count-4] == '*') && (Buffer[Count-3] == Hex(XOR >> 4)) && (Buffer[Count-2] == Hex(XOR & 15));
+	return (Buffer[Star] == '*') && (Buffer[Star+1] == Hex(XOR >> 4)) && (Buffer[Star+2] == Hex(XOR & 15));
 }
 
 void FixUBXChecksum(unsigned char *Message, int Length)
@@ -749,7 +752,7 @@ void ProcessLine(struct gps_info *bb, struct TGPS *GPS, char *Buffer, int Count,
     }
     else
     {
-       printf("Bad checksum\r\n");
+       printf("Bad checksum %d %d %s\r\n", Count, strlen(Buffer), Buffer);
 	}
 }
 
@@ -841,7 +844,7 @@ void *GPSLoop(void *some_void_ptr)
 							}
 						}
 						ProcessLine(NULL, GPS, Line, Length, 1);
-						ProcessLine(NULL, GPS, Buffer, strlen(Buffer)-1, 2);
+						ProcessLine(NULL, GPS, Buffer, strlen(Buffer), 2);
 					}
 					else
 					{				
diff --git a/tracker/images/LORA0/100GOPRO-GOPR1767.MP4 b/tracker/images/LORA0/100GOPRO-GOPR1767.MP4
new file mode 100644
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literal 0
HcmV?d00001

diff --git a/tracker/startup b/tracker/startup
index 6b1b8a8..e1ae2a9 100755
--- a/tracker/startup
+++ b/tracker/startup
@@ -3,7 +3,9 @@ cd /home/pi/pits/tracker
 ./send_aprs &
 echo none | sudo tee /sys/class/leds/led0/trigger
 echo 1 | sudo tee /sys/class/leds/led0/brightness
-sudo ./camera &
+#sudo ./camera &
+sleep 30
+sudo python3 gopro.py &
 #python3 sensors.py &
 #python3 astro_led.py &
 #python3 webstuff.py

From a39da4d766e7a9f6d642866f295f6cda0baa6504 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Sun, 7 Jul 2019 13:22:35 +0100
Subject: [PATCH 23/60] Fixed CRC check for replaying GPS file

---
 tracker/startup | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tracker/startup b/tracker/startup
index e1ae2a9..f405654 100755
--- a/tracker/startup
+++ b/tracker/startup
@@ -3,9 +3,9 @@ cd /home/pi/pits/tracker
 ./send_aprs &
 echo none | sudo tee /sys/class/leds/led0/trigger
 echo 1 | sudo tee /sys/class/leds/led0/brightness
-#sudo ./camera &
+sudo ./camera &
 sleep 30
-sudo python3 gopro.py &
+#sudo python3 gopro.py &
 #python3 sensors.py &
 #python3 astro_led.py &
 #python3 webstuff.py

From db0b364aad947426e3b184a83a1814c574d1c4c3 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Sun, 7 Jul 2019 13:23:57 +0100
Subject: [PATCH 24/60] Fixed CRC check for replaying GPS file

---
 tracker/images/LORA0/100GOPRO-GOPR1767.MP4 | Bin 13184701 -> 0 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 tracker/images/LORA0/100GOPRO-GOPR1767.MP4

diff --git a/tracker/images/LORA0/100GOPRO-GOPR1767.MP4 b/tracker/images/LORA0/100GOPRO-GOPR1767.MP4
deleted file mode 100644
index 458ba1e961c4172c201b32b984816da6444147eb..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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From 8058a77fb334f0eee1b42410bba034c46f48ad84 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Mon, 8 Jul 2019 12:18:53 +0100
Subject: [PATCH 25/60] Fix warnings from gcc in Raspbian Buster

---
 README.md         |   5 +++++
 tracker/DS18B20.c |   2 +-
 tracker/aprs.c    |   3 ++-
 tracker/aprs.wav  | Bin 0 -> 355564 bytes
 tracker/misc.c    |   6 +++---
 tracker/snapper.c |   2 +-
 6 files changed, 12 insertions(+), 6 deletions(-)
 create mode 100644 tracker/aprs.wav

diff --git a/README.md b/README.md
index 581e50b..218e1b7 100755
--- a/README.md
+++ b/README.md
@@ -124,6 +124,11 @@ It is therefore possible to overlay downloaded images with telemetry data, as te
 
 ## Change Log ##
 
+08/07/2019
+==========
+
+- Removed some warnings from the latest gcc in Raspbian Buster
+
 22/11/2018
 ==========
 
diff --git a/tracker/DS18B20.c b/tracker/DS18B20.c
index b8d8f04..45122a7 100755
--- a/tracker/DS18B20.c
+++ b/tracker/DS18B20.c
@@ -38,7 +38,7 @@ void *DS18B20Loop(void *some_void_ptr)
 				{
 					if ((dp->d_name[0] != 'W') && (dp->d_name[2] == '-'))
 					{
-						sprintf(filename, "%s/%s/w1_slave", folder, dp->d_name);
+						sprintf(filename, "%.40s/%.30s/w1_slave", folder, dp->d_name);
 						if ((fp = fopen(filename, "r")) != NULL)
 						{
 							// 44 02 4b 46 7f ff 0c 10 ee : crc=ee YES
diff --git a/tracker/aprs.c b/tracker/aprs.c
index c77b647..81beae3 100755
--- a/tracker/aprs.c
+++ b/tracker/aprs.c
@@ -360,7 +360,8 @@ void SendAPRS(struct TGPS *GPS)
 	{
 		char s[10];
 
-		sprintf(s, strncpy(s, Config.APRS_Callsign, 7));
+		strncpy(s, Config.APRS_Callsign, 7);
+		s[7] = '\0';
 		if(Config.APRS_ID) snprintf(s + strlen(s), 4, "-%i", Config.APRS_ID);
 		
       // Transmit telemetry definitions
diff --git a/tracker/aprs.wav b/tracker/aprs.wav
new file mode 100644
index 0000000000000000000000000000000000000000..ed84150338d32509997ccd78331a888c63db87b4
GIT binary patch
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HcmV?d00001

diff --git a/tracker/misc.c b/tracker/misc.c
index 3b56ba4..c643f93 100755
--- a/tracker/misc.c
+++ b/tracker/misc.c
@@ -837,7 +837,7 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 	static int FirstTime=1;
 	int LoRaChannel;
 	int ShowFields;
-	char TimeBuffer[12], ExtraFields1[20], ExtraFields2[20], ExtraFields3[20], ExtraFields4[64], ExtraFields5[32], ExtraFields6[32], *ExtraFields7, Sentence[256];
+	char TimeBuffer[12], ExtraFields1[20], ExtraFields2[20], ExtraFields3[20], ExtraFields4[64], ExtraFields5[32], ExtraFields6[32], *ExtraFields7, Sentence[512];
 	
 	if (FirstTime)
 	{
@@ -973,7 +973,7 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 			if (line[0])
 			{
 				line[strcspn(line, "\n")] = '\0';
-				sprintf(ExternalFields, ",%s", line);
+				sprintf(ExternalFields, ",%.90s", line);
 			}
 			fseek(ExternalFile, 0, SEEK_END);
 			// clearerr(ExternalFile);
@@ -999,7 +999,7 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 			
 		if (ShowFields) printf("\n");
 		
-		sprintf(Sentence, "$$%s,%d,%s,%7.5lf,%7.5lf,%5.5" PRId32  ",%d,%d,%d,%3.1f%s%s%s%s%s%s%s%s",
+		snprintf(Sentence, 512, "$$%.15s,%d,%.9s,%7.5lf,%7.5lf,%5.5" PRId32  ",%d,%d,%d,%3.1f%.12s%.20s%.20s%.40s%.90s%.20s%.10s%.40s",
 				Config.Channels[Channel].PayloadID,
 				Config.Channels[Channel].SentenceCounter,
 				TimeBuffer,
diff --git a/tracker/snapper.c b/tracker/snapper.c
index a81b007..5dda8f2 100755
--- a/tracker/snapper.c
+++ b/tracker/snapper.c
@@ -89,7 +89,7 @@ void FindBestImageAndRequestConversion(int Channel, int width, int height)
 			{
 				if (strchr(ep->d_name, '~') == NULL)
 				{
-					sprintf(FileName, "%s/%s", SSDVFolder, ep->d_name);
+					sprintf(FileName, "%.60s/%.30s", SSDVFolder, ep->d_name);
 					stat(FileName, &st);
 					if (st.st_size > LargestFileSize)
 					{

From 5bdc539de4b5af753da6191fe19657b7316a9168 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Mon, 8 Jul 2019 12:32:30 +0100
Subject: [PATCH 26/60] Fix warnings from gcc in Raspbian Buster

---
 tracker/startup | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/tracker/startup b/tracker/startup
index f405654..0caa58a 100755
--- a/tracker/startup
+++ b/tracker/startup
@@ -4,11 +4,11 @@ cd /home/pi/pits/tracker
 echo none | sudo tee /sys/class/leds/led0/trigger
 echo 1 | sudo tee /sys/class/leds/led0/brightness
 sudo ./camera &
-sleep 30
-#sudo python3 gopro.py &
-#python3 sensors.py &
-#python3 astro_led.py &
-#python3 webstuff.py
+# sleep 30
+# sudo python3 gopro.py &
+# python3 sensors.py &
+# python3 astro_led.py &
+# python3 webstuff.py
 while :
 do
 	sudo ./tracker

From 8308a8660c6b92746605382283105799389dd5ab Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Sun, 14 Jul 2019 09:59:04 +0100
Subject: [PATCH 27/60] Fixed AV for cold start GPS when replaying NMEA file

---
 tracker/aprs.wav | Bin 355564 -> 0 bytes
 tracker/gps.c    |   7 ++++---
 tracker/lora.c   |  24 +++++++++++++-----------
 3 files changed, 17 insertions(+), 14 deletions(-)
 delete mode 100644 tracker/aprs.wav

diff --git a/tracker/aprs.wav b/tracker/aprs.wav
deleted file mode 100644
index ed84150338d32509997ccd78331a888c63db87b4..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 355564
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diff --git a/tracker/gps.c b/tracker/gps.c
index 601be6f..4d2f91c 100755
--- a/tracker/gps.c
+++ b/tracker/gps.c
@@ -829,7 +829,8 @@ void *GPSLoop(void *some_void_ptr)
 						printf("%s", Line);
 					}
 					
-					if ((fp != NULL) && (strstr(Line, "GGA") != NULL))
+					// if ((fp != NULL) && (strstr(Line, "GGA") != NULL))
+					if (fp != NULL)
 					{
 						static int PostFileCount=0;
 						static char Buffer[100];
@@ -843,8 +844,8 @@ void *GPSLoop(void *some_void_ptr)
 								exit(1);
 							}
 						}
-						ProcessLine(NULL, GPS, Line, Length, 1);
-						ProcessLine(NULL, GPS, Buffer, strlen(Buffer), 2);
+						ProcessLine(&bb, GPS, Line, Length, 1);
+						ProcessLine(&bb, GPS, Buffer, strlen(Buffer), 2);
 					}
 					else
 					{				
diff --git a/tracker/lora.c b/tracker/lora.c
index 3cdc245..285a8de 100755
--- a/tracker/lora.c
+++ b/tracker/lora.c
@@ -494,11 +494,10 @@ int BuildLoRaPositionPacket(unsigned char *TxLine, int LoRaChannel, struct TGPS
 	return sizeof(struct TBinaryPacket);
 }
 
-int SendLoRaImage(int LoRaChannel, int RTTYMode)
+void SendLoRaImage(int LoRaChannel, int RTTYMode)
 {
     unsigned char Buffer[256];
     size_t Count;
-    int SentSomething = 0;
 	int ResentPacket, Channel;
 	
 	Channel = LORA_CHANNEL + LoRaChannel;
@@ -526,8 +525,6 @@ int SendLoRaImage(int LoRaChannel, int RTTYMode)
 			{
 				SendLoRaData(LoRaChannel, Buffer+1, 255);
 			}
-		
-			SentSomething = 1;
         }
         else
         {
@@ -535,8 +532,14 @@ int SendLoRaImage(int LoRaChannel, int RTTYMode)
             Config.Channels[Channel].ImageFP = NULL;
         }
     }
-
-    return SentSomething;
+	
+	if (Config.Channels[Channel].ImageFP == NULL)
+	{
+		// Nothing sent
+		memset(Buffer, '\0', 255);
+		SendLoRaData(LoRaChannel, Buffer, 255);
+		// printf("Sending NULL packet as time filler\n");
+	}
 }
 
 int TDMTimeToSendOnThisChannel(int LoRaChannel, struct TGPS *GPS)
@@ -1387,7 +1390,7 @@ void *LoRaLoop(void *some_void_ptr)
 			}
 			else
 			{			
-				int MaxImagePackets, DoRTTY, PacketLength, SentSomething;
+				int MaxImagePackets, DoRTTY, PacketLength;
 				
 				
 				DoRTTY = 0;
@@ -1397,8 +1400,7 @@ void *LoRaLoop(void *some_void_ptr)
 					DoRTTY = Config.LoRaDevices[LoRaChannel].RTTYPacketIndex < Config.LoRaDevices[LoRaChannel].RTTYCount;
 				}
 				
-				SentSomething = 1;
-				
+			
 				if (DoRTTY)
 				{
 					if ((Config.Channels[Channel].SendMode == 0) || (Config.Channels[Channel].ImagePackets == 0) || (Config.LoRaDevices[LoRaChannel].RTTYEvery > 0))
@@ -1455,10 +1457,10 @@ void *LoRaLoop(void *some_void_ptr)
 				{
 					// Image packet
 					
-					SentSomething = SendLoRaImage(LoRaChannel, 0);
+					SendLoRaImage(LoRaChannel, 0);
 				}
 				
-				if (SentSomething && (Config.LoRaDevices[LoRaChannel].RTTYBaudRate > 0) && (Config.LoRaDevices[LoRaChannel].RTTYCount > 0))
+				if ((Config.LoRaDevices[LoRaChannel].RTTYBaudRate > 0) && (Config.LoRaDevices[LoRaChannel].RTTYCount > 0))
 				{
 					if (++Config.LoRaDevices[LoRaChannel].RTTYPacketIndex >= (Config.LoRaDevices[LoRaChannel].RTTYCount + Config.LoRaDevices[LoRaChannel].RTTYEvery))
 					{

From ff290de400e4c996b8f3045d5dd2086b0112aa38 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Tue, 23 Jul 2019 09:36:52 +0100
Subject: [PATCH 28/60] Fixed startup error where all logging disabled; fixed
 error in LoRa RST control

---
 tracker/lora.c |  3 ++-
 tracker/misc.c | 12 +++++++++---
 2 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/tracker/lora.c b/tracker/lora.c
index 285a8de..210bb42 100755
--- a/tracker/lora.c
+++ b/tracker/lora.c
@@ -211,8 +211,9 @@ void setupRFM98(int LoRaChannel)
 		if (Config.LoRaDevices[LoRaChannel].CS > 0)
 		{
 			pinMode(Config.LoRaDevices[LoRaChannel].CS, OUTPUT);
+			digitalWrite(Config.LoRaDevices[LoRaChannel].CS, 1);
 		}
-		if (Config.LoRaDevices[LoRaChannel].CS >= 0)
+		if (Config.LoRaDevices[LoRaChannel].RST >= 0)
 		{
 			pinMode(Config.LoRaDevices[LoRaChannel].RST, OUTPUT);
 			digitalWrite(Config.LoRaDevices[LoRaChannel].RST, 1);
diff --git a/tracker/misc.c b/tracker/misc.c
index c643f93..cec7ed6 100755
--- a/tracker/misc.c
+++ b/tracker/misc.c
@@ -616,8 +616,14 @@ void ReadString(FILE *fp, char *keyword, int Channel, char *Result, int Length,
 			if (strcasecmp(FullKeyWord, token) == 0)
 			{
 				value = strtok(NULL, "\n");
-				strncpy(Result, value, Length);
-				if (Length) Result[Length-1] = '\0';
+				if (Length)
+				{
+					if (value != NULL)
+					{
+						strncpy(Result, value, Length);
+					}
+					Result[Length-1] = '\0';
+				}
 
 				return;
 			}
@@ -718,7 +724,7 @@ int ReadBoolean(FILE *fp, char *keyword, int Channel, int NeedValue, int *Result
 int ReadBooleanFromString(FILE *fp, char *keyword, char *searchword)
 {
 	char Temp[100];
-
+	
 	ReadString(fp, keyword, -1, Temp, sizeof(Temp), 0);
 
 	if (strcasestr(Temp, searchword)) return 1; else return 0;

From 433d53564a8575ffc86476e57080f147546961b8 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Tue, 27 Aug 2019 17:27:44 +0100
Subject: [PATCH 29/60] UBlox pedestrian mode

---
 boot/pisky.txt    |  5 ++--
 tracker/gps.c     | 22 ++++++++++++------
 tracker/misc.c    | 59 ++++++++---------------------------------------
 tracker/snapper.c | 11 +++++++--
 4 files changed, 37 insertions(+), 60 deletions(-)

diff --git a/boot/pisky.txt b/boot/pisky.txt
index ef7b394..672ce0f 100644
--- a/boot/pisky.txt
+++ b/boot/pisky.txt
@@ -18,8 +18,9 @@ info_messages=2
 
 full_low_width=640
 full_low_height=480
-full_high_width=2592
-full_high_height=1944
+# 0 in either of the following tells the software to use full resolution from the Pi camera
+full_high_width=0
+full_high_height=0
 full_image_period=60
 
 #APRS_Callsign=CHANGE
diff --git a/tracker/gps.c b/tracker/gps.c
index 4d2f91c..f0a3b9a 100755
--- a/tracker/gps.c
+++ b/tracker/gps.c
@@ -426,11 +426,19 @@ void SetFlightMode(struct gps_info *bb, int High)
 	if (Config.GPSModel == 'U')
 	{
 		// Send navigation configuration command
-		unsigned char setNav[] = {0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0xDC};
+		unsigned char FlightMode[] = {0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0xDC};
+		unsigned char PedestrianMode[] = {0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x03, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x13, 0x76};
 		
-		SendToGPS(bb, setNav, sizeof(setNav));
-		
-		printf ("Setting UBlox flight mode\n");
+		if (High)
+		{
+			SendToGPS(bb, FlightMode, sizeof(FlightMode));
+			printf ("Setting UBlox flight mode\n");
+		}
+		else
+		{
+			SendToGPS(bb, PedestrianMode, sizeof(PedestrianMode));
+			printf ("Setting UBlox pedestrian mode\n");
+		}
 	}
 	else if (Config.GPSModel == 'M')
 	{
@@ -441,12 +449,12 @@ void SetFlightMode(struct gps_info *bb, int High)
 		if (High)
 		{
 			SendToGPS(bb, (unsigned char *)BalloonMode, strlen(BalloonMode));
-			printf ("Setting balloon mode\n");
+			printf ("Setting L80 balloon mode\n");
 		}
 		else
 		{
 			SendToGPS(bb, (unsigned char *)PedestrianMode, strlen(PedestrianMode));
-			printf ("Setting pedestrian mode\n");
+			printf ("Setting L80 pedestrian mode\n");
 		}
 	}
 }
@@ -867,7 +875,7 @@ void *GPSLoop(void *some_void_ptr)
 						}
 						else if (SentenceCount == 40)
 						{
-							SetFlightMode(&bb, GPS->Altitude > 5000);
+							SetFlightMode(&bb, GPS->Altitude > Config.Flight_Mode_Altitude);
 						}
 					}
 
diff --git a/tracker/misc.c b/tracker/misc.c
index cec7ed6..417176d 100755
--- a/tracker/misc.c
+++ b/tracker/misc.c
@@ -40,80 +40,41 @@ char Hex(unsigned char Character)
 }
 
 void WriteGPSLog(char *Buffer)
-{
-	static FILE *fp = NULL;
-	static int LineCount = 0;
-	
+{	
 	if (Config.EnableGPSLogging)
 	{
-		if (LineCount > 120)
-		{
-			fclose(fp);
-			fp = NULL;
-			LineCount = 0;
-		}
+		FILE *fp = NULL;
 		
-		if (fp == NULL)
-		{
-			fp = fopen("gps.txt", "at");
-		}
-		
-		if (fp != NULL)
+		if ((fp = fopen("gps.txt", "at")) != NULL)
 		{
 			fputs(Buffer, fp);
-			LineCount++;
+			fclose(fp);
 		}
 	}
 }
 
 void WriteTelemetryLog(char *Buffer)
 {
-	static FILE *fp = NULL;
-	static int LineCount = 0;
-	
 	if (Config.EnableTelemetryLogging)
 	{
-		if (LineCount > 100)
-		{
-			fclose(fp);
-			fp = NULL;
-			LineCount = 0;
-		}
-		
-		if (fp == NULL)
-		{
-			fp = fopen("telemetry.txt", "at");
-		}
+		FILE *fp = NULL;
 		
-		if (fp != NULL)
+		if ((fp = fopen("telemetry.txt", "at")) != NULL)
 		{
 			fputs(Buffer, fp);
-			LineCount++;
+			fclose(fp);
 		}
 	}
 }
 
 void WritePredictionLog(char *Buffer)
 {
-	static FILE *fp = NULL;
-	static int LineCount = 0;
+	FILE *fp = NULL;
 	
-	if (LineCount > 60)
-	{
-		fclose(fp);
-		fp = NULL;
-		LineCount = 0;
-	}
-	
-	if (fp == NULL)
-	{
-		fp = fopen("prediction.txt", "at");
-	}
-	
-	if (fp != NULL)
+	if ((fp = fopen("prediction.txt", "at")) != NULL)
 	{
 		fputs(Buffer, fp);
-		LineCount++;
+		fclose(fp);
 	}
 }
 
diff --git a/tracker/snapper.c b/tracker/snapper.c
index 5dda8f2..ad34a95 100755
--- a/tracker/snapper.c
+++ b/tracker/snapper.c
@@ -205,7 +205,7 @@ void *CameraLoop(void *some_void_ptr)
 					
 					GetWidthAndHeightForChannel(GPS, Channel, &width, &height);
 					
-					if ((width > 0) && (height > 0))
+					if ((width >= 0) && (height >= 0))
 					{
 						// Create name of file
 						sprintf(filename, "/home/pi/pits/tracker/take_pic_%d", Channel);
@@ -243,7 +243,14 @@ void *CameraLoop(void *some_void_ptr)
 									}
 									else
 									{
-										fprintf(fp, "raspistill -st -w %d -h %d -t 3000 -ex auto -mm matrix %s -o %s\n", width, height, Config.CameraSettings, FileName);
+										if ((width == 0) || (height == 0))
+										{
+											fprintf(fp, "raspistill -st -t 3000 -ex auto -mm matrix %s -o %s\n", Config.CameraSettings, FileName);
+										}
+										else
+										{
+											fprintf(fp, "raspistill -st -w %d -h %d -t 3000 -ex auto -mm matrix %s -o %s\n", width, height, Config.CameraSettings, FileName);
+										}
 									}
 								}
 								else

From 0283f666f8599e224e07af51d898741bece67c09 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Tue, 27 Aug 2019 17:31:12 +0100
Subject: [PATCH 30/60] UBlox pedestrian mode

---
 README.md | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/README.md b/README.md
index 218e1b7..8a8e612 100755
--- a/README.md
+++ b/README.md
@@ -124,6 +124,13 @@ It is therefore possible to overlay downloaded images with telemetry data, as te
 
 ## Change Log ##
 
+27/08/2019
+==========
+
+- Pedestrian mode for UBlox
+- Use Flight_Mode_Altitude setting to choose flight mode or pedestrian for UBlox and L80
+- Set height and/or width to zero to tell raspistill to use full camera resolution for "full" mode images
+ 
 08/07/2019
 ==========
 

From ded59f8ac1bd380f02573d1607ca0dd30cf7dc87 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Fri, 14 Feb 2020 12:55:53 +0000
Subject: [PATCH 31/60] No null packets in mode 0 for missing camera

---
 README.md      | 5 +++++
 tracker/lora.c | 9 ++++++---
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/README.md b/README.md
index 8a8e612..028dbea 100755
--- a/README.md
+++ b/README.md
@@ -124,6 +124,11 @@ It is therefore possible to overlay downloaded images with telemetry data, as te
 
 ## Change Log ##
 
+14/02/2020
+==========
+
+- Disable null packets for LoRa mode 0
+
 27/08/2019
 ==========
 
diff --git a/tracker/lora.c b/tracker/lora.c
index 210bb42..126cd3e 100755
--- a/tracker/lora.c
+++ b/tracker/lora.c
@@ -537,9 +537,12 @@ void SendLoRaImage(int LoRaChannel, int RTTYMode)
 	if (Config.Channels[Channel].ImageFP == NULL)
 	{
 		// Nothing sent
-		memset(Buffer, '\0', 255);
-		SendLoRaData(LoRaChannel, Buffer, 255);
-		// printf("Sending NULL packet as time filler\n");
+		if (Config.LoRaDevices[LoRaChannel].SpeedMode > 0)
+		{
+			memset(Buffer, '\0', 255);
+			SendLoRaData(LoRaChannel, Buffer, 255);
+			// printf("Sending NULL packet as time filler\n");
+		}
 	}
 }
 

From b5124fb45937fc327cab7d4f25473c7874160a0a Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Mon, 2 Mar 2020 14:44:53 +0000
Subject: [PATCH 32/60] Fixed bug where GPU temperature only read once

---
 README.md                          | 665 +++++++++++++++--------------
 tracker/DS18B20.c                  |   3 +-
 tracker/images/LORA1/11_27_43.JPG~ |   0
 3 files changed, 337 insertions(+), 331 deletions(-)
 create mode 100644 tracker/images/LORA1/11_27_43.JPG~

diff --git a/README.md b/README.md
index 028dbea..cac40d1 100755
--- a/README.md
+++ b/README.md
@@ -1,338 +1,343 @@
-# PITS - HAB Tracker software for the PITS boards #
-
-Created by Dave Akerman (dave@sccs.co.uk)
-
-This software is written for the PITS Zero with Pi Zero, PITS+ with the various A+/B+ models, and the original PITS with the Pi A/B boards.
-
-PITS Zero and PITS+ can be purchased from board from http://ava.upuaut.net/store/.
-
-Software support is provided for customers who have purchased a PITS, PITS Zero or PITS+ board, for use with that board only.
-
-## Installation ##
-
-Follow the instructions at http://www.pi-in-the-sky.com/index.php?id=sd-card-image-from-scratch
-
-
-## Piezo Buzzer ##
-
-A piezo buzzer is another helpful device for locating a landed payload.  Use one that will operate from 3V and consumes less than 20mA; I use RS 617-3069 which is very loud.  Connect to a 0V pin on the Pi GPIO connector, and a spare I/O pin.
-
-Configure as follows, being careful to use a WiringPi pin number:
- 
-	Piezo_Pin=4
-	Piezpo_Alt=1000
-
-For the above settings, the buzzer light will come on during flight once the payload descends below 1000m.
-
-
-
-## Strobon LED strobe light ##
-
-These are **very** bright LED strobe lights made for RC models.  You can power them from the Pi 5V and 0V lines; note that they do pull 1A for 20ms for each flash, which might cause issues depending on the power supply; if in doubt add some capacitance at the strobe.
-
-The LED uses a PWM input to control its mode.  Choose any free pin, e.g. **BCM** pin 18 which is only used if you have an APRS board.  Configure as follows, being careful to use BCM pin numbers and **not** WiringPi pin numbers:
-
-
-	Strobe_Pin=18
-	Strobe_Alt=1000
-
-For the above settings, the strobe light will come on during flight once the payload descends below 1000m.
-
-Both V1 and V2 Strobons have been tested to work fine.  PITS controls the LED by using a standard 50Hz PWM signal set with 1ms pulse for off and 2ms for on.  Note that when powered up, the V2 model strobes until PITS starts; the V1 starts up as off.
-
-
-## Additional Sensors ##
-
-You can enable any **one** of these supported sensor devices using these lines in pisky.txt:
-
-	Enable_BME280=Y
-	Enable_MS5611=Y
-	Enable_BMP085=Y
-
-All of them measure pressure and temperature; the BME280 also measures humidity.
- 
-
-## RTTY through LoRa ##
-
-To understand the settings, first take note that PITS has a concept of "radio channels" where a channel is a particular radio transmitter not mode (RTTY or LoRa).  We are using one of the LoRa devices (channels) to transmit RTTY.  So our settings are associated with the particular LoRa module (in CE0 or CE1 position).  Essentially we are overriding the normal LoRa functionality by telling the software to transmit RTTY as well as or instead of the LoRa packets.
-
-These are the new settings (shown for channel 0)
-
-
-- LORA\_RTTY\_Frequency_0=<RTTY Frequency\>.  Without this, RTTY will use the same frequency as LoRa.  I recommend that you keep the frequencies apart so that your RTTY receiving software does not try to track the LoRa trransmissions.
-- LORA\_RTTY\_Baud_0=<baud rate\>.  Choose 50 (better range) or 300 (faster, allows for SSDV, easier for dl-fldigi to lock to).
-- LORA\_RTTY\_Shift_0=<carrier shift in Hz\>.  The carrier shift must be numerically greater than the baud rate.  Note that the LoRa chip steps in multiples of 30.5Hz.
-- LORA\_RTTY\_Count_0=<count\>.  This is how many RTTY packets are sent one after the other before transmitting any LoRa packets.  2 is recommended in case the RTTY decoder misses the start of the first packet.
-- LORA\_RTTY\_Every_0=<count\>.  This is how many LoRa packets are sent one after the other before transmitting any RTTY packets.  Set to zero to disable LoRa (and only send RTTY).
-- LORA\_RTTY\_Preamble_0=<bits\>.  Sets the length of preamble (constant carrier) before sending RTTY data.  Default is 8 and seems to be plenty.
-
-Example:
-
-	LORA_RTTY_Frequency_0=434.350
-	LORA_RTTY_Baud_0=300
-	LORA_RTTY_Shift_0=610
-	LORA_RTTY_Count_0=2
-	LORA_RTTY_Every_0=12
-	LORA_RTTY_Preamble_0=8
-
-
-## USB Camera ##
-
-To use a USB camera (i.e. a compact or SLR) instead of the Pi camera, you need to install gphoto2 and imagemagick:
-
-	sudo apt-get install gphoto2 imagemagick
-
-and you need to edit /boot/pisky.txt and change the "camera" line to be:
-
-	Camera=G
-
-(G/g are for gphoto2, U/F/u/f for fswebcam; N/n is for no camera, Y/y/1/TC/c is for CSI camera).
-
-The camera must be able to support remote capture as well as image download, and this excludes a large number of cameras in particular all Canon compacts since 2009.
-There's a list of cameras at http://www.gphoto.org/doc/remote/.
-
-The image resolution is not controlled so you should set this up in the camera.  The full image files are stored on Pi SD card, so ensure that it has sufficient free capacity.
-
-If you are transmitting images with SSDV, then these need to be resized before transmission.  This is configured in pisky.txt in the usual way. 
-The process though is different - the camera takes the full sized image, and this image is downloaded to the Pi unaltered.  Before transmission the selected images are then resized using imagemagick.
-So, regardless of the image size settings in pisky.txt, the Pi SD card will contain the full-size images.
-
-PITS does not set the camera exposure.  Normally with the camera set to an automatic exposure mode you will get plenty of good images, but you can of course set it to any mode you wish including manual.
-If you wish to control this from the software rather than on the camera, then create an executable script "take_image" (there is a sample supplied as "take_image.sample").
-Note that most settings are only available in the more basic modes - e.g. the aperture can only be controlled in aperture-priority or manual modes.
-
-gphoto2 needs more work than the other camera options, and we strongly recommend some experimentation with the camera you intend to use.  See http://gphoto.org/doc/manual/using-gphoto2.html.
-
-
-## USB Webcam ##
-
-To use a USB webcam instead of the Pi camera, you need to install fswebcam:
-
-	sudo apt-get install fswebcam
-
-and you need to edit /boot/pisky.txt and change the "camera" line to be:
-
-	Camera=U
-
-
-## IMAGE PROCESSING ##
-
-All images now include telemetry (longitude, latitude, altitude) in the JPEG comment field, **but only if EXIV2 has been installed**.
-
-It is therefore possible to overlay downloaded images with telemetry data, as text or graphics, using (for example) ImageMagick, and EXIV2 to extract the data from the JPEG being processed.  A sample script "process_image.sample" is provided; to use this, rename to be "process_image", make it executable, and edit to your requirements.  Please note that the sample assumes a particular image resolution and you will need to change the pixel positions of the various items.  Imagemagick is quite complex to use but there is plenty of documentation on the web plus many samples. 
-
-
-## Change Log ##
-
-14/02/2020
-==========
-
-- Disable null packets for LoRa mode 0
-
-27/08/2019
-==========
-
+# PITS - HAB Tracker software for the PITS boards #
+
+Created by Dave Akerman (dave@sccs.co.uk)
+
+This software is written for the PITS Zero with Pi Zero, PITS+ with the various A+/B+ models, and the original PITS with the Pi A/B boards.
+
+PITS Zero and PITS+ can be purchased from board from http://ava.upuaut.net/store/.
+
+Software support is provided for customers who have purchased a PITS, PITS Zero or PITS+ board, for use with that board only.
+
+## Installation ##
+
+Follow the instructions at http://www.pi-in-the-sky.com/index.php?id=sd-card-image-from-scratch
+
+
+## Piezo Buzzer ##
+
+A piezo buzzer is another helpful device for locating a landed payload.  Use one that will operate from 3V and consumes less than 20mA; I use RS 617-3069 which is very loud.  Connect to a 0V pin on the Pi GPIO connector, and a spare I/O pin.
+
+Configure as follows, being careful to use a WiringPi pin number:
+
+	Piezo_Pin=4
+	Piezpo_Alt=1000
+
+For the above settings, the buzzer light will come on during flight once the payload descends below 1000m.
+
+
+
+## Strobon LED strobe light ##
+
+These are **very** bright LED strobe lights made for RC models.  You can power them from the Pi 5V and 0V lines; note that they do pull 1A for 20ms for each flash, which might cause issues depending on the power supply; if in doubt add some capacitance at the strobe.
+
+The LED uses a PWM input to control its mode.  Choose any free pin, e.g. **BCM** pin 18 which is only used if you have an APRS board.  Configure as follows, being careful to use BCM pin numbers and **not** WiringPi pin numbers:
+
+
+	Strobe_Pin=18
+	Strobe_Alt=1000
+
+For the above settings, the strobe light will come on during flight once the payload descends below 1000m.
+
+Both V1 and V2 Strobons have been tested to work fine.  PITS controls the LED by using a standard 50Hz PWM signal set with 1ms pulse for off and 2ms for on.  Note that when powered up, the V2 model strobes until PITS starts; the V1 starts up as off.
+
+
+## Additional Sensors ##
+
+You can enable any **one** of these supported sensor devices using these lines in pisky.txt:
+
+	Enable_BME280=Y
+	Enable_MS5611=Y
+	Enable_BMP085=Y
+
+All of them measure pressure and temperature; the BME280 also measures humidity.
+
+
+## RTTY through LoRa ##
+
+To understand the settings, first take note that PITS has a concept of "radio channels" where a channel is a particular radio transmitter not mode (RTTY or LoRa).  We are using one of the LoRa devices (channels) to transmit RTTY.  So our settings are associated with the particular LoRa module (in CE0 or CE1 position).  Essentially we are overriding the normal LoRa functionality by telling the software to transmit RTTY as well as or instead of the LoRa packets.
+
+These are the new settings (shown for channel 0)
+
+
+- LORA\_RTTY\_Frequency_0=<RTTY Frequency\>.  Without this, RTTY will use the same frequency as LoRa.  I recommend that you keep the frequencies apart so that your RTTY receiving software does not try to track the LoRa trransmissions.
+- LORA\_RTTY\_Baud_0=<baud rate\>.  Choose 50 (better range) or 300 (faster, allows for SSDV, easier for dl-fldigi to lock to).
+- LORA\_RTTY\_Shift_0=<carrier shift in Hz\>.  The carrier shift must be numerically greater than the baud rate.  Note that the LoRa chip steps in multiples of 30.5Hz.
+- LORA\_RTTY\_Count_0=<count\>.  This is how many RTTY packets are sent one after the other before transmitting any LoRa packets.  2 is recommended in case the RTTY decoder misses the start of the first packet.
+- LORA\_RTTY\_Every_0=<count\>.  This is how many LoRa packets are sent one after the other before transmitting any RTTY packets.  Set to zero to disable LoRa (and only send RTTY).
+- LORA\_RTTY\_Preamble_0=<bits\>.  Sets the length of preamble (constant carrier) before sending RTTY data.  Default is 8 and seems to be plenty.
+
+Example:
+
+	LORA_RTTY_Frequency_0=434.350
+	LORA_RTTY_Baud_0=300
+	LORA_RTTY_Shift_0=610
+	LORA_RTTY_Count_0=2
+	LORA_RTTY_Every_0=12
+	LORA_RTTY_Preamble_0=8
+
+
+## USB Camera ##
+
+To use a USB camera (i.e. a compact or SLR) instead of the Pi camera, you need to install gphoto2 and imagemagick:
+
+	sudo apt-get install gphoto2 imagemagick
+
+and you need to edit /boot/pisky.txt and change the "camera" line to be:
+
+	Camera=G
+
+(G/g are for gphoto2, U/F/u/f for fswebcam; N/n is for no camera, Y/y/1/TC/c is for CSI camera).
+
+The camera must be able to support remote capture as well as image download, and this excludes a large number of cameras in particular all Canon compacts since 2009.
+There's a list of cameras at http://www.gphoto.org/doc/remote/.
+
+The image resolution is not controlled so you should set this up in the camera.  The full image files are stored on Pi SD card, so ensure that it has sufficient free capacity.
+
+If you are transmitting images with SSDV, then these need to be resized before transmission.  This is configured in pisky.txt in the usual way. 
+The process though is different - the camera takes the full sized image, and this image is downloaded to the Pi unaltered.  Before transmission the selected images are then resized using imagemagick.
+So, regardless of the image size settings in pisky.txt, the Pi SD card will contain the full-size images.
+
+PITS does not set the camera exposure.  Normally with the camera set to an automatic exposure mode you will get plenty of good images, but you can of course set it to any mode you wish including manual.
+If you wish to control this from the software rather than on the camera, then create an executable script "take_image" (there is a sample supplied as "take_image.sample").
+Note that most settings are only available in the more basic modes - e.g. the aperture can only be controlled in aperture-priority or manual modes.
+
+gphoto2 needs more work than the other camera options, and we strongly recommend some experimentation with the camera you intend to use.  See http://gphoto.org/doc/manual/using-gphoto2.html.
+
+
+## USB Webcam ##
+
+To use a USB webcam instead of the Pi camera, you need to install fswebcam:
+
+	sudo apt-get install fswebcam
+
+and you need to edit /boot/pisky.txt and change the "camera" line to be:
+
+	Camera=U
+
+
+## IMAGE PROCESSING ##
+
+All images now include telemetry (longitude, latitude, altitude) in the JPEG comment field, **but only if EXIV2 has been installed**.
+
+It is therefore possible to overlay downloaded images with telemetry data, as text or graphics, using (for example) ImageMagick, and EXIV2 to extract the data from the JPEG being processed.  A sample script "process_image.sample" is provided; to use this, rename to be "process_image", make it executable, and edit to your requirements.  Please note that the sample assumes a particular image resolution and you will need to change the pixel positions of the various items.  Imagemagick is quite complex to use but there is plenty of documentation on the web plus many samples. 
+
+
+## Change Log ##
+
+02/03/2020
+==========
+
+- Fix GPU temperature only being read once if there's no DS18B20 (i.e. not using PITS board)
+
+14/02/2020
+==========
+
+- Disable null packets for LoRa mode 0
+
+27/08/2019
+==========
+
 - Pedestrian mode for UBlox
 - Use Flight_Mode_Altitude setting to choose flight mode or pedestrian for UBlox and L80
 - Set height and/or width to zero to tell raspistill to use full camera resolution for "full" mode images
- 
-08/07/2019
-==========
-
-- Removed some warnings from the latest gcc in Raspbian Buster
-
-22/11/2018
-==========
-
-- Added support for Strobon V1 and V2 PWM-controlled LED strobe lights
-
-21/11/2018
-==========
-
-- Added support for MS5611 Pressure/Temperature Sensor
-
-26/09/2018
-==========
-
-- Added support for RTTY via LoRa module
-
-09/04/2018
-==========
-
-- Added HABPack support for LoRa, using encoder by Phil Crump.  Enable with LORA_HABPack_n=Y
-
-04/02/2018
-==========
-
-- Fixed APRS pre-emphasis which was actually de-emphasis!
-
-21/09/2017
-==========
-
-- Add LoRa mode 8 for SSDV repeater network
-
-15/09/2017
-==========
-
-- Re-enabled temperature sensing for Pi Zero / W
-
-05/09/2017
-==========
-
-- Print list of fields when sending first sentence for a channel.  Useful for setting up payload document.
-
-01/09/2017
-==========
-
-- Reduce amount of Rx-related guff when in listen-only mode
-
-19/08/2017
-==========
-
-- Changed startup to use systemd
-
-10/04/2017
-==========
-
-- Added support direct upload to Habitat using an internet connection
- 
-03/03/2017
-==========
-
-- Added support for Pi Zero W 
- 
-07/11/2016
-==========
-
-- Added support for USB cameras via gphoto2
-
-19/09/2016
-==========
-
-- Red (warn) LED now flashes during wait for GPS lock; if it's on without flashing then there is no GPS data (which means GPS misconfigured, or Pi revision not recognised)
-
-18/09/2016
-==========
-
-- Full list of Pi Zero boards
-- Ignore empty CRLF lines in pisky.txt
-
-29/09/2016
-==========
-
-- Better CPU/Pi test
-
-25/09/2016
-==========
-
-- Added SSDV_settings to pisky.txt - add command-line parameter when calling SSDV program- Removed support for running without device tree
-- Fixed setting of implicit/explicit mode manually, ditto low-data-rate optimisation
-- Truncate SSDV images larger than max size (currently 4096 packets)
-
-12/09/2016
-==========
-
-- Settable delay between packets
-- Minimal "buoy mode" telemetry
-
-14/08/2016
-==========
-
-- Added option for serial GPS connection.  Use GPS_Device=/dev/ttyACM0 for example.
-- Re-enabled APRS script
-
-12/08/2016
-==========
-
-- Fixed error where LoRa channel stopped transmitting after a few sentences if SSDV disabled on that channel
-- Increased maximum size of SSDV file to 4096 packets
-- Add option to disable reading of ADC, and also transmission of ADC values
-
-17/06/2016
-==========
-
-- BME280 driver
-
-18/05/2015
-==========
-
-- Ability to receive SMS-style messages uplinked from the ground via LoRa.  Messages are saved to a text file and can then be processed externally (e.g. by supplied Python script to display on a Pi Sense HAT)
-- Ability to include, in the LoRa telemetry, CSV data from an external file.  Sample Python script supplied to build that file from Sense HAT sensor data.
-- Ability to re-send SSDV packets, via LoRa, that were not received on the ground.  Uses a LoRa uplink message to define which packets need to be sent.
-- Can include uplink message status in LoRa telemetry.
-- Photo sizes forced to be no smaller than 320x240, to avoid limitation in raspistill program.
-- RTTY can be switched off (no data no carrier) during LoRa uplink periods.
-- Use of EXIV2 (if installed) to insert telemetry data into all stored JPEG images, in the JPEG comment field
-- Sample image processing script to extract telemetry from JPEG comment field, and insert into downloaded images as a text overlay, using ImageMagick
-
-01/03/2016
-==========
-
-- Test for latest Pi boards; assume PITS+ if not a known board
-- clear.txt now actually works
-- Better setting of MTX2 frequency
-
-28/11/2015
-
-- Suport for Pi Zero
-- Support for USB webcam via fswebcam
-
-12/10/2015
-
-- Added "camera_settings" option for config file
-- Fixed IP check which faulted when Pi on a VPN
-
-18/08/2015
-
-- Merged in LoRa code (LoRa branch is now defunct)
-- Photographs can now be taken at independent rates for RTTY, LoRa, full-size
-- Landing prediction option
-- Fixes for multiple DS18B20 sensors
-- Ability to run emulated flight from GPS NMEA file
-- Ability to modify SSDV images before transmission using ImageMagick etc.
-- LoRa Calling Mode
-- RTTY serial port kept open continuously
-- Startup radio message with IP address etc.
-- Stop multiple tracker programs from being run
-- Test for latest Pi board
-- Option to delete existing image files at startup
-- Image files now in names/dated folders e.g. /home/pi/images/RTTY/18_08_2015
-
-17/06/2015
-
-- Merged in APRS code (APRS branch is now defunct)
-- Added options to control when APRS packets are sent
-- Fixed issue with tracker program failing SD card is pulled and APRS enabled
-- NTX2 frequency-setting code now has same improvements as for MTX2
-- Serial port kept open now instead of open/close each packet; using flush command to sync instead of closing.  This allows ...
-- ... Telemetry log entries now written whilst waiting for telemetry to Tx; removes/reduces delay due to SD card writing.
-
-01/06/2015
-
-- MTX2 frequency-setting code changed to fix random fails to set frequency
-- logging now on by default
-- log files removed from repository
-- Long payload IDs are truncated to 6 before passing to SSDV program
-- SSDV image widths and heights now forced to be multiples of 16 pixels
-- Added support for second (external) DS18B20 temperature sensor
-- Fix to occassional missing packets
-- Support for Pi V2 B
+
+08/07/2019
+==========
+
+- Removed some warnings from the latest gcc in Raspbian Buster
+
+22/11/2018
+==========
+
+- Added support for Strobon V1 and V2 PWM-controlled LED strobe lights
+
+21/11/2018
+==========
+
+- Added support for MS5611 Pressure/Temperature Sensor
+
+26/09/2018
+==========
+
+- Added support for RTTY via LoRa module
+
+09/04/2018
+==========
+
+- Added HABPack support for LoRa, using encoder by Phil Crump.  Enable with LORA_HABPack_n=Y
+
+04/02/2018
+==========
+
+- Fixed APRS pre-emphasis which was actually de-emphasis!
+
+21/09/2017
+==========
+
+- Add LoRa mode 8 for SSDV repeater network
+
+15/09/2017
+==========
+
+- Re-enabled temperature sensing for Pi Zero / W
+
+05/09/2017
+==========
+
+- Print list of fields when sending first sentence for a channel.  Useful for setting up payload document.
+
+01/09/2017
+==========
+
+- Reduce amount of Rx-related guff when in listen-only mode
+
+19/08/2017
+==========
+
+- Changed startup to use systemd
+
+10/04/2017
+==========
+
+- Added support direct upload to Habitat using an internet connection
+
+03/03/2017
+==========
+
+- Added support for Pi Zero W 
+
+07/11/2016
+==========
+
+- Added support for USB cameras via gphoto2
+
+19/09/2016
+==========
+
+- Red (warn) LED now flashes during wait for GPS lock; if it's on without flashing then there is no GPS data (which means GPS misconfigured, or Pi revision not recognised)
+
+18/09/2016
+==========
+
+- Full list of Pi Zero boards
+- Ignore empty CRLF lines in pisky.txt
+
+29/09/2016
+==========
+
+- Better CPU/Pi test
+
+25/09/2016
+==========
+
+- Added SSDV_settings to pisky.txt - add command-line parameter when calling SSDV program- Removed support for running without device tree
+- Fixed setting of implicit/explicit mode manually, ditto low-data-rate optimisation
+- Truncate SSDV images larger than max size (currently 4096 packets)
+
+12/09/2016
+==========
+
+- Settable delay between packets
+- Minimal "buoy mode" telemetry
+
+14/08/2016
+==========
+
+- Added option for serial GPS connection.  Use GPS_Device=/dev/ttyACM0 for example.
+- Re-enabled APRS script
+
+12/08/2016
+==========
+
+- Fixed error where LoRa channel stopped transmitting after a few sentences if SSDV disabled on that channel
+- Increased maximum size of SSDV file to 4096 packets
+- Add option to disable reading of ADC, and also transmission of ADC values
+
+17/06/2016
+==========
+
+- BME280 driver
+
+18/05/2015
+==========
+
+- Ability to receive SMS-style messages uplinked from the ground via LoRa.  Messages are saved to a text file and can then be processed externally (e.g. by supplied Python script to display on a Pi Sense HAT)
+- Ability to include, in the LoRa telemetry, CSV data from an external file.  Sample Python script supplied to build that file from Sense HAT sensor data.
+- Ability to re-send SSDV packets, via LoRa, that were not received on the ground.  Uses a LoRa uplink message to define which packets need to be sent.
+- Can include uplink message status in LoRa telemetry.
+- Photo sizes forced to be no smaller than 320x240, to avoid limitation in raspistill program.
+- RTTY can be switched off (no data no carrier) during LoRa uplink periods.
+- Use of EXIV2 (if installed) to insert telemetry data into all stored JPEG images, in the JPEG comment field
+- Sample image processing script to extract telemetry from JPEG comment field, and insert into downloaded images as a text overlay, using ImageMagick
+
+01/03/2016
+==========
+
+- Test for latest Pi boards; assume PITS+ if not a known board
+- clear.txt now actually works
+- Better setting of MTX2 frequency
+
+28/11/2015
+
+- Suport for Pi Zero
+- Support for USB webcam via fswebcam
+
+12/10/2015
+
+- Added "camera_settings" option for config file
+- Fixed IP check which faulted when Pi on a VPN
+
+18/08/2015
+
+- Merged in LoRa code (LoRa branch is now defunct)
+- Photographs can now be taken at independent rates for RTTY, LoRa, full-size
+- Landing prediction option
+- Fixes for multiple DS18B20 sensors
+- Ability to run emulated flight from GPS NMEA file
+- Ability to modify SSDV images before transmission using ImageMagick etc.
+- LoRa Calling Mode
+- RTTY serial port kept open continuously
+- Startup radio message with IP address etc.
+- Stop multiple tracker programs from being run
+- Test for latest Pi board
+- Option to delete existing image files at startup
+- Image files now in names/dated folders e.g. /home/pi/images/RTTY/18_08_2015
+
+17/06/2015
+
+- Merged in APRS code (APRS branch is now defunct)
+- Added options to control when APRS packets are sent
+- Fixed issue with tracker program failing SD card is pulled and APRS enabled
+- NTX2 frequency-setting code now has same improvements as for MTX2
+- Serial port kept open now instead of open/close each packet; using flush command to sync instead of closing.  This allows ...
+- ... Telemetry log entries now written whilst waiting for telemetry to Tx; removes/reduces delay due to SD card writing.
+
+01/06/2015
+
+- MTX2 frequency-setting code changed to fix random fails to set frequency
+- logging now on by default
+- log files removed from repository
+- Long payload IDs are truncated to 6 before passing to SSDV program
+- SSDV image widths and heights now forced to be multiples of 16 pixels
+- Added support for second (external) DS18B20 temperature sensor
+- Fix to occassional missing packets
+- Support for Pi V2 B
 - Protect against 
 - 
 - 
 - 
 - 
-- 085/180 being disconnected after initialisation
-
-19/12/2014
-
-- GPS code completely re-written to use WiringPi library instead of bcm library
-- default configuration now leaves the monitor on, to ease development
-- As the PITS+ boards are set by frequency in MHz, but the earlier board was
-  set by channel number, the code now accepts either "frequency=nn" for channel
-  number, of frequency=xxx.xxxMHz for actual frequency.  Not that using the
-  second form does not give you more options on the older board - the frequency
-  will be set to the closest channnel.
-- Camera filenames are now the system time
-- Camera images are now saved in dated folders
-
+- 085/180 being disconnected after initialisation
+
+19/12/2014
+
+- GPS code completely re-written to use WiringPi library instead of bcm library
+- default configuration now leaves the monitor on, to ease development
+- As the PITS+ boards are set by frequency in MHz, but the earlier board was
+  set by channel number, the code now accepts either "frequency=nn" for channel
+  number, of frequency=xxx.xxxMHz for actual frequency.  Not that using the
+  second form does not give you more options on the older board - the frequency
+  will be set to the closest channnel.
+- Camera filenames are now the system time
+- Camera images are now saved in dated folders
+
diff --git a/tracker/DS18B20.c b/tracker/DS18B20.c
index 45122a7..53508f8 100755
--- a/tracker/DS18B20.c
+++ b/tracker/DS18B20.c
@@ -26,6 +26,8 @@ void *DS18B20Loop(void *some_void_ptr)
 	int SensorCount;
 
 	GPS = (struct TGPS *)some_void_ptr;
+	
+	GPS->DS18B20Count = 0;
 
 	while (1)
 	{
@@ -85,7 +87,6 @@ void *DS18B20Loop(void *some_void_ptr)
 				fscanf (fp, "%lf", &T);
 				GPS->DS18B20Temperature[0] = T / 1000;
 				// printf ("GPU temperature is %6.3f C.\n", GPS->DS18B20Temperature[0]);
-				GPS->DS18B20Count = 1;
 				fclose (fp);
 			}
 		}
diff --git a/tracker/images/LORA1/11_27_43.JPG~ b/tracker/images/LORA1/11_27_43.JPG~
new file mode 100644
index 0000000..e69de29

From 9e3f67f9a02301aa84b33a49b73d170447f3d508 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Mon, 2 Mar 2020 14:45:53 +0000
Subject: [PATCH 33/60] Fixed bug where GPU temperature only read once

---
 tracker/images/LORA1/11_27_43.JPG~ | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 tracker/images/LORA1/11_27_43.JPG~

diff --git a/tracker/images/LORA1/11_27_43.JPG~ b/tracker/images/LORA1/11_27_43.JPG~
deleted file mode 100644
index e69de29..0000000

From d9f1a0258510eb9ebe34243b9d16c6268ef066db Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Mon, 4 Jan 2021 11:50:04 +0000
Subject: [PATCH 34/60] Cutdown with uplink

---
 tracker/cutdown.c | 150 ++++++++++++++++++++++++++++++++++++++++++++++
 tracker/cutdown.h |   4 ++
 tracker/gps.c     |   6 +-
 tracker/gps.h     |   7 ++-
 tracker/lora.c    |  62 +++++++++++++++++++
 tracker/misc.c    |  74 +++++++++++++++++++++--
 tracker/misc.h    |  22 ++++++-
 tracker/tracker.c |  88 ++++++++++++++++++++++++++-
 8 files changed, 402 insertions(+), 11 deletions(-)
 create mode 100755 tracker/cutdown.c
 create mode 100755 tracker/cutdown.h

diff --git a/tracker/cutdown.c b/tracker/cutdown.c
new file mode 100755
index 0000000..d1f3484
--- /dev/null
+++ b/tracker/cutdown.c
@@ -0,0 +1,150 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <errno.h>
+#include <stdint.h>
+#include <string.h>
+#include <fcntl.h>
+#include <time.h>
+#include <math.h>
+#include <unistd.h>
+#include <wiringPi.h>
+
+#include "gps.h"
+#include "misc.h"
+#include "cutdown.h"
+
+int CutdownPeriod = 0;
+	
+void cutdown_checks(struct TGPS *GPS)
+{
+	if (Config.EnableCutdown)
+	{
+		if (GPS->CutdownStatus == csUnarmed)
+		{
+			if (GPS->Altitude >= Config.MinCutdownAltitude)
+			{
+				GPS->CutdownStatus = csArmed;
+			}
+		}
+
+		if (GPS->CutdownStatus == csArmed)
+		{
+			if ((Config.CutdownAltitude > 0) && (GPS->Altitude >= Config.CutdownAltitude))
+			{
+				GPS->CutdownStatus = csAltitude;
+				printf("Cutdown (Altitude) Triggered\n");
+			}
+
+			if ((Config.MinCutdownAltitude > 0) && (GPS->Altitude >= Config.MinCutdownAltitude))
+			{
+				// Other tests enabled now
+				if (strcasecmp("N", Config.CutdownTest) == 0)
+				{
+					if (GPS->Latitude >= Config.CutdownLatitude)
+					{
+						GPS->CutdownStatus = csPosition;
+					}
+				}
+				else if (strcasecmp("NE", Config.CutdownTest) == 0)
+				{
+					if ((GPS->Latitude >= Config.CutdownLatitude) && (GPS->Longitude >= Config.CutdownLongitude))
+					{
+						GPS->CutdownStatus = csPosition;
+					}
+				}
+				else if (strcasecmp("E", Config.CutdownTest) == 0)
+				{
+					if (GPS->Longitude >= Config.CutdownLongitude)
+					{
+						GPS->CutdownStatus = csPosition;
+					}
+				}
+				else if (strcasecmp("SE", Config.CutdownTest) == 0)
+				{
+					if ((GPS->Latitude <= Config.CutdownLatitude) && (GPS->Longitude >= Config.CutdownLongitude))
+					{
+						GPS->CutdownStatus = csPosition;
+					}
+				}
+				else if (strcasecmp("S", Config.CutdownTest) == 0)
+				{
+					if (GPS->Latitude <= Config.CutdownLatitude)
+					{
+						GPS->CutdownStatus = csPosition;
+					}
+				}
+				else if (strcasecmp("SW", Config.CutdownTest) == 0)
+				{
+					if ((GPS->Latitude <= Config.CutdownLatitude) && (GPS->Longitude <= Config.CutdownLongitude))
+					{
+						GPS->CutdownStatus = csPosition;
+					}
+				}
+				else if (strcasecmp("W", Config.CutdownTest) == 0)
+				{
+					if (GPS->Longitude <= Config.CutdownLongitude)
+					{
+						GPS->CutdownStatus = csPosition;
+					}
+				}
+				else if (strcasecmp("NW", Config.CutdownTest) == 0)
+				{
+					if ((GPS->Latitude >= Config.CutdownLatitude) && (GPS->Longitude <= Config.CutdownLongitude))
+					{
+						GPS->CutdownStatus = csPosition;
+					}
+				}			
+				if (GPS->CutdownStatus == csPosition)
+					
+				{
+					printf("Cutdown (Position) Triggered\n");
+				}
+				
+				if ((Config.CutdownTimeSinceLaunch > 0) && (GPS->SecondsSinceLaunch >= Config.CutdownTimeSinceLaunch))
+				{
+					GPS->CutdownStatus = csFlightTime;
+					printf("Cutdown (Max Flight Time) Triggered\n");
+				}
+
+				if (Config.CutdownBurst && (GPS->FlightMode >= fmDescending) && (GPS->FlightMode < fmLanding))
+				{
+					GPS->CutdownStatus = csBurst;
+					printf("Cutdown (Balloon burst detected\n");
+				}
+			}
+			
+			if (GPS->CutdownStatus > csArmed)
+			{
+				Cutdown(Config.CutdownPeriod);
+			}
+		}
+	}
+}
+
+void Cutdown(int Period)
+{
+	CutdownPeriod = Period;
+}
+
+void *CutdownLoop(void *some_void_ptr)
+{
+	// Configure output
+	pinMode (Config.CutdownPin, OUTPUT);
+	digitalWrite (Config.CutdownPin, 0);
+	
+	while (1)
+	{
+		if (CutdownPeriod > 0)
+		{
+			digitalWrite (Config.CutdownPin, 1);
+			sleep(CutdownPeriod);
+			digitalWrite (Config.CutdownPin, 0);
+			CutdownPeriod = 0;
+		}
+		
+		sleep(1);
+	}
+
+	return 0;
+}
diff --git a/tracker/cutdown.h b/tracker/cutdown.h
new file mode 100755
index 0000000..f6dae04
--- /dev/null
+++ b/tracker/cutdown.h
@@ -0,0 +1,4 @@
+void cutdown_checks(struct TGPS *GPS);
+void Cutdown(int Period);
+void *CutdownLoop(void *some_void_ptr);
+
diff --git a/tracker/gps.c b/tracker/gps.c
index f0a3b9a..8eea4c0 100755
--- a/tracker/gps.c
+++ b/tracker/gps.c
@@ -30,6 +30,7 @@
 #include <wiringPi.h>
 #include "gps.h"
 #include "misc.h"
+#include "cutdown.h"
 
 
 struct gps_info {
@@ -584,12 +585,13 @@ void ProcessLine(struct gps_info *bb, struct TGPS *GPS, char *Buffer, int Count,
 						
 #						ifdef EXTRAS_PRESENT
 							gps_postprocess_position(GPS, ActionMask, latitude, longitude);
-							cutdown_checks(GPS);
 #						else
 							GPS->Latitude = latitude;
 							GPS->Longitude = longitude;
 #						endif					
-						
+
+						cutdown_checks(GPS);
+							
 						if (GPS->Altitude <= 0)
 						{
 							GPS->AscentRate = 0;
diff --git a/tracker/gps.h b/tracker/gps.h
index 813c9ce..8a01cc9 100755
--- a/tracker/gps.h
+++ b/tracker/gps.h
@@ -1,6 +1,7 @@
 // Types
 
 typedef enum {fmIdle, fmLaunched, fmDescending, fmHoming, fmDirect, fmDownwind, fmUpwind, fmLanding, fmLanded} TFlightMode;
+typedef enum {csUnarmed, csArmed, csAltitude, csPosition, csFlightTime, csBurst, csManual} TCutdownStatus;
 
 struct TGPS
 {
@@ -41,6 +42,10 @@ struct TGPS
 	// int PowerMode;
 	// int Lock;
 	unsigned int MessageCount;
+	
+	// Cutdown
+	TCutdownStatus CutdownStatus;
+	
 
 #	ifdef EXTRAS_PRESENT
 #		include "ex_gps.h"
@@ -56,7 +61,5 @@ void *GPSLoop(void *some_void_ptr);
 #ifdef EXTRAS_PRESENT
 void gps_postprocess_position(struct TGPS *GPS, int ActionMask, float latitude, float longitude);
 void gps_flight_modes(struct TGPS *GPS);
-
-void cutdown_checks(struct TGPS *GPS);
 #endif	
 
diff --git a/tracker/lora.c b/tracker/lora.c
index 126cd3e..4c4d19a 100755
--- a/tracker/lora.c
+++ b/tracker/lora.c
@@ -29,6 +29,7 @@
 #	include "ex_lora.h"
 #endif	
 #include "habpack.h"
+#include "cutdown.h"
 
 // RFM98
 uint8_t currentMode = 0x81;
@@ -762,6 +763,61 @@ int receiveMessage(int LoRaChannel, unsigned char *message)
 	return Bytes;
 }
 
+void ProcessCommandUplinkMessage(int LoRaChannel, struct TGPS *GPS, char *Message)
+{
+	// Process uplink message from gateway
+	char Command, Parameter, PayloadID[32];
+	int CutdownPeriod;
+		
+	printf("Message is '%s'\n", Message);
+	Message++;
+	DecryptMessage(Config.UplinkCode, Message);
+
+	printf("Message is '*%s'\n", Message);
+	
+	GetString(PayloadID, &Message);
+	
+	if (strcmp(PayloadID, Config.Channels[LoRaChannel+LORA_CHANNEL].PayloadID) == 0)
+	{
+		Config.LoRaDevices[LoRaChannel].MessageCount++;
+		strcpy(Config.LoRaDevices[LoRaChannel].LastCommand, Message);
+		
+		printf("Uplink message for us = '%s'\n", Message);
+		Command = GetChar(&Message);
+		
+		if (Command == 'C')
+		{
+			// Cutdown
+			Parameter = GetChar(&Message);
+
+			if (Parameter == 'N')
+			{
+				CutdownPeriod = GetInteger(&Message);
+							
+				if (CutdownPeriod <= 0)
+				{
+					CutdownPeriod = Config.CutdownPeriod;
+				}
+				
+				printf("** MANUAL CUTDOWN FOR %d SECONDS **\n", CutdownPeriod);
+				
+				Cutdown(CutdownPeriod);
+				
+				GPS->CutdownStatus = csManual;
+			}
+			else if (Parameter == 'A')
+			{
+				printf("Set cutdown altitude %sm\n", Message);
+				Config.CutdownAltitude = GetInteger(&Message);
+			}
+		}
+	}
+	else
+	{
+		printf("Uplink message was for %s and not us\n", PayloadID);
+	}
+}
+
 void CheckForPacketOnListeningChannels(struct TGPS *GPS)
 {
 	int LoRaChannel;
@@ -875,6 +931,12 @@ void CheckForPacketOnListeningChannels(struct TGPS *GPS)
 							printf("SSDV uplink message %s", Message);
 							ProcessSSDVUplinkMessage(LORA_CHANNEL+LoRaChannel, Message);
 						}
+						else if (Message[0] == '*')
+						{
+							// Uplink Command Device message
+							ProcessCommandUplinkMessage(LoRaChannel, GPS, (char *)Message);
+						}
+					
 #						ifdef EXTRAS_PRESENT
 							else if (ProcessExtraMessage(LoRaChannel, Message, Bytes, GPS))
 							{
diff --git a/tracker/misc.c b/tracker/misc.c
index 417176d..d23ac68 100755
--- a/tracker/misc.c
+++ b/tracker/misc.c
@@ -804,7 +804,7 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 	static int FirstTime=1;
 	int LoRaChannel;
 	int ShowFields;
-	char TimeBuffer[12], ExtraFields1[20], ExtraFields2[20], ExtraFields3[20], ExtraFields4[64], ExtraFields5[32], ExtraFields6[32], *ExtraFields7, Sentence[512];
+	char TimeBuffer[12], ExtraFields1[20], ExtraFields2[20], ExtraFields3[20], ExtraFields4[64], ExtraFields5[32], ExtraFields6[32], ExtraFields7[32], *ExtraFields8, Sentence[512];
 	
 	if (FirstTime)
 	{
@@ -823,8 +823,9 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 	ExtraFields4[0] = '\0';
 	ExtraFields5[0] = '\0';
 	ExtraFields6[0] = '\0';
+	ExtraFields7[0] = '\0';
 	
-	ExtraFields7 = "";
+	ExtraFields8 = "";
 	
 	if (ShowFields) printf("%s: ID,Ctr,Time,Lat,Lon,Alt,Speed,Head,Sats,Int.Temp", Channels[Channel]);
 	
@@ -948,6 +949,13 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 		}
 	}	
 	
+	
+	if (Config.EnableCutdown)
+	{
+		sprintf(ExtraFields7, ",%d", GPS->CutdownStatus);
+		if (ShowFields) printf(",CutdownStatus");
+	}
+	
 	// Bouy mode or normal mode ?
 	if ((Config.BuoyModeAltitude > 0) && (GPS->Altitude < Config.BuoyModeAltitude))
 	{
@@ -961,12 +969,12 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 	else
 	{
 		#ifdef EXTRAS_PRESENT
-			ExtraFields7 = misc_get_sentence_fields(GPS, ShowFields);
+			ExtraFields8 = misc_get_sentence_fields(GPS, ShowFields);
 		#endif
 			
 		if (ShowFields) printf("\n");
 		
-		snprintf(Sentence, 512, "$$%.15s,%d,%.9s,%7.5lf,%7.5lf,%5.5" PRId32  ",%d,%d,%d,%3.1f%.12s%.20s%.20s%.40s%.90s%.20s%.10s%.40s",
+		snprintf(Sentence, 512, "$$%.15s,%d,%.9s,%7.5lf,%7.5lf,%5.5" PRId32  ",%d,%d,%d,%3.1f%.12s%.20s%.20s%.40s%.90s%.20s%.10s%.10s%.40s",
 				Config.Channels[Channel].PayloadID,
 				Config.Channels[Channel].SentenceCounter,
 				TimeBuffer,
@@ -984,7 +992,8 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 				ExternalFields,
 				ExtraFields5,
 				ExtraFields6,
-				ExtraFields7);
+				ExtraFields7,
+				ExtraFields8);
 	}
 	
 	AppendCRC(Sentence);
@@ -1042,3 +1051,58 @@ void ControlPWMOutput(int Pin, int Period)
 	gpioServo(Pin, Period);
 }
 
+void DecryptMessage(char *Code, char *Message)
+{
+	int i, Len;
+	
+	Len = strlen(Code);
+	
+	if (Len > 0)
+	{
+		printf("Decoding ...\n");
+		i = 0;
+		while (*Message)
+		{
+			*Message = (*Message ^ Code[i]) & 0x7F;
+			Message++;
+			i = (i + 1) % Len;
+		}
+	}
+}
+
+char GetChar(char **Message)
+{
+	return *((*Message)++);
+}
+
+void GetString(char *Field, char **Message)
+{
+	while (**Message && (**Message != '/'))
+	{
+		*Field++ = *((*Message)++);
+	}
+	
+	*Field = 0;
+	if (**Message)
+	{
+		(*Message)++;
+	}
+}
+
+int32_t GetInteger(char **Message)
+{
+	char Temp[32];
+	
+	GetString(Temp, Message);
+	
+	return atoi(Temp);
+}
+
+double GetFloat(char **Message)
+{
+	char Temp[32];
+	
+	GetString(Temp, Message);
+	
+	return atof(Temp);
+}
diff --git a/tracker/misc.h b/tracker/misc.h
index 6ea4dfd..ef42b5e 100755
--- a/tracker/misc.h
+++ b/tracker/misc.h
@@ -238,13 +238,28 @@ struct TConfig
 	// External data file (read into telemetry)
 	char ExternalDataFileName[100];
     
+	// Lights and buzzers
     int BlinkenLight;
     int FlashBelow;
     int Flashing;
-	    
     int PiezoPin;
     int WhistleBelow;
 	
+	// Cutdown
+	int EnableCutdown;								// 1 = Enable cutdown tests.  Adds status to telemetry
+	int CutdownPin;									// WiringPi pin for cutdown output.  Typically drives nichrome via MOSFET.  No support yet for servo cutdown.
+	float CutdownLongitude, CutdownLatitude;		// Used to set where cutdown will fire to limit distance from launch
+	int32_t MinCutdownAltitude;						// Cutdown will not fire below this altitude (except for manual uplink)
+	int32_t CutdownAltitude;						// Cut down above this altitude
+	unsigned long CutdownTimeSinceLaunch;			// Cutdown after this flight timne in seconds
+	int CutdownPeriod;								// Time that cutdown is triggered for (manual uplink can override)
+	char CutdownTest[16];							// Strting mask that, with lat/lon settings, controls where cutdown will trigger by position
+	int CutdownBurst;								// 1 = cutdown once burst detected
+	
+	// Uplink
+	char UplinkCode[32];
+		
+	
 #	ifdef EXTRAS_PRESENT
 #		include "ex_misc_config.h"
 #	endif		
@@ -280,3 +295,8 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS);
 int FixDirection180(int Angle);
 void SetupPWMFrequency(int Pin, int Frequency);
 void ControlPWMOutput(int Pin, int Period);
+void DecryptMessage(char *Code, char *Message);
+char GetChar(char **Message);
+void GetString(char *Field, char **Message);
+int32_t GetInteger(char **Message);
+double GetFloat(char **Message);
diff --git a/tracker/tracker.c b/tracker/tracker.c
index a381707..0fcf1d8 100755
--- a/tracker/tracker.c
+++ b/tracker/tracker.c
@@ -54,6 +54,7 @@
 #include "pipe.h"
 #include "prediction.h"
 #include "log.h"
+#include "cutdown.h"
 #ifdef EXTRAS_PRESENT
 #	include "ex_tracker.h"
 #endif	
@@ -261,6 +262,85 @@ void LoadConfigFile(struct TConfig *Config)
 		Config->TargetAltitude = ReadInteger(fp, "Target_Altitude", -1, 0, 0);
 		ReadString(fp, "prediction_id", -1, Config->PredictionID, sizeof(Config->PredictionID), 0);
 	}
+
+	ReadString(fp, "Uplink_Code", -1, Config->UplinkCode, sizeof(Config->UplinkCode), 0);
+	if (*Config->UplinkCode)
+	{
+		printf("Uplink code is '%s'\n", Config->UplinkCode);
+	}
+	
+	ReadBoolean(fp, "Enable_Cutdown", -1, 0, &(Config->EnableCutdown));
+	if (Config->EnableCutdown)
+	{
+		printf("Cutdown - enabled\n");
+		
+		Config->MinCutdownAltitude = ReadInteger(fp, "Min_Cutdown_Altitude", -1, 0, 0);
+		if (Config->MinCutdownAltitude > 0)
+		{
+			printf("        - inactive below %" PRId32 " metres\n", Config->MinCutdownAltitude);
+		}
+		Config->CutdownAltitude = ReadInteger(fp, "Cutdown_Altitude", -1, 0, 0);
+		if (Config->CutdownAltitude > 0)
+		{
+			printf("        - will trigger at an altitude of %" PRId32 " metres\n", Config->CutdownAltitude);
+		}
+		
+		Config->CutdownLatitude = ReadFloat(fp, "Cutdown_Latitude", -1, 0, 0);
+		Config->CutdownLongitude = ReadFloat(fp, "Cutdown_Longitude", -1, 0, 0);
+
+		ReadString(fp, "Cutdown_Test", -1, Config->CutdownTest, sizeof(Config->CutdownTest), 0);
+		if (strcasecmp("N", Config->CutdownTest) == 0)
+		{
+			printf("        - will trigger North of latitude %.5f\n", Config->CutdownLatitude);
+		}
+		else if (strcasecmp("NE", Config->CutdownTest) == 0)
+		{
+			printf("        - will trigger North-East of latitude %.5f, longitude %.5f\n", Config->CutdownLatitude, Config->CutdownLongitude);
+		}
+		else if (strcasecmp("E", Config->CutdownTest) == 0)
+		{
+			printf("        - will trigger East of latitude %.5f\n", Config->CutdownLongitude);
+		}
+		else if (strcasecmp("SE", Config->CutdownTest) == 0)
+		{
+			printf("        - will trigger South-East of latitude %.5f, longitude %.5f\n", Config->CutdownLatitude, Config->CutdownLongitude);
+		}
+		else if (strcasecmp("S", Config->CutdownTest) == 0)
+		{
+			printf("        - will trigger South of latitude %.5f\n", Config->CutdownLatitude);
+		}
+		else if (strcasecmp("SW", Config->CutdownTest) == 0)
+		{
+			printf("        - will trigger South-West of latitude %.5f, longitude %.5f\n", Config->CutdownLatitude, Config->CutdownLongitude);
+		}
+		else if (strcasecmp("W", Config->CutdownTest) == 0)
+		{
+			printf("        - will trigger West of latitude %.5f\n", Config->CutdownLongitude);
+		}
+		else if (strcasecmp("NW", Config->CutdownTest) == 0)
+		{
+			printf("        - will trigger North-West of latitude %.5f, longitude %.5f\n", Config->CutdownLatitude, Config->CutdownLongitude);
+		}
+
+		Config->CutdownTimeSinceLaunch = ReadInteger(fp, "Cutdown_Time_Since_Launch", -1, 0, 0);
+		if (Config->CutdownTimeSinceLaunch > 0)
+		{
+			printf("        - will trigger after a flight time of %lu minutes\n", Config->CutdownTimeSinceLaunch);
+			Config->CutdownTimeSinceLaunch *= 60;
+		}
+		
+		ReadBoolean(fp, "Cutdown_Burst", -1, 0, &(Config->CutdownBurst));
+		if (Config->CutdownBurst)
+		{
+			printf("        - will trigger after balloon burst detected\n");
+		}
+		
+		Config->CutdownPeriod = ReadInteger(fp, "Cutdown_Period", -1, 0, 5);
+		printf("        - period (on time) is %d seconds\n", Config->CutdownPeriod);
+		
+		Config->CutdownPin = ReadInteger(fp, "Cutdown_Pin", -1, 0, 22);
+		printf("        - pin is %d\n", Config->CutdownPin);
+	}
 	
 #	ifdef EXTRAS_PRESENT
 		tracker_load_config(fp, Config);
@@ -645,7 +725,7 @@ int main(void)
 	unsigned char Sentence[200];
 	struct stat st = {0};
 	struct TGPS GPS;
-	pthread_t PredictionThread, LoRaThread, APRSThread, GPSThread, DS18B20Thread, ADCThread, CameraThread, BMP085Thread, BME280Thread, MS5611Thread, LEDThread, LogThread, PipeThread;
+	pthread_t PredictionThread, LoRaThread, APRSThread, GPSThread, DS18B20Thread, ADCThread, CameraThread, BMP085Thread, BME280Thread, MS5611Thread, LEDThread, CutdownThread, LogThread, PipeThread;
 	if (prog_count("tracker") > 1)
 	
 	{
@@ -919,6 +999,12 @@ int main(void)
 		fprintf(stderr, "Error creating LED thread\n");
 		return 1;
 	}
+	
+	if (pthread_create(&CutdownThread, NULL, CutdownLoop, &GPS))
+	{
+		fprintf(stderr, "Error creating cutdown thread\n");
+		return 1;
+	}
 
 	if (Config.TelemetryFileUpdate > 0)
 	{

From ae1262eb903b15f3c035cd0aa2ce696e3b5ef7ac Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Thu, 21 Jan 2021 10:02:00 +0000
Subject: [PATCH 35/60] Extend uplink options

---
 README.md         |  7 ++++-
 tracker/lora.c    | 46 +++++++++++++++++++++++++++++-
 tracker/pin.c     | 71 +++++++++++++++++++++++++++++++++++++++++++++++
 tracker/pin.h     |  4 +++
 tracker/tracker.c | 10 ++++++-
 5 files changed, 135 insertions(+), 3 deletions(-)
 create mode 100755 tracker/pin.c
 create mode 100755 tracker/pin.h

diff --git a/README.md b/README.md
index cac40d1..07e8a95 100755
--- a/README.md
+++ b/README.md
@@ -123,7 +123,12 @@ It is therefore possible to overlay downloaded images with telemetry data, as te
 
 
 ## Change Log ##
-
+
+21_01_2021
+==========
+
+- Extend uplink options
+
 02/03/2020
 ==========
 
diff --git a/tracker/lora.c b/tracker/lora.c
index 4c4d19a..42d530b 100755
--- a/tracker/lora.c
+++ b/tracker/lora.c
@@ -30,6 +30,7 @@
 #endif	
 #include "habpack.h"
 #include "cutdown.h"
+#include "pin.h"
 
 // RFM98
 uint8_t currentMode = 0x81;
@@ -767,7 +768,6 @@ void ProcessCommandUplinkMessage(int LoRaChannel, struct TGPS *GPS, char *Messag
 {
 	// Process uplink message from gateway
 	char Command, Parameter, PayloadID[32];
-	int CutdownPeriod;
 		
 	printf("Message is '%s'\n", Message);
 	Message++;
@@ -792,6 +792,9 @@ void ProcessCommandUplinkMessage(int LoRaChannel, struct TGPS *GPS, char *Messag
 
 			if (Parameter == 'N')
 			{
+				int CutdownPeriod;
+				
+				// Cutdown Now
 				CutdownPeriod = GetInteger(&Message);
 							
 				if (CutdownPeriod <= 0)
@@ -807,10 +810,51 @@ void ProcessCommandUplinkMessage(int LoRaChannel, struct TGPS *GPS, char *Messag
 			}
 			else if (Parameter == 'A')
 			{
+				// Cutdown at specified altitude
 				printf("Set cutdown altitude %sm\n", Message);
 				Config.CutdownAltitude = GetInteger(&Message);
 			}
 		}
+		else if (Command == 'P')
+		{
+			int Pin, Period;		
+			// Control Specific Pin
+			
+			Pin = GetInteger(&Message);
+			Period = GetInteger(&Message);
+			
+			printf("** SET PIN %d FOR %d SECONDS **\n", Pin, Period);
+
+			if ((Pin > 0) && (Period >= 0) && (Period <= 60))
+			{
+				ControlPin(Pin, Period);
+			}
+		}
+		else if (Command == 'S')
+		{
+			int Pin, Period, Position;
+			// Control Specific Pin
+			
+			Pin = GetInteger(&Message);
+			Period = GetInteger(&Message);
+			Position = GetInteger(&Message);
+			
+			printf("** SERVO PIN %d FOR %d SECONDS POSITION %d **\n", Pin, Period, Position);
+
+			if ((Pin > 0) && (Period >= 0) && (Period <= 60))
+			{
+				ControlServo(Pin, Period, Position);
+			}
+		}
+		else if (Command == 'R')
+		{
+			// Run external command
+			
+			printf("** RUN COMMAND %s **\n", Message);
+
+			
+			system(Message);
+		}
 	}
 	else
 	{
diff --git a/tracker/pin.c b/tracker/pin.c
new file mode 100755
index 0000000..3178b16
--- /dev/null
+++ b/tracker/pin.c
@@ -0,0 +1,71 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <errno.h>
+#include <stdint.h>
+#include <string.h>
+#include <fcntl.h>
+#include <time.h>
+#include <math.h>
+#include <unistd.h>
+#include <wiringPi.h>
+
+#include "gps.h"
+#include "misc.h"
+#include "pin.h"
+
+int ControlPinNumber=0;
+int ControlPeriod=0;
+int ControlPinValue=0;
+int UsePWM=0;
+	
+void ControlPin(int Pin, int Period)
+{
+	ControlPinNumber = Pin;
+	ControlPeriod = Period;
+	UsePWM = 0;
+}
+
+void ControlServo(int Pin, int Period, int Value)
+{
+	ControlPinNumber = Pin;
+	ControlPeriod = Period;
+	ControlPinValue = Value;
+	UsePWM = 1;
+}
+
+void *PinLoop(void *some_void_ptr)
+{
+	while (1)
+	{
+		if ((ControlPinNumber > 0) && (ControlPeriod >= 0) && (ControlPeriod <= 60))
+		{
+			if (UsePWM)
+			{
+				pinMode (ControlPinNumber, PWM_OUTPUT);
+				pwmWrite (ControlPinNumber, ControlPinValue);
+				if (ControlPeriod > 0)
+				{
+					sleep(ControlPeriod);
+					pwmWrite (ControlPinNumber, 0);
+				}
+			}
+			else
+			{
+				pinMode (ControlPinNumber, OUTPUT);
+				digitalWrite (ControlPinNumber, 1);
+				if (ControlPeriod > 0)
+				{
+					sleep(ControlPeriod);
+					digitalWrite (ControlPinNumber, 0);
+				}
+			}
+			
+			ControlPinNumber = 0;
+		}
+		
+		sleep(1);
+	}
+
+	return 0;
+}
diff --git a/tracker/pin.h b/tracker/pin.h
new file mode 100755
index 0000000..85b86b2
--- /dev/null
+++ b/tracker/pin.h
@@ -0,0 +1,4 @@
+void ControlPin(int Pi, int Period);
+void ControlServo(int Pin, int Period, int Value);
+void *PinLoop(void *some_void_ptr);
+
diff --git a/tracker/tracker.c b/tracker/tracker.c
index 0fcf1d8..3edb03c 100755
--- a/tracker/tracker.c
+++ b/tracker/tracker.c
@@ -55,6 +55,8 @@
 #include "prediction.h"
 #include "log.h"
 #include "cutdown.h"
+#include "pin.h"
+
 #ifdef EXTRAS_PRESENT
 #	include "ex_tracker.h"
 #endif	
@@ -725,7 +727,7 @@ int main(void)
 	unsigned char Sentence[200];
 	struct stat st = {0};
 	struct TGPS GPS;
-	pthread_t PredictionThread, LoRaThread, APRSThread, GPSThread, DS18B20Thread, ADCThread, CameraThread, BMP085Thread, BME280Thread, MS5611Thread, LEDThread, CutdownThread, LogThread, PipeThread;
+	pthread_t PredictionThread, LoRaThread, APRSThread, GPSThread, DS18B20Thread, ADCThread, CameraThread, BMP085Thread, BME280Thread, MS5611Thread, LEDThread, CutdownThread, PinThread, LogThread, PipeThread;
 	if (prog_count("tracker") > 1)
 	
 	{
@@ -1006,6 +1008,12 @@ int main(void)
 		return 1;
 	}
 
+	if (pthread_create(&PinThread, NULL, PinLoop, &GPS))
+	{
+		fprintf(stderr, "Error creating pin thread\n");
+		return 1;
+	}
+
 	if (Config.TelemetryFileUpdate > 0)
 	{
 		if (pthread_create(&LogThread, NULL, LogLoop, &GPS))

From c01c10055c35828b0aae64dd2af55d5b7790537b Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Tue, 20 Apr 2021 14:02:42 +0100
Subject: [PATCH 36/60] Fixed SSDV wraparound of image number

---
 README.md         |  7 +++++++
 tracker/lora.c    | 20 ++++++++++++++------
 tracker/lora.h    |  2 ++
 tracker/snapper.c |  2 +-
 tracker/tracker.c |  2 +-
 5 files changed, 25 insertions(+), 8 deletions(-)

diff --git a/README.md b/README.md
index 07e8a95..e772fed 100755
--- a/README.md
+++ b/README.md
@@ -124,6 +124,13 @@ It is therefore possible to overlay downloaded images with telemetry data, as te
 
 ## Change Log ##
 
+20_04_2021
+==========
+
+- Fixed SSDV image number not wrapping round
+- Fixed frequency error calculation on Rx
+- Allow for uplink if GPS lost
+
 21_01_2021
 ==========
 
diff --git a/tracker/lora.c b/tracker/lora.c
index 42d530b..2263449 100755
--- a/tracker/lora.c
+++ b/tracker/lora.c
@@ -122,6 +122,12 @@ void setMode(int LoRaChannel, uint8_t newMode)
     case RF98_MODE_TX:
       writeRegister(LoRaChannel, REG_LNA, LNA_OFF_GAIN);  // TURN LNA OFF FOR TRANSMIT
       writeRegister(LoRaChannel, REG_PA_CONFIG, Config.LoRaDevices[LoRaChannel].Power);
+      if (Config.LoRaDevices[LoRaChannel].Power == 0xFF)
+	  {
+        // Turn on additional amp for 20dBm.
+		// ** ONLY DO IF RADIO LAWS ALLOW, WHICH ESSENTIALLY MEANS YOU@RE A RADIO HAM WHERE YOUR COUNTRY ALLOWS AIRBORNE HAM TRANSMISSIONS.  THIS EXCLUDES UK **
+        writeRegister(LoRaChannel, REG_PA_DAC, PA_DAC_20);
+      }
       writeRegister(LoRaChannel, REG_OPMODE, newMode);
       currentMode = newMode; 
       break;
@@ -550,8 +556,8 @@ void SendLoRaImage(int LoRaChannel, int RTTYMode)
 
 int TDMTimeToSendOnThisChannel(int LoRaChannel, struct TGPS *GPS)
 {
-	// Can't send till we have the time!
-	if (GPS->Satellites > 0)
+	// Can't send till we have the time, or at least have had it at some point (hopefully Pi maintains a good clock after GPS loss)!
+	if (GPS->SecondsInDay  > 0)
 	{
 		// Can't Tx twice at the same time
 		if (GPS->SecondsInDay != Config.LoRaDevices[LoRaChannel].LastTxAt)
@@ -600,8 +606,9 @@ int TDMTimeToSendOnThisChannel(int LoRaChannel, struct TGPS *GPS)
 	
 int UplinkTimeToSendOnThisChannel(int LoRaChannel, struct TGPS *GPS)
 {
-	// Can't use time till we have it
-	if (GPS->Satellites > 0)
+	// Can't use time till we have synced from GPS
+	
+	if (GPS->SecondsInDay > 0)
 	{
 		long CycleSeconds;
 		
@@ -698,10 +705,11 @@ double FrequencyError(int Channel)
 		Temp = Temp - 524288;
 	}
 
-	// return - ((double)Temp * (1<<24) / 32000000.0) * (125000 / 500000.0);
-	return - ((double)Temp * (1<<24) / 32000000.0) * (BandwidthInKHz(Channel) / 500.0);
+	// return - ((double)Temp * (1<<24) / 32000000.0) * (BandwidthInKHz(Channel) / 500.0);    <<-- Used Tx settings not Rx
+    return - ((double)Temp * (1<<24) / 32000000.0) * (LoRaModes[Config.LoRaDevices[Channel].UplinkMode].Bandwidth / 500.0);
 }	
 
+	
 int receiveMessage(int LoRaChannel, unsigned char *message)
 {
 	int i, Bytes, currentAddr, x;
diff --git a/tracker/lora.h b/tracker/lora.h
index b26895c..91df9b9 100755
--- a/tracker/lora.h
+++ b/tracker/lora.h
@@ -85,6 +85,8 @@
 #define PA_MAX_UK                   0x88
 #define PA_OFF_BOOST                0x00
 #define RFO_MIN                     0x00
+#define REG_PA_DAC 					0x4D
+#define PA_DAC_20 					0x87
 
 // LOW NOISE AMPLIFIER
 #define REG_LNA                     0x0C
diff --git a/tracker/snapper.c b/tracker/snapper.c
index ad34a95..4ddd116 100755
--- a/tracker/snapper.c
+++ b/tracker/snapper.c
@@ -112,7 +112,7 @@ void FindBestImageAndRequestConversion(int Channel, int width, int height)
 		if ((fp = fopen(Config.Channels[Channel].convert_file, "wt")) != NULL)
 		{
 			Config.Channels[Channel].SSDVFileNumber++;
-			// Config.Channels[Channel].SSDVFileNumber = Config.Channels[Channel].SSDVFileNumber & 255;
+			Config.Channels[Channel].SSDVFileNumber = Config.Channels[Channel].SSDVFileNumber & 255;
 
 			sprintf(Config.Channels[Channel].ssdv_filename, "ssdv_%d_%d.bin", Channel, Config.Channels[Channel].SSDVFileNumber);
 			
diff --git a/tracker/tracker.c b/tracker/tracker.c
index 3edb03c..7e4b630 100755
--- a/tracker/tracker.c
+++ b/tracker/tracker.c
@@ -922,7 +922,7 @@ int main(void)
 			Config.Channels[i].SSDVPacketNumber = -1;
 			
 			Config.Channels[i].ImageFP = NULL;
-		}
+		}	
 	}
 	
 	if (pthread_create(&GPSThread, NULL, GPSLoop, &GPS))

From 243b7b98dc2ef73bbf543001f4ad2e0a4758de70 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Sun, 6 Jun 2021 10:46:43 +0100
Subject: [PATCH 37/60] Fixed bug that killed RTTY if no cutdown pin configured

---
 README.md         |  5 +++++
 tracker/cutdown.c | 27 +++++++++++++++------------
 tracker/pin.h     |  2 +-
 3 files changed, 21 insertions(+), 13 deletions(-)

diff --git a/README.md b/README.md
index e772fed..47f8713 100755
--- a/README.md
+++ b/README.md
@@ -124,6 +124,11 @@ It is therefore possible to overlay downloaded images with telemetry data, as te
 
 ## Change Log ##
 
+06_06_2021
+==========
+
+- Fixed bug that killed RTTY enable pin during initialisation if no cutdown pin configured
+
 20_04_2021
 ==========
 
diff --git a/tracker/cutdown.c b/tracker/cutdown.c
index d1f3484..998a122 100755
--- a/tracker/cutdown.c
+++ b/tracker/cutdown.c
@@ -129,21 +129,24 @@ void Cutdown(int Period)
 
 void *CutdownLoop(void *some_void_ptr)
 {
-	// Configure output
-	pinMode (Config.CutdownPin, OUTPUT);
-	digitalWrite (Config.CutdownPin, 0);
-	
-	while (1)
+	if (Config.CutdownPin > 0)
 	{
-		if (CutdownPeriod > 0)
+		// Configure output
+		pinMode (Config.CutdownPin, OUTPUT);
+		digitalWrite (Config.CutdownPin, 0);
+		
+		while (1)
 		{
-			digitalWrite (Config.CutdownPin, 1);
-			sleep(CutdownPeriod);
-			digitalWrite (Config.CutdownPin, 0);
-			CutdownPeriod = 0;
+			if (CutdownPeriod > 0)
+			{
+				digitalWrite (Config.CutdownPin, 1);
+				sleep(CutdownPeriod);
+				digitalWrite (Config.CutdownPin, 0);
+				CutdownPeriod = 0;
+			}
+			
+			sleep(1);
 		}
-		
-		sleep(1);
 	}
 
 	return 0;
diff --git a/tracker/pin.h b/tracker/pin.h
index 85b86b2..5cc3f99 100755
--- a/tracker/pin.h
+++ b/tracker/pin.h
@@ -1,4 +1,4 @@
-void ControlPin(int Pi, int Period);
+void ControlPin(int Pin, int Period);
 void ControlServo(int Pin, int Period, int Value);
 void *PinLoop(void *some_void_ptr);
 

From fa78a6a6207c72424f3ebf0cd1d05cb9fbf21b26 Mon Sep 17 00:00:00 2001
From: geftactics <geoff@squiggle.org>
Date: Thu, 14 Oct 2021 18:08:25 +0100
Subject: [PATCH 38/60] Add LoRa calling mode options

---
 boot/pisky.txt | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/boot/pisky.txt b/boot/pisky.txt
index 672ce0f..153854c 100644
--- a/boot/pisky.txt
+++ b/boot/pisky.txt
@@ -31,8 +31,11 @@ APRS_Random=5
 #LORA_Frequency_0=434.225
 #LORA_Payload_0=CHANGEME
 #LORA_Mode_0=0
+#LORA_Calling_Frequency_0=433.650
+#LORA_Calling_Count_0=5
 
 #LORA_Frequency_1=434.275
 #LORA_Payload_1=CHANGEME
 #LORA_Mode_1=1
-
+#LORA_Calling_Frequency_1=433.650
+#LORA_Calling_Count_1=5

From 9acbc81dfcc861ff8cf908b8a698826968d0747e Mon Sep 17 00:00:00 2001
From: geftactics <geoff@squiggle.org>
Date: Thu, 14 Oct 2021 18:34:39 +0100
Subject: [PATCH 39/60] Link to LoRa calling mode

---
 README.md | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/README.md b/README.md
index 47f8713..e479cb2 100755
--- a/README.md
+++ b/README.md
@@ -123,7 +123,7 @@ It is therefore possible to overlay downloaded images with telemetry data, as te
 
 
 ## Change Log ##
-
+
 06_06_2021
 ==========
 
@@ -136,11 +136,11 @@ It is therefore possible to overlay downloaded images with telemetry data, as te
 - Fixed frequency error calculation on Rx
 - Allow for uplink if GPS lost
 
-21_01_2021
-==========
-
-- Extend uplink options
-
+21_01_2021
+==========
+
+- Extend uplink options
+
 02/03/2020
 ==========
 
@@ -312,7 +312,7 @@ It is therefore possible to overlay downloaded images with telemetry data, as te
 - Fixes for multiple DS18B20 sensors
 - Ability to run emulated flight from GPS NMEA file
 - Ability to modify SSDV images before transmission using ImageMagick etc.
-- LoRa Calling Mode
+- [LoRa Calling Mode](http://www.daveakerman.com/?p=1816)
 - RTTY serial port kept open continuously
 - Startup radio message with IP address etc.
 - Stop multiple tracker programs from being run

From 13028b70857efbc053e205537bbf458ea77a7dd0 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Fri, 6 May 2022 12:39:09 +0100
Subject: [PATCH 40/60] Updates to replace depracated stime, and remove errors
 in gcc 7

---
 tracker/gps.c             | 16 +++++++++-------
 tracker/snapper.c         | 13 ++++++++-----
 tracker/startup           |  9 +++++----
 tracker/take_photo.sample |  3 ---
 tracker/tracker.c         |  2 +-
 tracker/waitfornetwork    |  3 +++
 6 files changed, 26 insertions(+), 20 deletions(-)
 delete mode 100755 tracker/take_photo.sample
 create mode 100755 tracker/waitfornetwork

diff --git a/tracker/gps.c b/tracker/gps.c
index 8eea4c0..eb2a3fe 100755
--- a/tracker/gps.c
+++ b/tracker/gps.c
@@ -689,7 +689,8 @@ void ProcessLine(struct gps_info *bb, struct TGPS *GPS, char *Buffer, int Count,
 				{
 					struct tm tm;
 					char timedatestring[32];
-					time_t t;
+					
+					struct timespec tp;
 
 					// Now create a tm structure from our date and time
 					memset(&tm, 0, sizeof(struct tm));
@@ -697,16 +698,17 @@ void ProcessLine(struct gps_info *bb, struct TGPS *GPS, char *Buffer, int Count,
 											date[0], date[1], date[2], date[3], date[4], date[5],
 											timestring[0], timestring[1], timestring[2], timestring[3], timestring[4], timestring[5]);
 					strptime(timedatestring, "%d-%m-%Y %H:%M:%S", &tm);
-				
-					t = mktime(&tm);
-					if (stime(&t) == -1)
+							
+					tp.tv_sec = mktime(&tm);
+					tp.tv_nsec = 0;
+					if (clock_settime(CLOCK_REALTIME, &tp) == 0)
 					{
-						printf("Failed to set system time\n");
+						printf("System time set from GPS time\n");
+						SystemTimeHasBeenSet = 1;
 					}
 					else
 					{
-						printf("System time set from GPS time\n");
-						SystemTimeHasBeenSet = 1;
+						printf("Failed to set system time\n");
 					}
 				}
 			}
diff --git a/tracker/snapper.c b/tracker/snapper.c
index 4ddd116..1c594ad 100755
--- a/tracker/snapper.c
+++ b/tracker/snapper.c
@@ -17,6 +17,9 @@
 #include "gps.h"
 #include "misc.h"
 
+#pragma GCC diagnostic ignored "-Wformat-truncation"
+
+
 int SSDVPacketsToSend(int Channel)
 {
 	int i, j, Count;
@@ -89,7 +92,7 @@ void FindBestImageAndRequestConversion(int Channel, int width, int height)
 			{
 				if (strchr(ep->d_name, '~') == NULL)
 				{
-					sprintf(FileName, "%.60s/%.30s", SSDVFolder, ep->d_name);
+					snprintf(FileName, sizeof(FileName), "%.60s/%.30s", SSDVFolder, ep->d_name);
 					stat(FileName, &st);
 					if (st.st_size > LargestFileSize)
 					{
@@ -114,7 +117,7 @@ void FindBestImageAndRequestConversion(int Channel, int width, int height)
 			Config.Channels[Channel].SSDVFileNumber++;
 			Config.Channels[Channel].SSDVFileNumber = Config.Channels[Channel].SSDVFileNumber & 255;
 
-			sprintf(Config.Channels[Channel].ssdv_filename, "ssdv_%d_%d.bin", Channel, Config.Channels[Channel].SSDVFileNumber);
+			snprintf(Config.Channels[Channel].ssdv_filename, sizeof(Config.Channels[Channel].ssdv_filename), "ssdv_%d_%d.bin", Channel, Config.Channels[Channel].SSDVFileNumber);
 			
 			if (Config.Camera == 4)
 			{
@@ -208,7 +211,7 @@ void *CameraLoop(void *some_void_ptr)
 					if ((width >= 0) && (height >= 0))
 					{
 						// Create name of file
-						sprintf(filename, "/home/pi/pits/tracker/take_pic_%d", Channel);
+						snprintf(filename, sizeof(filename), "/home/pi/pits/tracker/take_pic_%d", Channel);
 						
 						// Leave it alone if it exists (this means that the photo has not been taken yet)
 						if (access(filename, F_OK ) == -1)
@@ -224,7 +227,7 @@ void *CameraLoop(void *some_void_ptr)
 									// Full size images are saved in dated folder names
 									fprintf(fp, "mkdir -p %s/$2\n", Config.Channels[Channel].SSDVFolder);
 
-									sprintf(FileName, "%s/$2/$1.JPG", Config.Channels[Channel].SSDVFolder);				
+									snprintf(FileName, sizeof(FileName), "%s/$2/$1.JPG", Config.Channels[Channel].SSDVFolder);				
 
 									if (Config.Camera == 3)
 									{
@@ -255,7 +258,7 @@ void *CameraLoop(void *some_void_ptr)
 								}
 								else
 								{
-									sprintf(FileName, "%s/$1.JPG", Config.Channels[Channel].SSDVFolder);
+									snprintf(FileName, sizeof(FileName), "%s/$1.JPG", Config.Channels[Channel].SSDVFolder);
 
 									if (Config.Camera == 3)
 									{
diff --git a/tracker/startup b/tracker/startup
index 0caa58a..ee8c4d9 100755
--- a/tracker/startup
+++ b/tracker/startup
@@ -1,14 +1,15 @@
 #!/bin/bash
 cd /home/pi/pits/tracker
-./send_aprs &
-echo none | sudo tee /sys/class/leds/led0/trigger
-echo 1 | sudo tee /sys/class/leds/led0/brightness
-sudo ./camera &
+# sudo ./camera &
 # sleep 30
 # sudo python3 gopro.py &
 # python3 sensors.py &
 # python3 astro_led.py &
 # python3 webstuff.py
+rm -f convert_*
+./waitfornetwork
+sleep 10
+sudo python3 gopro.py &
 while :
 do
 	sudo ./tracker
diff --git a/tracker/take_photo.sample b/tracker/take_photo.sample
deleted file mode 100755
index 58dd843..0000000
--- a/tracker/take_photo.sample
+++ /dev/null
@@ -1,3 +0,0 @@
-gphoto2 --set-config-index /capturesettings/aperture=0
-gphoto2 --set-config /capturesettings/shutterspeed=1/10
-gphoto2 --capture-image-and-download --force-overwrite --filename $1
diff --git a/tracker/tracker.c b/tracker/tracker.c
index 7e4b630..dbe8ca9 100755
--- a/tracker/tracker.c
+++ b/tracker/tracker.c
@@ -70,7 +70,7 @@ struct TConfig Config;
 // BCM PINS
 #define NTX2B_ENABLE_BCM	17
 
-int Records, FileNumber;
+// int Records, FileNumber;
 struct termios options;
 char *SSDVFolder="/home/pi/pits/tracker/images";
  
diff --git a/tracker/waitfornetwork b/tracker/waitfornetwork
new file mode 100755
index 0000000..f7da8ad
--- /dev/null
+++ b/tracker/waitfornetwork
@@ -0,0 +1,3 @@
+while ! ifconfig | grep -F "10.5.5." > /dev/null; do
+	sleep 1
+done

From ec4771595cd31f1b3222417e361cbe2b0e08109a Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Fri, 6 May 2022 12:41:05 +0100
Subject: [PATCH 41/60] Updates to replace depracated stime, and remove errors
 in gcc 7

---
 tracker/startup | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/tracker/startup b/tracker/startup
index ee8c4d9..a840c82 100755
--- a/tracker/startup
+++ b/tracker/startup
@@ -1,15 +1,12 @@
 #!/bin/bash
 cd /home/pi/pits/tracker
-# sudo ./camera &
+sudo ./camera &
 # sleep 30
 # sudo python3 gopro.py &
 # python3 sensors.py &
 # python3 astro_led.py &
 # python3 webstuff.py
-rm -f convert_*
-./waitfornetwork
-sleep 10
-sudo python3 gopro.py &
+# sudo python3 gopro.py &
 while :
 do
 	sudo ./tracker

From 3b755c50c510b2c01c2c0c3a45739c2191feb91f Mon Sep 17 00:00:00 2001
From: Kevin Walton <kevin@unseen.org>
Date: Thu, 4 Aug 2022 18:10:24 +0100
Subject: [PATCH 42/60] First commit to add EnableADCVolt option

---
 README.md | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/README.md b/README.md
index e479cb2..64afcbf 100755
--- a/README.md
+++ b/README.md
@@ -124,6 +124,11 @@ It is therefore possible to overlay downloaded images with telemetry data, as te
 
 ## Change Log ##
 
+04_08_2022
+==========
+
+- Added option called EnableADCVolt to enable the ADC on boards that should not have an ADC (but do)
+
 06_06_2021
 ==========
 

From 20fc24b422f8e110d85569d25531f16313af245a Mon Sep 17 00:00:00 2001
From: Kevin Walton <kevin@unseen.org>
Date: Thu, 4 Aug 2022 18:35:43 +0100
Subject: [PATCH 43/60] Main commit to add EnableADCVolt option

---
 tracker/misc.c    |  4 ++--
 tracker/misc.h    |  1 +
 tracker/tracker.c | 10 ++++++++--
 3 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/tracker/misc.c b/tracker/misc.c
index d23ac68..5aa4dd8 100755
--- a/tracker/misc.c
+++ b/tracker/misc.c
@@ -831,11 +831,11 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 	
 	
 	// Battery voltage and current, if available
-	if ((Config.BoardType == 3) || (Config.BoardType == 4) || (Config.DisableADC))
+	if (((Config.BoardType == 3) || (Config.BoardType == 4) || (Config.DisableADC)) & (!Config.EnableADCVolt))
 	{
 			// Pi Zero - no ADC on the PITS Zero, or manually disabled ADC
 	}
-	else if (Config.BoardType == 0)
+	else if ((Config.BoardType == 0) || (Config.EnableADCVolt))
 	{
 		// Pi A or B.  Only Battery Voltage on the PITS
 		
diff --git a/tracker/misc.h b/tracker/misc.h
index ef42b5e..d3d8642 100755
--- a/tracker/misc.h
+++ b/tracker/misc.h
@@ -168,6 +168,7 @@ struct TConfig
 	int BoardType;
 	int i2cChannel;
 	int DisableADC;
+	int EnableADCVolt;
 	int32_t BuoyModeAltitude;
 	double MaxADCVoltage;
 	
diff --git a/tracker/tracker.c b/tracker/tracker.c
index dbe8ca9..6a970c1 100755
--- a/tracker/tracker.c
+++ b/tracker/tracker.c
@@ -112,8 +112,12 @@ void LoadConfigFile(struct TConfig *Config)
 	{
 		printf("HDMI/Composite outputs will be disabled\n");
 	}
-	
+
+	// DisableADC is used to disable the ADC on boards that should have an ADC (but dont)
+	// EnableADCVolt is used to enable the ADC on boards that should not have an ADC (but do)	
 	ReadBoolean(fp, "Disable_ADC", -1, 0, &(Config->DisableADC));
+	ReadBoolean(fp, "Enable_ADC_Volt", -1, 0, &(Config->EnableADCVolt));
+
 	ReadBoolean(fp, "Disable_RTTY", -1, 0, &(Config->DisableRTTY));
 	Config->Channels[RTTY_CHANNEL].Enabled = !Config->DisableRTTY;
 	if (Config->DisableRTTY)
@@ -954,7 +958,9 @@ int main(void)
 		return 1;
 	}
 
-	if ((Config.BoardType != 3) && (Config.BoardType != 4) && (!Config.DisableADC))
+	// DisableADC is used to disable the ADC on boards that should have an ADC (but dont)
+	// EnableADCVolt is used to enable the ADC on boards that should not have an ADC (but do)
+	if (((Config.BoardType != 3) && (Config.BoardType != 4) && (!Config.DisableADC)) || (Config.EnableADCVolt))
 	{
 		// Not a zero, so should have ADC on it
 		if (I2CADCExists())

From 2edb4a1801c33ccb272f75f2ad9a95feb62c8193 Mon Sep 17 00:00:00 2001
From: Kevin Walton <kevin@unseen.org>
Date: Thu, 4 Aug 2022 18:51:34 +0100
Subject: [PATCH 44/60] Pre Test commit to add EnableADCVolt option

---
 README.md      | 2 +-
 boot/pisky.txt | 6 ++++++
 2 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 64afcbf..e8c2539 100755
--- a/README.md
+++ b/README.md
@@ -127,7 +127,7 @@ It is therefore possible to overlay downloaded images with telemetry data, as te
 04_08_2022
 ==========
 
-- Added option called EnableADCVolt to enable the ADC on boards that should not have an ADC (but do)
+- Added option called Enable_ADC_Volt to enable the ADC (for voltage) on boards that should not have an ADC (but do)
 
 06_06_2021
 ==========
diff --git a/boot/pisky.txt b/boot/pisky.txt
index 153854c..6145fa0 100644
--- a/boot/pisky.txt
+++ b/boot/pisky.txt
@@ -11,6 +11,12 @@ high_height=480
 image_packets=4
 enable_bmp085=N
 external_temperature=1
+
+# Disable_ADC is used to disable the ADC on boards that should have an ADC (but dont)
+Disable_ADC=0
+# EnableADCVolt is used to enable the ADC (for voltage) on boards that should not have an ADC (but do)
+Enable_ADC_Volt=0
+
 adc_vmax=18.5
 logging=GPS,Telemetry
 Disable_RTTY=N

From 83c9de8c3c74a0ebb2bb42d145a1cbdfe98d136d Mon Sep 17 00:00:00 2001
From: Kevin Walton <kevin@unseen.org>
Date: Thu, 4 Aug 2022 19:08:26 +0100
Subject: [PATCH 45/60] Final commit to add EnableADCVolt option

---
 boot/pisky.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/boot/pisky.txt b/boot/pisky.txt
index 6145fa0..1c263eb 100644
--- a/boot/pisky.txt
+++ b/boot/pisky.txt
@@ -14,7 +14,7 @@ external_temperature=1
 
 # Disable_ADC is used to disable the ADC on boards that should have an ADC (but dont)
 Disable_ADC=0
-# EnableADCVolt is used to enable the ADC (for voltage) on boards that should not have an ADC (but do)
+# Enable_ADC_Volt is used to enable the ADC (for voltage) on boards that should not have an ADC (but do)
 Enable_ADC_Volt=0
 
 adc_vmax=18.5

From 290e9282a12bb5a9bdf11e3a33eca0a3b6ced8ac Mon Sep 17 00:00:00 2001
From: Kevin Walton <kevin@unseen.org>
Date: Thu, 4 Aug 2022 20:07:29 +0100
Subject: [PATCH 46/60] Added GPS example flight files for use by gps_source=
 option

---
 .gitignore | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.gitignore b/.gitignore
index d7d39b0..53002f8 100644
--- a/.gitignore
+++ b/.gitignore
@@ -11,7 +11,6 @@ tracker/webstuff.py
 tracker/batc
 tracker/youtube
 tracker/ex_*
-*.NMEA
 *.jpg
 *.JPG
 *.sms

From 1a90104475a5a5ec9387fe067986267a01d72a63 Mon Sep 17 00:00:00 2001
From: Kevin Walton <kevin@unseen.org>
Date: Thu, 4 Aug 2022 20:11:55 +0100
Subject: [PATCH 47/60] Added GPS example flight files for use by gps_source=
 option

---
 nmea/AASQ2-15Mins.NMEA  |   848 ++
 nmea/AASQ2-1Mins.NMEA   |    69 +
 nmea/AASQ2-5Mins.NMEA   |   282 +
 nmea/AASQ2-NoIntro.NMEA |  8442 +++++++++++
 nmea/AASQ2.NMEA         | 10373 +++++++++++++
 nmea/Friday.NMEA        | 27489 +++++++++++++++++++++++++++++++++
 nmea/XABEN11.NMEA       | 31053 ++++++++++++++++++++++++++++++++++++++
 7 files changed, 78556 insertions(+)
 create mode 100644 nmea/AASQ2-15Mins.NMEA
 create mode 100644 nmea/AASQ2-1Mins.NMEA
 create mode 100644 nmea/AASQ2-5Mins.NMEA
 create mode 100644 nmea/AASQ2-NoIntro.NMEA
 create mode 100644 nmea/AASQ2.NMEA
 create mode 100644 nmea/Friday.NMEA
 create mode 100644 nmea/XABEN11.NMEA

diff --git a/nmea/AASQ2-15Mins.NMEA b/nmea/AASQ2-15Mins.NMEA
new file mode 100644
index 0000000..4f6122e
--- /dev/null
+++ b/nmea/AASQ2-15Mins.NMEA
@@ -0,0 +1,848 @@
+$GPGGA,,,,,,0,00,99.99,,,,,,*48^M
+$GPGGA,,,,,,0,00,99.99,,,,,,*48^M
+$GPGGA,112940.00,,,,,0,00,99.99,,,,,,*62^M
+$GPGGA,112955.00,,,,,0,00,99.99,,,,,,*65^M
+$GPGGA,113011.00,5215.09171,N,00005.55175,W,1,11,0.91,69.0,M,45.8,M,,*78
+$GPGGA,113021.00,5215.10445,N,00005.54857,W,1,11,0.85,123.7,M,45.8,M,,*44
+$GPGGA,113031.00,5215.12204,N,00005.55444,W,1,11,0.85,186.0,M,45.8,M,,*43
+$GPGGA,113041.00,5215.14468,N,00005.56176,W,1,11,1.01,262.2,M,45.8,M,,*4F
+$GPGGA,113051.00,5215.15491,N,00005.56456,W,1,11,0.85,343.7,M,45.8,M,,*44
+$GPGGA,113101.00,5215.15284,N,00005.57628,W,1,11,0.85,407.6,M,45.8,M,,*4E
+$GPGGA,113111.00,5215.15645,N,00005.57139,W,1,11,0.91,462.5,M,45.8,M,,*44
+$GPGGA,113121.00,5215.17959,N,00005.56735,W,1,11,0.85,521.4,M,45.8,M,,*4E
+$GPGGA,113131.00,5215.20538,N,00005.55299,W,1,11,0.86,580.7,M,45.8,M,,*4B
+$GPGGA,113141.00,5215.22498,N,00005.54376,W,1,11,0.86,634.4,M,45.8,M,,*4B
+$GPGGA,113151.00,5215.24927,N,00005.50583,W,1,11,0.86,691.3,M,45.8,M,,*45
+$GPGGA,113201.00,5215.28233,N,00005.50321,W,1,11,0.91,745.9,M,45.8,M,,*4B
+$GPGGA,113211.00,5215.29678,N,00005.49712,W,1,11,0.86,801.1,M,45.8,M,,*4D
+$GPGGA,113221.00,5215.31403,N,00005.47418,W,1,11,0.86,855.2,M,45.8,M,,*4C
+$GPGGA,113231.00,5215.32596,N,00005.46584,W,1,11,0.86,906.6,M,45.8,M,,*45
+$GPGGA,113241.00,5215.33886,N,00005.42538,W,1,11,0.91,952.3,M,45.8,M,,*4E
+$GPGGA,113251.00,5215.35670,N,00005.40333,W,1,11,0.86,1005.4,M,45.8,M,,*7A
+$GPGGA,113301.00,5215.38097,N,00005.39426,W,1,11,0.86,1053.3,M,45.8,M,,*75
+$GPGGA,113311.00,5215.40568,N,00005.37646,W,1,11,0.86,1102.8,M,45.8,M,,*7A
+$GPGGA,113321.00,5215.42431,N,00005.36688,W,1,11,0.86,1155.3,M,45.8,M,,*7C
+$GPGGA,113331.00,5215.46412,N,00005.33104,W,1,11,0.86,1202.2,M,45.8,M,,*7E
+$GPGGA,113341.00,5215.48203,N,00005.28531,W,1,11,0.86,1245.4,M,45.8,M,,*7C
+$GPGGA,113351.00,5215.51127,N,00005.26372,W,1,11,0.86,1296.4,M,45.8,M,,*71
+$GPGGA,113401.00,5215.55176,N,00005.22846,W,1,11,0.86,1342.3,M,45.8,M,,*74
+$GPGGA,113411.00,5215.58372,N,00005.20439,W,1,11,0.86,1393.3,M,45.8,M,,*74
+$GPGGA,113421.00,5215.60311,N,00005.16523,W,1,11,0.86,1451.2,M,45.8,M,,*7E
+$GPGGA,113431.00,5215.63588,N,00005.13057,W,1,11,0.99,1504.1,M,45.8,M,,*75
+$GPGGA,113441.00,5215.66000,N,00005.11606,W,1,11,0.87,1553.7,M,45.8,M,,*79
+$GPGGA,113451.00,5215.67878,N,00005.09110,W,1,11,0.90,1601.5,M,45.8,M,,*77
+$GPGGA,113501.00,5215.69832,N,00005.07409,W,1,11,0.91,1650.8,M,45.8,M,,*78
+$GPGGA,113511.00,5215.72993,N,00005.05790,W,1,11,0.91,1702.1,M,45.8,M,,*77
+$GPGGA,113521.00,5215.76122,N,00005.03775,W,1,11,0.91,1755.7,M,45.8,M,,*7B
+$GPGGA,113531.00,5215.80163,N,00005.02582,W,1,11,0.91,1814.5,M,45.8,M,,*75
+$GPGGA,113541.00,5215.83177,N,00005.02143,W,1,11,0.91,1865.4,M,45.8,M,,*7A
+$GPGGA,113551.00,5215.87261,N,00004.99841,W,1,11,0.91,1909.7,M,45.8,M,,*7B
+$GPGGA,113601.00,5215.91884,N,00004.99086,W,1,11,0.91,1956.7,M,45.8,M,,*72
+$GPGGA,113611.00,5215.96684,N,00004.96468,W,1,11,0.91,2004.3,M,45.8,M,,*78
+$GPGGA,113621.00,5215.99255,N,00004.95216,W,1,11,0.91,2050.9,M,45.8,M,,*7B
+$GPGGA,113631.00,5216.01012,N,00004.92539,W,1,11,0.91,2094.3,M,45.8,M,,*76
+$GPGGA,113641.00,5216.05216,N,00004.90426,W,1,11,0.91,2140.3,M,45.8,M,,*76
+$GPGGA,113651.00,5216.08936,N,00004.88801,W,1,11,0.91,2190.9,M,45.8,M,,*74
+$GPGGA,113701.00,5216.12471,N,00004.88616,W,1,10,0.91,2247.7,M,45.8,M,,*7B
+$GPGGA,113711.00,5216.17268,N,00004.87055,W,1,10,0.91,2294.1,M,45.8,M,,*77
+$GPGGA,113721.00,5216.21146,N,00004.84050,W,1,10,0.91,2336.4,M,45.8,M,,*74
+$GPGGA,113731.00,5216.23772,N,00004.83419,W,1,10,0.91,2389.9,M,45.8,M,,*71
+$GPGGA,113741.00,5216.28144,N,00004.83961,W,1,10,0.91,2440.8,M,45.8,M,,*7F
+$GPGGA,113751.00,5216.32066,N,00004.82846,W,1,10,0.91,2504.8,M,45.8,M,,*70
+$GPGGA,113801.00,5216.36454,N,00004.82866,W,1,10,0.91,2562.3,M,45.8,M,,*72
+$GPGGA,113811.00,5216.40657,N,00004.82316,W,1,10,0.91,2627.4,M,45.8,M,,*7A
+$GPGGA,113821.00,5216.46043,N,00004.81571,W,1,10,0.91,2672.9,M,45.8,M,,*75
+$GPGGA,113831.00,5216.48557,N,00004.81142,W,1,10,0.91,2714.6,M,45.8,M,,*70
+$GPGGA,113841.00,5216.50817,N,00004.80797,W,1,10,0.91,2764.3,M,45.8,M,,*7A
+$GPGGA,113851.00,5216.53038,N,00004.76551,W,1,10,0.92,2815.8,M,45.8,M,,*7D
+$GPGGA,113901.00,5216.55650,N,00004.76048,W,1,10,0.92,2864.2,M,45.8,M,,*76
+$GPGGA,113911.00,5216.59780,N,00004.75414,W,1,10,0.92,2909.3,M,45.8,M,,*72
+$GPGGA,113921.00,5216.64725,N,00004.75905,W,1,10,0.92,2950.4,M,45.8,M,,*76
+$GPGGA,113931.00,5216.69836,N,00004.74250,W,1,10,0.92,2997.1,M,45.8,M,,*73
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+$GPGGA,114011.00,5216.79117,N,00004.72849,W,1,10,0.92,3204.3,M,45.8,M,,*72
+$GPGGA,114021.00,5216.81825,N,00004.75126,W,1,10,0.92,3246.4,M,45.8,M,,*78
+$GPGGA,114031.00,5216.84682,N,00004.78130,W,1,10,0.92,3291.6,M,45.8,M,,*7D
+$GPGGA,114041.00,5216.89063,N,00004.79741,W,1,10,0.92,3342.1,M,45.8,M,,*77
+$GPGGA,114051.00,5216.91775,N,00004.81825,W,1,10,0.92,3390.3,M,45.8,M,,*78
+$GPGGA,114101.00,5216.95685,N,00004.80118,W,1,10,0.92,3437.0,M,45.8,M,,*79
+$GPGGA,114111.00,5216.99844,N,00004.80774,W,1,10,0.92,3488.5,M,45.8,M,,*7A
+$GPGGA,114121.00,5217.03516,N,00004.77932,W,1,10,0.92,3534.7,M,45.8,M,,*71
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+$GPGGA,114211.00,5217.21305,N,00004.65728,W,1,10,0.92,3773.8,M,45.8,M,,*7D
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diff --git a/nmea/AASQ2-1Mins.NMEA b/nmea/AASQ2-1Mins.NMEA
new file mode 100644
index 0000000..7c2348f
--- /dev/null
+++ b/nmea/AASQ2-1Mins.NMEA
@@ -0,0 +1,69 @@
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diff --git a/nmea/AASQ2-5Mins.NMEA b/nmea/AASQ2-5Mins.NMEA
new file mode 100644
index 0000000..bd690dd
--- /dev/null
+++ b/nmea/AASQ2-5Mins.NMEA
@@ -0,0 +1,282 @@
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diff --git a/nmea/AASQ2-NoIntro.NMEA b/nmea/AASQ2-NoIntro.NMEA
new file mode 100644
index 0000000..92284d7
--- /dev/null
+++ b/nmea/AASQ2-NoIntro.NMEA
@@ -0,0 +1,8442 @@
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diff --git a/nmea/AASQ2.NMEA b/nmea/AASQ2.NMEA
new file mode 100644
index 0000000..7bbdc48
--- /dev/null
+++ b/nmea/AASQ2.NMEA
@@ -0,0 +1,10373 @@
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diff --git a/nmea/Friday.NMEA b/nmea/Friday.NMEA
new file mode 100644
index 0000000..372a49f
--- /dev/null
+++ b/nmea/Friday.NMEA
@@ -0,0 +1,27489 @@
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diff --git a/nmea/XABEN11.NMEA b/nmea/XABEN11.NMEA
new file mode 100644
index 0000000..d097b97
--- /dev/null
+++ b/nmea/XABEN11.NMEA
@@ -0,0 +1,31053 @@
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+$GPGGA,224842.000,5159.3601,N,00057.4868,E,1,05,02.4,115.8,M,45.0,M,,*65
+$GPRMC,224842.000,A,5159.3601,N,00057.4868,E,21.34,103.89,170911,,,A*50
+$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
+$GPGGA,224843.000,5159.3579,N,00057.4957,E,1,05,02.4,109.4,M,45.0,M,,*64
+$GPGSA,A,3,03,07,18,19,22,,,,,,,,3.3,2.4,2.3*30
+$GPRMC,224843.000,A,5159.3579,N,00057.4957,E,21.34,103.89,170911,,,A*50
+$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
+$GPGGA,224844.000,5159.3557,N,00057.5046,E,1,05,02.4,103.0,M,45.0,M,,*69
+$GPGSV,2,1,08,03,89,276,30,07,63,181,22,11,,,,12,,,*79
+$GPGSV,2.2,08,18,73,111,35,19,33,057,27,22,57,173,37,27,,,*40
+$GPRMC,224844.000,A,5159.3557,N,00057.5046,E,21.34,103.89,170911,,,A*53
+$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
+$GPGGA,224845.000,5159.3534,N,00057.5136,E,1,05,02.4,96.5,M,45.0,M,,*53
+$GPRMC,224845.000,A,5159.3534,N,00057.5136,E,21.34,103.89,170911,,,A*51
+$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
+$GPGGA,224846.000,5159.3512,N,00057.5225,E,1,05,02.4,90.1,M,45.0,M,,*57
+$GPGSA,A,3,03,07,18,19,22,,,,,,,,3.3,2.4,2.3*30
+$GPRMC,224846.000,A,5159.3512,N,00057.5225,E,21.34,103.89,170911,,,A*57
+$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
+$GPGGA,224847.000,5159.3490,N,00057.5314,E,1,05,02.4,83.6,M,45.0,M,,*5B
+$GPGSV,2,1,08,03,89,276,30,07,63,181,22,11,,,,12,,,*79
+$GPGSV,2.2,08,18,73,111,35,19,33,057,27,22,57,173,37,27,,,*40
+$GPRMC,224847.000,A,5159.3490,N,00057.5314,E,21.34,103.89,170911,,,A*5E
+$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
+$GPGGA,224848.000,5159.3468,N,00057.5404,E,1,05,02.4,77.2,M,45.0,M,,*5A
+$GPRMC,224848.000,A,5159.3468,N,00057.5404,E,21.34,103.89,170911,,,A*50
+$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
+$GPGGA,224849.000,5159.3446,N,00057.5493,E,1,05,02.4,70.8,M,45.0,M,,*54
+$GPGSA,A,3,03,07,18,19,22,,,,,,,,3.3,2.4,2.3*30
+$GPRMC,224849.000,A,5159.3446,N,00057.5493,E,21.34,103.89,170911,,,A*53
+$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
+$GPGGA,224850.000,5159.3424,N,00057.5582,E,1,05,02.4,64.3,M,45.0,M,,*57
+$GPGSV,2,1,08,03,89,276,30,07,63,181,22,11,,,,12,,,*79
+$GPGSV,2.2,08,18,73,111,35,19,33,057,27,22,57,173,37,27,,,*40
+$GPRMC,224850.000,A,5159.3424,N,00057.5582,E,21.34,103.89,170911,,,A*5E
+$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
+$GPGGA,224851.000,5159.3402,N,00057.5671,E,1,05,02.4,57.9,M,45.0,M,,*57
+$GPRMC,224851.000,A,5159.3402,N,00057.5671,E,21.34,103.89,170911,,,A*54
+$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
+$GPGGA,224852.000,5159.3380,N,00057.5761,E,1,05,02.4,51.4,M,45.0,M,,*52
+$GPGSA,A,3,03,07,18,19,22,,,,,,,,3.3,2.4,2.3*30
+$GPRMC,224852.000,A,5159.3380,N,00057.5761,E,21.34,103.89,170911,,,A*5A
+$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
+$GPGGA,224853.000,5159.3351,N,00057.5850,E,1,05,02.4,44.0,M,45.0,M,,*52
+$GPGSV,2,1,08,03,89,276,30,07,63,181,22,11,,,,12,,,*79
+$GPGSV,2.2,08,18,73,111,35,19,33,057,27,22,57,173,37,27,,,*40
+$GPRMC,224853.000,A,5159.3351,N,00057.5850,E,0.00,0.00,170911,,,A*6D
+$GPVTG,0.00,T,,,0.00,N,0.00,K,A*70

From 5330d2be15f77be336c8f475230ea6498d6fb296 Mon Sep 17 00:00:00 2001
From: Kevin Walton <kevin@unseen.org>
Date: Thu, 4 Aug 2022 20:37:27 +0100
Subject: [PATCH 48/60] Added MOTD, changed startup to rc.local and Screen

---
 build                   |  7 ++++---
 etc/motd                | 16 ++++++++++++++++
 etc/rc.local            | 24 ++++++++++++++++++++++++
 systemd/tracker.service | 10 ----------
 4 files changed, 44 insertions(+), 13 deletions(-)
 create mode 100644 etc/motd
 create mode 100755 etc/rc.local
 delete mode 100644 systemd/tracker.service

diff --git a/build b/build
index 7163521..6fb2a5a 100755
--- a/build
+++ b/build
@@ -6,12 +6,13 @@ cd ..
 
 echo Copying configuration file ...
 sudo cp -f boot/pisky.txt /boot
+sudo cp -f etc/motd /etc
 
 echo Enabling startup script.
-sudo cp -f systemd/tracker.service /lib/systemd/system
-sudo systemctl enable tracker.service
+sudo cp -f etc/rc.local /etc/rc.local
 
 echo Starting startup script
-sudo systemctl start tracker.service
+sudo screen -dmS PITS /home/pi/pits/tracker/startup
 
+echo "Run "sudo screen -dr PITS" to attach to PITS Screen session"
 echo DONE
diff --git a/etc/motd b/etc/motd
new file mode 100644
index 0000000..3959735
--- /dev/null
+++ b/etc/motd
@@ -0,0 +1,16 @@
+Pi Tracker
+        Camera images: /home/pi/pits/tracker/images/
+        GPS log file: /home/pi/pits/tracker/gps.txt
+        Telemetry log file: /home/pi/pits/tracker/telemetry.txt
+	Camera log file: /home/pi/pits/tracker/camera.txt
+
+        Config:  /boot/pisky.txt
+	Connect: sudo screen -dr PITS
+
+To delete all images and clean up:
+	sudo touch /boot/clear.txt
+	and restart tracker
+
+To kill all:
+	sudo killall startup camera tracker screen
+	sudo killall -9 startup camera tracker screen
diff --git a/etc/rc.local b/etc/rc.local
new file mode 100755
index 0000000..2781bf6
--- /dev/null
+++ b/etc/rc.local
@@ -0,0 +1,24 @@
+#!/bin/sh -e
+#
+# rc.local
+#
+# This script is executed at the end of each multiuser runlevel.
+# Make sure that the script will "exit 0" on success or any other
+# value on error.
+#
+# In order to enable or disable this script just change the execution
+# bits.
+#
+# By default this script does nothing.
+
+# Print the IP address
+_IP=$(hostname -I) || true
+if [ "$_IP" ]; then
+  printf "My IP address is %s\n" "$_IP"
+fi
+
+echo "Start PITS tracker in a Screen sesion"
+echo "sudo screen -dr PITS to attach"
+screen -dmS PITS /home/pi/pits/tracker/startup
+
+exit 0
diff --git a/systemd/tracker.service b/systemd/tracker.service
deleted file mode 100644
index f42e1a9..0000000
--- a/systemd/tracker.service
+++ /dev/null
@@ -1,10 +0,0 @@
-[Unit]
-Description=PITS Tracker Service
- 
-[Service]
-ExecStart=/home/pi/pits/tracker/startup
-StandardOutput=null
- 
-[Install]
-WantedBy=multi-user.target
-Alias=tracker.service

From e63b1b9f22906b87a52361d40ba7c2f64724232e Mon Sep 17 00:00:00 2001
From: Kevin Walton <kevin@unseen.org>
Date: Thu, 4 Aug 2022 20:59:13 +0100
Subject: [PATCH 49/60] Added boot/pisky.current.txt as link to /boot/pisky.txt

---
 boot/pisky.current.txt | 1 +
 1 file changed, 1 insertion(+)
 create mode 120000 boot/pisky.current.txt

diff --git a/boot/pisky.current.txt b/boot/pisky.current.txt
new file mode 120000
index 0000000..f3a30c0
--- /dev/null
+++ b/boot/pisky.current.txt
@@ -0,0 +1 @@
+/boot/pisky.txt
\ No newline at end of file

From b70847048fcb6ab5331a814f1eb0f7501bc28a3a Mon Sep 17 00:00:00 2001
From: Kevin Walton <kevin@unseen.org>
Date: Thu, 4 Aug 2022 21:53:20 +0100
Subject: [PATCH 50/60] Added boot/pisky.documented.txt aligned with original
 pisky.txt

---
 boot/pisky.documented.txt | 310 ++++++++++++++++++++++++++++++++++++++
 1 file changed, 310 insertions(+)
 create mode 100755 boot/pisky.documented.txt

diff --git a/boot/pisky.documented.txt b/boot/pisky.documented.txt
new file mode 100755
index 0000000..c13ba10
--- /dev/null
+++ b/boot/pisky.documented.txt
@@ -0,0 +1,310 @@
+# Complete as of 6th May
+
+# Disable HDMI/Composite outputs
+disable_monitor=N
+
+# Enable Buoy mode below X meters
+#buoy_below=100
+
+# Logging options, comma separated, GPS and Telemetry
+# GPS = write all gps strings to gps.txt
+# Telemetry = write all telemetry strings to telemetry.txt
+logging=GPS,Telemetry
+
+# Log file 'latest.txt' updated every X seconds with Sats, Alt and Temp
+#telemetry_file_update=60
+
+# Enable Pressure sensors
+enable_bmp085=N
+#enable_bme280=N
+#enable_ms5611=N
+
+# Build a UKHAS string for this payload ID and sends to pipe "pits_pipe"
+#pipe_payload=CHANGEMEPIPE
+
+# Enable external DS18B20
+# Note, seems to find my external DS18B20 reguardless of this value
+external_temperature=1
+
+# Disabled Analogue to Digital converter
+Disable_ADC=0
+Enable_ADC_Volt=0
+
+# Set maximum ADC value for scaling purposes
+adc_vmax=18.5
+
+# If RTTY is not disabled, on startup send IP Address and SD Card Free space messages X times
+info_messages=2
+
+
+##############
+# RTTY Config
+
+# Disable RTTY Mode, ignoring any RTTY Channels
+Disable_RTTY=N
+
+# RTTY settings:
+payload=CHANGEME
+frequency=434.250
+baud=300
+
+# XX
+#quiet_rtty_for_uplink=0
+
+
+########################
+# Generic Camera config
+
+# Enable Camera and set camera type
+# 1/Y/T = CSI Pi Camera - raspistill; F/U = USB webcam - fswebcam; 
+# G = USB camera - gphoto2; P = Python Script eg for GoPro
+camera=Y
+
+# Custom camera parameters for raspistill command
+#camera_settings=
+
+# Custom SSDV parameters for ssdv command
+# eg -q to set the JPEG quality level (0 to 7, defaults to 4)
+#SSDV_settings=
+
+# Image size changes at X meters
+high=2000
+
+
+#####################
+# RTTY Camera Config
+
+# If RTTY not disabled, RTTY Low altitude image width & height
+low_width=320
+low_height=240
+
+# If RTTY not disabled, RTTY  High altitude image width & height
+high_width=640
+high_height=480
+
+# If RTTY not disabled, send 1 telemetry packet every X image packets
+image_packets=4
+
+# Seconds between RTTY photographs
+#image_period=60
+
+
+
+#########################
+# Full size image config
+
+# Low altitude image width & height
+full_low_width=640
+full_low_height=480
+
+# High altitude image width & height
+# 0 in either of the following tells the software to use full resolution from the Pi camera
+full_high_width=0
+full_high_height=0
+
+# Seconds between full-sized images
+# 0 disables full-sized images
+full_image_period=60
+
+
+#############
+# GPS config
+
+# If set, replay flight from named GPS Log file
+# Mut have a valid real GPS input too for timing
+#gps_source=../nmea/AASQ2-1Mins.NMEA
+
+# GPS Model, U = UBlox, M = PMTK (ie L80)
+#gps_model=U
+
+# Print GPS strings to console
+#show_gps=0
+
+# Serial GPS device, ie /dev/ttyAMA0
+#gps_device=/dev/ttyAMA0
+
+# I2C SDA / SCL pin overrides, only used if serial gps_device is not set
+#SDA=
+#SCL=
+
+# Enable GPS power saving mode
+#Power_Saving=N
+
+# Switch GPS to flight mode above X meters 
+#Flight_Mode_Altitude=1500
+
+
+############################
+# Landing prediction config
+
+# Turn on landing prediction code
+#landing_prediction=N
+
+# Parachute area
+# https://www.apogeerockets.com/education/downloads/Newsletter449.pdf
+#cd_area=0.66
+
+# Payload weight in kg
+#payload_weight=0.66
+
+# Expected landing altitude in meters (ie ground height above sea level)
+#Target_Altitude=100
+
+# Enables a separate UKHAS sentence for the predicted landing location
+# (rather than adding the prediction onto the normal sentence)
+#prediction_id=CHANGEME
+
+
+
+#################
+# Cutdown config
+
+# Enable cutdown code
+#Enable_Cutdown=0
+
+# Cut down code inactive below X meters
+#Min_Cutdown_Altitude=0
+
+# Cut down triggers at X meters
+#CutdownAltitude=
+
+# Cutdown Lat / Log options
+#Cutdown_Latitude=
+#Cutdown_Longitude=
+
+# Cutdown in which direction from set Lat / Long (ie N, NE, E, SE, etc)
+#Cutdown_Test=
+
+# Cutdown will trigger X minutes after launch
+#Cutdown_Time_Since_Launch=
+
+# Cutdown will trigger after balloon burst is detected
+#Cutdown_Burst=
+
+# Cutdown pin is turned on for X second
+#Cutdown_Period=
+
+# Cutdown gpio pin is X
+#Cutdown_Pin=
+
+
+
+# CSV file of additional fields to add to UKHAS sentence
+#external_data=
+
+
+# Enabled PCM Strobe Light on pin X after descending below X meters
+#Strobe_Pin=
+#Strobe_Alt=2000
+
+# Enabled Piezo Buzzer on pin %d after descending below %d meters
+#Piezo_Pin=4
+#Piezo_Alt=750
+
+
+##############
+# APRS config
+
+# Set Callsign, ID and Period to enable APRS
+#APRS_Callsign=CHANGEME
+APRS_ID=11
+APRS_Period=1
+#APRS_Offset=0
+APRS_Random=5
+#APRS_HighPath=0
+#APRS_Altitude=0
+#APRS_Preemphasis=0
+#APRS_Telemetry=0
+
+
+#############
+# LORA config
+
+#LORA_Frequency_0=434.712
+#LORA_PPM_0=0
+#LORA_Payload_0=CHANGEME
+#LORA_Mode_0=1
+
+# LORA module pins
+#LORA_DIO0_0=23
+#LORA_DIO5_0=29
+#LORA_CS_0=0
+#LORA_RST=0
+
+#LORA_low_width=640
+#LORA_low_height=480
+#LORA_high_width=640
+#LORA_high_height=480
+
+# Send a Telemetry packet every X image packets
+#LORA_image_packets_0=10
+
+# Seconds between taking LORA photographs and then choose best pic to send
+#LORA_image_period_0=25
+
+# TDM mode
+#LORA_Cycle_0=0
+#LORA_Slot_0=0
+#LORA_Repeat_0=-1
+#LORA_Uplink_0=0
+
+# Send LORA packet only every x milliseconds
+#LORA_PacketEvery_0=0
+
+# Choose between ASCII (neither set), HABPack or Binary
+#LORA_HABPack_0=0
+#LORA_Binary_0=0
+
+# Do not transmit with this LORA module
+#LORA_ListenOnly=N
+
+# LORA Uplink settings - see http://www.daveakerman.com/?p=2790
+#LORA_Uplink_Period_0=6
+#LORA_Uplink_Cycle_0=60
+#LORA_Uplink_Mode_0=6
+#LORA_Uplink_Frequency_0=434.737
+# Uplink encryption key
+#UplinkCode=
+
+
+# Adds extra UKHAS sentence field for LastCommand
+#LORA_Message_Status_0=Y
+# Adds extra fields to UKHAS sentence for LastPacketRSSI, LastPacketSNR & PacketCount
+#LORA_RSSI_Status_0=Y
+
+# Allow overrides of LORA settings from LORA Mode
+#LORA_SF_0=
+#LORA_Bandwidth_0=
+#LORA_Implicit_0=
+#LORA_Coding_0=
+#LORA_LowOpt_0=
+
+# 0x88 (136) is PA_MAX_UK, PA_MAX_BOOST = 0x8F (143)
+#LORA_Power_0=136
+
+# Calling mode - see http://www.daveakerman.com/?p=1816
+#LORA_Calling_Frequency_0=433.650
+# After every X normal LORA messages, send our calling frequency messages
+#LORA_Calling_Count_0=50
+# Limit Calling mode packets to slot X
+#LORA_Calling_Slot_0=
+
+
+# Send RTTY using the LORA module, set 50 or 300 baud to enable
+#LORA_RTTY_Baud_0=300
+# Frequency defaults to LoRaDevices[LoRaChannel].Frequency
+#LORA_RTTY_Frequency_0=
+#LORA_RTTY_Shift_0=488
+
+# Send LORA_RTTY_Count sentences for every LORA_RTTY_Every LORA packets 
+#LORA_RTTY_Count_0=2
+#LORA_RTTY_Every_0=50
+#LORA_RTTY_Preamble=8
+
+
+# Second LORA module
+#LORA_Frequency_1=434.275
+#LORA_Payload_1=CHANGEME
+#LORA_Mode_1=1
+#LORA_Calling_Frequency_1=433.650
+#LORA_Calling_Count_1=5

From fdd92976ed4da341ff20b9d2c9a4b1a1fbce3aae Mon Sep 17 00:00:00 2001
From: Kevin Walton <kevin@unseen.org>
Date: Thu, 4 Aug 2022 22:17:36 +0100
Subject: [PATCH 51/60] Updated README for all commits so far

---
 README.md | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/README.md b/README.md
index e8c2539..1b02129 100755
--- a/README.md
+++ b/README.md
@@ -2,6 +2,15 @@
 
 Created by Dave Akerman (dave@sccs.co.uk)
 
+# Changes by KevWal not pushed upstream #
+
+- Added GPS example flight files for use by gps_source= option
+- Added MOTD, changed startup to rc.local and Screen
+- Added boot/pisky.current.txt as link to /boot/pisky.txt
+
+
+# PITS - HAB Tracker software for the PITS boards #
+
 This software is written for the PITS Zero with Pi Zero, PITS+ with the various A+/B+ models, and the original PITS with the Pi A/B boards.
 
 PITS Zero and PITS+ can be purchased from board from http://ava.upuaut.net/store/.

From be2d71eebc6db00d28f70a0f87fdf1be1f4dfba1 Mon Sep 17 00:00:00 2001
From: Kevin Walton <kevin@unseen.org>
Date: Sat, 6 Aug 2022 19:55:58 +0100
Subject: [PATCH 52/60] Adding boot cmdline.txt and config.txt files

---
 boot/cmdline.txt | 1 +
 boot/config.txt  | 1 +
 2 files changed, 2 insertions(+)
 create mode 120000 boot/cmdline.txt
 create mode 120000 boot/config.txt

diff --git a/boot/cmdline.txt b/boot/cmdline.txt
new file mode 120000
index 0000000..5a5912b
--- /dev/null
+++ b/boot/cmdline.txt
@@ -0,0 +1 @@
+/boot/cmdline.txt
\ No newline at end of file
diff --git a/boot/config.txt b/boot/config.txt
new file mode 120000
index 0000000..62ea53b
--- /dev/null
+++ b/boot/config.txt
@@ -0,0 +1 @@
+/boot/config.txt
\ No newline at end of file

From b9a13a3bf19d5e0d59995dc2af81ba23ba6647ca Mon Sep 17 00:00:00 2001
From: Kevin Walton <kevin@unseen.org>
Date: Mon, 15 Aug 2022 22:08:12 +0100
Subject: [PATCH 53/60] Add logging for the camera script to camera.txt

---
 .gitignore                | 1 +
 tracker/sample_take_pic_2 | 2 ++
 tracker/startup           | 2 +-
 tracker/tracker.c         | 3 ++-
 4 files changed, 6 insertions(+), 2 deletions(-)
 create mode 100755 tracker/sample_take_pic_2

diff --git a/.gitignore b/.gitignore
index 53002f8..47e08ae 100644
--- a/.gitignore
+++ b/.gitignore
@@ -15,6 +15,7 @@ tracker/ex_*
 *.JPG
 *.sms
 *.old
+camera.txt
 telemetry.txt
 gps.txt
 prediction.txt
diff --git a/tracker/sample_take_pic_2 b/tracker/sample_take_pic_2
new file mode 100755
index 0000000..3d261f4
--- /dev/null
+++ b/tracker/sample_take_pic_2
@@ -0,0 +1,2 @@
+raspistill -st -w 640 -h 480 -t 3000 -ex auto -mm matrix  -o /home/pi/pits/tracker/images/LORA0/$1.JPG
+exiv2 -c'Alt=22537;MaxAlt=22537;Lat=52.38204;Long=0.20516;UTC=00:00:00;Ascent=154.2;Mode=1' /home/pi/pits/tracker/images/LORA0/$1.JPG
diff --git a/tracker/startup b/tracker/startup
index a840c82..ad585b6 100755
--- a/tracker/startup
+++ b/tracker/startup
@@ -1,6 +1,6 @@
 #!/bin/bash
 cd /home/pi/pits/tracker
-sudo ./camera &
+sudo ./camera 2>&1 >> /home/pi/pits/tracker/camera.txt &
 # sleep 30
 # sudo python3 gopro.py &
 # python3 sensors.py &
diff --git a/tracker/tracker.c b/tracker/tracker.c
index 6a970c1..c9017e6 100755
--- a/tracker/tracker.c
+++ b/tracker/tracker.c
@@ -806,9 +806,10 @@ int main(void)
 	{
 		// remove SSDV and other camera images, plus log files
 
-		printf("Removing existing photo files\n");
+		printf("Removing existing log & photo files\n");
 		remove("gps.txt");
 		remove("telemetry.txt");
+		remove("camera.txt");
 		remove("/boot/clear.txt");
 		system("rm -rf /home/pi/pits/tracker/images/*");
 	}

From 3499231fbb87ad153b9b1050628f79a6ee45cb92 Mon Sep 17 00:00:00 2001
From: Kevin Walton <kevin@unseen.org>
Date: Mon, 15 Aug 2022 22:27:36 +0100
Subject: [PATCH 54/60] Changed links to copies of files in /boot

---
 boot/cmdline.txt       |   3 +-
 boot/config.txt        | 114 ++++++++++++++-
 boot/pisky.current.txt |   1 -
 boot/pisky.default.txt |  48 +++++++
 boot/pisky.txt         | 318 +++++++++++++++++++++++++++++++++++++----
 5 files changed, 454 insertions(+), 30 deletions(-)
 mode change 120000 => 100755 boot/cmdline.txt
 mode change 120000 => 100755 boot/config.txt
 delete mode 120000 boot/pisky.current.txt
 create mode 100644 boot/pisky.default.txt
 mode change 100644 => 100755 boot/pisky.txt

diff --git a/boot/cmdline.txt b/boot/cmdline.txt
deleted file mode 120000
index 5a5912b..0000000
--- a/boot/cmdline.txt
+++ /dev/null
@@ -1 +0,0 @@
-/boot/cmdline.txt
\ No newline at end of file
diff --git a/boot/cmdline.txt b/boot/cmdline.txt
new file mode 100755
index 0000000..1ae70f5
--- /dev/null
+++ b/boot/cmdline.txt
@@ -0,0 +1,2 @@
+console=tty1 root=PARTUUID=70f60f9a-02 rootfstype=ext4 fsck.repair=yes rootwait modules-load=dwc2,g_ether
+
diff --git a/boot/config.txt b/boot/config.txt
deleted file mode 120000
index 62ea53b..0000000
--- a/boot/config.txt
+++ /dev/null
@@ -1 +0,0 @@
-/boot/config.txt
\ No newline at end of file
diff --git a/boot/config.txt b/boot/config.txt
new file mode 100755
index 0000000..b76b877
--- /dev/null
+++ b/boot/config.txt
@@ -0,0 +1,113 @@
+# For more options and information see
+# http://rpf.io/configtxt
+# Some settings may impact device functionality. See link above for details
+
+start_debug=0
+
+# uncomment if you get no picture on HDMI for a default "safe" mode
+#hdmi_safe=1
+
+# uncomment the following to adjust overscan. Use positive numbers if console
+# goes off screen, and negative if there is too much border
+#overscan_left=16
+#overscan_right=16
+#overscan_top=16
+#overscan_bottom=16
+
+# uncomment to force a console size. By default it will be display's size minus
+# overscan.
+#framebuffer_width=1280
+#framebuffer_height=720
+
+# uncomment if hdmi display is not detected and composite is being output
+#hdmi_force_hotplug=1
+
+# uncomment to force a specific HDMI mode (this will force VGA)
+#hdmi_group=1
+#hdmi_mode=1
+
+# uncomment to force a HDMI mode rather than DVI. This can make audio work in
+# DMT (computer monitor) modes
+#hdmi_drive=2
+
+# uncomment to increase signal to HDMI, if you have interference, blanking, or
+# no display
+#config_hdmi_boost=4
+
+# uncomment for composite PAL
+#sdtv_mode=2
+
+#uncomment to overclock the arm. 700 MHz is the default.
+#arm_freq=800
+
+# Uncomment some or all of these to enable the optional hardware interfaces
+dtparam=i2c_arm=on
+#dtparam=i2s=on
+dtparam=spi=on
+
+# Uncomment this to enable infrared communication.
+#dtoverlay=gpio-ir,gpio_pin=17
+#dtoverlay=gpio-ir-tx,gpio_pin=18
+
+# Additional overlays and parameters are documented /boot/overlays/README
+
+# Enable audio (loads snd_bcm2835)
+#dtparam=audio=on
+
+# Automatically load overlays for detected cameras
+start_x=1
+
+# Automatically load overlays for detected DSI displays
+#display_auto_detect=1
+
+# Enable DRM VC4 V3D driver
+#dtoverlay=vc4-kms-v3d
+#max_framebuffers=2
+
+# Disable compensation for displays with overscan
+#disable_overscan=1
+
+#Enable USB Ethernet
+dtoverlay=dwc2
+
+#Zero W UART enable
+enable_uart=1
+
+#Disable Bluetooth
+dtoverlay=pi3-disable-bt
+
+#[cm4]
+# Enable host mode on the 2711 built-in XHCI USB controller.
+# This line should be removed if the legacy DWC2 controller is required
+# (e.g. for USB device mode) or if USB support is not required.
+#otg_mode=1
+
+#[all]
+
+dtoverlay=vc4-fkms-v3d
+
+# Run as fast as firmware / board allows
+#arm_boost=1
+
+# Allocate minimum GPU memory, used by Camera too
+gpu_mem=144
+
+# Enable One Wire interface on GPIO pin 4
+dtoverlay=w1-gpio
+
+# Forces HDMI to be disabled
+hdmi_ignore_hotplug
+
+# Forces Composite display out to be disabled
+enable_tvout=0
+
+# Skip lcd display detection
+ignore_lcd=1
+
+# Dont allocate any frame buffers to save memory
+max_framebuffers=0
+
+# Disable BT and WiFi to save power
+dtoverlay=pi3-disable-bt
+dtoverlay=pi3-disable-wifi
+
diff --git a/boot/pisky.current.txt b/boot/pisky.current.txt
deleted file mode 120000
index f3a30c0..0000000
--- a/boot/pisky.current.txt
+++ /dev/null
@@ -1 +0,0 @@
-/boot/pisky.txt
\ No newline at end of file
diff --git a/boot/pisky.default.txt b/boot/pisky.default.txt
new file mode 100644
index 0000000..1b22864
--- /dev/null
+++ b/boot/pisky.default.txt
@@ -0,0 +1,48 @@
+payload=CHANGEME
+disable_monitor=N
+frequency=434.250
+baud=300
+camera=Y
+low_width=320
+low_height=240
+high=2000
+high_width=640
+high_height=480
+image_packets=4
+enable_bmp085=N
+external_temperature=1
+
+# Disable_ADC is used to disable the ADC on boards that should have an ADC (but dont)
+Disable_ADC=0
+# Enable_ADC_Volt is used to enable the ADC (for voltage) on boards that should not have an ADC (but do)
+Enable_ADC_Volt=0
+
+adc_vmax=18.5
+logging=GPS,Telemetry
+Disable_RTTY=N
+info_messages=2
+
+full_low_width=640
+full_low_height=480
+# 0 in either of the following tells the software to use full resolution from the Pi camera
+full_high_width=0
+full_high_height=0
+full_image_period=60
+
+#APRS_Callsign=CHANGE
+APRS_ID=11
+APRS_Period=1
+APRS_Random=5
+
+#LORA_Frequency_0=434.225
+#LORA_Payload_0=CHANGEME
+#LORA_Mode_0=0
+#LORA_Calling_Frequency_0=433.650
+#LORA_Calling_Count_0=5
+
+#LORA_Frequency_1=434.275
+#LORA_Payload_1=CHANGEME
+#LORA_Mode_1=1
+#LORA_Calling_Frequency_1=433.650
+#LORA_Calling_Count_1=5
+
diff --git a/boot/pisky.txt b/boot/pisky.txt
old mode 100644
new mode 100755
index 1c263eb..f8c6d90
--- a/boot/pisky.txt
+++ b/boot/pisky.txt
@@ -1,45 +1,309 @@
-payload=CHANGEME
-disable_monitor=N
-frequency=434.250
-baud=300
-camera=Y
-low_width=320
-low_height=240
-high=2000
-high_width=640
-high_height=480
-image_packets=4
+# Complete as of 6th May
+
+# Disable HDMI/Composite outputs
+disable_monitor=Y
+
+
+# Enable Buoy mode below X meters
+#buoy_below=100
+
+# Logging options, comma separated, GPS and Telemetry
+# GPS = write all gps strings to gps.txt
+# Telemetry = write all telemetry strings to telemetry.txt
+logging=GPS,Telemetry
+
+# Log file 'latest.txt' updated every X seconds with Sats, Alt and Temp
+#telemetry_file_update=60
+
+# Enable Pressure sensors
 enable_bmp085=N
+enable_bme280=N
+enable_ms5611=N
+
+# Build a UKHAS string for this payload ID and sends to pipe "pits_pipe"
+#pipe_payload=CHANGEMEPIPE
+
+# Enable external DS18B20
+# Note, seems to find my external DS18B20 reguardless of this value
 external_temperature=1
 
-# Disable_ADC is used to disable the ADC on boards that should have an ADC (but dont)
-Disable_ADC=0
-# Enable_ADC_Volt is used to enable the ADC (for voltage) on boards that should not have an ADC (but do)
-Enable_ADC_Volt=0
+# Disabled Analogue to Digital converter
+Disable_ADC=N
+Enable_ADC_Volt=Y
 
-adc_vmax=18.5
-logging=GPS,Telemetry
-Disable_RTTY=N
+# Set maximum ADC value for scaling purposes
+adc_vmax=12.208
+
+# If RTTY is not disabled, on startup send IP Address and SD Card Free space messages X times
 info_messages=2
 
+
+##############
+# RTTY Config
+
+# Disable RTTY Mode, ignoring any RTTY Channels
+Disable_RTTY=Y
+
+# RTTY settings:
+#payload=CHANGEME
+#frequency=434.250
+#baud=300
+
+# XX
+#quiet_rtty_for_uplink=0
+
+
+########################
+# Generic Camera config
+
+# Enable Camera and set camera type
+# 1/Y/T = CSI Pi Camera - raspistill; F/U = USB webcam - fswebcam; 
+# G = USB camera - gphoto2; P = Python Script eg for GoPro
+camera=Y
+
+# Custom camera parameters for raspistill command
+#camera_settings=
+
+# Custom SSDV parameters for ssdv command
+# eg -q to set the JPEG quality level (0 to 7, defaults to 4)
+#SSDV_settings=
+
+# Image size changes at X meters
+high=500
+
+
+#####################
+# RTTY Camera Config
+
+# If RTTY not disabled, RTTY Low altitude image width & height
+#low_width=320
+#low_height=240
+
+# If RTTY not disabled, RTTY  High altitude image width & height
+#high_width=640
+#high_height=480
+
+# If RTTY not disabled, send 1 telemetry packet every X image packets
+#image_packets=4
+
+# Seconds between RTTY photographs
+#image_period=60
+
+
+
+#########################
+# Full size image config
+
+# Low altitude image width & height
 full_low_width=640
 full_low_height=480
+
+# High altitude image width & height
 # 0 in either of the following tells the software to use full resolution from the Pi camera
 full_high_width=0
 full_high_height=0
+
+# Seconds between full-sized images
+# 0 disables full-sized images
 full_image_period=60
 
-#APRS_Callsign=CHANGE
-APRS_ID=11
-APRS_Period=1
-APRS_Random=5
 
-#LORA_Frequency_0=434.225
-#LORA_Payload_0=CHANGEME
-#LORA_Mode_0=0
-#LORA_Calling_Frequency_0=433.650
-#LORA_Calling_Count_0=5
+#############
+# GPS config
+
+# If set, replay flight from named GPS Log file
+# Mut have a valid real GPS input too for timing
+gps_source=../nmea/AASQ2-5Mins.NMEA
+
+# GPS Model, U = UBlox, M = PMTK (ie L80)
+gps_model=U
+
+# Print GPS strings to console
+show_gps=0
+
+# Serial GPS device, ie /dev/ttyAMA0
+gps_device=/dev/ttyAMA0
+
+# I2C SDA / SCL pin overrides, only used if serial gps_device is not set
+#SDA=
+#SCL=
+
+# Enable GPS power saving mode
+Power_Saving=N
+
+# Switch GPS to flight mode above X meters 
+Flight_Mode_Altitude=1500
+
+
+############################
+# Landing prediction config
+
+# Turn on landing prediction code
+landing_prediction=N
+
+# Parachute area
+# https://www.apogeerockets.com/education/downloads/Newsletter449.pdf
+cd_area=0.66
+
+# Payload weight in kg
+payload_weight=0.66
+
+# Expected landing altitude in meters (ie ground height above sea level)
+Target_Altitude=100
+
+# Enables a separate UKHAS sentence for the predicted landing location
+# (rather than adding the prediction onto the normal sentence)
+#prediction_id=CHANGEME
+
+
+
+#################
+# Cutdown config
+
+# Enable cutdown code
+Enable_Cutdown=0
+
+# Cut down code inactive below X meters
+#Min_Cutdown_Altitude=0
+
+# Cut down triggers at X meters
+#CutdownAltitude=
+
+# Cutdown Lat / Log options
+#Cutdown_Latitude=
+#Cutdown_Longitude=
+
+# Cutdown in which direction from set Lat / Long (ie N, NE, E, SE, etc)
+#Cutdown_Test=
+
+# Cutdown will trigger X minutes after launch
+#Cutdown_Time_Since_Launch=
+
+# Cutdown will trigger after balloon burst is detected
+#Cutdown_Burst=
+
+# Cutdown pin is turned on for X second
+#Cutdown_Period=
+
+# Cutdown gpio pin is X
+#Cutdown_Pin=
+
+
+
+# CSV file of additional fields to add to UKHAS sentence
+#external_data=
+
+
+# Enabled PCM Strobe Light on pin X after descending below X meters
+#Strobe_Pin=
+#Strobe_Alt=2000
+
+# Enabled Piezo Buzzer on pin %d after descending below %d meters
+#Piezo_Pin=4
+#Piezo_Alt=750
+
+
+##############
+# APRS config
+
+# Set Callsign, ID and Period to enable APRS
+#APRS_Callsign=CHANGEME
+#APRS_ID=11
+#APRS_Period=1
+#APRS_Offset=0
+#APRS_Random=5
+#APRS_HighPath=0
+#APRS_Altitude=0
+#APRS_Preemphasis=0
+#APRS_Telemetry=0
+
+
+#############
+# LORA config
+
+LORA_Frequency_0=434.712
+#LORA_PPM_0=0
+LORA_Payload_0=KW01
+LORA_Mode_0=1
+
+# LORA module pins
+LORA_DIO0_0=23
+LORA_DIO5_0=29
+#LORA_CS_0=0
+#LORA_RST=0
+
+LORA_low_width=640
+LORA_low_height=480
+LORA_high_width=1024
+LORA_high_height=768
+
+# Send a Telemetry packet every X image packets
+LORA_image_packets_0=10
+
+# Seconds between taking LORA photographs and then choose best pic to send
+LORA_image_period_0=25
+
+# TDM mode
+#LORA_Cycle_0=0
+#LORA_Slot_0=0
+#LORA_Repeat_0=-1
+#LORA_Uplink_0=0
+
+# Send LORA packet only every x milliseconds
+#LORA_PacketEvery_0=0
+
+# Choose between ASCII (neither set), HABPack or Binary
+LORA_HABPack_0=0
+LORA_Binary_0=0
+
+# Do not transmit with this LORA module
+#LORA_ListenOnly=N
+
+# LORA Uplink settings - see http://www.daveakerman.com/?p=2790
+LORA_Uplink_Period_0=6
+LORA_Uplink_Cycle_0=60
+LORA_Uplink_Mode_0=6
+LORA_Uplink_Frequency_0=434.737
+# Uplink encryption key
+#UplinkCode=
+
+
+# Adds extra UKHAS sentence field for LastCommand
+LORA_Message_Status_0=Y
+# Adds extra fields to UKHAS sentence for LastPacketRSSI, LastPacketSNR & PacketCount
+LORA_RSSI_Status_0=Y
+
+# Allow overrides of LORA settings from LORA Mode
+#LORA_SF_0=
+#LORA_Bandwidth_0=
+#LORA_Implicit_0=
+#LORA_Coding_0=
+#LORA_LowOpt_0=
+
+# 0x88 (136) is PA_MAX_UK, PA_MAX_BOOST = 0x8F (143)
+LORA_Power_0=136
+
+# Calling mode - see http://www.daveakerman.com/?p=1816
+LORA_Calling_Frequency_0=433.650
+# After every X normal LORA messages, send our calling frequency messages
+LORA_Calling_Count_0=50
+# Limit Calling mode packets to slot X
+#LORA_Calling_Slot_0=
+
+
+# Send RTTY using the LORA module, set 50 or 300 baud to enable
+LORA_RTTY_Baud_0=50
+# Frequency defaults to LoRaDevices[LoRaChannel].Frequency
+LORA_RTTY_Frequency_0=434.737
+LORA_RTTY_Shift_0=488
+
+# Send LORA_RTTY_Count sentences for every LORA_RTTY_Every LORA packets 
+LORA_RTTY_Count_0=2
+LORA_RTTY_Every_0=50
+LORA_RTTY_Preamble=8
+
 
+# Second LORA module
 #LORA_Frequency_1=434.275
 #LORA_Payload_1=CHANGEME
 #LORA_Mode_1=1

From 4cbe18578b56c7110ff5cf38e998e44f512bed91 Mon Sep 17 00:00:00 2001
From: Kevin Walton <kevin@unseen.org>
Date: Mon, 15 Aug 2022 22:30:57 +0100
Subject: [PATCH 55/60] Changed links to copies of files in /boot

---
 boot/pisky.txt | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/boot/pisky.txt b/boot/pisky.txt
index f8c6d90..ee1cd0e 100755
--- a/boot/pisky.txt
+++ b/boot/pisky.txt
@@ -1,9 +1,6 @@
-# Complete as of 6th May
-
 # Disable HDMI/Composite outputs
 disable_monitor=Y
 
-
 # Enable Buoy mode below X meters
 #buoy_below=100
 

From 989e523721980f9aa5416deb65cf5c5a1f240cca Mon Sep 17 00:00:00 2001
From: Kevin Walton <kevin@unseen.org>
Date: Tue, 16 Aug 2022 08:18:38 +0100
Subject: [PATCH 56/60] Adding Git pre-commit

---
 .gitignore           | 2 ++
 git/hooks/pre-commit | 9 +++++++++
 2 files changed, 11 insertions(+)
 create mode 100755 git/hooks/pre-commit

diff --git a/.gitignore b/.gitignore
index 47e08ae..4b0ea09 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,6 +1,7 @@
 .dropbox
 desktop.ini
 *.o
+*.~?~
 tracker/tracker
 tracker/download
 tracker/keep
@@ -11,6 +12,7 @@ tracker/webstuff.py
 tracker/batc
 tracker/youtube
 tracker/ex_*
+tracker/images/
 *.jpg
 *.JPG
 *.sms
diff --git a/git/hooks/pre-commit b/git/hooks/pre-commit
new file mode 100755
index 0000000..369e7ea
--- /dev/null
+++ b/git/hooks/pre-commit
@@ -0,0 +1,9 @@
+#!/bin/sh
+
+echo "Git pre-commit - Copy files into repo"
+cp -v --backup=numbered /boot/cmdline.txt boot/
+cp -v --backup=numbered /boot/config.txt boot/
+cp -v --backup=numbered /boot/pisky.txt boot/
+cp -v --backup=numbered .git/hooks/pre-commit git/hooks
+
+# the end

From f300e1f79bf153239c8ac14130c6999997e6ea3e Mon Sep 17 00:00:00 2001
From: Pi In The Sky Project <github@pi-in-the-sky.com>
Date: Sun, 21 Aug 2022 08:17:43 +0100
Subject: [PATCH 57/60] Revert "Add Enable_ADC_Volt to force enabling the ADC."

---
 .gitignore                |     4 +-
 README.md                 |    14 -
 boot/cmdline.txt          |     2 -
 boot/config.txt           |   113 -
 boot/pisky.default.txt    |    48 -
 boot/pisky.documented.txt |   310 -
 boot/pisky.txt            |   313 +-
 build                     |     7 +-
 etc/motd                  |    16 -
 etc/rc.local              |    24 -
 git/hooks/pre-commit      |     9 -
 nmea/AASQ2-15Mins.NMEA    |   848 -
 nmea/AASQ2-1Mins.NMEA     |    69 -
 nmea/AASQ2-5Mins.NMEA     |   282 -
 nmea/AASQ2-NoIntro.NMEA   |  8442 ----------
 nmea/AASQ2.NMEA           | 10373 ------------
 nmea/Friday.NMEA          | 27489 -------------------------------
 nmea/XABEN11.NMEA         | 31053 ------------------------------------
 systemd/tracker.service   |    10 +
 tracker/misc.c            |     4 +-
 tracker/misc.h            |     1 -
 tracker/sample_take_pic_2 |     2 -
 tracker/startup           |     2 +-
 tracker/tracker.c         |    13 +-
 24 files changed, 43 insertions(+), 79405 deletions(-)
 delete mode 100755 boot/cmdline.txt
 delete mode 100755 boot/config.txt
 delete mode 100644 boot/pisky.default.txt
 delete mode 100755 boot/pisky.documented.txt
 mode change 100755 => 100644 boot/pisky.txt
 delete mode 100644 etc/motd
 delete mode 100755 etc/rc.local
 delete mode 100755 git/hooks/pre-commit
 delete mode 100644 nmea/AASQ2-15Mins.NMEA
 delete mode 100644 nmea/AASQ2-1Mins.NMEA
 delete mode 100644 nmea/AASQ2-5Mins.NMEA
 delete mode 100644 nmea/AASQ2-NoIntro.NMEA
 delete mode 100644 nmea/AASQ2.NMEA
 delete mode 100644 nmea/Friday.NMEA
 delete mode 100644 nmea/XABEN11.NMEA
 create mode 100644 systemd/tracker.service
 delete mode 100755 tracker/sample_take_pic_2

diff --git a/.gitignore b/.gitignore
index 4b0ea09..d7d39b0 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,7 +1,6 @@
 .dropbox
 desktop.ini
 *.o
-*.~?~
 tracker/tracker
 tracker/download
 tracker/keep
@@ -12,12 +11,11 @@ tracker/webstuff.py
 tracker/batc
 tracker/youtube
 tracker/ex_*
-tracker/images/
+*.NMEA
 *.jpg
 *.JPG
 *.sms
 *.old
-camera.txt
 telemetry.txt
 gps.txt
 prediction.txt
diff --git a/README.md b/README.md
index 1b02129..e479cb2 100755
--- a/README.md
+++ b/README.md
@@ -2,15 +2,6 @@
 
 Created by Dave Akerman (dave@sccs.co.uk)
 
-# Changes by KevWal not pushed upstream #
-
-- Added GPS example flight files for use by gps_source= option
-- Added MOTD, changed startup to rc.local and Screen
-- Added boot/pisky.current.txt as link to /boot/pisky.txt
-
-
-# PITS - HAB Tracker software for the PITS boards #
-
 This software is written for the PITS Zero with Pi Zero, PITS+ with the various A+/B+ models, and the original PITS with the Pi A/B boards.
 
 PITS Zero and PITS+ can be purchased from board from http://ava.upuaut.net/store/.
@@ -133,11 +124,6 @@ It is therefore possible to overlay downloaded images with telemetry data, as te
 
 ## Change Log ##
 
-04_08_2022
-==========
-
-- Added option called Enable_ADC_Volt to enable the ADC (for voltage) on boards that should not have an ADC (but do)
-
 06_06_2021
 ==========
 
diff --git a/boot/cmdline.txt b/boot/cmdline.txt
deleted file mode 100755
index 1ae70f5..0000000
--- a/boot/cmdline.txt
+++ /dev/null
@@ -1,2 +0,0 @@
-console=tty1 root=PARTUUID=70f60f9a-02 rootfstype=ext4 fsck.repair=yes rootwait modules-load=dwc2,g_ether
-
diff --git a/boot/config.txt b/boot/config.txt
deleted file mode 100755
index b76b877..0000000
--- a/boot/config.txt
+++ /dev/null
@@ -1,113 +0,0 @@
-# For more options and information see
-# http://rpf.io/configtxt
-# Some settings may impact device functionality. See link above for details
-
-start_debug=0
-
-# uncomment if you get no picture on HDMI for a default "safe" mode
-#hdmi_safe=1
-
-# uncomment the following to adjust overscan. Use positive numbers if console
-# goes off screen, and negative if there is too much border
-#overscan_left=16
-#overscan_right=16
-#overscan_top=16
-#overscan_bottom=16
-
-# uncomment to force a console size. By default it will be display's size minus
-# overscan.
-#framebuffer_width=1280
-#framebuffer_height=720
-
-# uncomment if hdmi display is not detected and composite is being output
-#hdmi_force_hotplug=1
-
-# uncomment to force a specific HDMI mode (this will force VGA)
-#hdmi_group=1
-#hdmi_mode=1
-
-# uncomment to force a HDMI mode rather than DVI. This can make audio work in
-# DMT (computer monitor) modes
-#hdmi_drive=2
-
-# uncomment to increase signal to HDMI, if you have interference, blanking, or
-# no display
-#config_hdmi_boost=4
-
-# uncomment for composite PAL
-#sdtv_mode=2
-
-#uncomment to overclock the arm. 700 MHz is the default.
-#arm_freq=800
-
-# Uncomment some or all of these to enable the optional hardware interfaces
-dtparam=i2c_arm=on
-#dtparam=i2s=on
-dtparam=spi=on
-
-# Uncomment this to enable infrared communication.
-#dtoverlay=gpio-ir,gpio_pin=17
-#dtoverlay=gpio-ir-tx,gpio_pin=18
-
-# Additional overlays and parameters are documented /boot/overlays/README
-
-# Enable audio (loads snd_bcm2835)
-#dtparam=audio=on
-
-# Automatically load overlays for detected cameras
-start_x=1
-
-# Automatically load overlays for detected DSI displays
-#display_auto_detect=1
-
-# Enable DRM VC4 V3D driver
-#dtoverlay=vc4-kms-v3d
-#max_framebuffers=2
-
-# Disable compensation for displays with overscan
-#disable_overscan=1
-
-#Enable USB Ethernet
-dtoverlay=dwc2
-
-#Zero W UART enable
-enable_uart=1
-
-#Disable Bluetooth
-dtoverlay=pi3-disable-bt
-
-#[cm4]
-# Enable host mode on the 2711 built-in XHCI USB controller.
-# This line should be removed if the legacy DWC2 controller is required
-# (e.g. for USB device mode) or if USB support is not required.
-#otg_mode=1
-
-#[all]
-
-dtoverlay=vc4-fkms-v3d
-
-# Run as fast as firmware / board allows
-#arm_boost=1
-
-# Allocate minimum GPU memory, used by Camera too
-gpu_mem=144
-
-# Enable One Wire interface on GPIO pin 4
-dtoverlay=w1-gpio
-
-# Forces HDMI to be disabled
-hdmi_ignore_hotplug
-
-# Forces Composite display out to be disabled
-enable_tvout=0
-
-# Skip lcd display detection
-ignore_lcd=1
-
-# Dont allocate any frame buffers to save memory
-max_framebuffers=0
-
-# Disable BT and WiFi to save power
-dtoverlay=pi3-disable-bt
-dtoverlay=pi3-disable-wifi
-
diff --git a/boot/pisky.default.txt b/boot/pisky.default.txt
deleted file mode 100644
index 1b22864..0000000
--- a/boot/pisky.default.txt
+++ /dev/null
@@ -1,48 +0,0 @@
-payload=CHANGEME
-disable_monitor=N
-frequency=434.250
-baud=300
-camera=Y
-low_width=320
-low_height=240
-high=2000
-high_width=640
-high_height=480
-image_packets=4
-enable_bmp085=N
-external_temperature=1
-
-# Disable_ADC is used to disable the ADC on boards that should have an ADC (but dont)
-Disable_ADC=0
-# Enable_ADC_Volt is used to enable the ADC (for voltage) on boards that should not have an ADC (but do)
-Enable_ADC_Volt=0
-
-adc_vmax=18.5
-logging=GPS,Telemetry
-Disable_RTTY=N
-info_messages=2
-
-full_low_width=640
-full_low_height=480
-# 0 in either of the following tells the software to use full resolution from the Pi camera
-full_high_width=0
-full_high_height=0
-full_image_period=60
-
-#APRS_Callsign=CHANGE
-APRS_ID=11
-APRS_Period=1
-APRS_Random=5
-
-#LORA_Frequency_0=434.225
-#LORA_Payload_0=CHANGEME
-#LORA_Mode_0=0
-#LORA_Calling_Frequency_0=433.650
-#LORA_Calling_Count_0=5
-
-#LORA_Frequency_1=434.275
-#LORA_Payload_1=CHANGEME
-#LORA_Mode_1=1
-#LORA_Calling_Frequency_1=433.650
-#LORA_Calling_Count_1=5
-
diff --git a/boot/pisky.documented.txt b/boot/pisky.documented.txt
deleted file mode 100755
index c13ba10..0000000
--- a/boot/pisky.documented.txt
+++ /dev/null
@@ -1,310 +0,0 @@
-# Complete as of 6th May
-
-# Disable HDMI/Composite outputs
-disable_monitor=N
-
-# Enable Buoy mode below X meters
-#buoy_below=100
-
-# Logging options, comma separated, GPS and Telemetry
-# GPS = write all gps strings to gps.txt
-# Telemetry = write all telemetry strings to telemetry.txt
-logging=GPS,Telemetry
-
-# Log file 'latest.txt' updated every X seconds with Sats, Alt and Temp
-#telemetry_file_update=60
-
-# Enable Pressure sensors
-enable_bmp085=N
-#enable_bme280=N
-#enable_ms5611=N
-
-# Build a UKHAS string for this payload ID and sends to pipe "pits_pipe"
-#pipe_payload=CHANGEMEPIPE
-
-# Enable external DS18B20
-# Note, seems to find my external DS18B20 reguardless of this value
-external_temperature=1
-
-# Disabled Analogue to Digital converter
-Disable_ADC=0
-Enable_ADC_Volt=0
-
-# Set maximum ADC value for scaling purposes
-adc_vmax=18.5
-
-# If RTTY is not disabled, on startup send IP Address and SD Card Free space messages X times
-info_messages=2
-
-
-##############
-# RTTY Config
-
-# Disable RTTY Mode, ignoring any RTTY Channels
-Disable_RTTY=N
-
-# RTTY settings:
-payload=CHANGEME
-frequency=434.250
-baud=300
-
-# XX
-#quiet_rtty_for_uplink=0
-
-
-########################
-# Generic Camera config
-
-# Enable Camera and set camera type
-# 1/Y/T = CSI Pi Camera - raspistill; F/U = USB webcam - fswebcam; 
-# G = USB camera - gphoto2; P = Python Script eg for GoPro
-camera=Y
-
-# Custom camera parameters for raspistill command
-#camera_settings=
-
-# Custom SSDV parameters for ssdv command
-# eg -q to set the JPEG quality level (0 to 7, defaults to 4)
-#SSDV_settings=
-
-# Image size changes at X meters
-high=2000
-
-
-#####################
-# RTTY Camera Config
-
-# If RTTY not disabled, RTTY Low altitude image width & height
-low_width=320
-low_height=240
-
-# If RTTY not disabled, RTTY  High altitude image width & height
-high_width=640
-high_height=480
-
-# If RTTY not disabled, send 1 telemetry packet every X image packets
-image_packets=4
-
-# Seconds between RTTY photographs
-#image_period=60
-
-
-
-#########################
-# Full size image config
-
-# Low altitude image width & height
-full_low_width=640
-full_low_height=480
-
-# High altitude image width & height
-# 0 in either of the following tells the software to use full resolution from the Pi camera
-full_high_width=0
-full_high_height=0
-
-# Seconds between full-sized images
-# 0 disables full-sized images
-full_image_period=60
-
-
-#############
-# GPS config
-
-# If set, replay flight from named GPS Log file
-# Mut have a valid real GPS input too for timing
-#gps_source=../nmea/AASQ2-1Mins.NMEA
-
-# GPS Model, U = UBlox, M = PMTK (ie L80)
-#gps_model=U
-
-# Print GPS strings to console
-#show_gps=0
-
-# Serial GPS device, ie /dev/ttyAMA0
-#gps_device=/dev/ttyAMA0
-
-# I2C SDA / SCL pin overrides, only used if serial gps_device is not set
-#SDA=
-#SCL=
-
-# Enable GPS power saving mode
-#Power_Saving=N
-
-# Switch GPS to flight mode above X meters 
-#Flight_Mode_Altitude=1500
-
-
-############################
-# Landing prediction config
-
-# Turn on landing prediction code
-#landing_prediction=N
-
-# Parachute area
-# https://www.apogeerockets.com/education/downloads/Newsletter449.pdf
-#cd_area=0.66
-
-# Payload weight in kg
-#payload_weight=0.66
-
-# Expected landing altitude in meters (ie ground height above sea level)
-#Target_Altitude=100
-
-# Enables a separate UKHAS sentence for the predicted landing location
-# (rather than adding the prediction onto the normal sentence)
-#prediction_id=CHANGEME
-
-
-
-#################
-# Cutdown config
-
-# Enable cutdown code
-#Enable_Cutdown=0
-
-# Cut down code inactive below X meters
-#Min_Cutdown_Altitude=0
-
-# Cut down triggers at X meters
-#CutdownAltitude=
-
-# Cutdown Lat / Log options
-#Cutdown_Latitude=
-#Cutdown_Longitude=
-
-# Cutdown in which direction from set Lat / Long (ie N, NE, E, SE, etc)
-#Cutdown_Test=
-
-# Cutdown will trigger X minutes after launch
-#Cutdown_Time_Since_Launch=
-
-# Cutdown will trigger after balloon burst is detected
-#Cutdown_Burst=
-
-# Cutdown pin is turned on for X second
-#Cutdown_Period=
-
-# Cutdown gpio pin is X
-#Cutdown_Pin=
-
-
-
-# CSV file of additional fields to add to UKHAS sentence
-#external_data=
-
-
-# Enabled PCM Strobe Light on pin X after descending below X meters
-#Strobe_Pin=
-#Strobe_Alt=2000
-
-# Enabled Piezo Buzzer on pin %d after descending below %d meters
-#Piezo_Pin=4
-#Piezo_Alt=750
-
-
-##############
-# APRS config
-
-# Set Callsign, ID and Period to enable APRS
-#APRS_Callsign=CHANGEME
-APRS_ID=11
-APRS_Period=1
-#APRS_Offset=0
-APRS_Random=5
-#APRS_HighPath=0
-#APRS_Altitude=0
-#APRS_Preemphasis=0
-#APRS_Telemetry=0
-
-
-#############
-# LORA config
-
-#LORA_Frequency_0=434.712
-#LORA_PPM_0=0
-#LORA_Payload_0=CHANGEME
-#LORA_Mode_0=1
-
-# LORA module pins
-#LORA_DIO0_0=23
-#LORA_DIO5_0=29
-#LORA_CS_0=0
-#LORA_RST=0
-
-#LORA_low_width=640
-#LORA_low_height=480
-#LORA_high_width=640
-#LORA_high_height=480
-
-# Send a Telemetry packet every X image packets
-#LORA_image_packets_0=10
-
-# Seconds between taking LORA photographs and then choose best pic to send
-#LORA_image_period_0=25
-
-# TDM mode
-#LORA_Cycle_0=0
-#LORA_Slot_0=0
-#LORA_Repeat_0=-1
-#LORA_Uplink_0=0
-
-# Send LORA packet only every x milliseconds
-#LORA_PacketEvery_0=0
-
-# Choose between ASCII (neither set), HABPack or Binary
-#LORA_HABPack_0=0
-#LORA_Binary_0=0
-
-# Do not transmit with this LORA module
-#LORA_ListenOnly=N
-
-# LORA Uplink settings - see http://www.daveakerman.com/?p=2790
-#LORA_Uplink_Period_0=6
-#LORA_Uplink_Cycle_0=60
-#LORA_Uplink_Mode_0=6
-#LORA_Uplink_Frequency_0=434.737
-# Uplink encryption key
-#UplinkCode=
-
-
-# Adds extra UKHAS sentence field for LastCommand
-#LORA_Message_Status_0=Y
-# Adds extra fields to UKHAS sentence for LastPacketRSSI, LastPacketSNR & PacketCount
-#LORA_RSSI_Status_0=Y
-
-# Allow overrides of LORA settings from LORA Mode
-#LORA_SF_0=
-#LORA_Bandwidth_0=
-#LORA_Implicit_0=
-#LORA_Coding_0=
-#LORA_LowOpt_0=
-
-# 0x88 (136) is PA_MAX_UK, PA_MAX_BOOST = 0x8F (143)
-#LORA_Power_0=136
-
-# Calling mode - see http://www.daveakerman.com/?p=1816
-#LORA_Calling_Frequency_0=433.650
-# After every X normal LORA messages, send our calling frequency messages
-#LORA_Calling_Count_0=50
-# Limit Calling mode packets to slot X
-#LORA_Calling_Slot_0=
-
-
-# Send RTTY using the LORA module, set 50 or 300 baud to enable
-#LORA_RTTY_Baud_0=300
-# Frequency defaults to LoRaDevices[LoRaChannel].Frequency
-#LORA_RTTY_Frequency_0=
-#LORA_RTTY_Shift_0=488
-
-# Send LORA_RTTY_Count sentences for every LORA_RTTY_Every LORA packets 
-#LORA_RTTY_Count_0=2
-#LORA_RTTY_Every_0=50
-#LORA_RTTY_Preamble=8
-
-
-# Second LORA module
-#LORA_Frequency_1=434.275
-#LORA_Payload_1=CHANGEME
-#LORA_Mode_1=1
-#LORA_Calling_Frequency_1=433.650
-#LORA_Calling_Count_1=5
diff --git a/boot/pisky.txt b/boot/pisky.txt
old mode 100755
new mode 100644
index ee1cd0e..153854c
--- a/boot/pisky.txt
+++ b/boot/pisky.txt
@@ -1,306 +1,39 @@
-# Disable HDMI/Composite outputs
-disable_monitor=Y
-
-# Enable Buoy mode below X meters
-#buoy_below=100
-
-# Logging options, comma separated, GPS and Telemetry
-# GPS = write all gps strings to gps.txt
-# Telemetry = write all telemetry strings to telemetry.txt
-logging=GPS,Telemetry
-
-# Log file 'latest.txt' updated every X seconds with Sats, Alt and Temp
-#telemetry_file_update=60
-
-# Enable Pressure sensors
+payload=CHANGEME
+disable_monitor=N
+frequency=434.250
+baud=300
+camera=Y
+low_width=320
+low_height=240
+high=2000
+high_width=640
+high_height=480
+image_packets=4
 enable_bmp085=N
-enable_bme280=N
-enable_ms5611=N
-
-# Build a UKHAS string for this payload ID and sends to pipe "pits_pipe"
-#pipe_payload=CHANGEMEPIPE
-
-# Enable external DS18B20
-# Note, seems to find my external DS18B20 reguardless of this value
 external_temperature=1
-
-# Disabled Analogue to Digital converter
-Disable_ADC=N
-Enable_ADC_Volt=Y
-
-# Set maximum ADC value for scaling purposes
-adc_vmax=12.208
-
-# If RTTY is not disabled, on startup send IP Address and SD Card Free space messages X times
+adc_vmax=18.5
+logging=GPS,Telemetry
+Disable_RTTY=N
 info_messages=2
 
-
-##############
-# RTTY Config
-
-# Disable RTTY Mode, ignoring any RTTY Channels
-Disable_RTTY=Y
-
-# RTTY settings:
-#payload=CHANGEME
-#frequency=434.250
-#baud=300
-
-# XX
-#quiet_rtty_for_uplink=0
-
-
-########################
-# Generic Camera config
-
-# Enable Camera and set camera type
-# 1/Y/T = CSI Pi Camera - raspistill; F/U = USB webcam - fswebcam; 
-# G = USB camera - gphoto2; P = Python Script eg for GoPro
-camera=Y
-
-# Custom camera parameters for raspistill command
-#camera_settings=
-
-# Custom SSDV parameters for ssdv command
-# eg -q to set the JPEG quality level (0 to 7, defaults to 4)
-#SSDV_settings=
-
-# Image size changes at X meters
-high=500
-
-
-#####################
-# RTTY Camera Config
-
-# If RTTY not disabled, RTTY Low altitude image width & height
-#low_width=320
-#low_height=240
-
-# If RTTY not disabled, RTTY  High altitude image width & height
-#high_width=640
-#high_height=480
-
-# If RTTY not disabled, send 1 telemetry packet every X image packets
-#image_packets=4
-
-# Seconds between RTTY photographs
-#image_period=60
-
-
-
-#########################
-# Full size image config
-
-# Low altitude image width & height
 full_low_width=640
 full_low_height=480
-
-# High altitude image width & height
 # 0 in either of the following tells the software to use full resolution from the Pi camera
 full_high_width=0
 full_high_height=0
-
-# Seconds between full-sized images
-# 0 disables full-sized images
 full_image_period=60
 
+#APRS_Callsign=CHANGE
+APRS_ID=11
+APRS_Period=1
+APRS_Random=5
 
-#############
-# GPS config
-
-# If set, replay flight from named GPS Log file
-# Mut have a valid real GPS input too for timing
-gps_source=../nmea/AASQ2-5Mins.NMEA
-
-# GPS Model, U = UBlox, M = PMTK (ie L80)
-gps_model=U
-
-# Print GPS strings to console
-show_gps=0
-
-# Serial GPS device, ie /dev/ttyAMA0
-gps_device=/dev/ttyAMA0
-
-# I2C SDA / SCL pin overrides, only used if serial gps_device is not set
-#SDA=
-#SCL=
-
-# Enable GPS power saving mode
-Power_Saving=N
-
-# Switch GPS to flight mode above X meters 
-Flight_Mode_Altitude=1500
-
-
-############################
-# Landing prediction config
-
-# Turn on landing prediction code
-landing_prediction=N
-
-# Parachute area
-# https://www.apogeerockets.com/education/downloads/Newsletter449.pdf
-cd_area=0.66
-
-# Payload weight in kg
-payload_weight=0.66
-
-# Expected landing altitude in meters (ie ground height above sea level)
-Target_Altitude=100
-
-# Enables a separate UKHAS sentence for the predicted landing location
-# (rather than adding the prediction onto the normal sentence)
-#prediction_id=CHANGEME
-
-
-
-#################
-# Cutdown config
-
-# Enable cutdown code
-Enable_Cutdown=0
-
-# Cut down code inactive below X meters
-#Min_Cutdown_Altitude=0
-
-# Cut down triggers at X meters
-#CutdownAltitude=
-
-# Cutdown Lat / Log options
-#Cutdown_Latitude=
-#Cutdown_Longitude=
-
-# Cutdown in which direction from set Lat / Long (ie N, NE, E, SE, etc)
-#Cutdown_Test=
-
-# Cutdown will trigger X minutes after launch
-#Cutdown_Time_Since_Launch=
-
-# Cutdown will trigger after balloon burst is detected
-#Cutdown_Burst=
-
-# Cutdown pin is turned on for X second
-#Cutdown_Period=
-
-# Cutdown gpio pin is X
-#Cutdown_Pin=
-
-
-
-# CSV file of additional fields to add to UKHAS sentence
-#external_data=
-
-
-# Enabled PCM Strobe Light on pin X after descending below X meters
-#Strobe_Pin=
-#Strobe_Alt=2000
-
-# Enabled Piezo Buzzer on pin %d after descending below %d meters
-#Piezo_Pin=4
-#Piezo_Alt=750
-
-
-##############
-# APRS config
-
-# Set Callsign, ID and Period to enable APRS
-#APRS_Callsign=CHANGEME
-#APRS_ID=11
-#APRS_Period=1
-#APRS_Offset=0
-#APRS_Random=5
-#APRS_HighPath=0
-#APRS_Altitude=0
-#APRS_Preemphasis=0
-#APRS_Telemetry=0
-
-
-#############
-# LORA config
-
-LORA_Frequency_0=434.712
-#LORA_PPM_0=0
-LORA_Payload_0=KW01
-LORA_Mode_0=1
-
-# LORA module pins
-LORA_DIO0_0=23
-LORA_DIO5_0=29
-#LORA_CS_0=0
-#LORA_RST=0
-
-LORA_low_width=640
-LORA_low_height=480
-LORA_high_width=1024
-LORA_high_height=768
-
-# Send a Telemetry packet every X image packets
-LORA_image_packets_0=10
-
-# Seconds between taking LORA photographs and then choose best pic to send
-LORA_image_period_0=25
-
-# TDM mode
-#LORA_Cycle_0=0
-#LORA_Slot_0=0
-#LORA_Repeat_0=-1
-#LORA_Uplink_0=0
-
-# Send LORA packet only every x milliseconds
-#LORA_PacketEvery_0=0
-
-# Choose between ASCII (neither set), HABPack or Binary
-LORA_HABPack_0=0
-LORA_Binary_0=0
-
-# Do not transmit with this LORA module
-#LORA_ListenOnly=N
-
-# LORA Uplink settings - see http://www.daveakerman.com/?p=2790
-LORA_Uplink_Period_0=6
-LORA_Uplink_Cycle_0=60
-LORA_Uplink_Mode_0=6
-LORA_Uplink_Frequency_0=434.737
-# Uplink encryption key
-#UplinkCode=
-
-
-# Adds extra UKHAS sentence field for LastCommand
-LORA_Message_Status_0=Y
-# Adds extra fields to UKHAS sentence for LastPacketRSSI, LastPacketSNR & PacketCount
-LORA_RSSI_Status_0=Y
-
-# Allow overrides of LORA settings from LORA Mode
-#LORA_SF_0=
-#LORA_Bandwidth_0=
-#LORA_Implicit_0=
-#LORA_Coding_0=
-#LORA_LowOpt_0=
-
-# 0x88 (136) is PA_MAX_UK, PA_MAX_BOOST = 0x8F (143)
-LORA_Power_0=136
-
-# Calling mode - see http://www.daveakerman.com/?p=1816
-LORA_Calling_Frequency_0=433.650
-# After every X normal LORA messages, send our calling frequency messages
-LORA_Calling_Count_0=50
-# Limit Calling mode packets to slot X
-#LORA_Calling_Slot_0=
-
-
-# Send RTTY using the LORA module, set 50 or 300 baud to enable
-LORA_RTTY_Baud_0=50
-# Frequency defaults to LoRaDevices[LoRaChannel].Frequency
-LORA_RTTY_Frequency_0=434.737
-LORA_RTTY_Shift_0=488
-
-# Send LORA_RTTY_Count sentences for every LORA_RTTY_Every LORA packets 
-LORA_RTTY_Count_0=2
-LORA_RTTY_Every_0=50
-LORA_RTTY_Preamble=8
-
+#LORA_Frequency_0=434.225
+#LORA_Payload_0=CHANGEME
+#LORA_Mode_0=0
+#LORA_Calling_Frequency_0=433.650
+#LORA_Calling_Count_0=5
 
-# Second LORA module
 #LORA_Frequency_1=434.275
 #LORA_Payload_1=CHANGEME
 #LORA_Mode_1=1
diff --git a/build b/build
index 6fb2a5a..7163521 100755
--- a/build
+++ b/build
@@ -6,13 +6,12 @@ cd ..
 
 echo Copying configuration file ...
 sudo cp -f boot/pisky.txt /boot
-sudo cp -f etc/motd /etc
 
 echo Enabling startup script.
-sudo cp -f etc/rc.local /etc/rc.local
+sudo cp -f systemd/tracker.service /lib/systemd/system
+sudo systemctl enable tracker.service
 
 echo Starting startup script
-sudo screen -dmS PITS /home/pi/pits/tracker/startup
+sudo systemctl start tracker.service
 
-echo "Run "sudo screen -dr PITS" to attach to PITS Screen session"
 echo DONE
diff --git a/etc/motd b/etc/motd
deleted file mode 100644
index 3959735..0000000
--- a/etc/motd
+++ /dev/null
@@ -1,16 +0,0 @@
-Pi Tracker
-        Camera images: /home/pi/pits/tracker/images/
-        GPS log file: /home/pi/pits/tracker/gps.txt
-        Telemetry log file: /home/pi/pits/tracker/telemetry.txt
-	Camera log file: /home/pi/pits/tracker/camera.txt
-
-        Config:  /boot/pisky.txt
-	Connect: sudo screen -dr PITS
-
-To delete all images and clean up:
-	sudo touch /boot/clear.txt
-	and restart tracker
-
-To kill all:
-	sudo killall startup camera tracker screen
-	sudo killall -9 startup camera tracker screen
diff --git a/etc/rc.local b/etc/rc.local
deleted file mode 100755
index 2781bf6..0000000
--- a/etc/rc.local
+++ /dev/null
@@ -1,24 +0,0 @@
-#!/bin/sh -e
-#
-# rc.local
-#
-# This script is executed at the end of each multiuser runlevel.
-# Make sure that the script will "exit 0" on success or any other
-# value on error.
-#
-# In order to enable or disable this script just change the execution
-# bits.
-#
-# By default this script does nothing.
-
-# Print the IP address
-_IP=$(hostname -I) || true
-if [ "$_IP" ]; then
-  printf "My IP address is %s\n" "$_IP"
-fi
-
-echo "Start PITS tracker in a Screen sesion"
-echo "sudo screen -dr PITS to attach"
-screen -dmS PITS /home/pi/pits/tracker/startup
-
-exit 0
diff --git a/git/hooks/pre-commit b/git/hooks/pre-commit
deleted file mode 100755
index 369e7ea..0000000
--- a/git/hooks/pre-commit
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/bin/sh
-
-echo "Git pre-commit - Copy files into repo"
-cp -v --backup=numbered /boot/cmdline.txt boot/
-cp -v --backup=numbered /boot/config.txt boot/
-cp -v --backup=numbered /boot/pisky.txt boot/
-cp -v --backup=numbered .git/hooks/pre-commit git/hooks
-
-# the end
diff --git a/nmea/AASQ2-15Mins.NMEA b/nmea/AASQ2-15Mins.NMEA
deleted file mode 100644
index 4f6122e..0000000
--- a/nmea/AASQ2-15Mins.NMEA
+++ /dev/null
@@ -1,848 +0,0 @@
-$GPGGA,,,,,,0,00,99.99,,,,,,*48^M
-$GPGGA,,,,,,0,00,99.99,,,,,,*48^M
-$GPGGA,112940.00,,,,,0,00,99.99,,,,,,*62^M
-$GPGGA,112955.00,,,,,0,00,99.99,,,,,,*65^M
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-$GPGGA,113201.00,5215.28233,N,00005.50321,W,1,11,0.91,745.9,M,45.8,M,,*4B
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diff --git a/nmea/AASQ2-1Mins.NMEA b/nmea/AASQ2-1Mins.NMEA
deleted file mode 100644
index 7c2348f..0000000
--- a/nmea/AASQ2-1Mins.NMEA
+++ /dev/null
@@ -1,69 +0,0 @@
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diff --git a/nmea/AASQ2-5Mins.NMEA b/nmea/AASQ2-5Mins.NMEA
deleted file mode 100644
index bd690dd..0000000
--- a/nmea/AASQ2-5Mins.NMEA
+++ /dev/null
@@ -1,282 +0,0 @@
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diff --git a/nmea/AASQ2-NoIntro.NMEA b/nmea/AASQ2-NoIntro.NMEA
deleted file mode 100644
index 92284d7..0000000
--- a/nmea/AASQ2-NoIntro.NMEA
+++ /dev/null
@@ -1,8442 +0,0 @@
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diff --git a/nmea/AASQ2.NMEA b/nmea/AASQ2.NMEA
deleted file mode 100644
index 7bbdc48..0000000
--- a/nmea/AASQ2.NMEA
+++ /dev/null
@@ -1,10373 +0,0 @@
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diff --git a/nmea/Friday.NMEA b/nmea/Friday.NMEA
deleted file mode 100644
index 372a49f..0000000
--- a/nmea/Friday.NMEA
+++ /dev/null
@@ -1,27489 +0,0 @@
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diff --git a/nmea/XABEN11.NMEA b/nmea/XABEN11.NMEA
deleted file mode 100644
index d097b97..0000000
--- a/nmea/XABEN11.NMEA
+++ /dev/null
@@ -1,31053 +0,0 @@
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-$GPRMC,224808.000,A,5159.4351,N,00057.1832,E,21.34,103.89,170911,,,A*53
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224809.000,5159.4329,N,00057.1921,E,1,05,02.4,328.4,M,45.0,M,,*6B
-$GPRMC,224809.000,A,5159.4329,N,00057.1921,E,21.34,103.89,170911,,,A*5E
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224810.000,5159.4307,N,00057.2011,E,1,05,02.4,322.0,M,45.0,M,,*68
-$GPGSA,A,3,03,07,18,19,22,,,,,,,,3.3,2.4,2.3*30
-$GPRMC,224810.000,A,5159.4307,N,00057.2011,E,21.34,103.89,170911,,,A*53
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224811.000,5159.4285,N,00057.2100,E,1,05,02.4,315.5,M,45.0,M,,*62
-$GPGSV,2,1,08,03,89,276,30,07,63,181,22,11,,,,12,,,*79
-$GPGSV,2.2,08,18,73,111,35,19,33,057,27,22,57,173,37,27,,,*40
-$GPRMC,224811.000,A,5159.4285,N,00057.2100,E,21.34,103.89,170911,,,A*58
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224812.000,5159.4263,N,00057.2189,E,1,05,02.4,309.1,M,45.0,M,,*61
-$GPRMC,224812.000,A,5159.4263,N,00057.2189,E,21.34,103.89,170911,,,A*52
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224813.000,5159.4241,N,00057.2278,E,1,05,02.4,302.6,M,45.0,M,,*61
-$GPGSA,A,3,03,07,18,19,22,,,,,,,,3.3,2.4,2.3*30
-$GPRMC,224813.000,A,5159.4241,N,00057.2278,E,21.34,103.89,170911,,,A*5E
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224814.000,5159.4219,N,00057.2368,E,1,05,02.4,296.2,M,45.0,M,,*63
-$GPGSV,2,1,08,03,89,276,30,07,63,181,22,11,,,,12,,,*79
-$GPGSV,2.2,08,18,73,111,35,19,33,057,27,22,57,173,37,27,,,*40
-$GPRMC,224814.000,A,5159.4219,N,00057.2368,E,21.34,103.89,170911,,,A*54
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224815.000,5159.4197,N,00057.2457,E,1,05,02.4,289.8,M,45.0,M,,*68
-$GPRMC,224815.000,A,5159.4197,N,00057.2457,E,21.34,103.89,170911,,,A*5B
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224816.000,5159.4175,N,00057.2546,E,1,05,02.4,283.3,M,45.0,M,,*67
-$GPGSA,A,3,03,07,18,19,22,,,,,,,,3.3,2.4,2.3*30
-$GPRMC,224816.000,A,5159.4175,N,00057.2546,E,21.34,103.89,170911,,,A*55
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224817.000,5159.4153,N,00057.2636,E,1,05,02.4,276.9,M,45.0,M,,*66
-$GPGSV,2,1,08,03,89,276,30,07,63,181,22,11,,,,12,,,*79
-$GPGSV,2.2,08,18,73,111,35,19,33,057,27,22,57,173,37,27,,,*40
-$GPRMC,224817.000,A,5159.4153,N,00057.2636,E,21.34,103.89,170911,,,A*54
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224818.000,5159.4131,N,00057.2725,E,1,05,02.4,270.4,M,45.0,M,,*65
-$GPRMC,224818.000,A,5159.4131,N,00057.2725,E,21.34,103.89,170911,,,A*5C
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224819.000,5159.4108,N,00057.2814,E,1,05,02.4,264.0,M,45.0,M,,*62
-$GPGSA,A,3,03,07,18,19,22,,,,,,,,3.3,2.4,2.3*30
-$GPRMC,224819.000,A,5159.4108,N,00057.2814,E,21.34,103.89,170911,,,A*5A
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224820.000,5159.4086,N,00057.2903,E,1,05,02.4,257.5,M,45.0,M,,*6D
-$GPGSV,2,1,08,03,89,276,30,07,63,181,22,11,,,,12,,,*79
-$GPGSV,2.2,08,18,73,111,35,19,33,057,27,22,57,173,37,27,,,*40
-$GPRMC,224820.000,A,5159.4086,N,00057.2903,E,21.34,103.89,170911,,,A*50
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224821.000,5159.4064,N,00057.2993,E,1,05,02.4,251.1,M,45.0,M,,*6B
-$GPRMC,224821.000,A,5159.4064,N,00057.2993,E,21.34,103.89,170911,,,A*54
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224822.000,5159.4042,N,00057.3082,E,1,05,02.4,244.7,M,45.0,M,,*66
-$GPGSA,A,3,03,07,18,19,22,,,,,,,,3.3,2.4,2.3*30
-$GPRMC,224822.000,A,5159.4042,N,00057.3082,E,21.34,103.89,170911,,,A*5B
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224823.000,5159.4020,N,00057.3171,E,1,05,02.4,238.2,M,45.0,M,,*60
-$GPGSV,2,1,08,03,89,276,30,07,63,181,22,11,,,,12,,,*79
-$GPGSV,2.2,08,18,73,111,35,19,33,057,27,22,57,173,37,27,,,*40
-$GPRMC,224823.000,A,5159.4020,N,00057.3171,E,21.34,103.89,170911,,,A*53
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224824.000,5159.3998,N,00057.3261,E,1,05,02.4,231.8,M,45.0,M,,*6B
-$GPRMC,224824.000,A,5159.3998,N,00057.3261,E,21.34,103.89,170911,,,A*5B
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224825.000,5159.3976,N,00057.3350,E,1,05,02.4,225.3,M,45.0,M,,*67
-$GPGSA,A,3,03,07,18,19,22,,,,,,,,3.3,2.4,2.3*30
-$GPRMC,224825.000,A,5159.3976,N,00057.3350,E,21.34,103.89,170911,,,A*59
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224826.000,5159.3954,N,00057.3439,E,1,05,02.4,218.9,M,45.0,M,,*68
-$GPGSV,2,1,08,03,89,276,30,07,63,181,22,11,,,,12,,,*79
-$GPGSV,2.2,08,18,73,111,35,19,33,057,27,22,57,173,37,27,,,*40
-$GPRMC,224826.000,A,5159.3954,N,00057.3439,E,21.34,103.89,170911,,,A*52
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224827.000,5159.3932,N,00057.3528,E,1,05,02.4,212.5,M,45.0,M,,*6E
-$GPRMC,224827.000,A,5159.3932,N,00057.3528,E,21.34,103.89,170911,,,A*52
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224828.000,5159.3910,N,00057.3618,E,1,05,02.4,206.0,M,45.0,M,,*61
-$GPGSA,A,3,03,07,18,19,22,,,,,,,,3.3,2.4,2.3*30
-$GPRMC,224828.000,A,5159.3910,N,00057.3618,E,21.34,103.89,170911,,,A*5D
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224829.000,5159.3888,N,00057.3707,E,1,05,02.4,199.6,M,45.0,M,,*6C
-$GPGSV,2,1,08,03,89,276,30,07,63,181,22,11,,,,12,,,*79
-$GPGSV,2.2,08,18,73,111,35,19,33,057,27,22,57,173,37,27,,,*40
-$GPRMC,224829.000,A,5159.3888,N,00057.3707,E,21.34,103.89,170911,,,A*53
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224830.000,5159.3866,N,00057.3796,E,1,05,02.4,193.1,M,45.0,M,,*61
-$GPRMC,224830.000,A,5159.3866,N,00057.3796,E,21.34,103.89,170911,,,A*53
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224831.000,5159.3844,N,00057.3886,E,1,05,02.4,186.7,M,45.0,M,,*6C
-$GPGSA,A,3,03,07,18,19,22,,,,,,,,3.3,2.4,2.3*30
-$GPRMC,224831.000,A,5159.3844,N,00057.3886,E,21.34,103.89,170911,,,A*5C
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224832.000,5159.3821,N,00057.3975,E,1,05,02.4,180.3,M,45.0,M,,*63
-$GPGSV,2,1,08,03,89,276,30,07,63,181,22,11,,,,12,,,*79
-$GPGSV,2.2,08,18,73,111,35,19,33,057,27,22,57,173,37,27,,,*40
-$GPRMC,224832.000,A,5159.3821,N,00057.3975,E,21.34,103.89,170911,,,A*51
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224833.000,5159.3799,N,00057.4064,E,1,05,02.4,173.8,M,45.0,M,,*67
-$GPRMC,224833.000,A,5159.3799,N,00057.4064,E,21.34,103.89,170911,,,A*52
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224834.000,5159.3777,N,00057.4153,E,1,05,02.4,167.4,M,45.0,M,,*6C
-$GPGSA,A,3,03,07,18,19,22,,,,,,,,3.3,2.4,2.3*30
-$GPRMC,224834.000,A,5159.3777,N,00057.4153,E,21.34,103.89,170911,,,A*50
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224835.000,5159.3755,N,00057.4243,E,1,05,02.4,160.9,M,45.0,M,,*65
-$GPGSV,2,1,08,03,89,276,30,07,63,181,22,11,,,,12,,,*79
-$GPGSV,2.2,08,18,73,111,35,19,33,057,27,22,57,173,37,27,,,*40
-$GPRMC,224835.000,A,5159.3755,N,00057.4243,E,21.34,103.89,170911,,,A*53
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224836.000,5159.3733,N,00057.4332,E,1,05,02.4,154.5,M,45.0,M,,*6A
-$GPRMC,224836.000,A,5159.3733,N,00057.4332,E,21.34,103.89,170911,,,A*57
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224837.000,5159.3711,N,00057.4421,E,1,05,02.4,148.1,M,45.0,M,,*67
-$GPGSA,A,3,03,07,18,19,22,,,,,,,,3.3,2.4,2.3*30
-$GPRMC,224837.000,A,5159.3711,N,00057.4421,E,21.34,103.89,170911,,,A*53
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224838.000,5159.3689,N,00057.4511,E,1,05,02.4,141.6,M,45.0,M,,*64
-$GPGSV,2,1,08,03,89,276,30,07,63,181,22,11,,,,12,,,*79
-$GPGSV,2.2,08,18,73,111,35,19,33,057,27,22,57,173,37,27,,,*40
-$GPRMC,224838.000,A,5159.3689,N,00057.4511,E,21.34,103.89,170911,,,A*5E
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224839.000,5159.3667,N,00057.4600,E,1,05,02.4,135.2,M,45.0,M,,*61
-$GPRMC,224839.000,A,5159.3667,N,00057.4600,E,21.34,103.89,170911,,,A*5C
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224840.000,5159.3645,N,00057.4689,E,1,05,02.4,128.7,M,45.0,M,,*67
-$GPGSA,A,3,03,07,18,19,22,,,,,,,,3.3,2.4,2.3*30
-$GPRMC,224840.000,A,5159.3645,N,00057.4689,E,21.34,103.89,170911,,,A*53
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224841.000,5159.3623,N,00057.4779,E,1,05,02.4,122.3,M,45.0,M,,*66
-$GPGSV,2,1,08,03,89,276,30,07,63,181,22,11,,,,12,,,*79
-$GPGSV,2.2,08,18,73,111,35,19,33,057,27,22,57,173,37,27,,,*40
-$GPRMC,224841.000,A,5159.3623,N,00057.4779,E,21.34,103.89,170911,,,A*5C
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224842.000,5159.3601,N,00057.4868,E,1,05,02.4,115.8,M,45.0,M,,*65
-$GPRMC,224842.000,A,5159.3601,N,00057.4868,E,21.34,103.89,170911,,,A*50
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224843.000,5159.3579,N,00057.4957,E,1,05,02.4,109.4,M,45.0,M,,*64
-$GPGSA,A,3,03,07,18,19,22,,,,,,,,3.3,2.4,2.3*30
-$GPRMC,224843.000,A,5159.3579,N,00057.4957,E,21.34,103.89,170911,,,A*50
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224844.000,5159.3557,N,00057.5046,E,1,05,02.4,103.0,M,45.0,M,,*69
-$GPGSV,2,1,08,03,89,276,30,07,63,181,22,11,,,,12,,,*79
-$GPGSV,2.2,08,18,73,111,35,19,33,057,27,22,57,173,37,27,,,*40
-$GPRMC,224844.000,A,5159.3557,N,00057.5046,E,21.34,103.89,170911,,,A*53
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224845.000,5159.3534,N,00057.5136,E,1,05,02.4,96.5,M,45.0,M,,*53
-$GPRMC,224845.000,A,5159.3534,N,00057.5136,E,21.34,103.89,170911,,,A*51
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224846.000,5159.3512,N,00057.5225,E,1,05,02.4,90.1,M,45.0,M,,*57
-$GPGSA,A,3,03,07,18,19,22,,,,,,,,3.3,2.4,2.3*30
-$GPRMC,224846.000,A,5159.3512,N,00057.5225,E,21.34,103.89,170911,,,A*57
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224847.000,5159.3490,N,00057.5314,E,1,05,02.4,83.6,M,45.0,M,,*5B
-$GPGSV,2,1,08,03,89,276,30,07,63,181,22,11,,,,12,,,*79
-$GPGSV,2.2,08,18,73,111,35,19,33,057,27,22,57,173,37,27,,,*40
-$GPRMC,224847.000,A,5159.3490,N,00057.5314,E,21.34,103.89,170911,,,A*5E
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224848.000,5159.3468,N,00057.5404,E,1,05,02.4,77.2,M,45.0,M,,*5A
-$GPRMC,224848.000,A,5159.3468,N,00057.5404,E,21.34,103.89,170911,,,A*50
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224849.000,5159.3446,N,00057.5493,E,1,05,02.4,70.8,M,45.0,M,,*54
-$GPGSA,A,3,03,07,18,19,22,,,,,,,,3.3,2.4,2.3*30
-$GPRMC,224849.000,A,5159.3446,N,00057.5493,E,21.34,103.89,170911,,,A*53
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224850.000,5159.3424,N,00057.5582,E,1,05,02.4,64.3,M,45.0,M,,*57
-$GPGSV,2,1,08,03,89,276,30,07,63,181,22,11,,,,12,,,*79
-$GPGSV,2.2,08,18,73,111,35,19,33,057,27,22,57,173,37,27,,,*40
-$GPRMC,224850.000,A,5159.3424,N,00057.5582,E,21.34,103.89,170911,,,A*5E
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224851.000,5159.3402,N,00057.5671,E,1,05,02.4,57.9,M,45.0,M,,*57
-$GPRMC,224851.000,A,5159.3402,N,00057.5671,E,21.34,103.89,170911,,,A*54
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224852.000,5159.3380,N,00057.5761,E,1,05,02.4,51.4,M,45.0,M,,*52
-$GPGSA,A,3,03,07,18,19,22,,,,,,,,3.3,2.4,2.3*30
-$GPRMC,224852.000,A,5159.3380,N,00057.5761,E,21.34,103.89,170911,,,A*5A
-$GPVTG,103.89,T,,,21.34,N,39.53,K,A*7B
-$GPGGA,224853.000,5159.3351,N,00057.5850,E,1,05,02.4,44.0,M,45.0,M,,*52
-$GPGSV,2,1,08,03,89,276,30,07,63,181,22,11,,,,12,,,*79
-$GPGSV,2.2,08,18,73,111,35,19,33,057,27,22,57,173,37,27,,,*40
-$GPRMC,224853.000,A,5159.3351,N,00057.5850,E,0.00,0.00,170911,,,A*6D
-$GPVTG,0.00,T,,,0.00,N,0.00,K,A*70
diff --git a/systemd/tracker.service b/systemd/tracker.service
new file mode 100644
index 0000000..f42e1a9
--- /dev/null
+++ b/systemd/tracker.service
@@ -0,0 +1,10 @@
+[Unit]
+Description=PITS Tracker Service
+ 
+[Service]
+ExecStart=/home/pi/pits/tracker/startup
+StandardOutput=null
+ 
+[Install]
+WantedBy=multi-user.target
+Alias=tracker.service
diff --git a/tracker/misc.c b/tracker/misc.c
index 5aa4dd8..d23ac68 100755
--- a/tracker/misc.c
+++ b/tracker/misc.c
@@ -831,11 +831,11 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 	
 	
 	// Battery voltage and current, if available
-	if (((Config.BoardType == 3) || (Config.BoardType == 4) || (Config.DisableADC)) & (!Config.EnableADCVolt))
+	if ((Config.BoardType == 3) || (Config.BoardType == 4) || (Config.DisableADC))
 	{
 			// Pi Zero - no ADC on the PITS Zero, or manually disabled ADC
 	}
-	else if ((Config.BoardType == 0) || (Config.EnableADCVolt))
+	else if (Config.BoardType == 0)
 	{
 		// Pi A or B.  Only Battery Voltage on the PITS
 		
diff --git a/tracker/misc.h b/tracker/misc.h
index d3d8642..ef42b5e 100755
--- a/tracker/misc.h
+++ b/tracker/misc.h
@@ -168,7 +168,6 @@ struct TConfig
 	int BoardType;
 	int i2cChannel;
 	int DisableADC;
-	int EnableADCVolt;
 	int32_t BuoyModeAltitude;
 	double MaxADCVoltage;
 	
diff --git a/tracker/sample_take_pic_2 b/tracker/sample_take_pic_2
deleted file mode 100755
index 3d261f4..0000000
--- a/tracker/sample_take_pic_2
+++ /dev/null
@@ -1,2 +0,0 @@
-raspistill -st -w 640 -h 480 -t 3000 -ex auto -mm matrix  -o /home/pi/pits/tracker/images/LORA0/$1.JPG
-exiv2 -c'Alt=22537;MaxAlt=22537;Lat=52.38204;Long=0.20516;UTC=00:00:00;Ascent=154.2;Mode=1' /home/pi/pits/tracker/images/LORA0/$1.JPG
diff --git a/tracker/startup b/tracker/startup
index ad585b6..a840c82 100755
--- a/tracker/startup
+++ b/tracker/startup
@@ -1,6 +1,6 @@
 #!/bin/bash
 cd /home/pi/pits/tracker
-sudo ./camera 2>&1 >> /home/pi/pits/tracker/camera.txt &
+sudo ./camera &
 # sleep 30
 # sudo python3 gopro.py &
 # python3 sensors.py &
diff --git a/tracker/tracker.c b/tracker/tracker.c
index c9017e6..dbe8ca9 100755
--- a/tracker/tracker.c
+++ b/tracker/tracker.c
@@ -112,12 +112,8 @@ void LoadConfigFile(struct TConfig *Config)
 	{
 		printf("HDMI/Composite outputs will be disabled\n");
 	}
-
-	// DisableADC is used to disable the ADC on boards that should have an ADC (but dont)
-	// EnableADCVolt is used to enable the ADC on boards that should not have an ADC (but do)	
+	
 	ReadBoolean(fp, "Disable_ADC", -1, 0, &(Config->DisableADC));
-	ReadBoolean(fp, "Enable_ADC_Volt", -1, 0, &(Config->EnableADCVolt));
-
 	ReadBoolean(fp, "Disable_RTTY", -1, 0, &(Config->DisableRTTY));
 	Config->Channels[RTTY_CHANNEL].Enabled = !Config->DisableRTTY;
 	if (Config->DisableRTTY)
@@ -806,10 +802,9 @@ int main(void)
 	{
 		// remove SSDV and other camera images, plus log files
 
-		printf("Removing existing log & photo files\n");
+		printf("Removing existing photo files\n");
 		remove("gps.txt");
 		remove("telemetry.txt");
-		remove("camera.txt");
 		remove("/boot/clear.txt");
 		system("rm -rf /home/pi/pits/tracker/images/*");
 	}
@@ -959,9 +954,7 @@ int main(void)
 		return 1;
 	}
 
-	// DisableADC is used to disable the ADC on boards that should have an ADC (but dont)
-	// EnableADCVolt is used to enable the ADC on boards that should not have an ADC (but do)
-	if (((Config.BoardType != 3) && (Config.BoardType != 4) && (!Config.DisableADC)) || (Config.EnableADCVolt))
+	if ((Config.BoardType != 3) && (Config.BoardType != 4) && (!Config.DisableADC))
 	{
 		// Not a zero, so should have ADC on it
 		if (I2CADCExists())

From 52b620bb632c79398229fc13354b0d9b3bec7c93 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Wed, 21 Sep 2022 15:47:38 +0100
Subject: [PATCH 58/60] Added fieldlist option

---
 boot/pisky.txt    |  1 +
 tracker/misc.c    | 24 ++++++++++++++++++------
 tracker/misc.h    |  1 +
 tracker/tracker.c |  1 +
 4 files changed, 21 insertions(+), 6 deletions(-)

diff --git a/boot/pisky.txt b/boot/pisky.txt
index 153854c..de145bd 100644
--- a/boot/pisky.txt
+++ b/boot/pisky.txt
@@ -15,6 +15,7 @@ adc_vmax=18.5
 logging=GPS,Telemetry
 Disable_RTTY=N
 info_messages=2
+Send_Field_List=N
 
 full_low_width=640
 full_low_height=480
diff --git a/tracker/misc.c b/tracker/misc.c
index d23ac68..a312ca3 100755
--- a/tracker/misc.c
+++ b/tracker/misc.c
@@ -804,7 +804,7 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 	static int FirstTime=1;
 	int LoRaChannel;
 	int ShowFields;
-	char TimeBuffer[12], ExtraFields1[20], ExtraFields2[20], ExtraFields3[20], ExtraFields4[64], ExtraFields5[32], ExtraFields6[32], ExtraFields7[32], *ExtraFields8, Sentence[512];
+	char TimeBuffer[12], ExtraFields1[20], ExtraFields2[20], ExtraFields3[20], ExtraFields4[64], ExtraFields5[32], ExtraFields6[32], ExtraFields7[32], *ExtraFields8, Sentence[512], FieldList[32];
 	
 	if (FirstTime)
 	{
@@ -827,7 +827,8 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 	
 	ExtraFields8 = "";
 	
-	if (ShowFields) printf("%s: ID,Ctr,Time,Lat,Lon,Alt,Speed,Head,Sats,Int.Temp", Channels[Channel]);
+	strcpy(FieldList, ",0123456A");
+	if (ShowFields) printf("%s: ID,Ctr,Time,Lat,Lon,Alt,Sats,Int.Temp", Channels[Channel]);
 	
 	
 	// Battery voltage and current, if available
@@ -840,6 +841,7 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 		// Pi A or B.  Only Battery Voltage on the PITS
 		
 		sprintf(ExtraFields1, ",%.3f", GPS->BatteryVoltage);
+		strcat(FieldList, "9");
 		if (ShowFields) printf(",Volts");
 	}
 	else
@@ -847,6 +849,7 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 		// Pi A+ or B+ (V1 or V2 or V3).  Full ADC for voltage and current
 
 		sprintf(ExtraFields1, ",%.1f,%.3f", GPS->BatteryVoltage, GPS->BoardCurrent);
+		strcat(FieldList, "9P");
 		if (ShowFields) printf(",Volts,Current");
 	}
 	
@@ -854,16 +857,19 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 	if (Config.EnableBME280)
 	{
 		sprintf(ExtraFields2, ",%.1f,%.0f,%0.1f", GPS->BMP180Temperature, GPS->Pressure, GPS->Humidity);
+		strcat(FieldList, "QRS");
 		if (ShowFields) printf(",BME.Temp,Pressure,Humidity");
 	}
 	else if (Config.EnableMS5611)
 	{
 		sprintf(ExtraFields2, ",%.1f,%.1f", GPS->BMP180Temperature, GPS->Pressure);
+		strcat(FieldList, "QR");
 		if (ShowFields) printf(",BMP.Temp,Pressure");
 	}
 	else if (Config.EnableBMP085)
 	{
 		sprintf(ExtraFields2, ",%.1f,%.0f", GPS->BMP180Temperature, GPS->Pressure);
+		strcat(FieldList, "QR");
 		if (ShowFields) printf(",BMP.Temp,Pressure");
 	}
 	
@@ -871,6 +877,7 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 	if (GPS->DS18B20Count > 1)
 	{
 		sprintf(ExtraFields3, ",%3.1f", GPS->DS18B20Temperature[Config.ExternalDS18B20]);
+		strcat(FieldList, "B");
 		if (ShowFields) printf(",Ext.Temp");
 	}
 	
@@ -883,6 +890,7 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 																GPS->PredictedLongitude,
 																GPS->PredictedLandingSpeed,
 																GPS->TimeTillLanding);
+		strcat(FieldList, "TCDUV");
 		if (ShowFields) printf(",CDA,Pred.Lat,Pred.Lon,Pred.Land,Pred.TTL");
 	}
 	
@@ -896,12 +904,14 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 			sprintf(ExtraFields5, ",%d,%d,%d", Config.LoRaDevices[LoRaChannel].LastPacketRSSI,
 											   Config.LoRaDevices[LoRaChannel].LastPacketSNR,
 											   Config.LoRaDevices[LoRaChannel].PacketCount);
+			strcat(FieldList, "GFH");
 			if (ShowFields) printf(",RSSI,SNR,Packets");
 		}
 
 		if (Config.LoRaDevices[LoRaChannel].EnableMessageStatus)
 		{	
 			sprintf(ExtraFields6, ",%c", Config.LoRaDevices[LoRaChannel].LastCommand[0]);
+			strcat(FieldList, "W");
 			if (ShowFields) printf(",Command");
 		}
 		
@@ -953,6 +963,7 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 	if (Config.EnableCutdown)
 	{
 		sprintf(ExtraFields7, ",%d", GPS->CutdownStatus);
+		strcat(FieldList, "E");
 		if (ShowFields) printf(",CutdownStatus");
 	}
 	
@@ -974,15 +985,15 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 			
 		if (ShowFields) printf("\n");
 		
-		snprintf(Sentence, 512, "$$%.15s,%d,%.9s,%7.5lf,%7.5lf,%5.5" PRId32  ",%d,%d,%d,%3.1f%.12s%.20s%.20s%.40s%.90s%.20s%.10s%.10s%.40s",
+		snprintf(Sentence, 512, "$$%.15s,%d,%.9s,%7.5lf,%7.5lf,%5.5" PRId32  ",%d,%3.1f%.12s%.20s%.20s%.40s%.90s%.20s%.10s%.10s%.40s%s",
 				Config.Channels[Channel].PayloadID,
 				Config.Channels[Channel].SentenceCounter,
 				TimeBuffer,
 				GPS->Latitude,
 				GPS->Longitude,
 				GPS->Altitude,
-				(GPS->Speed * 13) / 7,
-				GPS->Direction,
+						  
+				   
 				GPS->Satellites,
 				GPS->DS18B20Temperature[(GPS->DS18B20Count > 1) ? (1-Config.ExternalDS18B20) : 0],
 				ExtraFields1,
@@ -993,7 +1004,8 @@ int BuildSentence(unsigned char *TxLine, int Channel, struct TGPS *GPS)
 				ExtraFields5,
 				ExtraFields6,
 				ExtraFields7,
-				ExtraFields8);
+				ExtraFields8,
+				Config.SendFieldList ? FieldList : "");
 	}
 	
 	AppendCRC(Sentence);
diff --git a/tracker/misc.h b/tracker/misc.h
index ef42b5e..bcad73a 100755
--- a/tracker/misc.h
+++ b/tracker/misc.h
@@ -259,6 +259,7 @@ struct TConfig
 	// Uplink
 	char UplinkCode[32];
 		
+	int SendFieldList;
 	
 #	ifdef EXTRAS_PRESENT
 #		include "ex_misc_config.h"
diff --git a/tracker/tracker.c b/tracker/tracker.c
index dbe8ca9..98b71c9 100755
--- a/tracker/tracker.c
+++ b/tracker/tracker.c
@@ -113,6 +113,7 @@ void LoadConfigFile(struct TConfig *Config)
 		printf("HDMI/Composite outputs will be disabled\n");
 	}
 	
+	ReadBoolean(fp, "Send_Field_List", -1, 0, &(Config->SendFieldList));
 	ReadBoolean(fp, "Disable_ADC", -1, 0, &(Config->DisableADC));
 	ReadBoolean(fp, "Disable_RTTY", -1, 0, &(Config->DisableRTTY));
 	Config->Channels[RTTY_CHANNEL].Enabled = !Config->DisableRTTY;

From 1d036bd25d3657a371c9f82b3c0e502262122e91 Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Mon, 10 Oct 2022 12:22:34 +0100
Subject: [PATCH 59/60] V1.9.1 - Support for external camera

---
 tracker/gps.c        | 56 +++++++++++++++++++++++++++++++++-----------
 tracker/lora.c       | 12 ++++++----
 tracker/misc.c       |  5 ++++
 tracker/prediction.c | 11 +++++----
 tracker/snapper.c    | 17 ++++++++++----
 tracker/tracker.c    | 35 +++++++++++++++++----------
 6 files changed, 98 insertions(+), 38 deletions(-)

diff --git a/tracker/gps.c b/tracker/gps.c
index eb2a3fe..6c1146a 100755
--- a/tracker/gps.c
+++ b/tracker/gps.c
@@ -540,20 +540,23 @@ time_t day_seconds()
     return t1 - t2;
 }
 
-void ProcessLine(struct gps_info *bb, struct TGPS *GPS, char *Buffer, int Count, int ActionMask)
+int ProcessLine(struct gps_info *bb, struct TGPS *GPS, char *Buffer, int Count, int ActionMask)
 {
 	static int SystemTimeHasBeenSet=0;
 	
     float utc_time, latitude, longitude, hdop, altitude;
-	int lock, satellites;
+	int lock, satellites, result;
 	char active, ns, ew, units, timestring[16], speedstring[16], *course, *date, restofline[80], *ptr;
 	
+	result = 0;
+	
     if (GPSChecksumOK(Buffer, Count))
 	{
 		satellites = 0;
 	
 		if (strncmp(Buffer+3, "GGA", 3) == 0)
 		{
+			result = 1;
 			GPS->MessageCount++;
 			if (GPS->FlightMode >= fmLaunched)
 			{
@@ -766,6 +769,8 @@ void ProcessLine(struct gps_info *bb, struct TGPS *GPS, char *Buffer, int Count,
     {
        printf("Bad checksum %d %d %s\r\n", Count, strlen(Buffer), Buffer);
 	}
+	
+	return result;
 }
 
 
@@ -836,31 +841,54 @@ void *GPSLoop(void *some_void_ptr)
                	if (Character == '\n')
                	{
                		Line[Length] = '\0';
-					if (Config.ShowGPS)
-					{
-						printf("%s", Line);
-					}
 					
 					// if ((fp != NULL) && (strstr(Line, "GGA") != NULL))
 					if (fp != NULL)
 					{
+						// Get time only from GPS, then get position from NMEA file
 						static int PostFileCount=0;
 						static char Buffer[100];
-						
-						// Get time only from GPS, then get position from NMEA file
-						if (fgets(Buffer, sizeof Buffer, fp) == NULL)
+											
+						if (ProcessLine(&bb, GPS, Line, Length, 1))
 						{
-							if (++PostFileCount > 20)
+							int Done=0;
+
+							if (Config.ShowGPS)
+							{
+								printf("REAL: %s", Line);
+							}
+							
+							while (!Done)
 							{
-								fclose(fp);
-								exit(1);
+								if (fgets(Buffer, sizeof Buffer, fp) == NULL)
+								{
+									Done = 1;
+									if (++PostFileCount > 20)
+									{
+										fclose(fp);
+										exit(1);
+									}
+								}
+								
+								if (ProcessLine(&bb, GPS, Buffer, strlen(Buffer), 2))
+								{
+									Done = 1;
+									
+									if (Config.ShowGPS)
+									{
+										printf("FILE: %s", Buffer);
+									}
+								}
 							}
 						}
-						ProcessLine(&bb, GPS, Line, Length, 1);
-						ProcessLine(&bb, GPS, Buffer, strlen(Buffer), 2);
 					}
 					else
 					{				
+						if (Config.ShowGPS)
+						{
+							printf("%s", Line);
+						}
+					
 						ProcessLine(&bb, GPS, Line, Length, 3);
 						
 						if (++SentenceCount > 100) SentenceCount = 0;
diff --git a/tracker/lora.c b/tracker/lora.c
index 2263449..038dffe 100755
--- a/tracker/lora.c
+++ b/tracker/lora.c
@@ -1161,17 +1161,21 @@ void LoadLoRaConfig(FILE *fp, struct TConfig *Config)
 			{
 				Config->Channels[Channel].ImageWidthWhenLow = ReadInteger(fp, "LORA_low_width", LoRaChannel, 0, 320);
 				Config->Channels[Channel].ImageHeightWhenLow = ReadInteger(fp, "LORA_low_height", LoRaChannel, 0, 240);
-				printf ("      - Low image size %d x %d pixels\n", Config->Channels[Channel].ImageWidthWhenLow, Config->Channels[Channel].ImageHeightWhenLow);
 				
 				Config->Channels[Channel].ImageWidthWhenHigh = ReadInteger(fp, "LORA_high_width", LoRaChannel, 0, 640);
 				Config->Channels[Channel].ImageHeightWhenHigh = ReadInteger(fp, "LORA_high_height", LoRaChannel, 0, 480);
-				printf ("      - High image size %d x %d pixels\n", Config->Channels[Channel].ImageWidthWhenHigh, Config->Channels[Channel].ImageHeightWhenHigh);
 
 				Config->Channels[Channel].ImagePackets = ReadInteger(fp, "LORA_image_packets", LoRaChannel, 0, 4);
-				printf ("      - 1 Telemetry packet every %d image packets\n", Config->Channels[Channel].ImagePackets);
 				
 				Config->Channels[Channel].ImagePeriod = ReadInteger(fp, "LORA_image_period", LoRaChannel, 0, 60);
-				printf ("      - %d seconds between photographs\n", Config->Channels[Channel].ImagePeriod);
+				
+				if (Config->Camera != 5)
+				{
+					printf ("      - Low image size %d x %d pixels\n", Config->Channels[Channel].ImageWidthWhenLow, Config->Channels[Channel].ImageHeightWhenLow);
+					printf ("      - High image size %d x %d pixels\n", Config->Channels[Channel].ImageWidthWhenHigh, Config->Channels[Channel].ImageHeightWhenHigh);
+					printf ("      - 1 Telemetry packet every %d image packets\n", Config->Channels[Channel].ImagePackets);
+					printf ("      - %d seconds between photographs\n", Config->Channels[Channel].ImagePeriod);
+				}
 			}
 			else
 			{
diff --git a/tracker/misc.c b/tracker/misc.c
index a312ca3..81b44fa 100755
--- a/tracker/misc.c
+++ b/tracker/misc.c
@@ -652,6 +652,11 @@ int ReadCameraType(FILE *fp, char *keyword)
 		return 4;		// Python script e.g. for GoPro
 	}
 	
+	if ((*Temp == 'E') || (*Temp == 'e'))
+	{
+		return 5;		// External camera
+	}
+	
 	return 0;
 }
 
diff --git a/tracker/prediction.c b/tracker/prediction.c
index cbae7cd..911d537 100755
--- a/tracker/prediction.c
+++ b/tracker/prediction.c
@@ -117,10 +117,13 @@ void *PredictionLoop(void *some_void_ptr)
 				else if ((GPS->FlightMode >= fmDescending) && (GPS->FlightMode <= fmLanding))
 				{
 					// Coming down - try and calculate how well chute is doing
-
-					GPS->CDA = (GPS->CDA*4 + CalculateCDA(Config.payload_weight,
-														GPS->Altitude/2 + PreviousAltitude/2,
-														((double)PreviousAltitude - (double)GPS->Altitude) / POLL_PERIOD)) / 5;
+					
+					if (GPS->Altitude < PreviousAltitude)
+					{
+						GPS->CDA = (GPS->CDA*4 + CalculateCDA(Config.payload_weight,
+															GPS->Altitude/2 + PreviousAltitude/2,
+															((double)PreviousAltitude - (double)GPS->Altitude) / POLL_PERIOD)) / 5;
+					}
 
 				}
 				
diff --git a/tracker/snapper.c b/tracker/snapper.c
index 1c594ad..b0a931d 100755
--- a/tracker/snapper.c
+++ b/tracker/snapper.c
@@ -1,3 +1,5 @@
+#define _GNU_SOURCE
+
 #include <stdio.h>
 #include <stdlib.h>
 #include <fcntl.h>
@@ -88,7 +90,7 @@ void FindBestImageAndRequestConversion(int Channel, int width, int height)
 	{
 		while ((ep = readdir (dp)) != NULL)
 		{
-			if (strstr(ep->d_name, ".JPG") != NULL)
+			if (strcasestr(ep->d_name, ".JPG") != NULL)
 			{
 				if (strchr(ep->d_name, '~') == NULL)
 				{
@@ -146,7 +148,14 @@ void FindBestImageAndRequestConversion(int Channel, int width, int height)
 				
 				fprintf(fp, "ssdv %s -e -c %.6s -i %d %s %s\n", Config.SSDVSettings, Config.Channels[Channel].PayloadID, Config.Channels[Channel].SSDVFileNumber, "ssdv.jpg", Config.Channels[Channel].ssdv_filename);
 				fprintf(fp, "mkdir -p %s/$1\n", SSDVFolder);
-				fprintf(fp, "mv %s/*.JPG %s/$1\n", SSDVFolder, SSDVFolder);
+				if (Config.Camera == 5)
+				{
+					fprintf(fp, "mv %s/*.jpg %s/$1\n", SSDVFolder, SSDVFolder);
+				}
+				else
+				{
+					fprintf(fp, "mv %s/*.JPG %s/$1\n", SSDVFolder, SSDVFolder);
+				}	
 				fprintf(fp, "echo DONE > %s\n", Config.Channels[Channel].ssdv_done);
 			}
 			fclose(fp);
@@ -198,9 +207,9 @@ void *CameraLoop(void *some_void_ptr)
 		{
 			if (Config.Channels[Channel].Enabled && (Config.Channels[Channel].ImagePackets > 0))
 			{
-				// Channel using SSDV
+				// Channel using images
 				
-				if (++Config.Channels[Channel].TimeSinceLastImage >= Config.Channels[Channel].ImagePeriod)
+				if ((Config.Camera != 5) && (++Config.Channels[Channel].TimeSinceLastImage >= Config.Channels[Channel].ImagePeriod))
 				{
 					// Time to take a photo on this channel
 
diff --git a/tracker/tracker.c b/tracker/tracker.c
index 98b71c9..d09c5df 100755
--- a/tracker/tracker.c
+++ b/tracker/tracker.c
@@ -96,7 +96,7 @@ speed_t BaudToSpeed(int baud)
 
 void LoadConfigFile(struct TConfig *Config)
 {
-	const char* CameraTypes[5] = {"None", "CSI Pi Camera - raspistill", "USB webcam - fswebcam", "USB camera - gphoto2", "Python Script"};
+	const char* CameraTypes[6] = {"None", "CSI Pi Camera - raspistill", "USB webcam - fswebcam", "USB camera - gphoto2", "Python Script", "External Camera"};
 	FILE *fp;
 	int BaudRate;
 	char *filename = "/boot/pisky.txt";
@@ -212,39 +212,50 @@ void LoadConfigFile(struct TConfig *Config)
 		}
 
 		Config->SSDVHigh = ReadInteger(fp, "high", -1, 0, 2000);
-		printf ("Image size changes at %dm\n", Config->SSDVHigh);
+		if (Config->Camera != 5)
+		{
+			printf ("Image size changes at %dm\n", Config->SSDVHigh);
+		}
 	
 		if (!Config->DisableRTTY)
 		{
 			Config->Channels[RTTY_CHANNEL].ImageWidthWhenLow = ReadInteger(fp, "low_width", -1, 0, 320);
 			Config->Channels[RTTY_CHANNEL].ImageHeightWhenLow = ReadInteger(fp, "low_height", -1, 0, 240);
-			printf ("RTTY Low image size %d x %d pixels\n", Config->Channels[RTTY_CHANNEL].ImageWidthWhenLow, Config->Channels[0].ImageHeightWhenLow);
 			
 			Config->Channels[RTTY_CHANNEL].ImageWidthWhenHigh = ReadInteger(fp, "high_width", -1, 0, 640);
 			Config->Channels[RTTY_CHANNEL].ImageHeightWhenHigh = ReadInteger(fp, "high_height", -1, 0, 480);
-			printf ("RTTY High image size %d x %d pixels\n", Config->Channels[RTTY_CHANNEL].ImageWidthWhenHigh, Config->Channels[0].ImageHeightWhenHigh);
 
 			Config->Channels[RTTY_CHANNEL].ImagePackets = ReadInteger(fp, "image_packets", -1, 0, 4);
-			printf ("RTTY: 1 Telemetry packet every %d image packets\n", Config->Channels[RTTY_CHANNEL].ImagePackets);
 			
 			Config->Channels[RTTY_CHANNEL].ImagePeriod = ReadInteger(fp, "image_period", -1, 0, 60);
-			printf ("RTTY: %d seconds between photographs\n", Config->Channels[RTTY_CHANNEL].ImagePeriod);
+			
+			if (Config->Camera != 5)
+			{
+				printf ("RTTY Low image size %d x %d pixels\n", Config->Channels[RTTY_CHANNEL].ImageWidthWhenLow, Config->Channels[0].ImageHeightWhenLow);
+				printf ("RTTY High image size %d x %d pixels\n", Config->Channels[RTTY_CHANNEL].ImageWidthWhenHigh, Config->Channels[0].ImageHeightWhenHigh);
+				printf ("RTTY: 1 Telemetry packet every %d image packets\n", Config->Channels[RTTY_CHANNEL].ImagePackets);
+				printf ("RTTY: %d seconds between photographs\n", Config->Channels[RTTY_CHANNEL].ImagePeriod);
+			}
 		}
 
 		// Set up full-size image parameters		
 		Config->Channels[FULL_CHANNEL].ImageWidthWhenLow = ReadInteger(fp, "full_low_width", -1, 0, 640);
 		Config->Channels[FULL_CHANNEL].ImageHeightWhenLow = ReadInteger(fp, "full_low_height", -1, 0, 480);
-		printf ("Full Low image size %d x %d pixels\n", Config->Channels[FULL_CHANNEL].ImageWidthWhenLow, Config->Channels[FULL_CHANNEL].ImageHeightWhenLow);
 		
 		Config->Channels[FULL_CHANNEL].ImageWidthWhenHigh = ReadInteger(fp, "full_high_width", -1, 0, 2592);
 		Config->Channels[FULL_CHANNEL].ImageHeightWhenHigh = ReadInteger(fp, "full_high_height", -1, 0, 1944);
-		printf ("Full High image size %d x %d pixels\n", Config->Channels[FULL_CHANNEL].ImageWidthWhenHigh, Config->Channels[FULL_CHANNEL].ImageHeightWhenHigh);
 
 		Config->Channels[FULL_CHANNEL].ImagePeriod = ReadInteger(fp, "full_image_period", -1, 0, 60);
-		printf ("Full size: %d seconds between photographs\n", Config->Channels[FULL_CHANNEL].ImagePeriod);
-		
+	
 		Config->Channels[FULL_CHANNEL].ImagePackets = Config->Channels[FULL_CHANNEL].ImagePeriod > 0;
 		Config->Channels[FULL_CHANNEL].Enabled = Config->Channels[FULL_CHANNEL].ImagePackets;
+		
+		if (Config->Camera != 5)
+		{
+			printf ("Full Low image size %d x %d pixels\n", Config->Channels[FULL_CHANNEL].ImageWidthWhenLow, Config->Channels[FULL_CHANNEL].ImageHeightWhenLow);
+			printf ("Full High image size %d x %d pixels\n", Config->Channels[FULL_CHANNEL].ImageWidthWhenHigh, Config->Channels[FULL_CHANNEL].ImageHeightWhenHigh);
+			printf ("Full size: %d seconds between photographs\n", Config->Channels[FULL_CHANNEL].ImagePeriod);
+		}
 	}
 
 	// GPS
@@ -744,8 +755,8 @@ int main(void)
 		exit(1);
 	}
 	
-	printf("\n\nRASPBERRY PI-IN-THE-SKY FLIGHT COMPUTER\n");
-	printf(    "=======================================\n\n");
+	printf("\n\nRASPBERRY PI-IN-THE-SKY FLIGHT COMPUTER V1.9.1\n");
+	printf(    "==============================================\n\n");
 
 	Config.BoardType = GetBoardType(&Config.i2cChannel);
 

From 9857507e117d31658acd8a9d369d5ab9ad9e368e Mon Sep 17 00:00:00 2001
From: Dave Akerman <dave@sccs.co.uk>
Date: Mon, 10 Jun 2024 14:33:53 +0100
Subject: [PATCH 60/60] Added support for new Pi camera software

---
 README.md             |  5 ++++
 boot/pisky.txt        |  2 +-
 tracker/misc.c        |  6 +++++
 tracker/process_image | 60 +++++++++++++++++++++++++++++++++++++++++++
 tracker/snapper.c     | 17 ++++++++++++
 tracker/tracker.c     |  4 +--
 6 files changed, 91 insertions(+), 3 deletions(-)
 create mode 100755 tracker/process_image

diff --git a/README.md b/README.md
index e479cb2..572b991 100755
--- a/README.md
+++ b/README.md
@@ -123,6 +123,11 @@ It is therefore possible to overlay downloaded images with telemetry data, as te
 
 
 ## Change Log ##
+
+07_06_2024
+==========
+
+- Added support for new camera commands replacing raspistill.  Use "R" for camera type
 
 06_06_2021
 ==========
diff --git a/boot/pisky.txt b/boot/pisky.txt
index de145bd..596b847 100644
--- a/boot/pisky.txt
+++ b/boot/pisky.txt
@@ -2,7 +2,7 @@ payload=CHANGEME
 disable_monitor=N
 frequency=434.250
 baud=300
-camera=Y
+camera=R
 low_width=320
 low_height=240
 high=2000
diff --git a/tracker/misc.c b/tracker/misc.c
index 81b44fa..aed9d88 100755
--- a/tracker/misc.c
+++ b/tracker/misc.c
@@ -656,6 +656,12 @@ int ReadCameraType(FILE *fp, char *keyword)
 	{
 		return 5;		// External camera
 	}
+
+        if ((*Temp == 'R') || (*Temp == 'r'))
+        {
+                return 6;               // RPI Camera (new interface - rpicam)
+        }
+
 	
 	return 0;
 }
diff --git a/tracker/process_image b/tracker/process_image
new file mode 100755
index 0000000..3cf7179
--- /dev/null
+++ b/tracker/process_image
@@ -0,0 +1,60 @@
+#!/bin/bash
+echo Processing image $2 for channel $1
+#
+# This script gets telemetry from the jpeg file comment field, and overlays image with altitude etc.
+#
+rm -f ssdv.jpg
+TELEMETRY="$(exiv2 -pc $2)"
+#echo $TELEMETRY
+LIST=$(echo $TELEMETRY | tr ";" " ")
+#echo $LIST
+for ITEM in ${LIST}
+do
+	VALUE=($(echo $ITEM | tr "=" " "))
+	if [ "${VALUE[0]}" = "Alt" ]; then
+		ALTITUDE=${VALUE[1]}
+	elif [ "${VALUE[0]}" = "MaxAlt" ]; then
+		MAX_ALT=${VALUE[1]}
+	elif [ "${VALUE[0]}" = "Lat" ]; then
+		LATITUDE=${VALUE[1]}
+	elif [ "${VALUE[0]}" = "Long" ]; then
+		LONGITUDE=${VALUE[1]}
+	elif [ "${VALUE[0]}" = "UTC" ]; then
+		UTC=${VALUE[1]}
+	elif [ "${VALUE[0]}" = "Ascent" ]; then
+		ASCENT=${VALUE[1]}
+	elif [ "${VALUE[0]}" = "Mode" ]; then
+		MODE=${VALUE[1]}
+	fi
+done
+let OFFSET=760-$ALTITUDE*705/44000
+if [ $MODE -eq 0 ]; then
+	ICON="payload.png"
+elif [ $MODE -eq 1 ]; then
+	ICON="balloon.png"
+elif [ $MODE -eq 2 ]; then
+	ICON="parachute.png"
+else
+	ICON=""
+fi
+LABEL1="${ALTITUDE}m (${MAX_ALT}m)"
+LABEL2=${LATITUDE},${LONGITUDE}
+LABEL3=$UTC
+convert $2 -gamma 0.8 -font Dosis-Medium -pointsize 48 \
+	\
+	-gravity SouthWest -strokewidth 2 \
+	-stroke '#000C' -annotate 0 "  $LABEL1" \
+	-stroke  none -fill white -annotate 0 "  $LABEL1" \
+	\
+	-gravity South \
+	-stroke '#000C' -annotate 0 $LABEL2 \
+	-stroke none -fill white -annotate 0 $LABEL2 \
+	\
+	-gravity SouthEast \
+	-stroke '#000C' -annotate 0 "$LABEL3  " \
+	-stroke none -fill white -annotate 0 "$LABEL3  " \
+	\
+	-fill "rgba( 255, 255, 255, 0.25 )" -draw "rectangle 46,30 116,890 " \
+	-fill gray -draw "rectangle 81,50 83,870" \
+	\
+	$ICON -gravity NorthWest -geometry +49+$OFFSET -composite ssdv.jpg
diff --git a/tracker/snapper.c b/tracker/snapper.c
index b0a931d..32c52d9 100755
--- a/tracker/snapper.c
+++ b/tracker/snapper.c
@@ -253,6 +253,19 @@ void *CameraLoop(void *some_void_ptr)
 									{
 										fprintf(fp, "fswebcam -r %dx%d --no-banner %s\n", width, height, FileName);
 									}
+                                                                       else if (Config.Camera == 6)
+
+                                                                        {
+                                                                                if ((width == 0) || (height == 0))
+                                                                                {
+                                                                                        fprintf(fp, "rpicam-still %s -o %s\n", Config.CameraSettings, FileName);
+                                                                                }
+                                                                                else
+                                                                                {
+                                                                                        fprintf(fp, "rpicam-still --width %d --height %d %s -o %s\n", width, height, Config.CameraSettings, FileName);
+                                                                                }
+                                                                        }
+
 									else
 									{
 										if ((width == 0) || (height == 0))
@@ -278,6 +291,10 @@ void *CameraLoop(void *some_void_ptr)
 									{
 										fprintf(fp, "fswebcam -r %dx%d --no-banner %s\n", width, height, FileName);
 									}
+									else if (Config.Camera == 6)
+									{
+										fprintf(fp, "rpicam-still --width %d --height %d %s -o %s\n", width, height, Config.CameraSettings, FileName);
+									}
 									else
 									{
 										fprintf(fp, "raspistill -st -w %d -h %d -t 3000 -ex auto -mm matrix %s -o %s\n", width, height, Config.CameraSettings, FileName);
diff --git a/tracker/tracker.c b/tracker/tracker.c
index d09c5df..11f5a42 100755
--- a/tracker/tracker.c
+++ b/tracker/tracker.c
@@ -96,7 +96,7 @@ speed_t BaudToSpeed(int baud)
 
 void LoadConfigFile(struct TConfig *Config)
 {
-	const char* CameraTypes[6] = {"None", "CSI Pi Camera - raspistill", "USB webcam - fswebcam", "USB camera - gphoto2", "Python Script", "External Camera"};
+	const char* CameraTypes[7] = {"None", "CSI Pi Camera - raspistill", "USB webcam - fswebcam", "USB camera - gphoto2", "Python Script", "External Camera", "CSI Pi Camera - rpicam-still"};
 	FILE *fp;
 	int BaudRate;
 	char *filename = "/boot/pisky.txt";
@@ -194,7 +194,7 @@ void LoadConfigFile(struct TConfig *Config)
 	Config->MaxADCVoltage = ReadFloat(fp, "adc_vmax", -1, 0, 18.5);
 
 	Config->Camera = ReadCameraType(fp, "camera");
-	printf ("Camera (%s) %s\n", CameraTypes[Config->Camera], Config->Camera ? "Enabled" : "Disabled");
+	printf ("Camera Type %d (%s) %s\n", Config->Camera, CameraTypes[Config->Camera], Config->Camera ? "Enabled" : "Disabled");
 	
 	if (Config->Camera)
 	{