mirror of
https://github.com/mytechnotalent/Embedded-Hacking.git
synced 2026-10-02 22:16:55 +02:00
Kevin Thomas
35eacd2c0e
- 0x0011a_cb (Operation Dark Vector): nation-state CTF redesign with an AES-128-ECB sealed target and a plaintext launch origin; RP2350 firmware with bearing-driven servo, tri-color LEDs, GSV stats, and a realistic no-fix path - docs: story-driven classified brief, GDB and Ghidra tutorials with deep step-throughs, regenerated artifacts and PDFs - scripts: docstring standard, AES per-student randomizer, telemetry monitor - week 3 to week 5 lessons: Ghidra patching tutorial, CMSIS-SVD hardware RE, double floating-point and GPIO architecture chapters, README structure
107 lines
3.5 KiB
C
107 lines
3.5 KiB
C
// MIT License
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//
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// Copyright (c) 2026 Kevin Thomas
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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// SOFTWARE.
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//
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// Author: Kevin Thomas
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// Email: kevin@mytechnotalent.com
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// GitHub: https://github.com/mytechnotalent
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// File: navigation.c
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// Desc: Implements waypoint navigation, dead-reckoning, and telemetry dispatch.
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// Created: 2026
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#include "navigation.h"
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#include "ctf_target.h"
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#include "aes.h"
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#include "lora.h"
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#include "payload.h"
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#include "propeller.h"
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#include <stdio.h>
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#include <math.h>
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#include <string.h>
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#include <stdint.h>
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double TARGET_LAT = 0.0;
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double TARGET_LON = 0.0;
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const double ORIGIN_LAT = 38.840280;
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const double ORIGIN_LON = -77.428890;
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void init_navigation(void)
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{
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uint8_t pt[16];
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const uint8_t key[16] = CTF_AES_KEY;
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const uint8_t ct[16] = CTF_TARGET_CT;
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aes128_ecb_decrypt_block(ct, key, pt);
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memcpy(&TARGET_LAT, pt, sizeof(double));
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memcpy(&TARGET_LON, pt + 8, sizeof(double));
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}
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void send_telemetry(double cur_lat, double cur_lon)
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{
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char msg[80];
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snprintf(msg, sizeof(msg), "CURRENT LAT: %lf, LON: %lf\r\n", cur_lat, cur_lon);
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printf("%s", msg);
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lora_send(msg);
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}
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void dead_reckon_step(double *cur_lat, double *cur_lon)
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{
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double dlat = TARGET_LAT - *cur_lat;
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double dlon = TARGET_LON - *cur_lon;
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*cur_lat += (fabs(dlat) < 0.005) ? dlat : ((dlat > 0.0) ? 0.004166 : -0.004166);
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*cur_lon += (fabs(dlon) < 0.005) ? dlon : ((dlon > 0.0) ? 0.002139 : -0.002139);
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}
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bool check_arrival(double cur_lat, double cur_lon)
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{
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return (cur_lat == TARGET_LAT) && (cur_lon == TARGET_LON);
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}
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/**
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* @brief Compute the initial bearing from one point toward another.
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*
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* @param lat1 Origin latitude in degrees.
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* @param lon1 Origin longitude in degrees.
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* @param lat2 Destination latitude in degrees.
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* @param lon2 Destination longitude in degrees.
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* @return double Bearing in degrees (0 to 360).
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*/
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static double bearing_to(double lat1, double lon1, double lat2, double lon2)
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{
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double p1 = lat1 * 0.017453292519943295, p2 = lat2 * 0.017453292519943295;
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double dl = (lon2 - lon1) * 0.017453292519943295;
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double y = sin(dl) * cos(p2);
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double x = cos(p1) * sin(p2) - sin(p1) * cos(p2) * cos(dl);
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double b = atan2(y, x) * 57.29577951308232;
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return (b < 0.0) ? (b + 360.0) : b;
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}
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void navigate_to_target(double cur_lat, double cur_lon)
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{
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send_telemetry(cur_lat, cur_lon);
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if (check_arrival(cur_lat, cur_lon)) {
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propeller_stop();
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release_payload();
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} else {
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propeller_set_bearing(bearing_to(cur_lat, cur_lon, TARGET_LAT, TARGET_LON));
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}
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}
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