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.
22 import java.util.HashMap;
25 * Telemetry data contents
30 * The packet format is a simple hex dump of the raw telemetry frame.
31 * It starts with 'TELEM', then contains hex digits with a checksum as the last
34 * Version 4 is a replacement with consistent syntax. Each telemetry line
35 * contains a sequence of space-separated names and values, the values are
36 * either integers or strings. The names are all unique. All values are
39 * VERSION 4 c KD7SQG n 236 f 18 r -25 s pad t 513 r_a 15756 r_b 26444 r_t 20944
40 * r_v 26640 r_d 512 r_m 208 c_a 15775 c_b 26439 c_p 15749 c_m 16281 a_a 15764
41 * a_s 0 a_b 26439 g_s u g_n 0 s_n 0
43 * VERSION 4 c KD7SQG n 19 f 0 r -23 s pad t 513 r_b 26372 r_t 21292 r_v 26788
44 * r_d 136 r_m 140 c_b 26370 k_h 0 k_s 0 k_a 0
46 * General header fields
50 * VERSION Telemetry version number (4 or more). Must be first.
51 * c Callsign (string, no spaces allowed)
52 * n Flight unit serial number (integer)
53 * f Flight number (integer)
54 * r Packet RSSI value (integer)
55 * s Flight computer state (string, no spaces allowed)
56 * t Flight computer clock (integer in centiseconds)
58 * Version 3 is Version 2 with fixed RSSI numbers -- the radio reports
59 * in 1/2dB increments while this protocol provides only integers. So,
60 * the syntax didn't change just the interpretation of the RSSI
63 * Version 2 of the telemetry data stream is a bit of a mess, with no
64 * consistent formatting. In particular, the GPS data is formatted for
65 * viewing instead of parsing. However, the key feature is that every
66 * telemetry line contains all of the information necessary to
67 * describe the current rocket state, including the calibration values
68 * for accelerometer and barometer.
72 * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -68 STATUS ff STATE pad 1001 \
73 * a: 16032 p: 21232 t: 20284 v: 25160 d: 204 m: 204 fa: 16038 ga: 16032 fv: 0 \
74 * fp: 21232 gp: 21230 a+: 16049 a-: 16304 GPS 0 sat unlocked SAT 1 15 30
78 * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -71 STATUS ff STATE pad 2504 \
79 * a: 16028 p: 21220 t: 20360 v: 25004 d: 208 m: 200 fa: 16031 ga: 16032 fv: 330 \
80 * fp: 21231 gp: 21230 a+: 16049 a-: 16304 \
81 * GPS 9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W 1790m \
82 * 0.00m/s(H) 0° 0.00m/s(V) 1.0(hdop) 0(herr) 0(verr) \
83 * SAT 10 29 30 24 28 5 25 21 20 15 33 1 23 30 24 18 26 10 29 2 26
87 public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord {
89 * General header fields
93 * VERSION Telemetry version number (4 or more). Must be first.
94 * c Callsign (string, no spaces allowed)
95 * n Flight unit serial number (integer)
96 * f Flight number (integer)
97 * r Packet RSSI value (integer)
98 * s Flight computer state (string, no spaces allowed)
99 * t Flight computer clock (integer in centiseconds)
102 final static String AO_TELEM_VERSION = "VERSION";
103 final static String AO_TELEM_CALL = "c";
104 final static String AO_TELEM_SERIAL = "n";
105 final static String AO_TELEM_FLIGHT = "f";
106 final static String AO_TELEM_RSSI = "r";
107 final static String AO_TELEM_STATE = "s";
108 final static String AO_TELEM_TICK = "t";
114 * r_a Accelerometer reading (integer)
115 * r_b Barometer reading (integer)
116 * r_t Thermometer reading (integer)
117 * r_v Battery reading (integer)
118 * r_d Drogue continuity (integer)
119 * r_m Main continuity (integer)
122 final static String AO_TELEM_RAW_ACCEL = "r_a";
123 final static String AO_TELEM_RAW_BARO = "r_b";
124 final static String AO_TELEM_RAW_THERMO = "r_t";
125 final static String AO_TELEM_RAW_BATT = "r_v";
126 final static String AO_TELEM_RAW_DROGUE = "r_d";
127 final static String AO_TELEM_RAW_MAIN = "r_m";
130 * Sensor calibration values
133 * c_a Ground accelerometer reading (integer)
134 * c_b Ground barometer reading (integer)
135 * c_p Accelerometer reading for +1g
136 * c_m Accelerometer reading for -1g
139 final static String AO_TELEM_CAL_ACCEL_GROUND = "c_a";
140 final static String AO_TELEM_CAL_BARO_GROUND = "c_b";
141 final static String AO_TELEM_CAL_ACCEL_PLUS = "c_p";
142 final static String AO_TELEM_CAL_ACCEL_MINUS = "c_m";
145 * Kalman state values
148 * k_h Height above pad (integer, meters)
149 * k_s Vertical speeed (integer, m/s * 16)
150 * k_a Vertical acceleration (integer, m/s² * 16)
153 final static String AO_TELEM_KALMAN_HEIGHT = "k_h";
154 final static String AO_TELEM_KALMAN_SPEED = "k_s";
155 final static String AO_TELEM_KALMAN_ACCEL = "k_a";
158 * Ad-hoc flight values
161 * a_a Acceleration (integer, sensor units)
162 * a_s Speed (integer, integrated acceleration value)
163 * a_b Barometer reading (integer, sensor units)
166 final static String AO_TELEM_ADHOC_ACCEL = "a_a";
167 final static String AO_TELEM_ADHOC_SPEED = "a_s";
168 final static String AO_TELEM_ADHOC_BARO = "a_b";
174 * g_s GPS state (string):
177 * e error (missing or broken)
178 * g_n Number of sats used in solution
179 * g_ns Latitude (degrees * 10e7)
180 * g_ew Longitude (degrees * 10e7)
181 * g_a Altitude (integer meters)
182 * g_Y GPS year (integer)
183 * g_M GPS month (integer - 1-12)
184 * g_D GPS day (integer - 1-31)
185 * g_h GPS hour (integer - 0-23)
186 * g_m GPS minute (integer - 0-59)
187 * g_s GPS second (integer - 0-59)
188 * g_v GPS vertical speed (integer, cm/sec)
189 * g_s GPS horizontal speed (integer, cm/sec)
190 * g_c GPS course (integer, 0-359)
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_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";
237 private void parse_v4(String[] words, int i) throws ParseException {
238 AltosTelemetryMap map = new AltosTelemetryMap(words, i);
240 record.callsign = map.get_string(AO_TELEM_CALL, "N0CALL");
241 record.serial = map.get_int(AO_TELEM_SERIAL, AltosRecord.MISSING);
242 record.flight = map.get_int(AO_TELEM_FLIGHT, AltosRecord.MISSING);
243 record.rssi = map.get_int(AO_TELEM_RSSI, AltosRecord.MISSING);
244 record.state = Altos.state(map.get_string(AO_TELEM_STATE, "invalid"));
245 record.tick = map.get_int(AO_TELEM_TICK, 0);
247 /* raw sensor values */
248 record.accel = map.get_int(AO_TELEM_RAW_ACCEL, AltosRecord.MISSING);
249 record.pres = map.get_int(AO_TELEM_RAW_BARO, AltosRecord.MISSING);
250 record.temp = map.get_int(AO_TELEM_RAW_THERMO, AltosRecord.MISSING);
251 record.batt = map.get_int(AO_TELEM_RAW_BATT, AltosRecord.MISSING);
252 record.drogue = map.get_int(AO_TELEM_RAW_DROGUE, AltosRecord.MISSING);
253 record.main = map.get_int(AO_TELEM_RAW_MAIN, AltosRecord.MISSING);
255 /* sensor calibration information */
256 record.ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, AltosRecord.MISSING);
257 record.ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, AltosRecord.MISSING);
258 record.accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, AltosRecord.MISSING);
259 record.accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, AltosRecord.MISSING);
261 /* flight computer values */
262 record.acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, AltosRecord.MISSING, 1/16.0);
263 record.speed = map.get_double(AO_TELEM_KALMAN_SPEED, AltosRecord.MISSING, 1/16.0);
264 record.height = map.get_int(AO_TELEM_KALMAN_HEIGHT, AltosRecord.MISSING);
266 record.flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, AltosRecord.MISSING);
267 record.flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, AltosRecord.MISSING);
268 record.flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, AltosRecord.MISSING);
270 if (map.has(AO_TELEM_GPS_STATE)) {
271 record.gps = new AltosGPS(map);
272 record.new_gps = true;
278 private void parse_legacy(String[] words, int i) throws ParseException {
280 AltosParse.word (words[i++], "CALL");
281 record.callsign = words[i++];
283 AltosParse.word (words[i++], "SERIAL");
284 record.serial = AltosParse.parse_int(words[i++]);
286 if (record.version >= 2) {
287 AltosParse.word (words[i++], "FLIGHT");
288 record.flight = AltosParse.parse_int(words[i++]);
292 AltosParse.word(words[i++], "RSSI");
293 record.rssi = AltosParse.parse_int(words[i++]);
295 /* Older telemetry data had mis-computed RSSI value */
296 if (record.version <= 2)
297 record.rssi = (record.rssi + 74) / 2 - 74;
299 AltosParse.word(words[i++], "STATUS");
300 record.status = AltosParse.parse_hex(words[i++]);
302 AltosParse.word(words[i++], "STATE");
303 record.state = Altos.state(words[i++]);
305 record.tick = AltosParse.parse_int(words[i++]);
307 AltosParse.word(words[i++], "a:");
308 record.accel = AltosParse.parse_int(words[i++]);
310 AltosParse.word(words[i++], "p:");
311 record.pres = AltosParse.parse_int(words[i++]);
313 AltosParse.word(words[i++], "t:");
314 record.temp = AltosParse.parse_int(words[i++]);
316 AltosParse.word(words[i++], "v:");
317 record.batt = AltosParse.parse_int(words[i++]);
319 AltosParse.word(words[i++], "d:");
320 record.drogue = AltosParse.parse_int(words[i++]);
322 AltosParse.word(words[i++], "m:");
323 record.main = AltosParse.parse_int(words[i++]);
325 AltosParse.word(words[i++], "fa:");
326 record.flight_accel = AltosParse.parse_int(words[i++]);
328 AltosParse.word(words[i++], "ga:");
329 record.ground_accel = AltosParse.parse_int(words[i++]);
331 AltosParse.word(words[i++], "fv:");
332 record.flight_vel = AltosParse.parse_int(words[i++]);
334 AltosParse.word(words[i++], "fp:");
335 record.flight_pres = AltosParse.parse_int(words[i++]);
337 /* Old TeleDongle code with kalman-reporting TeleMetrum code */
338 if ((record.flight_vel & 0xffff0000) == 0x80000000) {
339 record.speed = ((short) record.flight_vel) / 16.0;
340 record.acceleration = record.flight_accel / 16.0;
341 record.height = record.flight_pres;
342 record.flight_vel = AltosRecord.MISSING;
343 record.flight_pres = AltosRecord.MISSING;
344 record.flight_accel = AltosRecord.MISSING;
347 AltosParse.word(words[i++], "gp:");
348 record.ground_pres = AltosParse.parse_int(words[i++]);
350 if (record.version >= 1) {
351 AltosParse.word(words[i++], "a+:");
352 record.accel_plus_g = AltosParse.parse_int(words[i++]);
354 AltosParse.word(words[i++], "a-:");
355 record.accel_minus_g = AltosParse.parse_int(words[i++]);
357 record.accel_plus_g = record.ground_accel;
358 record.accel_minus_g = record.ground_accel + 530;
361 record.gps = new AltosGPS(words, i, record.version);
362 record.new_gps = true;
365 public AltosTelemetryRecordLegacy(String line) throws ParseException, AltosCRCException {
366 String[] words = line.split("\\s+");
369 record = new AltosRecord();
371 if (words[i].equals("CRC") && words[i+1].equals("INVALID")) {
373 AltosParse.word(words[i++], "RSSI");
374 record.rssi = AltosParse.parse_int(words[i++]);
375 throw new AltosCRCException(record.rssi);
377 if (words[i].equals("CALL")) {
380 AltosParse.word (words[i++], "VERSION");
381 record.version = AltosParse.parse_int(words[i++]);
384 if (record.version < 4)
385 parse_legacy(words, i);
391 * Given a hex dump of a legacy telemetry line, construct an AltosRecord from that
397 private int int8(int i) {
398 return Altos.int8(bytes, i + 1 + adjust);
400 private int uint8(int i) {
401 return Altos.uint8(bytes, i + 1 + adjust);
403 private int int16(int i) {
404 return Altos.int16(bytes, i + 1 + adjust);
406 private int uint16(int i) {
407 return Altos.uint16(bytes, i + 1 + adjust);
409 private int uint32(int i) {
410 return Altos.uint32(bytes, i + 1 + adjust);
412 private String string(int i, int l) {
413 return Altos.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 AltosRecord();
431 if (bytes.length == Altos.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.acceleration = int16(5);
459 record.speed = int16(9);
460 record.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.acceleration = AltosRecord.MISSING;
469 record.speed = AltosRecord.MISSING;
470 record.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 |= record.seen_gps_time | record.seen_gps_lat | record.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) {