2 * Copyright © 2010 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
19 package org.altusmetrum.altoslib_11;
24 * Telemetry data contents
29 * The packet format is a simple hex dump of the raw telemetry frame.
30 * It starts with 'TELEM', then contains hex digits with a checksum as the last
33 * Version 4 is a replacement with consistent syntax. Each telemetry line
34 * contains a sequence of space-separated names and values, the values are
35 * either integers or strings. The names are all unique. All values are
38 * VERSION 4 c KD7SQG n 236 f 18 r -25 s pad t 513 r_a 15756 r_b 26444 r_t 20944
39 * r_v 26640 r_d 512 r_m 208 c_a 15775 c_b 26439 c_p 15749 c_m 16281 a_a 15764
40 * a_s 0 a_b 26439 g_s u g_n 0 s_n 0
42 * VERSION 4 c KD7SQG n 19 f 0 r -23 s pad t 513 r_b 26372 r_t 21292 r_v 26788
43 * r_d 136 r_m 140 c_b 26370 k_h 0 k_s 0 k_a 0
45 * General header fields
49 * VERSION Telemetry version number (4 or more). Must be first.
50 * c Callsign (string, no spaces allowed)
51 * n Flight unit serial number (integer)
52 * f Flight number (integer)
53 * r Packet RSSI value (integer)
54 * s Flight computer state (string, no spaces allowed)
55 * t Flight computer clock (integer in centiseconds)
57 * Version 3 is Version 2 with fixed RSSI numbers -- the radio reports
58 * in 1/2dB increments while this protocol provides only integers. So,
59 * the syntax didn't change just the interpretation of the RSSI
62 * Version 2 of the telemetry data stream is a bit of a mess, with no
63 * consistent formatting. In particular, the GPS data is formatted for
64 * viewing instead of parsing. However, the key feature is that every
65 * telemetry line contains all of the information necessary to
66 * describe the current rocket state, including the calibration values
67 * for accelerometer and barometer.
71 * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -68 STATUS ff STATE pad 1001 \
72 * a: 16032 p: 21232 t: 20284 v: 25160 d: 204 m: 204 fa: 16038 ga: 16032 fv: 0 \
73 * fp: 21232 gp: 21230 a+: 16049 a-: 16304 GPS 0 sat unlocked SAT 1 15 30
77 * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -71 STATUS ff STATE pad 2504 \
78 * a: 16028 p: 21220 t: 20360 v: 25004 d: 208 m: 200 fa: 16031 ga: 16032 fv: 330 \
79 * fp: 21231 gp: 21230 a+: 16049 a-: 16304 \
80 * GPS 9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W 1790m \
81 * 0.00m/s(H) 0° 0.00m/s(V) 1.0(hdop) 0(herr) 0(verr) \
82 * SAT 10 29 30 24 28 5 25 21 20 15 33 1 23 30 24 18 26 10 29 2 26
86 public class AltosTelemetryLegacy extends AltosTelemetry {
88 * General header fields
92 * VERSION Telemetry version number (4 or more). Must be first.
93 * c Callsign (string, no spaces allowed)
94 * n Flight unit serial number (integer)
95 * f Flight number (integer)
96 * r Packet RSSI value (integer)
97 * s Flight computer state (string, no spaces allowed)
98 * t Flight computer clock (integer in centiseconds)
101 final static String AO_TELEM_VERSION = "VERSION";
102 final static String AO_TELEM_CALL = "c";
103 final static String AO_TELEM_SERIAL = "n";
104 final static String AO_TELEM_FLIGHT = "f";
105 final static String AO_TELEM_RSSI = "r";
106 final static String AO_TELEM_STATE = "s";
107 final static String AO_TELEM_TICK = "t";
113 * r_a Accelerometer reading (integer)
114 * r_b Barometer reading (integer)
115 * r_t Thermometer reading (integer)
116 * r_v Battery reading (integer)
117 * r_d Drogue continuity (integer)
118 * r_m Main continuity (integer)
121 final static String AO_TELEM_RAW_ACCEL = "r_a";
122 final static String AO_TELEM_RAW_BARO = "r_b";
123 final static String AO_TELEM_RAW_THERMO = "r_t";
124 final static String AO_TELEM_RAW_BATT = "r_v";
125 final static String AO_TELEM_RAW_DROGUE = "r_d";
126 final static String AO_TELEM_RAW_MAIN = "r_m";
129 * Sensor calibration values
132 * c_a Ground accelerometer reading (integer)
133 * c_b Ground barometer reading (integer)
134 * c_p Accelerometer reading for +1g
135 * c_m Accelerometer reading for -1g
138 final static String AO_TELEM_CAL_ACCEL_GROUND = "c_a";
139 final static String AO_TELEM_CAL_BARO_GROUND = "c_b";
140 final static String AO_TELEM_CAL_ACCEL_PLUS = "c_p";
141 final static String AO_TELEM_CAL_ACCEL_MINUS = "c_m";
144 * Kalman state values
147 * k_h Height above pad (integer, meters)
148 * k_s Vertical speeed (integer, m/s * 16)
149 * k_a Vertical acceleration (integer, m/s² * 16)
152 final static String AO_TELEM_KALMAN_HEIGHT = "k_h";
153 final static String AO_TELEM_KALMAN_SPEED = "k_s";
154 final static String AO_TELEM_KALMAN_ACCEL = "k_a";
157 * Ad-hoc flight values
160 * a_a Acceleration (integer, sensor units)
161 * a_s Speed (integer, integrated acceleration value)
162 * a_b Barometer reading (integer, sensor units)
165 final static String AO_TELEM_ADHOC_ACCEL = "a_a";
166 final static String AO_TELEM_ADHOC_SPEED = "a_s";
167 final static String AO_TELEM_ADHOC_BARO = "a_b";
173 * g_s GPS state (string):
176 * e error (missing or broken)
177 * g_n Number of sats used in solution
178 * g_ns Latitude (degrees * 10e7)
179 * g_ew Longitude (degrees * 10e7)
180 * g_a Altitude (integer meters)
181 * g_Y GPS year (integer)
182 * g_M GPS month (integer - 1-12)
183 * g_D GPS day (integer - 1-31)
184 * g_h GPS hour (integer - 0-23)
185 * g_m GPS minute (integer - 0-59)
186 * g_s GPS second (integer - 0-59)
187 * g_v GPS vertical speed (integer, cm/sec)
188 * g_s GPS horizontal speed (integer, cm/sec)
189 * g_c GPS course (integer, 0-359)
190 * g_pd GPS pdop (integer * 10)
191 * g_hd GPS hdop (integer * 10)
192 * g_vd GPS vdop (integer * 10)
193 * g_he GPS h error (integer)
194 * g_ve GPS v error (integer)
197 final static String AO_TELEM_GPS_STATE = "g";
198 final static String AO_TELEM_GPS_STATE_LOCKED = "l";
199 final static String AO_TELEM_GPS_STATE_UNLOCKED = "u";
200 final static String AO_TELEM_GPS_STATE_ERROR = "e";
201 final static String AO_TELEM_GPS_NUM_SAT = "g_n";
202 final static String AO_TELEM_GPS_LATITUDE = "g_ns";
203 final static String AO_TELEM_GPS_LONGITUDE = "g_ew";
204 final static String AO_TELEM_GPS_ALTITUDE = "g_a";
205 final static String AO_TELEM_GPS_YEAR = "g_Y";
206 final static String AO_TELEM_GPS_MONTH = "g_M";
207 final static String AO_TELEM_GPS_DAY = "g_D";
208 final static String AO_TELEM_GPS_HOUR = "g_h";
209 final static String AO_TELEM_GPS_MINUTE = "g_m";
210 final static String AO_TELEM_GPS_SECOND = "g_s";
211 final static String AO_TELEM_GPS_VERTICAL_SPEED = "g_v";
212 final static String AO_TELEM_GPS_HORIZONTAL_SPEED = "g_g";
213 final static String AO_TELEM_GPS_COURSE = "g_c";
214 final static String AO_TELEM_GPS_PDOP = "g_pd";
215 final static String AO_TELEM_GPS_HDOP = "g_hd";
216 final static String AO_TELEM_GPS_VDOP = "g_vd";
217 final static String AO_TELEM_GPS_HERROR = "g_he";
218 final static String AO_TELEM_GPS_VERROR = "g_ve";
221 * GPS satellite values
224 * s_n Number of satellites reported (integer)
225 * s_v0 Space vehicle ID (integer) for report 0
226 * s_c0 C/N0 number (integer) for report 0
227 * s_v1 Space vehicle ID (integer) for report 1
228 * s_c1 C/N0 number (integer) for report 1
232 final static String AO_TELEM_SAT_NUM = "s_n";
233 final static String AO_TELEM_SAT_SVID = "s_v";
234 final static String AO_TELEM_SAT_C_N_0 = "s_c";
237 public String callsign;
242 public int gps_sequence;
244 /* Telemetry sources have these values recorded from the flight computer */
245 public double kalman_height;
246 public double kalman_speed;
247 public double kalman_acceleration;
257 public int ground_accel;
258 public int ground_pres;
259 public int accel_plus_g;
260 public int accel_minus_g;
262 public int flight_accel;
263 public int flight_vel;
264 public int flight_pres;
266 private void parse_v4(String[] words, int i) throws ParseException {
267 AltosTelemetryMap map = new AltosTelemetryMap(words, i);
269 callsign = map.get_string(AO_TELEM_CALL, "N0CALL");
270 serial = map.get_int(AO_TELEM_SERIAL, AltosLib.MISSING);
271 flight = map.get_int(AO_TELEM_FLIGHT, AltosLib.MISSING);
272 rssi = map.get_int(AO_TELEM_RSSI, AltosLib.MISSING);
273 state = AltosLib.state(map.get_string(AO_TELEM_STATE, "invalid"));
274 tick = map.get_int(AO_TELEM_TICK, 0);
276 /* raw sensor values */
277 accel = map.get_int(AO_TELEM_RAW_ACCEL, AltosLib.MISSING);
278 pres = map.get_int(AO_TELEM_RAW_BARO, AltosLib.MISSING);
279 temp = map.get_int(AO_TELEM_RAW_THERMO, AltosLib.MISSING);
280 batt = map.get_int(AO_TELEM_RAW_BATT, AltosLib.MISSING);
281 apogee = map.get_int(AO_TELEM_RAW_DROGUE, AltosLib.MISSING);
282 main = map.get_int(AO_TELEM_RAW_MAIN, AltosLib.MISSING);
284 /* sensor calibration information */
285 ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, AltosLib.MISSING);
286 ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, AltosLib.MISSING);
287 accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, AltosLib.MISSING);
288 accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, AltosLib.MISSING);
290 /* flight computer values */
291 kalman_acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, AltosLib.MISSING, 1/16.0);
292 kalman_speed = map.get_double(AO_TELEM_KALMAN_SPEED, AltosLib.MISSING, 1/16.0);
293 kalman_height = map.get_int(AO_TELEM_KALMAN_HEIGHT, AltosLib.MISSING);
295 flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, AltosLib.MISSING);
296 flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, AltosLib.MISSING);
297 flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, AltosLib.MISSING);
299 if (map.has(AO_TELEM_GPS_STATE))
300 gps = new AltosGPS(map);
305 private void parse_legacy(String[] words, int i) throws ParseException {
307 AltosParse.word (words[i++], "CALL");
308 callsign = words[i++];
310 AltosParse.word (words[i++], "SERIAL");
311 serial = AltosParse.parse_int(words[i++]);
314 AltosParse.word (words[i++], "FLIGHT");
315 flight = AltosParse.parse_int(words[i++]);
319 AltosParse.word(words[i++], "RSSI");
320 rssi = AltosParse.parse_int(words[i++]);
322 /* Older telemetry data had mis-computed RSSI value */
324 rssi = (rssi + 74) / 2 - 74;
326 AltosParse.word(words[i++], "STATUS");
327 status = AltosParse.parse_hex(words[i++]);
329 AltosParse.word(words[i++], "STATE");
330 state = AltosLib.state(words[i++]);
332 tick = AltosParse.parse_int(words[i++]);
334 AltosParse.word(words[i++], "a:");
335 accel = AltosParse.parse_int(words[i++]);
337 AltosParse.word(words[i++], "p:");
338 pres = AltosParse.parse_int(words[i++]);
340 AltosParse.word(words[i++], "t:");
341 temp = AltosParse.parse_int(words[i++]);
343 AltosParse.word(words[i++], "v:");
344 batt = AltosParse.parse_int(words[i++]);
346 AltosParse.word(words[i++], "d:");
347 apogee = AltosParse.parse_int(words[i++]);
349 AltosParse.word(words[i++], "m:");
350 main = AltosParse.parse_int(words[i++]);
352 AltosParse.word(words[i++], "fa:");
353 flight_accel = AltosParse.parse_int(words[i++]);
355 AltosParse.word(words[i++], "ga:");
356 ground_accel = AltosParse.parse_int(words[i++]);
358 AltosParse.word(words[i++], "fv:");
359 flight_vel = AltosParse.parse_int(words[i++]);
361 AltosParse.word(words[i++], "fp:");
362 flight_pres = AltosParse.parse_int(words[i++]);
364 /* Old TeleDongle code with kalman-reporting TeleMetrum code */
365 if ((flight_vel & 0xffff0000) == 0x80000000) {
366 kalman_speed = ((short) flight_vel) / 16.0;
367 kalman_acceleration = flight_accel / 16.0;
368 kalman_height = flight_pres;
369 flight_vel = AltosLib.MISSING;
370 flight_pres = AltosLib.MISSING;
371 flight_accel = AltosLib.MISSING;
373 kalman_speed = AltosLib.MISSING;
374 kalman_acceleration = AltosLib.MISSING;
375 kalman_height = AltosLib.MISSING;
378 AltosParse.word(words[i++], "gp:");
379 ground_pres = AltosParse.parse_int(words[i++]);
382 AltosParse.word(words[i++], "a+:");
383 accel_plus_g = AltosParse.parse_int(words[i++]);
385 AltosParse.word(words[i++], "a-:");
386 accel_minus_g = AltosParse.parse_int(words[i++]);
388 accel_plus_g = ground_accel;
389 accel_minus_g = ground_accel + 530;
392 gps = new AltosGPS(words, i, version);
396 public AltosTelemetryLegacy(String line) throws ParseException, AltosCRCException {
397 String[] words = line.split("\\s+");
400 if (words[i].equals("CRC") && words[i+1].equals("INVALID")) {
402 AltosParse.word(words[i++], "RSSI");
403 rssi = AltosParse.parse_int(words[i++]);
404 throw new AltosCRCException(rssi);
406 if (words[i].equals("CALL")) {
409 AltosParse.word (words[i++], "VERSION");
410 version = AltosParse.parse_int(words[i++]);
414 parse_legacy(words, i);
420 * Given a hex dump of a legacy telemetry line, construct an AltosRecordTM from that
427 private int int8(int i) {
428 return AltosLib.int8(bytes, i + 1 + adjust);
431 private int uint8(int i) {
432 return AltosLib.uint8(bytes, i + 1 + adjust);
434 private int int16(int i) {
435 return AltosLib.int16(bytes, i + 1 + adjust);
437 private int uint16(int i) {
438 return AltosLib.uint16(bytes, i + 1 + adjust);
440 private int uint32(int i) {
441 return AltosLib.uint32(bytes, i + 1 + adjust);
443 private String string(int i, int l) {
444 return AltosLib.string(bytes, i + 1 + adjust, l);
447 static final int AO_GPS_NUM_SAT_MASK = (0xf << 0);
448 static final int AO_GPS_NUM_SAT_SHIFT = (0);
450 static final int AO_GPS_VALID = (1 << 4);
451 static final int AO_GPS_RUNNING = (1 << 5);
452 static final int AO_GPS_DATE_VALID = (1 << 6);
453 static final int AO_GPS_COURSE_VALID = (1 << 7);
455 public AltosTelemetryLegacy(int[] in_bytes) {
460 if (bytes.length == AltosLib.ao_telemetry_0_8_len + 4) {
466 callsign = string(62, 8);
477 ground_accel = int16(7);
478 ground_pres = int16(15);
479 accel_plus_g = int16(17);
480 accel_minus_g = int16(19);
482 if (uint16(11) == 0x8000) {
483 kalman_acceleration = int16(5);
484 kalman_speed = int16(9);
485 kalman_height = int16(13);
486 flight_accel = AltosLib.MISSING;
487 flight_vel = AltosLib.MISSING;
488 flight_pres = AltosLib.MISSING;
490 flight_accel = int16(5);
491 flight_vel = uint32(9);
492 flight_pres = int16(13);
493 kalman_acceleration = AltosLib.MISSING;
494 kalman_speed = AltosLib.MISSING;
495 kalman_height = AltosLib.MISSING;
500 int gps_flags = uint8(41);
502 if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) {
503 gps = new AltosGPS();
506 gps.nsat = (gps_flags & AO_GPS_NUM_SAT_MASK);
507 gps.locked = (gps_flags & AO_GPS_VALID) != 0;
508 gps.connected = true;
509 gps.lat = uint32(42) / 1.0e7;
510 gps.lon = uint32(46) / 1.0e7;
512 gps.ground_speed = uint16(52) / 100.0;
513 gps.course = uint8(54) * 2;
514 gps.hdop = uint8(55) / 5.0;
515 gps.h_error = uint16(58);
516 gps.v_error = uint16(60);
518 int n_tracking_reported = uint8(70);
519 if (n_tracking_reported > 12)
520 n_tracking_reported = 12;
521 int n_tracking_actual = 0;
522 for (int i = 0; i < n_tracking_reported; i++) {
523 if (uint8(71 + i*2) != 0)
526 if (n_tracking_actual > 0) {
527 gps.cc_gps_sat = new AltosGPSSat[n_tracking_actual];
529 n_tracking_actual = 0;
530 for (int i = 0; i < n_tracking_reported; i++) {
531 int svid = uint8(71 + i*2);
532 int c_n0 = uint8(72 + i*2);
534 gps.cc_gps_sat[n_tracking_actual++] = new AltosGPSSat(svid, c_n0);
540 public void update_state(AltosState state) {
541 state.set_tick(tick);
542 state.set_state(this.state);
543 state.set_flight(flight);
544 state.set_serial(serial);
545 state.set_rssi(rssi, status);
547 state.set_pressure(AltosConvert.barometer_to_pressure(pres));
548 state.set_accel_g(accel_plus_g, accel_minus_g);
549 state.set_accel(accel);
550 if (kalman_height != AltosLib.MISSING)
551 state.set_kalman(kalman_height, kalman_speed, kalman_acceleration);
552 state.set_temperature(AltosConvert.thermometer_to_temperature(temp));
553 state.set_battery_voltage(AltosConvert.cc_battery_to_voltage(batt));
554 state.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(apogee));
555 state.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(main));
557 state.set_gps(gps, gps_sequence);