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; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
18 package org.altusmetrum.altoslib_9;
23 * Telemetry data contents
28 * The packet format is a simple hex dump of the raw telemetry frame.
29 * It starts with 'TELEM', then contains hex digits with a checksum as the last
32 * Version 4 is a replacement with consistent syntax. Each telemetry line
33 * contains a sequence of space-separated names and values, the values are
34 * either integers or strings. The names are all unique. All values are
37 * VERSION 4 c KD7SQG n 236 f 18 r -25 s pad t 513 r_a 15756 r_b 26444 r_t 20944
38 * r_v 26640 r_d 512 r_m 208 c_a 15775 c_b 26439 c_p 15749 c_m 16281 a_a 15764
39 * a_s 0 a_b 26439 g_s u g_n 0 s_n 0
41 * VERSION 4 c KD7SQG n 19 f 0 r -23 s pad t 513 r_b 26372 r_t 21292 r_v 26788
42 * r_d 136 r_m 140 c_b 26370 k_h 0 k_s 0 k_a 0
44 * General header fields
48 * VERSION Telemetry version number (4 or more). Must be first.
49 * c Callsign (string, no spaces allowed)
50 * n Flight unit serial number (integer)
51 * f Flight number (integer)
52 * r Packet RSSI value (integer)
53 * s Flight computer state (string, no spaces allowed)
54 * t Flight computer clock (integer in centiseconds)
56 * Version 3 is Version 2 with fixed RSSI numbers -- the radio reports
57 * in 1/2dB increments while this protocol provides only integers. So,
58 * the syntax didn't change just the interpretation of the RSSI
61 * Version 2 of the telemetry data stream is a bit of a mess, with no
62 * consistent formatting. In particular, the GPS data is formatted for
63 * viewing instead of parsing. However, the key feature is that every
64 * telemetry line contains all of the information necessary to
65 * describe the current rocket state, including the calibration values
66 * for accelerometer and barometer.
70 * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -68 STATUS ff STATE pad 1001 \
71 * a: 16032 p: 21232 t: 20284 v: 25160 d: 204 m: 204 fa: 16038 ga: 16032 fv: 0 \
72 * fp: 21232 gp: 21230 a+: 16049 a-: 16304 GPS 0 sat unlocked SAT 1 15 30
76 * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -71 STATUS ff STATE pad 2504 \
77 * a: 16028 p: 21220 t: 20360 v: 25004 d: 208 m: 200 fa: 16031 ga: 16032 fv: 330 \
78 * fp: 21231 gp: 21230 a+: 16049 a-: 16304 \
79 * GPS 9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W 1790m \
80 * 0.00m/s(H) 0° 0.00m/s(V) 1.0(hdop) 0(herr) 0(verr) \
81 * SAT 10 29 30 24 28 5 25 21 20 15 33 1 23 30 24 18 26 10 29 2 26
85 public class AltosTelemetryLegacy extends AltosTelemetry {
87 * General header fields
91 * VERSION Telemetry version number (4 or more). Must be first.
92 * c Callsign (string, no spaces allowed)
93 * n Flight unit serial number (integer)
94 * f Flight number (integer)
95 * r Packet RSSI value (integer)
96 * s Flight computer state (string, no spaces allowed)
97 * t Flight computer clock (integer in centiseconds)
100 final static String AO_TELEM_VERSION = "VERSION";
101 final static String AO_TELEM_CALL = "c";
102 final static String AO_TELEM_SERIAL = "n";
103 final static String AO_TELEM_FLIGHT = "f";
104 final static String AO_TELEM_RSSI = "r";
105 final static String AO_TELEM_STATE = "s";
106 final static String AO_TELEM_TICK = "t";
112 * r_a Accelerometer reading (integer)
113 * r_b Barometer reading (integer)
114 * r_t Thermometer reading (integer)
115 * r_v Battery reading (integer)
116 * r_d Drogue continuity (integer)
117 * r_m Main continuity (integer)
120 final static String AO_TELEM_RAW_ACCEL = "r_a";
121 final static String AO_TELEM_RAW_BARO = "r_b";
122 final static String AO_TELEM_RAW_THERMO = "r_t";
123 final static String AO_TELEM_RAW_BATT = "r_v";
124 final static String AO_TELEM_RAW_DROGUE = "r_d";
125 final static String AO_TELEM_RAW_MAIN = "r_m";
128 * Sensor calibration values
131 * c_a Ground accelerometer reading (integer)
132 * c_b Ground barometer reading (integer)
133 * c_p Accelerometer reading for +1g
134 * c_m Accelerometer reading for -1g
137 final static String AO_TELEM_CAL_ACCEL_GROUND = "c_a";
138 final static String AO_TELEM_CAL_BARO_GROUND = "c_b";
139 final static String AO_TELEM_CAL_ACCEL_PLUS = "c_p";
140 final static String AO_TELEM_CAL_ACCEL_MINUS = "c_m";
143 * Kalman state values
146 * k_h Height above pad (integer, meters)
147 * k_s Vertical speeed (integer, m/s * 16)
148 * k_a Vertical acceleration (integer, m/s² * 16)
151 final static String AO_TELEM_KALMAN_HEIGHT = "k_h";
152 final static String AO_TELEM_KALMAN_SPEED = "k_s";
153 final static String AO_TELEM_KALMAN_ACCEL = "k_a";
156 * Ad-hoc flight values
159 * a_a Acceleration (integer, sensor units)
160 * a_s Speed (integer, integrated acceleration value)
161 * a_b Barometer reading (integer, sensor units)
164 final static String AO_TELEM_ADHOC_ACCEL = "a_a";
165 final static String AO_TELEM_ADHOC_SPEED = "a_s";
166 final static String AO_TELEM_ADHOC_BARO = "a_b";
172 * g_s GPS state (string):
175 * e error (missing or broken)
176 * g_n Number of sats used in solution
177 * g_ns Latitude (degrees * 10e7)
178 * g_ew Longitude (degrees * 10e7)
179 * g_a Altitude (integer meters)
180 * g_Y GPS year (integer)
181 * g_M GPS month (integer - 1-12)
182 * g_D GPS day (integer - 1-31)
183 * g_h GPS hour (integer - 0-23)
184 * g_m GPS minute (integer - 0-59)
185 * g_s GPS second (integer - 0-59)
186 * g_v GPS vertical speed (integer, cm/sec)
187 * g_s GPS horizontal speed (integer, cm/sec)
188 * g_c GPS course (integer, 0-359)
189 * g_pd GPS pdop (integer * 10)
190 * g_hd GPS hdop (integer * 10)
191 * g_vd GPS vdop (integer * 10)
192 * g_he GPS h error (integer)
193 * g_ve GPS v error (integer)
196 final static String AO_TELEM_GPS_STATE = "g";
197 final static String AO_TELEM_GPS_STATE_LOCKED = "l";
198 final static String AO_TELEM_GPS_STATE_UNLOCKED = "u";
199 final static String AO_TELEM_GPS_STATE_ERROR = "e";
200 final static String AO_TELEM_GPS_NUM_SAT = "g_n";
201 final static String AO_TELEM_GPS_LATITUDE = "g_ns";
202 final static String AO_TELEM_GPS_LONGITUDE = "g_ew";
203 final static String AO_TELEM_GPS_ALTITUDE = "g_a";
204 final static String AO_TELEM_GPS_YEAR = "g_Y";
205 final static String AO_TELEM_GPS_MONTH = "g_M";
206 final static String AO_TELEM_GPS_DAY = "g_D";
207 final static String AO_TELEM_GPS_HOUR = "g_h";
208 final static String AO_TELEM_GPS_MINUTE = "g_m";
209 final static String AO_TELEM_GPS_SECOND = "g_s";
210 final static String AO_TELEM_GPS_VERTICAL_SPEED = "g_v";
211 final static String AO_TELEM_GPS_HORIZONTAL_SPEED = "g_g";
212 final static String AO_TELEM_GPS_COURSE = "g_c";
213 final static String AO_TELEM_GPS_PDOP = "g_pd";
214 final static String AO_TELEM_GPS_HDOP = "g_hd";
215 final static String AO_TELEM_GPS_VDOP = "g_vd";
216 final static String AO_TELEM_GPS_HERROR = "g_he";
217 final static String AO_TELEM_GPS_VERROR = "g_ve";
220 * GPS satellite values
223 * s_n Number of satellites reported (integer)
224 * s_v0 Space vehicle ID (integer) for report 0
225 * s_c0 C/N0 number (integer) for report 0
226 * s_v1 Space vehicle ID (integer) for report 1
227 * s_c1 C/N0 number (integer) for report 1
231 final static String AO_TELEM_SAT_NUM = "s_n";
232 final static String AO_TELEM_SAT_SVID = "s_v";
233 final static String AO_TELEM_SAT_C_N_0 = "s_c";
236 public String callsign;
241 public int gps_sequence;
243 /* Telemetry sources have these values recorded from the flight computer */
244 public double kalman_height;
245 public double kalman_speed;
246 public double kalman_acceleration;
256 public int ground_accel;
257 public int ground_pres;
258 public int accel_plus_g;
259 public int accel_minus_g;
261 public int flight_accel;
262 public int flight_vel;
263 public int flight_pres;
265 private void parse_v4(String[] words, int i) throws ParseException {
266 AltosTelemetryMap map = new AltosTelemetryMap(words, i);
268 callsign = map.get_string(AO_TELEM_CALL, "N0CALL");
269 serial = map.get_int(AO_TELEM_SERIAL, AltosLib.MISSING);
270 flight = map.get_int(AO_TELEM_FLIGHT, AltosLib.MISSING);
271 rssi = map.get_int(AO_TELEM_RSSI, AltosLib.MISSING);
272 state = AltosLib.state(map.get_string(AO_TELEM_STATE, "invalid"));
273 tick = map.get_int(AO_TELEM_TICK, 0);
275 /* raw sensor values */
276 accel = map.get_int(AO_TELEM_RAW_ACCEL, AltosLib.MISSING);
277 pres = map.get_int(AO_TELEM_RAW_BARO, AltosLib.MISSING);
278 temp = map.get_int(AO_TELEM_RAW_THERMO, AltosLib.MISSING);
279 batt = map.get_int(AO_TELEM_RAW_BATT, AltosLib.MISSING);
280 apogee = map.get_int(AO_TELEM_RAW_DROGUE, AltosLib.MISSING);
281 main = map.get_int(AO_TELEM_RAW_MAIN, AltosLib.MISSING);
283 /* sensor calibration information */
284 ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, AltosLib.MISSING);
285 ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, AltosLib.MISSING);
286 accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, AltosLib.MISSING);
287 accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, AltosLib.MISSING);
289 /* flight computer values */
290 kalman_acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, AltosLib.MISSING, 1/16.0);
291 kalman_speed = map.get_double(AO_TELEM_KALMAN_SPEED, AltosLib.MISSING, 1/16.0);
292 kalman_height = map.get_int(AO_TELEM_KALMAN_HEIGHT, AltosLib.MISSING);
294 flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, AltosLib.MISSING);
295 flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, AltosLib.MISSING);
296 flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, AltosLib.MISSING);
298 if (map.has(AO_TELEM_GPS_STATE))
299 gps = new AltosGPS(map);
304 private void parse_legacy(String[] words, int i) throws ParseException {
306 AltosParse.word (words[i++], "CALL");
307 callsign = words[i++];
309 AltosParse.word (words[i++], "SERIAL");
310 serial = AltosParse.parse_int(words[i++]);
313 AltosParse.word (words[i++], "FLIGHT");
314 flight = AltosParse.parse_int(words[i++]);
318 AltosParse.word(words[i++], "RSSI");
319 rssi = AltosParse.parse_int(words[i++]);
321 /* Older telemetry data had mis-computed RSSI value */
323 rssi = (rssi + 74) / 2 - 74;
325 AltosParse.word(words[i++], "STATUS");
326 status = AltosParse.parse_hex(words[i++]);
328 AltosParse.word(words[i++], "STATE");
329 state = AltosLib.state(words[i++]);
331 tick = AltosParse.parse_int(words[i++]);
333 AltosParse.word(words[i++], "a:");
334 accel = AltosParse.parse_int(words[i++]);
336 AltosParse.word(words[i++], "p:");
337 pres = AltosParse.parse_int(words[i++]);
339 AltosParse.word(words[i++], "t:");
340 temp = AltosParse.parse_int(words[i++]);
342 AltosParse.word(words[i++], "v:");
343 batt = AltosParse.parse_int(words[i++]);
345 AltosParse.word(words[i++], "d:");
346 apogee = AltosParse.parse_int(words[i++]);
348 AltosParse.word(words[i++], "m:");
349 main = AltosParse.parse_int(words[i++]);
351 AltosParse.word(words[i++], "fa:");
352 flight_accel = AltosParse.parse_int(words[i++]);
354 AltosParse.word(words[i++], "ga:");
355 ground_accel = AltosParse.parse_int(words[i++]);
357 AltosParse.word(words[i++], "fv:");
358 flight_vel = AltosParse.parse_int(words[i++]);
360 AltosParse.word(words[i++], "fp:");
361 flight_pres = AltosParse.parse_int(words[i++]);
363 /* Old TeleDongle code with kalman-reporting TeleMetrum code */
364 if ((flight_vel & 0xffff0000) == 0x80000000) {
365 kalman_speed = ((short) flight_vel) / 16.0;
366 kalman_acceleration = flight_accel / 16.0;
367 kalman_height = flight_pres;
368 flight_vel = AltosLib.MISSING;
369 flight_pres = AltosLib.MISSING;
370 flight_accel = AltosLib.MISSING;
372 kalman_speed = AltosLib.MISSING;
373 kalman_acceleration = AltosLib.MISSING;
374 kalman_height = AltosLib.MISSING;
377 AltosParse.word(words[i++], "gp:");
378 ground_pres = AltosParse.parse_int(words[i++]);
381 AltosParse.word(words[i++], "a+:");
382 accel_plus_g = AltosParse.parse_int(words[i++]);
384 AltosParse.word(words[i++], "a-:");
385 accel_minus_g = AltosParse.parse_int(words[i++]);
387 accel_plus_g = ground_accel;
388 accel_minus_g = ground_accel + 530;
391 gps = new AltosGPS(words, i, version);
395 public AltosTelemetryLegacy(String line) throws ParseException, AltosCRCException {
396 String[] words = line.split("\\s+");
399 if (words[i].equals("CRC") && words[i+1].equals("INVALID")) {
401 AltosParse.word(words[i++], "RSSI");
402 rssi = AltosParse.parse_int(words[i++]);
403 throw new AltosCRCException(rssi);
405 if (words[i].equals("CALL")) {
408 AltosParse.word (words[i++], "VERSION");
409 version = AltosParse.parse_int(words[i++]);
413 parse_legacy(words, i);
419 * Given a hex dump of a legacy telemetry line, construct an AltosRecordTM from that
426 private int int8(int i) {
427 return AltosLib.int8(bytes, i + 1 + adjust);
430 private int uint8(int i) {
431 return AltosLib.uint8(bytes, i + 1 + adjust);
433 private int int16(int i) {
434 return AltosLib.int16(bytes, i + 1 + adjust);
436 private int uint16(int i) {
437 return AltosLib.uint16(bytes, i + 1 + adjust);
439 private int uint32(int i) {
440 return AltosLib.uint32(bytes, i + 1 + adjust);
442 private String string(int i, int l) {
443 return AltosLib.string(bytes, i + 1 + adjust, l);
446 static final int AO_GPS_NUM_SAT_MASK = (0xf << 0);
447 static final int AO_GPS_NUM_SAT_SHIFT = (0);
449 static final int AO_GPS_VALID = (1 << 4);
450 static final int AO_GPS_RUNNING = (1 << 5);
451 static final int AO_GPS_DATE_VALID = (1 << 6);
452 static final int AO_GPS_COURSE_VALID = (1 << 7);
454 public AltosTelemetryLegacy(int[] in_bytes) {
459 if (bytes.length == AltosLib.ao_telemetry_0_8_len + 4) {
465 callsign = string(62, 8);
476 ground_accel = int16(7);
477 ground_pres = int16(15);
478 accel_plus_g = int16(17);
479 accel_minus_g = int16(19);
481 if (uint16(11) == 0x8000) {
482 kalman_acceleration = int16(5);
483 kalman_speed = int16(9);
484 kalman_height = int16(13);
485 flight_accel = AltosLib.MISSING;
486 flight_vel = AltosLib.MISSING;
487 flight_pres = AltosLib.MISSING;
489 flight_accel = int16(5);
490 flight_vel = uint32(9);
491 flight_pres = int16(13);
492 kalman_acceleration = AltosLib.MISSING;
493 kalman_speed = AltosLib.MISSING;
494 kalman_height = AltosLib.MISSING;
499 int gps_flags = uint8(41);
501 if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) {
502 gps = new AltosGPS();
505 gps.nsat = (gps_flags & AO_GPS_NUM_SAT_MASK);
506 gps.locked = (gps_flags & AO_GPS_VALID) != 0;
507 gps.connected = true;
508 gps.lat = uint32(42) / 1.0e7;
509 gps.lon = uint32(46) / 1.0e7;
511 gps.ground_speed = uint16(52) / 100.0;
512 gps.course = uint8(54) * 2;
513 gps.hdop = uint8(55) / 5.0;
514 gps.h_error = uint16(58);
515 gps.v_error = uint16(60);
517 int n_tracking_reported = uint8(70);
518 if (n_tracking_reported > 12)
519 n_tracking_reported = 12;
520 int n_tracking_actual = 0;
521 for (int i = 0; i < n_tracking_reported; i++) {
522 if (uint8(71 + i*2) != 0)
525 if (n_tracking_actual > 0) {
526 gps.cc_gps_sat = new AltosGPSSat[n_tracking_actual];
528 n_tracking_actual = 0;
529 for (int i = 0; i < n_tracking_reported; i++) {
530 int svid = uint8(71 + i*2);
531 int c_n0 = uint8(72 + i*2);
533 gps.cc_gps_sat[n_tracking_actual++] = new AltosGPSSat(svid, c_n0);
539 public void update_state(AltosState state) {
540 state.set_tick(tick);
541 state.set_state(this.state);
542 state.set_flight(flight);
543 state.set_serial(serial);
544 state.set_rssi(rssi, status);
546 state.set_pressure(AltosConvert.barometer_to_pressure(pres));
547 state.set_accel_g(accel_plus_g, accel_minus_g);
548 state.set_accel(accel);
549 if (kalman_height != AltosLib.MISSING)
550 state.set_kalman(kalman_height, kalman_speed, kalman_acceleration);
551 state.set_temperature(AltosConvert.thermometer_to_temperature(temp));
552 state.set_battery_voltage(AltosConvert.cc_battery_to_voltage(batt));
553 state.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(apogee));
554 state.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(main));
556 state.set_gps(gps, gps_sequence);