no longer need patch
[fw/altos] / doc / telemetry.xsl
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-<?xml version="1.0" encoding="utf-8" ?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-"/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-
-<article>
-  <articleinfo>
-    <title>AltOS Telemetry</title>
-    <subtitle>Packet Definitions</subtitle>
-    <author>
-      <firstname>Keith</firstname>
-      <surname>Packard</surname>
-    </author>
-    <copyright>
-      <year>2011</year>
-      <holder>Keith Packard</holder>
-    </copyright>
-    <legalnotice>
-      <para>
-       This document is released under the terms of the
-       <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
-         Creative Commons ShareAlike 3.0
-       </ulink>
-       license.
-      </para>
-    </legalnotice>
-    <revhistory>
-      <revision>
-       <revnumber>0.1</revnumber>
-       <date>01 July 2011</date>
-       <revremark>Initial content</revremark>
-      </revision>
-    </revhistory>
-  </articleinfo>
-  <section>
-    <title>History and Motivation</title>
-    <para>
-      The original AltoOS telemetry mechanism encoded everything
-      available piece of information on the TeleMetrum hardware into a
-      single unified packet. Initially, the packets contained very
-      little data—some raw sensor readings along with the current GPS
-      coordinates when a GPS receiver was connected. Over time, the
-      amount of data grew to include sensor calibration data, GPS
-      satellite information and a host of internal state information
-      designed to help diagnose flight failures in case of a loss of
-      the on-board flight data.
-    </para>
-    <para>
-      Because every packet contained all of the data, packets were
-      huge—95 bytes long. Much of the information was also specific to
-      the TeleMetrum hardware. With the introduction of the TeleMini
-      flight computer, most of the data contained in the telemetry
-      packets was unavailable. Initially, a shorter, but still
-      comprehensive packet was implemented. This required that the
-      ground station be pre-configured as to which kind of packet to
-      expect.
-    </para>
-    <para>
-      The development of several companion boards also made the
-      shortcomings evident—each companion board would want to include
-      telemetry data in the radio link; with the original design, the
-      packet would have to hold the new data as well, requiring
-      additional TeleMetrum and ground station changes.
-    </para>
-  </section>
-  <section>
-    <title>Packet Format Design</title>
-    <para>
-      AltOS telemetry data is split into multiple different packets,
-      all the same size, but each includs an identifier so that the
-      ground station can distinguish among different types. A single
-      flight board will transmit multiple packet types, each type on a
-      different schedule. The ground software need look for only a
-      single packet size, and then decode the information within the
-      packet and merge data from multiple packets to construct the
-      full flight computer state.
-    </para>
-    <para>
-      Each AltOS packet is 32 bytes long. This size was chosen based
-      on the known telemetry data requirements. The power of two size
-      allows them to be stored easily in flash memory without having
-      them split across blocks or leaving gaps at the end.
-    </para>
-    <para>
-      All packet types start with a five byte header which encodes the
-      device serial number, device clock value and the packet
-      type. The remaining 27 bytes encode type-specific data.
-    </para>
-  </section>
-  <section>
-    <title>Packet Formats</title>
-    This section first defines the packet header common to all packets
-    and then the per-packet data layout.
-    <section>
-      <title>Packet Header</title>
-      <table frame='all'>
-       <title>Telemetry Packet Header</title>
-       <tgroup cols='4' align='center' colsep='1' rowsep='1'>
-         <colspec align='right' colwidth='*' colname='Offset'/>
-         <colspec align='center' colwidth='3*' colname='Data Type'/>
-         <colspec align='left' colwidth='3*' colname='Name'/>
-         <colspec align='left' colwidth='9*' colname='Description'/>
-         <thead>
-           <row>
-             <entry align='center'>Offset</entry>
-             <entry align='center'>Data Type</entry>
-             <entry align='center'>Name</entry>
-             <entry align='center'>Description</entry>
-           </row>
-         </thead>
-         <tbody>
-           <row>
-             <entry>0</entry>
-             <entry>uint16_t</entry>
-             <entry>serial</entry>
-             <entry>Device serial Number</entry>
-           </row>
-           <row>
-             <entry>2</entry>
-             <entry>uint16_t</entry>
-             <entry>tick</entry>
-             <entry>Device time in 100ths of a second</entry>
-           </row>
-           <row>
-             <entry>4</entry>
-             <entry>uint8_t</entry>
-             <entry>type</entry>
-             <entry>Packet type</entry>
-           </row>
-           <row>
-             <entry>5</entry>
-           </row>
-         </tbody>
-       </tgroup>
-      </table>
-      <para>
-      Each packet starts with these five bytes which serve to identify
-      which device has transmitted the packet, when it was transmitted
-      and what the rest of the packet contains.
-      </para>
-    </section>
-    <section>
-      <title>Sensor Data</title>
-      <informaltable frame='none' label='' tocentry='0'>
-       <tgroup cols='2' align='center' colsep='1' rowsep='1'>
-         <colspec align='center' colwidth='*' colname='Offset'/>
-         <colspec align='left' colwidth='3*' colname='Description'/>
-         <thead>
-           <row>
-             <entry>Type</entry>
-             <entry>Description</entry>
-           </row>
-         </thead>
-         <tbody>
-           <row>
-             <entry>0x01</entry>
-             <entry>TeleMetrum Sensor Data</entry>
-           </row>
-           <row>
-             <entry>0x02</entry>
-             <entry>TeleMini Sensor Data</entry>
-           </row>
-           <row>
-             <entry>0x03</entry>
-             <entry>TeleNano Sensor Data</entry>
-           </row>
-         </tbody>
-       </tgroup>
-      </informaltable>
-      <para>
-       TeleMetrum, TeleMini and TeleNano share this same packet
-       format for sensor data. Each uses a distinct packet type so
-       that the receiver knows which data values are valid and which
-       are undefined.
-      </para>
-      <table frame='all'>
-       <title>Sensor Packet Contents</title>
-       <tgroup cols='4' align='center' colsep='1' rowsep='1'>
-         <colspec align='right' colwidth='*' colname='Offset'/>
-         <colspec align='center' colwidth='3*' colname='Data Type'/>
-         <colspec align='left' colwidth='3*' colname='Name'/>
-         <colspec align='left' colwidth='9*' colname='Description'/>
-         <thead>
-           <row>
-             <entry align='center'>Offset</entry>
-             <entry align='center'>Data Type</entry>
-             <entry align='center'>Name</entry>
-             <entry align='center'>Description</entry>
-           </row>
-         </thead>
-         <tbody>
-           <row>
-             <entry>5</entry><entry>uint8_t</entry><entry>state</entry><entry>Flight state</entry>
-           </row>
-           <row>
-             <entry>6</entry><entry>int16_t</entry><entry>accel</entry><entry>accelerometer (TM only)</entry>
-           </row>
-           <row>
-             <entry>8</entry><entry>int16_t</entry><entry>pres</entry><entry>pressure sensor</entry>
-           </row>
-           <row>
-             <entry>10</entry><entry>int16_t</entry><entry>temp</entry><entry>temperature sensor</entry>
-           </row>
-           <row>
-             <entry>12</entry><entry>int16_t</entry><entry>v_batt</entry><entry>battery voltage</entry>
-           </row>
-           <row>
-             <entry>14</entry><entry>int16_t</entry><entry>sense_d</entry><entry>drogue continuity sense (TM/Tm)</entry>
-           </row>
-           <row>
-             <entry>16</entry><entry>int16_t</entry><entry>sense_m</entry><entry>main continuity sense (TM/Tm)</entry>
-           </row>
-           <row>
-             <entry>18</entry><entry>int16_t</entry><entry>accel</entry><entry>m/s² * 16</entry>
-           </row>
-           <row>
-             <entry>20</entry><entry>int16_t</entry><entry>speed</entry><entry>m/s * 16</entry>
-           </row>
-           <row>
-             <entry>22</entry><entry>int16_t</entry><entry>height</entry><entry>m</entry>
-           </row>
-           <row>
-             <entry>24</entry><entry>int16_t</entry><entry>ground_accel</entry><entry>TM</entry>
-           </row>
-           <row>
-             <entry>26</entry><entry>int16_t</entry><entry>ground_pres</entry><entry>Average barometer reading on ground</entry>
-           </row>
-           <row>
-             <entry>28</entry><entry>int16_t</entry><entry>accel_plus_g</entry><entry>TM</entry>
-           </row>
-           <row>
-             <entry>30</entry><entry>int16_t</entry><entry>accel_minus_g</entry><entry>TM</entry>
-           </row>
-           <row>
-             <entry>32</entry>
-           </row>
-         </tbody>
-       </tgroup>
-      </table>
-    </section>
-    <section>
-      <title>Configuration Data</title>
-      <informaltable frame='none' label='' tocentry='0'>
-       <tgroup cols='2' align='center' colsep='1' rowsep='1'>
-         <colspec align='center' colwidth='*' colname='Offset'/>
-         <colspec align='left' colwidth='3*' colname='Description'/>
-         <thead>
-           <row>
-             <entry>Type</entry>
-             <entry>Description</entry>
-           </row>
-         </thead>
-         <tbody>
-           <row>
-             <entry>0x04</entry>
-             <entry>Configuration Data</entry>
-           </row>
-         </tbody>
-       </tgroup>
-      </informaltable>
-      <table frame='all'>
-       <title>Sensor Packet Contents</title>
-       <tgroup cols='4' align='center' colsep='1' rowsep='1'>
-         <colspec align='right' colwidth='*' colname='Offset'/>
-         <colspec align='center' colwidth='3*' colname='Data Type'/>
-         <colspec align='left' colwidth='3*' colname='Name'/>
-         <colspec align='left' colwidth='9*' colname='Description'/>
-         <thead>
-           <row>
-             <entry align='center'>Offset</entry>
-             <entry align='center'>Data Type</entry>
-             <entry align='center'>Name</entry>
-             <entry align='center'>Description</entry>
-           </row>
-         </thead>
-         <tbody>
-           <row>
-             <entry>5</entry><entry>uint8_t</entry><entry>type</entry><entry>Device type</entry>
-           </row>
-           <row>
-             <entry>6</entry><entry>uint16_t</entry><entry>flight</entry><entry>Flight number</entry>
-           </row>
-           <row>
-             <entry>8</entry><entry>uint8_t</entry><entry>config_major</entry><entry>Config major version</entry>
-           </row>
-           <row>
-             <entry>9</entry><entry>uint8_t</entry><entry>config_minor</entry><entry>Config minor version</entry>
-           </row>
-           <row>
-             <entry>10</entry><entry>uint16_t</entry><entry>main_deploy</entry><entry>Main deploy alt in meters</entry>
-           </row>
-           <row>
-             <entry>12</entry><entry>uint32_t</entry><entry>flight_log_max</entry><entry>Maximum flight log size (B)</entry>
-           </row>
-           <row>
-             <entry>16</entry><entry>char</entry><entry>callsign[8]</entry><entry>Radio operator identifier</entry>
-           </row>
-           <row>
-             <entry>24</entry><entry>char</entry><entry>version[8]</entry><entry>Software version identifier</entry>
-           </row>
-           <row>
-             <entry>32</entry>
-           </row>
-         </tbody>
-       </tgroup>
-      </table>
-    </section>
-    <section>
-      <title>GPS Location</title>
-      <informaltable frame='none' label='' tocentry='0'>
-       <tgroup cols='2' align='center' colsep='1' rowsep='1'>
-         <colspec align='center' colwidth='*' colname='Offset'/>
-         <colspec align='left' colwidth='3*' colname='Description'/>
-         <thead>
-           <row>
-             <entry>Type</entry>
-             <entry>Description</entry>
-           </row>
-         </thead>
-         <tbody>
-           <row>
-             <entry>0x05</entry>
-             <entry>GPS Location</entry>
-           </row>
-         </tbody>
-       </tgroup>
-      </informaltable>
-      <table frame='all'>
-       <title>GPS Location Packet Contents</title>
-       <tgroup cols='4' align='center' colsep='1' rowsep='1'>
-         <colspec align='right' colwidth='*' colname='Offset'/>
-         <colspec align='center' colwidth='3*' colname='Data Type'/>
-         <colspec align='left' colwidth='3*' colname='Name'/>
-         <colspec align='left' colwidth='9*' colname='Description'/>
-         <thead>
-           <row>
-             <entry align='center'>Offset</entry>
-             <entry align='center'>Data Type</entry>
-             <entry align='center'>Name</entry>
-             <entry align='center'>Description</entry>
-           </row>
-         </thead>
-         <tbody>
-           <row>
-             <entry>5</entry><entry>uint8_t</entry><entry>flags</entry><entry>GPS Flags (see below)</entry>
-           </row>
-           <row>
-             <entry>6</entry><entry>int16_t</entry><entry>altitude</entry><entry>m</entry>
-           </row>
-           <row>
-             <entry>8</entry><entry>int32_t</entry><entry>latitude</entry><entry>degrees * 10<superscript>7</superscript></entry>
-           </row>
-           <row>
-             <entry>12</entry><entry>int32_t</entry><entry>longitude</entry><entry>degrees * 10<superscript>7</superscript></entry>
-           </row>
-           <row>
-             <entry>16</entry><entry>uint8_t</entry><entry>year</entry>
-           </row>
-           <row>
-             <entry>17</entry><entry>uint8_t</entry><entry>month</entry>
-           </row>
-           <row>
-             <entry>18</entry><entry>uint8_t</entry><entry>day</entry>
-           </row>
-           <row>
-             <entry>19</entry><entry>uint8_t</entry><entry>hour</entry>
-           </row>
-           <row>
-             <entry>20</entry><entry>uint8_t</entry><entry>minute</entry>
-           </row>
-           <row>
-             <entry>21</entry><entry>uint8_t</entry><entry>second</entry>
-           </row>
-           <row>
-             <entry>22</entry><entry>uint8_t</entry><entry>pdop</entry><entry>* 5</entry>
-           </row>
-           <row>
-             <entry>23</entry><entry>uint8_t</entry><entry>hdop</entry><entry>* 5</entry>
-           </row>
-           <row>
-             <entry>24</entry><entry>uint8_t</entry><entry>vdop</entry><entry>* 5</entry>
-           </row>
-           <row>
-             <entry>25</entry><entry>uint8_t</entry><entry>mode</entry><entry>N, A, D, E, M, S</entry>
-           </row>
-           <row>
-             <entry>26</entry><entry>uint16_t</entry><entry>ground_speed</entry><entry>cm/s</entry>
-           </row>
-           <row>
-             <entry>28</entry><entry>uint8_t</entry><entry>course</entry><entry>/ 2</entry>
-           </row>
-           <row>
-             <entry>29</entry><entry>uint8_t</entry><entry>unused[2]</entry>
-           </row>
-           <row>
-             <entry>32</entry>
-           </row>
-         </tbody>
-       </tgroup>
-      </table>
-    </section>
-    <section>
-      <title>GPS Satellite Data</title>
-      <informaltable frame='none' label='' tocentry='0'>
-       <tgroup cols='2' align='center' colsep='1' rowsep='1'>
-         <colspec align='center' colwidth='*' colname='Offset'/>
-         <colspec align='left' colwidth='3*' colname='Description'/>
-         <thead>
-           <row>
-             <entry>Type</entry>
-             <entry>Description</entry>
-           </row>
-         </thead>
-         <tbody>
-           <row>
-             <entry>0x06</entry>
-             <entry>GPS Satellite Data</entry>
-           </row>
-         </tbody>
-       </tgroup>
-      </informaltable>
-      <table frame='all'>
-       <title>GPS Satellite Data Contents</title>
-       <tgroup cols='4' align='center' colsep='1' rowsep='1'>
-         <colspec align='right' colwidth='*' colname='Offset'/>
-         <colspec align='center' colwidth='3*' colname='Data Type'/>
-         <colspec align='left' colwidth='3*' colname='Name'/>
-         <colspec align='left' colwidth='9*' colname='Description'/>
-         <thead>
-           <row>
-             <entry align='center'>Offset</entry>
-             <entry align='center'>Data Type</entry>
-             <entry align='center'>Name</entry>
-             <entry align='center'>Description</entry>
-           </row>
-         </thead>
-         <tbody>
-           <row>
-             <entry>5</entry><entry>uint8_t</entry><entry>channels</entry>
-           </row>
-           <row>
-             <entry>6</entry><entry>uint8_t</entry><entry>sat_0_id</entry>
-           </row>
-           <row>
-             <entry>7</entry><entry>uint8_t</entry><entry>sat_0_c_n_1</entry>
-           </row>
-           <row>
-             <entry>8</entry><entry>uint8_t</entry><entry>sat_1_id</entry>
-           </row>
-           <row>
-             <entry>9</entry><entry>uint8_t</entry><entry>sat_1_c_n_1</entry>
-           </row>
-           <row>
-             <entry>10</entry><entry>uint8_t</entry><entry>sat_2_id</entry>
-           </row>
-           <row>
-             <entry>11</entry><entry>uint8_t</entry><entry>sat_2_c_n_1</entry>
-           </row>
-           <row>
-             <entry>12</entry><entry>uint8_t</entry><entry>sat_3_id</entry>
-           </row>
-           <row>
-             <entry>13</entry><entry>uint8_t</entry><entry>sat_3_c_n_1</entry>
-           </row>
-           <row>
-             <entry>14</entry><entry>uint8_t</entry><entry>sat_4_id</entry>
-           </row>
-           <row>
-             <entry>15</entry><entry>uint8_t</entry><entry>sat_4_c_n_1</entry>
-           </row>
-           <row>
-             <entry>16</entry><entry>uint8_t</entry><entry>sat_5_id</entry>
-           </row>
-           <row>
-             <entry>17</entry><entry>uint8_t</entry><entry>sat_5_c_n_1</entry>
-           </row>
-           <row>
-             <entry>18</entry><entry>uint8_t</entry><entry>sat_6_id</entry>
-           </row>
-           <row>
-             <entry>19</entry><entry>uint8_t</entry><entry>sat_6_c_n_1</entry>
-           </row>
-           <row>
-             <entry>20</entry><entry>uint8_t</entry><entry>sat_7_id</entry>
-           </row>
-           <row>
-             <entry>21</entry><entry>uint8_t</entry><entry>sat_7_c_n_1</entry>
-           </row>
-           <row>
-             <entry>22</entry><entry>uint8_t</entry><entry>sat_8_id</entry>
-           </row>
-           <row>
-             <entry>23</entry><entry>uint8_t</entry><entry>sat_8_c_n_1</entry>
-           </row>
-           <row>
-             <entry>24</entry><entry>uint8_t</entry><entry>sat_9_id</entry>
-           </row>
-           <row>
-             <entry>25</entry><entry>uint8_t</entry><entry>sat_9_c_n_1</entry>
-           </row>
-           <row>
-             <entry>26</entry><entry>uint8_t</entry><entry>sat_10_id</entry>
-           </row>
-           <row>
-             <entry>27</entry><entry>uint8_t</entry><entry>sat_10_c_n_1</entry>
-           </row>
-           <row>
-             <entry>28</entry><entry>uint8_t</entry><entry>sat_11_id</entry>
-           </row>
-           <row>
-             <entry>29</entry><entry>uint8_t</entry><entry>sat_11_c_n_1</entry>
-           </row>
-           <row>
-             <entry>30</entry><entry>uin8_t</entry><entry>unused30</entry>
-           </row>
-           <row>
-             <entry>31</entry><entry>uin8_t</entry><entry>unused31</entry>
-           </row>
-           <row>
-             <entry>32</entry>
-           </row>
-         </tbody>
-       </tgroup>
-      </table>
-    </section>
-  </section>
-</article>
-      
-<!--
-
-      
-      
-  
- Rethinking this (over IRC), and thinking about telemetry from a
- companion board, it looks like 32 bytes per packet would be better (12
- channels of A/D from telescience would require 24 bytes).
-
- Packet type 0x06: GPS satellites
- 1 packet per second.
-
-
- TeleScience
-
-<entry>5</entry><entry>uint8_t</entry><entry>channels</entry>
-<entry>6</entry><entry>uint16_t</entry><entry>data[12]</entry>
-<entry>30</entry><entry>uint8_t</entry><entry>unused[2]</entry>
-<entry>32</entry>
-
- [ 2-line signature. Click/Enter to show. ]
- - - 
- keith.packard@intel.com
- [ application/pgp-signature ]
-  Keith Packard <keithp@keithp.com> (Mon. 18:59) (me sent)
-  Subject: Re: New telemetry ideas
-  To: bdale@gag.com
-  Date: Mon, 27 Jun 2011 18:59:08 -0700
-
-  [ multipart/signed ]
-  [ text/plain ]
-  On Mon, 27 Jun 2011 14:25:00 -0700, Keith Packard <keithp@keithp.com> wrote:
-  Non-text part: multipart/signed
-
-  > Packet type 0x05: GPS location
-  > 1 packet per second
-  > 
-  > 5       uint8_t         flags
-
-  Let's add another field here:
-
-<entry>6</entry><entry>int16_t</entry><entry>gps_tick</entry><entry>tick when GPS data was received</entry>
-
-  That leaves a single byte unused
--->
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