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_1;
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 AltosTelemetryRecordLegacy extends AltosTelemetryRecord {
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_hd GPS hdop (integer * 10)
190 * g_vd GPS vdop (integer * 10)
191 * g_he GPS h error (integer)
192 * g_ve GPS v error (integer)
195 final static String AO_TELEM_GPS_STATE = "g";
196 final static String AO_TELEM_GPS_STATE_LOCKED = "l";
197 final static String AO_TELEM_GPS_STATE_UNLOCKED = "u";
198 final static String AO_TELEM_GPS_STATE_ERROR = "e";
199 final static String AO_TELEM_GPS_NUM_SAT = "g_n";
200 final static String AO_TELEM_GPS_LATITUDE = "g_ns";
201 final static String AO_TELEM_GPS_LONGITUDE = "g_ew";
202 final static String AO_TELEM_GPS_ALTITUDE = "g_a";
203 final static String AO_TELEM_GPS_YEAR = "g_Y";
204 final static String AO_TELEM_GPS_MONTH = "g_M";
205 final static String AO_TELEM_GPS_DAY = "g_D";
206 final static String AO_TELEM_GPS_HOUR = "g_h";
207 final static String AO_TELEM_GPS_MINUTE = "g_m";
208 final static String AO_TELEM_GPS_SECOND = "g_s";
209 final static String AO_TELEM_GPS_VERTICAL_SPEED = "g_v";
210 final static String AO_TELEM_GPS_HORIZONTAL_SPEED = "g_g";
211 final static String AO_TELEM_GPS_COURSE = "g_c";
212 final static String AO_TELEM_GPS_HDOP = "g_hd";
213 final static String AO_TELEM_GPS_VDOP = "g_vd";
214 final static String AO_TELEM_GPS_HERROR = "g_he";
215 final static String AO_TELEM_GPS_VERROR = "g_ve";
218 * GPS satellite values
221 * s_n Number of satellites reported (integer)
222 * s_v0 Space vehicle ID (integer) for report 0
223 * s_c0 C/N0 number (integer) for report 0
224 * s_v1 Space vehicle ID (integer) for report 1
225 * s_c1 C/N0 number (integer) for report 1
229 final static String AO_TELEM_SAT_NUM = "s_n";
230 final static String AO_TELEM_SAT_SVID = "s_v";
231 final static String AO_TELEM_SAT_C_N_0 = "s_c";
233 AltosRecordTM record;
235 private void parse_v4(String[] words, int i) throws ParseException {
236 AltosTelemetryMap map = new AltosTelemetryMap(words, i);
238 record.callsign = map.get_string(AO_TELEM_CALL, "N0CALL");
239 record.serial = map.get_int(AO_TELEM_SERIAL, AltosRecord.MISSING);
240 record.flight = map.get_int(AO_TELEM_FLIGHT, AltosRecord.MISSING);
241 record.rssi = map.get_int(AO_TELEM_RSSI, AltosRecord.MISSING);
242 record.state = AltosLib.state(map.get_string(AO_TELEM_STATE, "invalid"));
243 record.tick = map.get_int(AO_TELEM_TICK, 0);
245 /* raw sensor values */
246 record.accel = map.get_int(AO_TELEM_RAW_ACCEL, AltosRecord.MISSING);
247 record.pres = map.get_int(AO_TELEM_RAW_BARO, AltosRecord.MISSING);
248 record.temp = map.get_int(AO_TELEM_RAW_THERMO, AltosRecord.MISSING);
249 record.batt = map.get_int(AO_TELEM_RAW_BATT, AltosRecord.MISSING);
250 record.drogue = map.get_int(AO_TELEM_RAW_DROGUE, AltosRecord.MISSING);
251 record.main = map.get_int(AO_TELEM_RAW_MAIN, AltosRecord.MISSING);
253 /* sensor calibration information */
254 record.ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, AltosRecord.MISSING);
255 record.ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, AltosRecord.MISSING);
256 record.accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, AltosRecord.MISSING);
257 record.accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, AltosRecord.MISSING);
259 /* flight computer values */
260 record.kalman_acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, AltosRecord.MISSING, 1/16.0);
261 record.kalman_speed = map.get_double(AO_TELEM_KALMAN_SPEED, AltosRecord.MISSING, 1/16.0);
262 record.kalman_height = map.get_int(AO_TELEM_KALMAN_HEIGHT, AltosRecord.MISSING);
264 record.flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, AltosRecord.MISSING);
265 record.flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, AltosRecord.MISSING);
266 record.flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, AltosRecord.MISSING);
268 if (map.has(AO_TELEM_GPS_STATE)) {
269 record.gps = new AltosGPS(map);
270 record.new_gps = true;
276 private void parse_legacy(String[] words, int i) throws ParseException {
278 AltosParse.word (words[i++], "CALL");
279 record.callsign = words[i++];
281 AltosParse.word (words[i++], "SERIAL");
282 record.serial = AltosParse.parse_int(words[i++]);
284 if (record.version >= 2) {
285 AltosParse.word (words[i++], "FLIGHT");
286 record.flight = AltosParse.parse_int(words[i++]);
290 AltosParse.word(words[i++], "RSSI");
291 record.rssi = AltosParse.parse_int(words[i++]);
293 /* Older telemetry data had mis-computed RSSI value */
294 if (record.version <= 2)
295 record.rssi = (record.rssi + 74) / 2 - 74;
297 AltosParse.word(words[i++], "STATUS");
298 record.status = AltosParse.parse_hex(words[i++]);
300 AltosParse.word(words[i++], "STATE");
301 record.state = AltosLib.state(words[i++]);
303 record.tick = AltosParse.parse_int(words[i++]);
305 AltosParse.word(words[i++], "a:");
306 record.accel = AltosParse.parse_int(words[i++]);
308 AltosParse.word(words[i++], "p:");
309 record.pres = AltosParse.parse_int(words[i++]);
311 AltosParse.word(words[i++], "t:");
312 record.temp = AltosParse.parse_int(words[i++]);
314 AltosParse.word(words[i++], "v:");
315 record.batt = AltosParse.parse_int(words[i++]);
317 AltosParse.word(words[i++], "d:");
318 record.drogue = AltosParse.parse_int(words[i++]);
320 AltosParse.word(words[i++], "m:");
321 record.main = AltosParse.parse_int(words[i++]);
323 AltosParse.word(words[i++], "fa:");
324 record.flight_accel = AltosParse.parse_int(words[i++]);
326 AltosParse.word(words[i++], "ga:");
327 record.ground_accel = AltosParse.parse_int(words[i++]);
329 AltosParse.word(words[i++], "fv:");
330 record.flight_vel = AltosParse.parse_int(words[i++]);
332 AltosParse.word(words[i++], "fp:");
333 record.flight_pres = AltosParse.parse_int(words[i++]);
335 /* Old TeleDongle code with kalman-reporting TeleMetrum code */
336 if ((record.flight_vel & 0xffff0000) == 0x80000000) {
337 record.kalman_speed = ((short) record.flight_vel) / 16.0;
338 record.kalman_acceleration = record.flight_accel / 16.0;
339 record.kalman_height = record.flight_pres;
340 record.flight_vel = AltosRecord.MISSING;
341 record.flight_pres = AltosRecord.MISSING;
342 record.flight_accel = AltosRecord.MISSING;
345 AltosParse.word(words[i++], "gp:");
346 record.ground_pres = AltosParse.parse_int(words[i++]);
348 if (record.version >= 1) {
349 AltosParse.word(words[i++], "a+:");
350 record.accel_plus_g = AltosParse.parse_int(words[i++]);
352 AltosParse.word(words[i++], "a-:");
353 record.accel_minus_g = AltosParse.parse_int(words[i++]);
355 record.accel_plus_g = record.ground_accel;
356 record.accel_minus_g = record.ground_accel + 530;
359 record.gps = new AltosGPS(words, i, record.version);
360 record.new_gps = true;
363 public AltosTelemetryRecordLegacy(String line) throws ParseException, AltosCRCException {
364 String[] words = line.split("\\s+");
367 record = new AltosRecordTM();
369 if (words[i].equals("CRC") && words[i+1].equals("INVALID")) {
371 AltosParse.word(words[i++], "RSSI");
372 record.rssi = AltosParse.parse_int(words[i++]);
373 throw new AltosCRCException(record.rssi);
375 if (words[i].equals("CALL")) {
378 AltosParse.word (words[i++], "VERSION");
379 record.version = AltosParse.parse_int(words[i++]);
382 if (record.version < 4)
383 parse_legacy(words, i);
389 * Given a hex dump of a legacy telemetry line, construct an AltosRecordTM from that
396 private int int8(int i) {
397 return AltosLib.int8(bytes, i + 1 + adjust);
400 private int uint8(int i) {
401 return AltosLib.uint8(bytes, i + 1 + adjust);
403 private int int16(int i) {
404 return AltosLib.int16(bytes, i + 1 + adjust);
406 private int uint16(int i) {
407 return AltosLib.uint16(bytes, i + 1 + adjust);
409 private int uint32(int i) {
410 return AltosLib.uint32(bytes, i + 1 + adjust);
412 private String string(int i, int l) {
413 return AltosLib.string(bytes, i + 1 + adjust, l);
416 static final int AO_GPS_NUM_SAT_MASK = (0xf << 0);
417 static final int AO_GPS_NUM_SAT_SHIFT = (0);
419 static final int AO_GPS_VALID = (1 << 4);
420 static final int AO_GPS_RUNNING = (1 << 5);
421 static final int AO_GPS_DATE_VALID = (1 << 6);
422 static final int AO_GPS_COURSE_VALID = (1 << 7);
424 public AltosTelemetryRecordLegacy(int[] in_bytes, int in_rssi, int in_status) {
425 record = new AltosRecordTM();
431 if (bytes.length == AltosLib.ao_telemetry_0_8_len + 4) {
432 record.serial = uint8(0);
435 record.serial = uint16(0);
437 record.seen = AltosRecord.seen_flight | AltosRecord.seen_sensor | AltosRecord.seen_temp_volt | AltosRecord.seen_deploy;
439 record.callsign = string(62, 8);
440 record.flight = uint16(2);
441 record.rssi = in_rssi;
442 record.status = in_status;
443 record.state = uint8(4);
444 record.tick = uint16(21);
445 record.accel = int16(23);
446 record.pres = int16(25);
447 record.temp = int16(27);
448 record.batt = int16(29);
449 record.drogue = int16(31);
450 record.main = int16(33);
452 record.ground_accel = int16(7);
453 record.ground_pres = int16(15);
454 record.accel_plus_g = int16(17);
455 record.accel_minus_g = int16(19);
457 if (uint16(11) == 0x8000) {
458 record.kalman_acceleration = int16(5);
459 record.kalman_speed = int16(9);
460 record.kalman_height = int16(13);
461 record.flight_accel = AltosRecord.MISSING;
462 record.flight_vel = AltosRecord.MISSING;
463 record.flight_pres = AltosRecord.MISSING;
465 record.flight_accel = int16(5);
466 record.flight_vel = uint32(9);
467 record.flight_pres = int16(13);
468 record.kalman_acceleration = AltosRecord.MISSING;
469 record.kalman_speed = AltosRecord.MISSING;
470 record.kalman_height = AltosRecord.MISSING;
475 int gps_flags = uint8(41);
477 if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) {
478 record.gps = new AltosGPS();
479 record.new_gps = true;
481 record.seen |= AltosRecord.seen_gps_time | AltosRecord.seen_gps_lat | AltosRecord.seen_gps_lon;
482 record.gps.nsat = (gps_flags & AO_GPS_NUM_SAT_MASK);
483 record.gps.locked = (gps_flags & AO_GPS_VALID) != 0;
484 record.gps.connected = true;
485 record.gps.lat = uint32(42) / 1.0e7;
486 record.gps.lon = uint32(46) / 1.0e7;
487 record.gps.alt = int16(50);
488 record.gps.ground_speed = uint16(52) / 100.0;
489 record.gps.course = uint8(54) * 2;
490 record.gps.hdop = uint8(55) / 5.0;
491 record.gps.h_error = uint16(58);
492 record.gps.v_error = uint16(60);
494 int n_tracking_reported = uint8(70);
495 if (n_tracking_reported > 12)
496 n_tracking_reported = 12;
497 int n_tracking_actual = 0;
498 for (int i = 0; i < n_tracking_reported; i++) {
499 if (uint8(71 + i*2) != 0)
502 if (n_tracking_actual > 0) {
503 record.gps.cc_gps_sat = new AltosGPSSat[n_tracking_actual];
505 n_tracking_actual = 0;
506 for (int i = 0; i < n_tracking_reported; i++) {
507 int svid = uint8(71 + i*2);
508 int c_n0 = uint8(72 + i*2);
510 record.gps.cc_gps_sat[n_tracking_actual++] = new AltosGPSSat(svid, c_n0);
518 public AltosRecord update_state(AltosRecord previous) {