Error codes + landed mode configurator support (#131)

* Add support for error codes that can be transmitted over messages or Horus V3 for exposing issues in firmware. Add support for landed mode in web firmware configurator.

* Only push firmware configurator from main branch

* Adjust text

Author: mikaelnousiainen

.github/workflows/deploy-web.yml

@@ -1,17 +1,15 @@
-# Builds the web configurator (web/) and deploys it to GitHub Pages.
+# Builds the web firmware configurator (web/) and deploys it to GitHub Pages.
 #
 # One-time repo setup:
 #   Settings → Pages → Build and deployment → Source = "GitHub Actions".
 # The site is served at https://<owner>.github.io/<repo>/ — vite.config.ts uses
 # base "./" (relative paths) so it works from that subpath without further config.
 
-name: Deploy web configurator
+name: Deploy web firmware configurator
 
 on:
   push:
-    # TEMPORARY: web-configurator is included so Pages can be tested from the branch
-    # before merge. Revert to `branches: [main]` once verified.
-    branches: [main, web-configurator]
+    branches: [main]
     paths:
       - "web/**"
       - ".github/workflows/deploy-web.yml"

.gitignore

@@ -3,6 +3,7 @@
 /cmake-build-debug
 /cmake-build-debug-arm-none-eabi
 /build
+/build-tests
 /samples
 *~
 .vscode/

README.md

@@ -655,6 +655,20 @@ use command `file src/RS41ng.elf`.
 
 NOTE: To save RAM, the heap size has been zeroed out. Dynamic memory allocations (`malloc`, etc.) will not function. Use static or stack-based allocation if needed.
 
+## Building and running unit tests
+
+```bash
+# Configure tests (defaults to -DRS41=1)
+cmake -S tests -B build-tests
+# Build all tests
+cmake --build build-tests
+# Run all tests
+ctest --test-dir build-tests --output-on-failure
+
+# Run a single test
+ctest --test-dir build-tests -R template_test --output-on-failure
+```
+
 ## Hardware-specific Notes
 
 This section is allocated for documentation of various features and oddities of specific radiosonde types.

config.yaml.example

@@ -20,6 +20,7 @@
 #   $loc8  Locator (8 chars)
 #   $loc12  Locator (12 chars)
 #   $bv  Battery voltage in mV (up to 4 chars)
+#   $bu  Button ADC value (raw reading, up to 4 chars)
 #   $te  External temperature in C (up to 3 chars)
 #   $ti  Internal temperature in C (up to 3 chars)
 #   $hu  Humidity % (up to 3 chars)
@@ -38,7 +39,9 @@
 #   $pc  Pulse counter value (wraps to zero at 65535, 16-bit unsigned)
 #   $ri  Radiation intensity in uR/h (up to 5 chars)
 #   $dc  Data counter value (wraps to zero at 65535, 16-bit unsigned)
+#   $apc  APRS packet counter value (16-bit unsigned)
 #   $gu  GPS data update indicator (1 if updated, 0 otherwise)
+#   $err  System error code, zero-padded to 2 digits (see errors.h; 0 = no error)
 #   $ct  Clock calibration trim value (0-31, DFM-17 only)
 #   $cc  Clock calibration change count (DFM-17 only)
 
@@ -551,6 +554,9 @@ horus_v3:
   # Disable SondeHub Upload — Disable uploading telemetry to SondeHub [intermediate]
   #   defines HORUS_V3_NOHUB
   nohub: false
+  # Transmit Error Code — Transmit the system error code (see errors.h, also available as $err) as an "err" extra sensor field [intermediate]
+  #   defines HORUS_V3_TX_ERROR_CODE
+  error_code: false
   # Time Sync Interval (s) — Transmit every N seconds from top of hour. 0 = no time sync. [intermediate]
   #   constraints: range 0..3600
   #   defines HORUS_V3_TIME_SYNC_SECONDS
@@ -882,3 +888,64 @@ jt65:
   #   constraints: range 0..3600
   #   defines JT65_TIME_SYNC_OFFSET_SECONDS
   time_sync_offset_seconds: 1
+
+# ========================================================================
+# Landed Mode
+# ========================================================================
+landed:
+  # Enable Landed Mode — Enable battery conservation after the balloon has landed. [intermediate]
+  #   defines LANDED_MODE_ENABLE
+  enable: false
+  # Arm Altitude (m) — Altitude in meters that must be exceeded during ascent to arm landed mode. [advanced]
+  #   constraints: range 0..50000
+  #   applies when: landed.enable
+  #   defines LANDED_MODE_ARM_ALTITUDE_METERS
+  arm_altitude_meters: 5000
+  # Climb Threshold (cm/s) — Maximum absolute vertical speed in cm/s to consider "stationary" (50 = 0.5 m/s). [advanced]
+  #   constraints: range 0..10000
+  #   applies when: landed.enable
+  #   defines LANDED_MODE_CLIMB_THRESHOLD_CM_S
+  climb_threshold_cm_s: 50
+  # Speed Threshold (cm/s) — Maximum ground speed in cm/s to consider "stationary" (50 = 0.5 m/s). [advanced]
+  #   constraints: range 0..10000
+  #   applies when: landed.enable
+  #   defines LANDED_MODE_SPEED_THRESHOLD_CM_S
+  speed_threshold_cm_s: 50
+  # Stationary Time (s) — Number of consecutive seconds the unit must be stationary before entering landed mode. [advanced]
+  #   constraints: range 0..86400
+  #   applies when: landed.enable
+  #   defines LANDED_MODE_STATIONARY_SECONDS
+  stationary_seconds: 600
+  # Sleep Duration (s) — Sleep duration in seconds between wake-transmit cycles while in landed mode. [advanced]
+  #   constraints: range 0..86400
+  #   applies when: landed.enable
+  #   defines LANDED_MODE_SLEEP_SECONDS
+  sleep_seconds: 300
+  # GPS Fix Timeout (s) — Maximum time in seconds to wait for GPS fix after waking before transmitting anyway. [advanced]
+  #   constraints: range 0..3600
+  #   applies when: landed.enable
+  #   defines LANDED_MODE_GPS_FIX_TIMEOUT_SECONDS
+  gps_fix_timeout_seconds: 120
+  # Transmit Cycle Timeout (s) — Safety maximum time in seconds for the transmit cycle (normally the cycle completes on its own). [advanced]
+  #   constraints: range 0..3600
+  #   applies when: landed.enable
+  #   defines LANDED_MODE_TRANSMIT_SECONDS
+  transmit_seconds: 30
+  # Geofence Radius (m) — Geofence radius in meters from the landing point. If the unit moves beyond this radius, landed mode is disabled (returns to armed). Set to 0 to disable the geofence. [advanced]
+  #   constraints: range 0..100000
+  #   applies when: landed.enable
+  #   defines LANDED_MODE_GEOFENCE_RADIUS_METERS
+  geofence_radius_meters: 100
+  # Enable Pip While Sleeping — Emit a PIP at the configured interval while sleeping, without waking the GPS. Uses the existing PIP radio infrastructure (morse 'E' character). [advanced]
+  #   applies when: landed.enable
+  #   defines LANDED_MODE_PIP_ENABLE
+  pip_enable: true
+  # Pip Interval (s) — Interval in seconds between pips while sleeping in landed mode. [advanced]
+  #   constraints: range 1..3600
+  #   applies when: landed.enable && landed.pip_enable
+  #   defines LANDED_MODE_PIP_INTERVAL_SECONDS
+  pip_interval_seconds: 10
+  # LEDs Only During Transmit — When true, LEDs are forced off during landed sleep/acquire states and only enabled during TRANSMITTING or PIPPING to conserve power. [advanced]
+  #   applies when: landed.enable
+  #   defines LANDED_MODE_LEDS_TRANSMIT_ONLY
+  leds_transmit_only: true

src/bme68x_handler.c

@@ -161,18 +161,20 @@ bool bme68x_read_telemetry(telemetry_data *data)
     bool success;
 
     if (bme680_initialization_required) {
-        if(LEDS_ENABLE)
+        if (LEDS_ENABLE) {
             set_red_led(true);
+        }
 
-        log_info("BME re-init\n");
+        log_info("BME68X re-init\n");
         success = bme68x_handler_init();
-        log_info("BME re-init: %d\n", success);
+        log_info("BME68X re-init: %d\n", success);
         if (!success) {
             data->temperature_celsius_100 = 0;
             data->pressure_mbar_100 = 0;
             data->humidity_percentage_100 = 0;
             data->bme6xx_gas_r = 0;
             data->ext_sensor_type = NO_EXT_SENSOR;
+            set_error_code(ERROR_BME68X_READ);
             return false;
         } else if(LEDS_ENABLE) {
             set_red_led(false);
@@ -182,12 +184,13 @@ bool bme68x_read_telemetry(telemetry_data *data)
     success = bme68x_read(&data->temperature_celsius_100, &data->pressure_mbar_100, &data->humidity_percentage_100, &data->bme6xx_gas_r);
 
     if (!success) {
-        if(LEDS_ENABLE)
+        if (LEDS_ENABLE) {
             set_red_led(true);
+        }
 
-        log_info("BME re-init\n");
+        log_info("BME68X re-init\n");
         success = bme68x_handler_init();
-        log_info("BME re-init: %d\n", success);
+        log_info("BME68X re-init: %d\n", success);
 
         if (success) {
             success = bme68x_read(&data->temperature_celsius_100, &data->pressure_mbar_100, &data->humidity_percentage_100, &data->bme6xx_gas_r);
@@ -206,6 +209,9 @@ bool bme68x_read_telemetry(telemetry_data *data)
 
     if(success) {
         data->ext_sensor_type = SENSOR_BME68X;
+        clear_error_code(ERROR_BME68X_READ);
+    } else {
+        set_error_code(ERROR_BME68X_READ);
     }
 
     bme680_initialization_required = !success;

src/bme690_handler.c

@@ -152,18 +152,20 @@ bool bme690_read_telemetry(telemetry_data *data)
     bool success;
 
     if (bme690_initialization_required) {
-        if(LEDS_ENABLE)
+        if (LEDS_ENABLE) {
             set_red_led(true);
+        }
 
-        log_info("BME re-init\n");
+        log_info("BME690 re-init\n");
         success = bme690_handler_init();
-        log_info("BME re-init: %d\n", success);
+        log_info("BME690 re-init: %d\n", success);
         if (!success) {
             data->temperature_celsius_100 = 0;
             data->pressure_mbar_100 = 0;
             data->humidity_percentage_100 = 0;
             data->bme6xx_gas_r = 0;
             data->ext_sensor_type = NO_EXT_SENSOR;
+            set_error_code(ERROR_BME690_READ);
             return false;
         } else if(LEDS_ENABLE) {
             set_red_led(false);
@@ -173,12 +175,13 @@ bool bme690_read_telemetry(telemetry_data *data)
     success = bme690_read(&data->temperature_celsius_100, &data->pressure_mbar_100, &data->humidity_percentage_100, &data->bme6xx_gas_r);
 
     if (!success) {
-        if(LEDS_ENABLE)
+        if (LEDS_ENABLE) {
             set_red_led(true);
+        }
 
-        log_info("BME re-init\n");
+        log_info("BME690 re-init\n");
         success = bme690_handler_init();
-        log_info("BME re-init: %d\n", success);
+        log_info("BME690 re-init: %d\n", success);
 
         if (success) {
             success = bme690_read(&data->temperature_celsius_100, &data->pressure_mbar_100, &data->humidity_percentage_100, &data->bme6xx_gas_r);
@@ -197,6 +200,9 @@ bool bme690_read_telemetry(telemetry_data *data)
 
     if(success) {
         data->ext_sensor_type = SENSOR_BME690;
+        clear_error_code(ERROR_BME690_READ);
+    } else {
+        set_error_code(ERROR_BME690_READ);
     }
 
     bme690_initialization_required = !success;

src/bmp280_handler.c

@@ -57,8 +57,9 @@ bool bmp280_read_telemetry(telemetry_data *data)
     bool success;
 
     if (bmp280_initialization_required) {
-        if(LEDS_ENABLE)
+        if (LEDS_ENABLE) {
             set_red_led(true);
+        }
 
         log_info("BMP280 re-init\n");
         success = bmp280_handler_init();
@@ -68,6 +69,7 @@ bool bmp280_read_telemetry(telemetry_data *data)
             data->pressure_mbar_100 = 0;
             data->humidity_percentage_100 = 0;
             data->ext_sensor_type = NO_EXT_SENSOR;
+            set_error_code(ERROR_BMP280_READ);
             return false;
         } else if(LEDS_ENABLE) {
             set_red_led(false);
@@ -77,8 +79,9 @@ bool bmp280_read_telemetry(telemetry_data *data)
     success = bmp280_read(&data->temperature_celsius_100, &data->pressure_mbar_100, &data->humidity_percentage_100);
 
     if (!success) {
-        if(LEDS_ENABLE)
+        if (LEDS_ENABLE) {
             set_red_led(true);
+        }
 
         log_info("BMP280 re-init\n");
         success = bmp280_handler_init();
@@ -100,6 +103,9 @@ bool bmp280_read_telemetry(telemetry_data *data)
 
     if(success) {
         data->ext_sensor_type = (bmp280_dev.id == BMP280_CHIP_ID) ? SENSOR_BMP280 : SENSOR_BME280;
+        clear_error_code(ERROR_BMP280_READ);
+    } else {
+        set_error_code(ERROR_BMP280_READ);
     }
 
     bmp280_initialization_required = !success;

src/codecs/horus/horus_packet_v3.c

@@ -284,6 +284,31 @@ size_t horus_packet_v3_create(uint8_t *payload, telemetry_data *data){
     }
 #endif
 
+#if HORUS_V3_TX_ERROR_CODE
+    // Add the system error code (see errors.h) as an "err" extra sensor field
+    if (asnMessage.extraSensors.nCount < 4) {
+        asnMessage.exist.extraSensors = true;
+        horusAdditionalSensorType error_struct = {
+            .name = "err",
+            .exist = {
+                .name = 1,
+                .values = 1
+            },
+            .values = {
+                .kind = horusInt_PRESENT,
+                .u = {
+                    .horusInt = {
+                        .nCount = 1,
+                        .arr[0] = data->error_code
+                    }
+                }
+            }
+        };
+        asnMessage.extraSensors.arr[asnMessage.extraSensors.nCount] = error_struct;
+        asnMessage.extraSensors.nCount += 1;
+    }
+#endif
+
     memset(&encodedMessage, 0, sizeof(encodedMessage));
 
     // The Encoder may fail and update an error code
@@ -316,6 +341,7 @@ size_t horus_packet_v3_create(uint8_t *payload, telemetry_data *data){
             log_error("[error]: HORUS v3 Assert Failure, maybe hit buffer size limit\n");
         }
         // Need to check what happens here.
+        set_error_code(ERROR_HORUS_V3_ENCODE);
         return 0;
     } else {
         // Encoding was successful!
@@ -347,6 +373,7 @@ size_t horus_packet_v3_create(uint8_t *payload, telemetry_data *data){
                 log_error("[error]: HORUS v3 Extension Assert Failure, maybe hit buffer size limit\n");
             }
             // Need to check what happens here.
+            set_error_code(ERROR_HORUS_V3_EXT_ENCODE);
             return 0;
         }
 
@@ -378,6 +405,10 @@ size_t horus_packet_v3_create(uint8_t *payload, telemetry_data *data){
 
         log_info("HORUS v3 ASN1: %i Frame: %i\n", encodedSize, frameSize);
 
+        // Encoding succeeded - clear any Horus encode error
+        clear_error_code(ERROR_HORUS_V3_ENCODE);
+        clear_error_code(ERROR_HORUS_V3_EXT_ENCODE);
+
         return frameSize;
     }
 

src/config.h

@@ -304,6 +304,8 @@ Setting, measured RF output power, relative DC power draw
 #define HORUS_V3_PREAMBLE_LENGTH 4
 #define HORUS_V3_TONE_SPACING_HZ_SI5351 270
 #define HORUS_V3_NOHUB false // Disable uploading to SondeHub
+// Transmit the system error code (see errors.h, also available as $err) as an "err" extra sensor field
+#define HORUS_V3_TX_ERROR_CODE false
 
 // Schedule transmission every N seconds, counting from beginning of an hour (based on GPS time). Set to zero to disable time sync.
 // See the README file for more detailed documentation about time sync and its offset setting

src/config_internal.h

@@ -8,7 +8,12 @@
 
 #define RADIO_PAYLOAD_MAX_LENGTH 512
 #define RADIO_SYMBOL_DATA_MAX_LENGTH 256
+#ifdef RS41_RSM4x4
+// RSM4x4 has more space for the payload message
+#define RADIO_PAYLOAD_MESSAGE_MAX_LENGTH 128
+#else
 #define RADIO_PAYLOAD_MESSAGE_MAX_LENGTH 64
+#endif
 
 #define RADIO_APRS_PAYLOAD_MAX_LENGTH 192
 
@@ -36,6 +41,16 @@
 
 #include <stdbool.h>
 
+// System error codes and the set_error_code() / clear_error_code() API
+#include "errors.h"
+
+// Transmit the system error code in Horus v3 as an "err" extra sensor field.
+// Defaults to off here so generated configs (config_generated.h) that don't set
+// it still build; manual config.h overrides this.
+#ifndef HORUS_V3_TX_ERROR_CODE
+#define HORUS_V3_TX_ERROR_CODE 0
+#endif
+
 extern volatile bool system_initialized;
 
 extern char *cw_message_templates[];