direwolf/telemetry.c

//
//    This file is part of Dire Wolf, an amateur radio packet TNC.
//
//    Copyright (C) 2014, 2015  John Langner, WB2OSZ
//
//    This program is free software: you can redistribute it and/or modify
//    it under the terms of the GNU General Public License as published by
//    the Free Software Foundation, either version 2 of the License, or
//    (at your option) any later version.
//
//    This program is distributed in the hope that it will be useful,
//    but WITHOUT ANY WARRANTY; without even the implied warranty of
//    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
//    GNU General Public License for more details.
//
//    You should have received a copy of the GNU General Public License
//    along with this program.  If not, see <http://www.gnu.org/licenses/>.
//


//#define DEBUG1 1		/* Parsing of original human readable format. */
//#define DEBUG2 1		/* Parsing of base 91 compressed format. */
//#define DEBUG3 1		/* Parsing of special messages. */
//#define DEBUG4 1		/* Resulting display form. */

#if TEST

#define DEBUG1 1
#define DEBUG2 1
#define DEBUG3 1
#define DEBUG4 1

#endif


/*------------------------------------------------------------------
 *
 * Module:      telemetry.c
 *
 * Purpose:   	Decode telemetry information.
 *		Point out where it violates the protocol spec and 
 *		other applications might not interpret it properly.
 *		
 * References:	APRS Protocol, chapter 13.
 *		http://www.aprs.org/doc/APRS101.PDF
 *
 *		Base 91 compressed format
 *		http://he.fi/doc/aprs-base91-comment-telemetry.txt
 *
 *---------------------------------------------------------------*/

#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <assert.h>
#include <string.h>
#include <math.h>
#include <ctype.h>

#include "direwolf.h"
#include "ax25_pad.h"			// for packet_t, AX25_MAX_ADDR_LEN
#include "decode_aprs.h"		// for decode_aprs_t, G_UNKNOWN  
#include "textcolor.h"
#include "telemetry.h"


#define MAX(x,y) ((x)>(y) ? (x) : (y))


#define T_NUM_ANALOG 5				/* Number of analog channels. */
#define T_NUM_DIGITAL 8				/* Number of digital channnels. */

#define T_STR_LEN 16				/* Max len for labels and units. */


#define MAGIC1  0xa51111a5			/* For checking storage allocation problems. */
#define MAGIC2  0xa52222a5

#define C_A 0					/* Scaling coefficient positions. */
#define C_B 1
#define C_C 2


/*
 * Metadata for telemetry data.
 */

struct t_metadata_s {
	int magic1;

	struct t_metadata_s * pnext;		/* Next in linked list. */

	char station[AX25_MAX_ADDR_LEN];	/* Station name with optional SSID. */

	char project[40];			/* Description for data. */
						/* "Project Name" or "project title" in the spec. */

	char name[T_NUM_ANALOG+T_NUM_DIGITAL][T_STR_LEN];
						/* Names for channels.  e.g. Battery, Temperature */

	char unit[T_NUM_ANALOG+T_NUM_DIGITAL][T_STR_LEN];
						/* Units for channels.  e.g. Volts, Deg.C */

	float coeff[T_NUM_ANALOG][3];		/* a, b, c coefficients for scaling. */

	int coeff_ndp[T_NUM_ANALOG][3];		/* Number of decimal places for above. */

	int sense[T_NUM_DIGITAL];		/* Polarity for digital channels. */

	int magic2;
};


static 	struct t_metadata_s * md_list_head = NULL;

static void t_data_process (struct t_metadata_s *pm, int seq, float araw[T_NUM_ANALOG], int ndp[T_NUM_ANALOG], int draw[T_NUM_DIGITAL], char *output, size_t outputsize); 


/*-------------------------------------------------------------------
 *
 * Name:        t_get_metadata
 *
 * Purpose:     Obtain pointer to metadata for specified station.
 *		If not found, allocate a fresh one and initialize with defaults.
 *
 * Inputs:	station		- Station name with optional SSID.
 *
 * Returns:	Pointer to metadata.
 *
 *--------------------------------------------------------------------*/

static struct t_metadata_s * t_get_metadata (char *station)
{
	struct t_metadata_s *p;
	int n;

#if DEBUG3
	text_color_set(DW_COLOR_DEBUG);
	dw_printf ("t_get_metadata (station=%s)\n", station);
#endif

	for (p = md_list_head; p != NULL; p = p->pnext) {
	  if (strcmp(station, p->station) == 0) {

	    assert (p->magic1 == MAGIC1);
	    assert (p->magic2 == MAGIC2);

	    return (p);
	  }
	}

	p = malloc (sizeof (struct t_metadata_s));
	memset (p, 0, sizeof (struct t_metadata_s));

	p->magic1 = MAGIC1;
	
	strlcpy (p->station, station, sizeof(p->station));

	for (n = 0; n < T_NUM_ANALOG; n++) {
	  snprintf (p->name[n], sizeof(p->name[n]), "A%d", n+1);
	}
	for (n = 0; n < T_NUM_DIGITAL; n++) {
	  snprintf (p->name[T_NUM_ANALOG+n], sizeof(p->name[T_NUM_ANALOG+n]), "D%d", n+1);
	}

	for (n = 0; n < T_NUM_ANALOG; n++) {
	  p->coeff[n][C_A] = 0.;
	  p->coeff[n][C_B] = 1.;
	  p->coeff[n][C_C] = 0.;
	  p->coeff_ndp[n][C_A] = 0;
	  p->coeff_ndp[n][C_B] = 0;
	  p->coeff_ndp[n][C_C] = 0;
	}
	
	for (n = 0; n < T_NUM_DIGITAL; n++) {
	  p->sense[n] = 1;
	}

	p->magic2 = MAGIC2;

	p->pnext = md_list_head;
	md_list_head = p;

	assert (p->magic1 == MAGIC1);
	assert (p->magic2 == MAGIC2);

	return (p);

} /* end t_get_metadata */



/*-------------------------------------------------------------------
 *
 * Name:        t_ndp
 *
 * Purpose:     Count number of digits after any decimal point.
 *
 * Inputs:	str	- Number in text format.
 *
 * Returns:	Number digits after decimal point.  Examples, in --> out.
 *
 *			1	--> 0
 *			1.	--> 0
 *			1.2	--> 1
 *			1.23	--> 2
 *			etc.
 *
 *--------------------------------------------------------------------*/

static int t_ndp (char *str)
{
	char *p;

	p = strchr(str,'.');
	if (p == NULL) {
	  return (0);
	}
	else {
	  return (strlen(p+1));
	}
}


/*-------------------------------------------------------------------
 *
 * Name:        telemetry_data_original
 *
 * Purpose:     Interpret telemetry data in the original format.
 *
 * Inputs:	station	- Name of station reporting telemetry.
 *		info 	- Pointer to packet Information field.
 *		quiet	- suppress error messages.
 *
 * Outputs:	output	- Decoded telemetry in human readable format.
 *				TODO:  How big does it need to be?  (buffer overflow?)
 *		comment	- Any comment after the data.
 *
 * Description:	The first character, after the "T" data type indicator, must be "#" 
 *		followed by a sequence number.  Up to 5 analog and 8 digital channel 
 *		values are specified as in this example from the protocol spec.
 *
 *			T#005,199,000,255,073,123,01101001
 *
 *		The analog values are supposed to be 3 digit integers in the 
 *		range of 000 to 255 in fixed columns.  After reading the discussion 
 *		groups it seems that few adhere to those restrictions.  When I 
 *		started to look for some local signals, this was the first one
 *		to appear:
 *
 *			KB1GKN-10>APRX27,UNCAN,WIDE1*:T#491,4.9,0.3,25.0,0.0,1.0,00000000
 *
 *		Not integers.  Not fixed width fields.
 *		We will accept these but issue a warning that others might not.
 *		
 *--------------------------------------------------------------------*/

void telemetry_data_original (char *station, char *info, int quiet, char *output, size_t outputsize, char *comment, size_t commentsize) 
{
	int n;
	int seq;
	char stemp[256];
	char *next;
	char *p;

	float araw[T_NUM_ANALOG];
	int ndp[T_NUM_ANALOG];
	int draw[T_NUM_DIGITAL];

	struct t_metadata_s *pm;


#if DEBUG1
	text_color_set(DW_COLOR_DEBUG);

	dw_printf ("\n%s\n\n", info);
#endif

	strlcpy (output, "", outputsize);
	strlcpy (comment, "", commentsize);

	pm = t_get_metadata(station);

	assert (pm->magic1 == MAGIC1);
	assert (pm->magic2 == MAGIC2);

	seq = 0;
	for (n = 0; n < T_NUM_ANALOG; n++) {
	  araw[n] = G_UNKNOWN;
	  ndp[n] = 0;
	}
	for (n = 0; n < T_NUM_DIGITAL; n++) {
	  draw[n] = G_UNKNOWN;
	}

	if (strncmp(info, "T#", 2) != 0) {
	  if ( ! quiet) {
	    text_color_set(DW_COLOR_ERROR);
	    dw_printf("Error: Information part of telemetry packet must begin with \"#\"\n");
	  }
	  return;	
	}

/*
 * Make a copy of the input string because this will alter it.
 * Remove any trailing CR/LF.
 */

	strlcpy (stemp, info+2, sizeof(stemp));

	for (p = stemp + strlen(stemp) - 1; p >= stemp && (*p == '\r' || *p == '\n') ; p--) {
	  *p = '\0';
	} 

	next = stemp;
	p = strsep(&next,",");
	seq = atoi(p);
	n = 0;
	while ((p = strsep(&next,",")) != NULL) {
	  if (n < T_NUM_ANALOG) {
	    if (strlen(p) > 0) {
	      araw[n] = atof(p);
	      ndp[n] = t_ndp(p);
	    }
	    // Version 1.3: Suppress this message.
	    // No one pays attention to the original 000 to 255 range.
	    // BTW, this doesn't trap values like 0.0 or 1.0
	    //if (strlen(p) != 3 || araw[n] < 0 || araw[n] > 255 || araw[n] != (int)(araw[n])) {
	    //  if ( ! quiet) {
	    //    text_color_set(DW_COLOR_ERROR);
	    //    dw_printf("Telemetry analog values should be 3 digit integer values in range of 000 to 255.\n");	      
	    //    dw_printf("Some applications might not interpret \"%s\" properly.\n", p);
	    //  }	      
	    //}
	    n++;
	  }

	  if (n == T_NUM_ANALOG && next != NULL) {
	    /* We expect to have 8 digits of 0 and 1. */
	    /* Anything left over is a comment. */

	    int k;

	    if (strlen(next) < 8) {
	      if ( ! quiet) {
	        text_color_set(DW_COLOR_ERROR);
	        dw_printf("Expected to find 8 binary digits after \"%s\" for the digital values.\n", p);	
	      }      
	    }

	    // TODO: test this!
	    if (strlen(next) > 8) {
	      strlcpy (comment, next+8, commentsize);
	      next[8] = '\0';
	    }
	    for (k = 0; k < strlen(next); k++) {
	      if (next[k] == '0') {
	        draw[k] = 0;
	      }
	      else if (next[k] == '1') {
	        draw[k] = 1;
	      }
	      else {
	        if ( ! quiet) {
	          text_color_set(DW_COLOR_ERROR);
	          dw_printf("Found \"%c\" when expecting 0 or 1 for digital value %d.\n", next[k], k+1);	
	        }      
	      }
 	    }
	    n++;
	  }
	}
	if (n < T_NUM_ANALOG+1) {
	  if ( ! quiet) {
	    text_color_set(DW_COLOR_ERROR);
	    dw_printf("Found fewer than expected number of telemetry data values.\n");	
	  }
	}      

/*
 * Now process the raw data with any metadata available.
 */
	
#if DEBUG1
	text_color_set(DW_COLOR_DECODED);

	dw_printf ("%d: %.3f %.3f %.3f %.3f %.3f \n", 
		seq, araw[0], araw[1], araw[2], araw[3], araw[4]);

	dw_printf ("%d %d %d %d %d %d %d %d \"%s\"\n",
		draw[0], draw[1], draw[2], draw[3], draw[4], draw[5], draw[6], draw[7], comment);

#endif

	t_data_process (pm, seq, araw, ndp, draw, output, outputsize);

} /* end telemtry_data_original */


/*-------------------------------------------------------------------
 *
 * Name:        telemetry_data_base91
 *
 * Purpose:     Interpret telemetry data in the base 91 compressed format.
 *
 * Inputs:	station	- Name of station reporting telemetry.
 *		cdata 	- Compressed data as character string.
 *
 * Outputs:	output	- Telemetry in human readable form.
 *
 * Description:	We are expecting from 2 to 7 pairs of base 91 digits.
 *		The first pair is the sequence number.
 *		Next we have 1 to 5 analog values.
 *		If digital values are present, all 5 analog values must be present.
 *		
 *--------------------------------------------------------------------*/

/* Range of digits for Base 91 representation. */

#define B91_MIN '!'
#define B91_MAX '{'
#define isdigit91(c) ((c) >= B91_MIN && (c) <= B91_MAX)


static int two_base91_to_i (char *c)
{
	int result = 0;

	assert (B91_MAX - B91_MIN == 90);

	if (isdigit91(c[0])) {
	  result = (c[0] - B91_MIN) * 91;
	}
	else {
	  text_color_set(DW_COLOR_DEBUG);
	  dw_printf ("\"%c\" is not a valid character for base 91 telemetry data.\n", c[0]);
	  return (G_UNKNOWN);
	}

	if (isdigit91(c[1])) {
	  result += (c[1] - B91_MIN);
	}
	else {
	  text_color_set(DW_COLOR_DEBUG);
	  dw_printf ("\"%c\" is not a valid character for base 91 telemetry data.\n", c[1]);
	  return (G_UNKNOWN);
	}
	return (result);
}

void telemetry_data_base91 (char *station, char *cdata, char *output, size_t outputsize)
{
	int n;
	int seq;
	char *p;

	float araw[T_NUM_ANALOG];
	int ndp[T_NUM_ANALOG];
	int draw[T_NUM_DIGITAL];
	struct t_metadata_s *pm;

#if DEBUG2
	text_color_set(DW_COLOR_DEBUG);

	dw_printf ("\n%s\n\n", cdata);
#endif

	strlcpy (output, "", outputsize);

	pm = t_get_metadata(station);

	assert (pm->magic1 == MAGIC1);
	assert (pm->magic2 == MAGIC2);

	seq = 0;
	for (n = 0; n < T_NUM_ANALOG; n++) {
	  araw[n] = G_UNKNOWN;
	  ndp[n] = 0;
	}
	for (n = 0; n < T_NUM_DIGITAL; n++) {
	  draw[n] = G_UNKNOWN;
	}

	if (strlen(cdata) < 4 || strlen(cdata) > 14 || (strlen(cdata) & 1)) {
	  text_color_set(DW_COLOR_ERROR);
	  dw_printf("Internal error: Expected even number of 2 to 14 characters but got \"%s\"\n", cdata);
	  return;	
	}

	seq = two_base91_to_i (cdata);

	for (n=0, p=cdata+2; n<T_NUM_ANALOG+1 && *p!='\0'; n++,p+=2) {
	  if (n < T_NUM_ANALOG) {
	    araw[n] = two_base91_to_i (p);
	  }
	  else {
	    int k;
	    int b = two_base91_to_i (p);
	    for (k=0; k<T_NUM_DIGITAL; k++) {
	      draw[k] = b & 1;
	      b >>= 1;
	    }
	  }
	}

/*
 * Now process the raw data with any metadata available.
 */
	
#if DEBUG2
	text_color_set(DW_COLOR_DECODED);

	dw_printf ("%d: %.3f %.3f %.3f %.3f %.3f \n", 
		seq, araw[0], araw[1], araw[2], araw[3], araw[4]);

	dw_printf ("%d %d %d %d %d %d %d %d \n",
		draw[0], draw[1], draw[2], draw[3], draw[4], draw[5], draw[6], draw[7]);

#endif

	t_data_process (pm, seq, araw, ndp, draw, output, outputsize);

} /* end telemtry_data_base91 */



/*-------------------------------------------------------------------
 *
 * Name:        telemetry_name_message
 *
 * Purpose:     Interpret message with names for analog and digital channels.
 *
 * Inputs:	station	- Name of station reporting telemetry.
 *			  In this case it is the destination for the message,
 *			  not the sender.
 *		msg 	- Rest of message after "PARM."
 *
 * Outputs:	Stored for future use when data values are received.
 *
 * Description:	The first 5 characters of the message are "PARM." and the
 *		rest is a variable length list of comma separated names.
 *	
 *		The original spec has different maximum lengths for different
 *		fields which we will ignore.
 *
 * TBD:		What should we do if some, but not all, names are specified?
 *		Clear the others or keep the defaults?
 *	
 *--------------------------------------------------------------------*/

void telemetry_name_message (char *station, char *msg) 
{
	int n;
	char stemp[256];
	char *next;
	char *p;
	struct t_metadata_s *pm;

#if DEBUG3
	text_color_set(DW_COLOR_DEBUG);

	dw_printf ("\n%s\n\n", msg);
#endif


/*
 * Make a copy of the input string because this will alter it.
 * Remove any trailing CR LF.
 */

	strlcpy (stemp, msg, sizeof(stemp));

	for (p = stemp + strlen(stemp) - 1; p >= stemp && (*p == '\r' || *p == '\n') ; p--) {
	  *p = '\0';
	} 

	pm = t_get_metadata(station);
	assert (pm->magic1 == MAGIC1);
	assert (pm->magic2 == MAGIC2);

	next = stemp;

	n = 0;
	while ((p = strsep(&next,",")) != NULL) {
	  if (n < T_NUM_ANALOG + T_NUM_DIGITAL) {
	    if (strlen(p) > 0 && strcmp(p,"-") != 0) {
	      strlcpy (pm->name[n], p, sizeof(pm->name[n]));
	    }
	    n++;
	  }
	}

#if DEBUG3
	text_color_set(DW_COLOR_DEBUG);

	dw_printf ("names:\n");
	for (n = 0; n < T_NUM_ANALOG + T_NUM_DIGITAL; n++) {
	  dw_printf ("%d=\"%s\"\n", n, pm->name[n]);
	}
#endif

} /* end telemetry_name_message */



/*-------------------------------------------------------------------
 *
 * Name:        telemetry_unit_label_message
 *
 * Purpose:     Interpret message with units/labels for analog and digital channels.
 *
 * Inputs:	station	- Name of station reporting telemetry.
 *			  In this case it is the destination for the message,
 *			  not the sender.
 *		msg 	- Rest of message after "UNIT."
 *
 * Outputs:	Stored for future use when data values are received.
 *
 * Description:	The first 5 characters of the message are "UNIT." and the
 *		rest is a variable length list of comma separated units/labels.
 *	
 *		The original spec has different maximum lengths for different
 *		fields which we will ignore.
 *
 *--------------------------------------------------------------------*/

void telemetry_unit_label_message (char *station, char *msg) 
{
	int n;
	char stemp[256];
	char *next;
	char *p;
	struct t_metadata_s *pm;

#if DEBUG3
	text_color_set(DW_COLOR_DEBUG);

	dw_printf ("\n%s\n\n", msg);
#endif


/*
 * Make a copy of the input string because this will alter it.
 * Remove any trailing CR LF.
 */
	
	strlcpy (stemp, msg, sizeof(stemp));

	for (p = stemp + strlen(stemp) - 1; p >= stemp && (*p == '\r' || *p == '\n') ; p--) {
	  *p = '\0';
	} 

	pm = t_get_metadata(station);
	assert (pm->magic1 == MAGIC1);
	assert (pm->magic2 == MAGIC2);

	next = stemp;

	n = 0;
	while ((p = strsep(&next,",")) != NULL) {
	  if (n < T_NUM_ANALOG + T_NUM_DIGITAL) {
	    if (strlen(p) > 0) {
	      strlcpy (pm->unit[n], p, sizeof(pm->unit[n]));
	    }
	    n++;
	  }
	}

#if DEBUG3
	text_color_set(DW_COLOR_DEBUG);

	dw_printf ("units/labels:\n");
	for (n = 0; n < T_NUM_ANALOG + T_NUM_DIGITAL; n++) {
	  dw_printf ("%d=\"%s\"\n", n, pm->unit[n]);
	}
#endif

} /* end telemetry_unit_label_message */



/*-------------------------------------------------------------------
 *
 * Name:        telemetry_coefficents_message
 *
 * Purpose:     Interpret message with scaling coefficents for analog channels.
 *
 * Inputs:	station	- Name of station reporting telemetry.
 *			  In this case it is the destination for the message,
 *			  not the sender.
 *		msg 	- Rest of message after "EQNS."
 *		quiet	- suppress error messages.
 *
 * Outputs:	Stored for future use when data values are received.
 *
 * Description:	The first 5 characters of the message are "EQNS." and the
 *		rest is a comma separated list of 15 floating point values.
 *	
 *		The spec appears to require all 15 so we will issue an
 *		error if fewer found.
 *
 *--------------------------------------------------------------------*/

void telemetry_coefficents_message (char *station, char *msg, int quiet) 
{
	int n;
	char stemp[256];
	char *next;
	char *p;
	struct t_metadata_s *pm;

#if DEBUG3
	text_color_set(DW_COLOR_DEBUG);

	dw_printf ("\n%s\n\n", msg);
#endif


/*
 * Make a copy of the input string because this will alter it.
 * Remove any trailing CR LF.
 */

	strlcpy (stemp, msg, sizeof(stemp));

	for (p = stemp + strlen(stemp) - 1; p >= stemp && (*p == '\r' || *p == '\n') ; p--) {
	  *p = '\0';
	} 

	pm = t_get_metadata(station);
	assert (pm->magic1 == MAGIC1);
	assert (pm->magic2 == MAGIC2);

	next = stemp;

	n = 0;
	while ((p = strsep(&next,",")) != NULL) {
	  if (n < T_NUM_ANALOG * 3) {
	    // Keep default (or earlier value) for an empty field.
	    if (strlen(p) > 0) {
	      pm->coeff[n/3][n%3] = atof (p);
	      pm->coeff_ndp[n/3][n%3] = t_ndp (p);
	    }
	    else {
	      if ( ! quiet) {
	        text_color_set(DW_COLOR_ERROR);
	        dw_printf ("Equation coefficent position A%d%c is empty.\n", n/3+1, n%3+'a');
	        dw_printf ("Some applications might not handle this correctly.\n");
	      }
	    }
	  }
	  n++;
	}

	if (n != T_NUM_ANALOG * 3) {
	  if ( ! quiet) {
	    text_color_set(DW_COLOR_ERROR);
	    dw_printf ("Found %d equation coefficents when 15 were expected.\n", n);
	    dw_printf ("Some applications might not handle this correctly.\n");
	  }
	}

#if DEBUG3
	text_color_set(DW_COLOR_DEBUG);

	dw_printf ("coeff:\n");
	for (n = 0; n < T_NUM_ANALOG; n++) {
	  dw_printf ("A%d  a=%.*f  b=%.*f  c=%.*f\n", n+1, 
			pm->coeff_ndp[n][C_A], pm->coeff[n][C_A], 
			pm->coeff_ndp[n][C_B], pm->coeff[n][C_B], 
			pm->coeff_ndp[n][C_C], pm->coeff[n][C_C]);
	}
#endif

} /* end telemetry_coefficents_message */



/*-------------------------------------------------------------------
 *
 * Name:        telemetry_bit_sense_message
 *
 * Purpose:     Interpret message with scaling coefficents for analog channels.
 *
 * Inputs:	station	- Name of station reporting telemetry.
 *			  In this case it is the destination for the message,
 *			  not the sender.
 *		msg 	- Rest of message after "BITS."
 *		quiet	- suppress error messages.
 *
 * Outputs:	Stored for future use when data values are received.
 *
 * Description:	The first 5 characters of the message are "BITS."
 *		It should contain eight binary digits for the digital active states.
 *		Anything left over is the project name or title.
 *
 *--------------------------------------------------------------------*/

void telemetry_bit_sense_message (char *station, char *msg, int quiet) 
{
	int n;
	struct t_metadata_s *pm;

#if DEBUG3
	text_color_set(DW_COLOR_DEBUG);

	dw_printf ("\n%s\n\n", msg);
#endif

	pm = t_get_metadata(station);
	assert (pm->magic1 == MAGIC1);
	assert (pm->magic2 == MAGIC2);

	if (strlen(msg) < 8) {
	  if ( ! quiet) {
	    text_color_set(DW_COLOR_ERROR);
	    dw_printf ("The telemetry bit sense message should have at least 8 characters.\n");
	  }
	}

	for (n = 0; n < T_NUM_DIGITAL && n < strlen(msg); n++) {

	  if (msg[n] == '1') {
	    pm->sense[n] = 1;
	  }
	  else if (msg[n] == '0') {
	    pm->sense[n] = 0;
	  }
	  else {
	    if ( ! quiet) {
	      text_color_set(DW_COLOR_ERROR);
	      dw_printf ("Bit position %d sense value was \"%c\" when 0 or 1 was expected.\n", n+1, msg[n]);
	    }
	  }
	}

/* Skip comma if first character of comment field. */

	if (msg[n] == ',') n++;

	strlcpy (pm->project, msg+n, sizeof(pm->project));
 
#if DEBUG3
	text_color_set(DW_COLOR_DEBUG);

	dw_printf ("bit sense, project:\n");
	dw_printf ("%d %d %d %d %d %d %d %d \"%s\"\n", 
		pm->sense[0],
		pm->sense[1],
		pm->sense[2],
		pm->sense[3],
		pm->sense[4],
		pm->sense[5],
		pm->sense[6],
		pm->sense[7],
		pm->project);


#endif

} /* end telemetry_bit_sense_message */


/*-------------------------------------------------------------------
 *
 * Name:        t_data_process
 *
 * Purpose:     Interpret telemetry data in the original format.
 *
 * Inputs:	pm	- Pointer to metadata.
 *		seq	- Sequence number.
 *		araw	- 5 analog raw values.
 *		ndp	- Number of decimal points for each.
 *		draw	- 8 digial raw vales.
 *
 * Outputs:	output	- Decoded telemetry in human readable format.
 *
 * Description:	Process raw data according to any metadata available
 *		and put into human readable form.
 *		
 *--------------------------------------------------------------------*/

#define VAL_STR_SIZE 64

static void fval_to_str (float x, int ndp, char str[VAL_STR_SIZE])
{
	if (x == G_UNKNOWN) {
	  strlcpy (str, "?", VAL_STR_SIZE);
	}
	else {
	  snprintf (str, VAL_STR_SIZE, "%.*f", ndp, x);
	}
}

static void ival_to_str (int x, char str[VAL_STR_SIZE])
{
	if (x == G_UNKNOWN) {
	  strlcpy (str, "?", VAL_STR_SIZE);
	}
	else {
	  snprintf (str, VAL_STR_SIZE, "%d", x);
	}
}

static void t_data_process (struct t_metadata_s *pm, int seq, float araw[T_NUM_ANALOG], int ndp[T_NUM_ANALOG], int draw[T_NUM_DIGITAL], char *output, size_t outputsize) 
{
	int n;
	char val_str[VAL_STR_SIZE];


	assert (pm != NULL);
	assert (pm->magic1 == MAGIC1);
	assert (pm->magic2 == MAGIC2);

	strlcpy (output, "", outputsize);

	if (strlen(pm->project) > 0) {
	  strlcpy (output, pm->project, outputsize);
	  strlcat (output, ": ", outputsize);
	}

	ival_to_str (seq, val_str);
	strlcat (output, "Seq=", outputsize);
	strlcat (output, val_str, outputsize);
	
	for (n = 0; n < T_NUM_ANALOG; n++) {
	  
	  // Display all or only defined values?  Only defined for now.

	  if (araw[n] != G_UNKNOWN) {
	    float fval;
	    int fndp;

	    strlcat (output, ", ", outputsize);

	    strlcat (output, pm->name[n], outputsize);
	    strlcat (output, "=", outputsize);
	    
	    // Scaling and suitable number of decimal places for display.

	    if (araw[n] == G_UNKNOWN) {
	      fval = G_UNKNOWN;
	      fndp = 0;
	    }
	    else {
	      int z;

	      fval = pm->coeff[n][C_A] * araw[n] * araw[n] +
		     pm->coeff[n][C_B] * araw[n] +
		     pm->coeff[n][C_C];
	      
	      z = pm->coeff_ndp[n][C_A] == 0 ? 0 : pm->coeff_ndp[n][C_A] + ndp[n] + ndp[n];
	      fndp = MAX (z, MAX(pm->coeff_ndp[n][C_B] + ndp[n], pm->coeff_ndp[n][C_C]));
	    }
	    fval_to_str (fval, fndp, val_str);
	    strlcat (output, val_str, outputsize);
	    if (strlen(pm->unit[n]) > 0) {
	      strlcat (output, " ", outputsize);
	      strlcat (output, pm->unit[n], outputsize);
	    }
	    
	  }
	}

	for (n = 0; n < T_NUM_DIGITAL; n++) {
	  
	  // Display all or only defined values?  Only defined for now.

	  if (draw[n] != G_UNKNOWN) {
	    int dval;

	    strlcat (output, ", ", outputsize);

	    strlcat (output, pm->name[T_NUM_ANALOG+n], outputsize);
	    strlcat (output, "=", outputsize);
	    
	    // Possible inverting for bit sense.

	    if (draw[n] == G_UNKNOWN) {
	      dval = G_UNKNOWN;
	    }
	    else {
	      dval = draw[n] ^ ! pm->sense[n];
	    }

	    ival_to_str (dval, val_str);

	    if (strlen(pm->unit[T_NUM_ANALOG+n]) > 0) {
	      strlcat (output, " ", outputsize);
	      strlcat (output, pm->unit[T_NUM_ANALOG+n], outputsize);
	    }
	    strlcat (output, val_str, outputsize);
	    
	  }
	}


#if DEBUG4
	text_color_set(DW_COLOR_DEBUG);

	dw_printf ("%s\n", output);	
#endif

} /* end t_data_process */


/*-------------------------------------------------------------------
 *
 * Unit test.   Run with:
 *
 *	make  etest
 *
 *
 *--------------------------------------------------------------------*/


#if TEST


int main ( )
{
	char result[120];
	char comment[40];
	int errors = 0;

	strlcpy (result, "", sizeof(result));
	strlcpy (comment, "", sizeof(comment));


	text_color_set(DW_COLOR_INFO);
	dw_printf ("Unit test for telemetry decoding functions...\n");	

#if DEBUG1

	text_color_set(DW_COLOR_INFO);
	dw_printf ("part 1\n");	

	// From protocol spec.

	telemetry_data_original ("WB2OSZ", "T#005,199,000,255,073,123,01101001", 0, result, sizeof(result), comment, sizeof(comment));

	if (strcmp(result, "Seq=5, A1=199, A2=0, A3=255, A4=73, A5=123, D1=0, D2=1, D3=1, D4=0, D5=1, D6=0, D7=0, D8=1") != 0 ||
	    strcmp(comment, "") != 0) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 101\n");
	}

	// Try adding a comment.

	telemetry_data_original ("WB2OSZ", "T#005,199,000,255,073,123,01101001Comment,with,commas", 0, result, sizeof(result), comment, sizeof(comment));

	if (strcmp(result, "Seq=5, A1=199, A2=0, A3=255, A4=73, A5=123, D1=0, D2=1, D3=1, D4=0, D5=1, D6=0, D7=0, D8=1") != 0 ||
	    strcmp(comment, "Comment,with,commas") != 0) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 102\n");
	}


	// Error handling - Try shortening or omitting parts.

	telemetry_data_original ("WB2OSZ", "T005,199,000,255,073,123,0110", 0, result, sizeof(result), comment, sizeof(comment));

	if (strcmp(result, "") != 0 ||
	    strcmp(comment, "") != 0) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 103\n");
	}

	telemetry_data_original ("WB2OSZ", "T#005,199,000,255,073,123,0110", 0, result, sizeof(result), comment, sizeof(comment));

	if (strcmp(result, "Seq=5, A1=199, A2=0, A3=255, A4=73, A5=123, D1=0, D2=1, D3=1, D4=0") != 0 ||
	    strcmp(comment, "") != 0) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 104\n");
	}

	telemetry_data_original ("WB2OSZ", "T#005,199,000,255,073,123", 0, result, sizeof(result), comment, sizeof(comment));

	if (strcmp(result, "Seq=5, A1=199, A2=0, A3=255, A4=73, A5=123") != 0 ||
	    strcmp(comment, "") != 0) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 105\n");
	}

	telemetry_data_original ("WB2OSZ", "T#005,199,000,255,,123,01101001", 0, result, sizeof(result), comment, sizeof(comment));

	if (strcmp(result, "Seq=5, A1=199, A2=0, A3=255, A5=123, D1=0, D2=1, D3=1, D4=0, D5=1, D6=0, D7=0, D8=1") != 0 ||
	    strcmp(comment, "") != 0) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 106\n");
	}

	telemetry_data_original ("WB2OSZ", "T#005,199,000,255,073,123,01101009", 0, result, sizeof(result), comment, sizeof(comment));

	if (strcmp(result, "Seq=5, A1=199, A2=0, A3=255, A4=73, A5=123, D1=0, D2=1, D3=1, D4=0, D5=1, D6=0, D7=0") != 0 ||
	    strcmp(comment, "") != 0) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 107\n");
	}


	// Local observation.

	telemetry_data_original ("WB2OSZ", "T#491,4.9,0.3,25.0,0.0,1.0,00000000", 0, result, sizeof(result), comment, sizeof(comment));

	if (strcmp(result, "Seq=491, A1=4.9, A2=0.3, A3=25.0, A4=0.0, A5=1.0, D1=0, D2=0, D3=0, D4=0, D5=0, D6=0, D7=0, D8=0") != 0 ||
	    strcmp(comment, "") != 0) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 108\n");
	}

#endif

#if DEBUG2

	text_color_set(DW_COLOR_INFO);
	dw_printf ("part 2\n");	

	// From protocol spec.

	telemetry_data_base91 ("WB2OSZ", "ss11", result, sizeof(result));

	if (strcmp(result, "Seq=7544, A1=1472") != 0) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 201\n");	
	}

	telemetry_data_base91 ("WB2OSZ", "ss11223344{{!\"", result, sizeof(result));

	if (strcmp(result, "Seq=7544, A1=1472, A2=1564, A3=1656, A4=1748, A5=8280, D1=1, D2=0, D3=0, D4=0, D5=0, D6=0, D7=0, D8=0") != 0) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 202\n");
	}

	// Error cases.  Should not happen in practice because function
	// should be called only with valid data that matches the pattern.

	telemetry_data_base91 ("WB2OSZ", "ss11223344{{!\"x", result, sizeof(result));

	if (strcmp(result, "") != 0) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 203\n");
	}

	telemetry_data_base91 ("WB2OSZ", "ss1", result, sizeof(result));

	if (strcmp(result, "") != 0) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 204\n");
	}

	telemetry_data_base91 ("WB2OSZ", "ss11223344{{!", result, sizeof(result));

	if (strcmp(result, "") != 0) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 205\n");
	}

	telemetry_data_base91 ("WB2OSZ", "s |1", result, sizeof(result));

	if (strcmp(result, "Seq=?") != 0) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 206\n");
	}

#endif

#if DEBUG3


	text_color_set(DW_COLOR_INFO);
	dw_printf ("part 3\n");	

	telemetry_name_message ("N0QBF-11", "Battery,Btemp,ATemp,Pres,Alt,Camra,Chut,Sun,10m,ATV");

	struct t_metadata_s *pm;
	pm = t_get_metadata("N0QBF-11");

	if (strcmp(pm->name[0],  "Battery") != 0 ||
	    strcmp(pm->name[1],  "Btemp") != 0 ||
	    strcmp(pm->name[2],  "ATemp") != 0 ||
	    strcmp(pm->name[3],  "Pres") != 0 ||
	    strcmp(pm->name[4],  "Alt") != 0 ||
	    strcmp(pm->name[5],  "Camra") != 0 ||
	    strcmp(pm->name[6],  "Chut") != 0 ||
	    strcmp(pm->name[7],  "Sun") != 0 ||
	    strcmp(pm->name[8],  "10m") != 0 ||
	    strcmp(pm->name[9],  "ATV") != 0 ||
	    strcmp(pm->name[10], "D6") != 0 ||
	    strcmp(pm->name[11], "D7") != 0 ||
	    strcmp(pm->name[12], "D8") != 0 ) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 301\n");
	}

	telemetry_unit_label_message ("N0QBF-11", "v/100,deg.F,deg.F,Mbar,Kft,Click,OPEN,on,on,hi");

	pm = t_get_metadata("N0QBF-11");

	if (strcmp(pm->unit[0],  "v/100") != 0 ||
	    strcmp(pm->unit[1],  "deg.F") != 0 ||
	    strcmp(pm->unit[2],  "deg.F") != 0 ||
	    strcmp(pm->unit[3],  "Mbar") != 0 ||
	    strcmp(pm->unit[4],  "Kft") != 0 ||
	    strcmp(pm->unit[5],  "Click") != 0 ||
	    strcmp(pm->unit[6],  "OPEN") != 0 ||
	    strcmp(pm->unit[7],  "on") != 0 ||
	    strcmp(pm->unit[8],  "on") != 0 ||
	    strcmp(pm->unit[9],  "hi") != 0 ||
	    strcmp(pm->unit[10], "") != 0 ||
	    strcmp(pm->unit[11], "") != 0 ||
	    strcmp(pm->unit[12], "") != 0 ) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 302\n");
	}

	telemetry_coefficents_message ("N0QBF-11", "0,5.2,0,0,.53,-32,3,4.39,49,-32,3,18,1,2,3", 0);

	pm = t_get_metadata("N0QBF-11");

	if (pm->coeff[0][0] != 0   || pm->coeff[0][1] < 5.1999 || pm->coeff[0][1] > 5.2001 || pm->coeff[0][2] != 0 ||
	    pm->coeff[1][0] != 0   || pm->coeff[1][1] < .52999 || pm->coeff[1][1] > .53001 || pm->coeff[1][2] != -32 ||
	    pm->coeff[2][0] != 3   || pm->coeff[2][1] < 4.3899 || pm->coeff[2][1] > 4.3901 || pm->coeff[2][2] != 49 ||
	    pm->coeff[3][0] != -32 || pm->coeff[3][1] != 3                                 || pm->coeff[3][2] != 18 ||
            pm->coeff[4][0] != 1   || pm->coeff[4][1] != 2                                 || pm->coeff[4][2] != 3) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 303c\n");
	}

	if (pm->coeff_ndp[0][0] != 0 || pm->coeff_ndp[0][1] != 1 || pm->coeff_ndp[0][2] != 0 ||
	    pm->coeff_ndp[1][0] != 0 || pm->coeff_ndp[1][1] != 2 || pm->coeff_ndp[1][2] != 0 ||
	    pm->coeff_ndp[2][0] != 0 || pm->coeff_ndp[2][1] != 2 || pm->coeff_ndp[2][2] != 0 ||
	    pm->coeff_ndp[3][0] != 0 || pm->coeff_ndp[3][1] != 0 || pm->coeff_ndp[3][2] != 0 ||
	    pm->coeff_ndp[4][0] != 0 || pm->coeff_ndp[4][1] != 0 || pm->coeff_ndp[4][2] != 0 ) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 303n\n");
	}

	// Error if less than 15 or empty field.
	// Notice that we keep the previous value in this case.

	telemetry_coefficents_message ("N0QBF-11", "0,5.2,0,0,.53,-32,3,4.39,49,-32,3,18,1,2", 0);

	pm = t_get_metadata("N0QBF-11");

	if (pm->coeff[0][0] != 0   || pm->coeff[0][1] < 5.1999 || pm->coeff[0][1] > 5.2001 || pm->coeff[0][2] != 0 ||
	    pm->coeff[1][0] != 0   || pm->coeff[1][1] < .52999 || pm->coeff[1][1] > .53001 || pm->coeff[1][2] != -32 ||
	    pm->coeff[2][0] != 3   || pm->coeff[2][1] < 4.3899 || pm->coeff[2][1] > 4.3901 || pm->coeff[2][2] != 49 ||
	    pm->coeff[3][0] != -32 || pm->coeff[3][1] != 3                                 || pm->coeff[3][2] != 18 ||
            pm->coeff[4][0] != 1   || pm->coeff[4][1] != 2                                 || pm->coeff[4][2] != 3) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 304c\n");
	}

	if (pm->coeff_ndp[0][0] != 0 || pm->coeff_ndp[0][1] != 1 || pm->coeff_ndp[0][2] != 0 ||
	    pm->coeff_ndp[1][0] != 0 || pm->coeff_ndp[1][1] != 2 || pm->coeff_ndp[1][2] != 0 ||
	    pm->coeff_ndp[2][0] != 0 || pm->coeff_ndp[2][1] != 2 || pm->coeff_ndp[2][2] != 0 ||
	    pm->coeff_ndp[3][0] != 0 || pm->coeff_ndp[3][1] != 0 || pm->coeff_ndp[3][2] != 0 ||
	    pm->coeff_ndp[4][0] != 0 || pm->coeff_ndp[4][1] != 0 || pm->coeff_ndp[4][2] != 0 ) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 304n\n");
	}

	telemetry_coefficents_message ("N0QBF-11", "0,5.2,0,0,.53,-32,3,4.39,49,-32,3,18,1,,3", 0);

	pm = t_get_metadata("N0QBF-11");

	if (pm->coeff[0][0] != 0   || pm->coeff[0][1] < 5.1999 || pm->coeff[0][1] > 5.2001 || pm->coeff[0][2] != 0 ||
	    pm->coeff[1][0] != 0   || pm->coeff[1][1] < .52999 || pm->coeff[1][1] > .53001 || pm->coeff[1][2] != -32 ||
	    pm->coeff[2][0] != 3   || pm->coeff[2][1] < 4.3899 || pm->coeff[2][1] > 4.3901 || pm->coeff[2][2] != 49 ||
	    pm->coeff[3][0] != -32 || pm->coeff[3][1] != 3                                 || pm->coeff[3][2] != 18 ||
            pm->coeff[4][0] != 1   || pm->coeff[4][1] != 2                                 || pm->coeff[4][2] != 3) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 305c\n");
	}

	if (pm->coeff_ndp[0][0] != 0 || pm->coeff_ndp[0][1] != 1 || pm->coeff_ndp[0][2] != 0 ||
	    pm->coeff_ndp[1][0] != 0 || pm->coeff_ndp[1][1] != 2 || pm->coeff_ndp[1][2] != 0 ||
	    pm->coeff_ndp[2][0] != 0 || pm->coeff_ndp[2][1] != 2 || pm->coeff_ndp[2][2] != 0 ||
	    pm->coeff_ndp[3][0] != 0 || pm->coeff_ndp[3][1] != 0 || pm->coeff_ndp[3][2] != 0 ||
	    pm->coeff_ndp[4][0] != 0 || pm->coeff_ndp[4][1] != 0 || pm->coeff_ndp[4][2] != 0 ) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 305n\n");
	}


	telemetry_bit_sense_message ("N0QBF-11", "10110000,N0QBF's Big Balloon", 0);

	pm = t_get_metadata("N0QBF-11");
	if (pm->sense[0] != 1 || pm->sense[1] != 0 || pm->sense[2] != 1 || pm->sense[3] != 1 ||
	    pm->sense[4] != 0 || pm->sense[5] != 0 || pm->sense[6] != 0 || pm->sense[7] != 0 ||
	    strcmp(pm->project, "N0QBF's Big Balloon") != 0) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 306\n");
	}

	// Too few and invalid digits.
	telemetry_bit_sense_message ("N0QBF-11", "1011000", 0);

	pm = t_get_metadata("N0QBF-11");
	if (pm->sense[0] != 1 || pm->sense[1] != 0 || pm->sense[2] != 1 || pm->sense[3] != 1 ||
	    pm->sense[4] != 0 || pm->sense[5] != 0 || pm->sense[6] != 0 || pm->sense[7] != 0 ||
	    strcmp(pm->project, "") != 0) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 307\n");
	}

	telemetry_bit_sense_message ("N0QBF-11", "10110008", 0);

	pm = t_get_metadata("N0QBF-11");
	if (pm->sense[0] != 1 || pm->sense[1] != 0 || pm->sense[2] != 1 || pm->sense[3] != 1 ||
	    pm->sense[4] != 0 || pm->sense[5] != 0 || pm->sense[6] != 0 || pm->sense[7] != 0 ||
	    strcmp(pm->project, "") != 0) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 308\n");
	}


#endif

	text_color_set(DW_COLOR_INFO);
	dw_printf ("part 4\n");	

	telemetry_coefficents_message ("M0XER-3", "0,0.001,0,0,0.001,0,0,0.1,-273.2,0,1,0,0,1,0", 0);
	telemetry_bit_sense_message ("M0XER-3", "11111111,10mW research balloon", 0);
	telemetry_name_message ("M0XER-3", "Vbat,Vsolar,Temp,Sat");
	telemetry_unit_label_message ("M0XER-3", "V,V,C,,m");

	telemetry_data_base91 ("M0XER-3", "DyR.&^<A!.", result, sizeof(result));

	if (strcmp(result, "10mW research balloon: Seq=3273, Vbat=4.472 V, Vsolar=0.516 V, Temp=-24.3 C, Sat=13") != 0 ||
	    strcmp(comment, "") != 0) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 401\n");
	}

	telemetry_data_base91 ("M0XER-3", "cNOv'C?=!-", result, sizeof(result));

	if (strcmp(result, "10mW research balloon: Seq=6051, Vbat=4.271 V, Vsolar=0.580 V, Temp=2.6 C, Sat=12") != 0 ||
	    strcmp(comment, "") != 0) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 402\n");
	}

	telemetry_data_base91 ("M0XER-3", "n0RS(:>b!+", result, sizeof(result));

	if (strcmp(result, "10mW research balloon: Seq=7022, Vbat=4.509 V, Vsolar=0.662 V, Temp=-2.8 C, Sat=10") != 0 ||
	    strcmp(comment, "") != 0) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 403\n");
	}

	telemetry_data_base91 ("M0XER-3", "x&G=!(8s!,", result, sizeof(result));

	if (strcmp(result, "10mW research balloon: Seq=7922, Vbat=3.486 V, Vsolar=0.007 V, Temp=-55.7 C, Sat=11") != 0 ||
	    strcmp(comment, "") != 0) {
	  errors++; text_color_set(DW_COLOR_ERROR); dw_printf ("Wrong result, test 404\n");
	}


/* final score. */

	if (errors != 0) {
	  text_color_set (DW_COLOR_ERROR);
	  dw_printf ("\nTEST FAILED with %d errors.\n", errors);
	  exit (EXIT_FAILURE);
	}

	text_color_set (DW_COLOR_REC);
	dw_printf ("\nTEST WAS SUCCESSFUL.\n");
	exit (EXIT_SUCCESS);
}

/*
	A more complete test can be performed by placing the following
	in a text file and feeding it into the "decode_aprs" utility.

2E0TOY>APRS::M0XER-3  :BITS.11111111,10mW research balloon
2E0TOY>APRS::M0XER-3  :PARM.Vbat,Vsolar,Temp,Sat
2E0TOY>APRS::M0XER-3  :EQNS.0,0.001,0,0,0.001,0,0,0.1,-273.2,0,1,0,0,1,0
2E0TOY>APRS::M0XER-3  :UNIT.V,V,C,,m
M0XER-3>APRS63,WIDE2-1:!//Bap'.ZGO JHAE/A=042496|E@Q0%i;5!-|
M0XER-3>APRS63,WIDE2-1:!/4\;u/)K$O J]YD/A=041216|h`RY(1>q!(|
M0XER-3>APRS63,WIDE2-1:!/23*f/R$UO Jf'x/A=041600|rxR_'J>+!(|

	The interpretation should look something like this:
	10mW research balloon: Seq=3307, Vbat=4.383 V, Vsolar=0.436 V, Temp=-34.6 C, Sat=12
*/

#endif

/* end telemetry.c */