2 * Copyright © 2011 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 #ifndef _CC_TELEMETRY_H_
20 #define _CC_TELEMETRY_H_
24 #define AO_MAX_CALLSIGN 8
25 #define AO_MAX_VERSION 8
26 #define AO_MAX_TELEMETRY 128
28 struct ao_telemetry_generic {
29 uint16_t serial; /* 0 */
30 uint16_t tick; /* 2 */
32 uint8_t payload[27]; /* 5 */
33 uint8_t rssi; /* 32 */
34 uint8_t status; /* 33 */
38 #define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
39 #define AO_TELEMETRY_SENSOR_TELEMINI 0x02
40 #define AO_TELEMETRY_SENSOR_TELENANO 0x03
42 struct ao_telemetry_sensor {
43 uint16_t serial; /* 0 */
44 uint16_t tick; /* 2 */
47 uint8_t state; /* 5 flight state */
48 int16_t accel; /* 6 accelerometer (TM only) */
49 int16_t pres; /* 8 pressure sensor */
50 int16_t temp; /* 10 temperature sensor */
51 int16_t v_batt; /* 12 battery voltage */
52 int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
53 int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
55 int16_t acceleration; /* 18 m/s² * 16 */
56 int16_t speed; /* 20 m/s * 16 */
57 int16_t height; /* 22 m */
59 int16_t ground_pres; /* 24 average pres on pad */
60 int16_t ground_accel; /* 26 average accel on pad */
61 int16_t accel_plus_g; /* 28 accel calibration at +1g */
62 int16_t accel_minus_g; /* 30 accel calibration at -1g */
66 #define AO_TELEMETRY_CONFIGURATION 0x04
68 struct ao_telemetry_configuration {
69 uint16_t serial; /* 0 */
70 uint16_t tick; /* 2 */
73 uint8_t device; /* 5 device type */
74 uint16_t flight; /* 6 flight number */
75 uint8_t config_major; /* 8 Config major version */
76 uint8_t config_minor; /* 9 Config minor version */
77 uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
78 uint16_t main_deploy; /* 12 Main deploy alt in meters */
79 uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
80 char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
81 char version[AO_MAX_VERSION]; /* 24 Software version */
85 #define AO_TELEMETRY_LOCATION 0x05
87 #define AO_GPS_MODE_NOT_VALID 'N'
88 #define AO_GPS_MODE_AUTONOMOUS 'A'
89 #define AO_GPS_MODE_DIFFERENTIAL 'D'
90 #define AO_GPS_MODE_ESTIMATED 'E'
91 #define AO_GPS_MODE_MANUAL 'M'
92 #define AO_GPS_MODE_SIMULATED 'S'
94 #define AO_GPS_MODE_ALTITUDE_24 (1 << 0) /* reports 24-bits of altitude */
96 struct ao_telemetry_location {
97 uint16_t serial; /* 0 */
98 uint16_t tick; /* 2 */
101 uint8_t flags; /* 5 Number of sats and other flags */
102 int16_t altitude_low; /* 6 GPS reported altitude (m) */
103 int32_t latitude; /* 8 latitude (degrees * 10⁷) */
104 int32_t longitude; /* 12 longitude (degrees * 10⁷) */
105 uint8_t year; /* 16 (- 2000) */
106 uint8_t month; /* 17 (1-12) */
107 uint8_t day; /* 18 (1-31) */
108 uint8_t hour; /* 19 (0-23) */
109 uint8_t minute; /* 20 (0-59) */
110 uint8_t second; /* 21 (0-59) */
111 uint8_t pdop; /* 22 (m * 5) */
112 uint8_t hdop; /* 23 (m * 5) */
113 uint8_t vdop; /* 24 (m * 5) */
114 uint8_t mode; /* 25 */
115 uint16_t ground_speed; /* 26 cm/s */
116 int16_t climb_rate; /* 28 cm/s */
117 uint8_t course; /* 30 degrees / 2 */
118 int8_t altitude_high; /* 31 */
122 typedef int32_t gps_alt_t;
123 #define AO_TELEMETRY_LOCATION_ALTITUDE(l) \
124 ((l)->altitude_low | (((l)->mode & AO_GPS_MODE_ALTITUDE_24) ? \
125 ((gps_alt_t) (l)->altitude_high << 16) : 0))
127 #define AO_TELEMETRY_SATELLITE 0x06
129 struct ao_telemetry_satellite_info {
134 #define AO_TELEMETRY_SATELLITE_MAX_SAT 12
137 struct ao_telemetry_satellite {
138 uint16_t serial; /* 0 */
139 uint16_t tick; /* 2 */
140 uint8_t type; /* 4 */
141 uint8_t channels; /* 5 number of reported sats */
143 struct ao_telemetry_satellite_info sats[AO_TELEMETRY_SATELLITE_MAX_SAT]; /* 6 */
144 uint8_t unused[2]; /* 30 */
148 #define AO_TELEMETRY_COMPANION 0x07
150 #define AO_COMPANION_MAX_CHANNELS 12
152 struct ao_telemetry_companion {
153 uint16_t serial; /* 0 */
154 uint16_t tick; /* 2 */
155 uint8_t type; /* 4 */
156 uint8_t board_id; /* 5 */
158 uint8_t update_period; /* 6 */
159 uint8_t channels; /* 7 */
160 uint16_t companion_data[AO_COMPANION_MAX_CHANNELS]; /* 8 */
164 #define AO_TELEMETRY_MEGA_SENSOR_MPU 0x08 /* Invensense IMU */
165 #define AO_TELEMETRY_MEGA_SENSOR_BMX160 0x12 /* BMX160 IMU */
167 struct ao_telemetry_mega_sensor {
168 uint16_t serial; /* 0 */
169 uint16_t tick; /* 2 */
170 uint8_t type; /* 4 */
172 uint8_t orient; /* 5 angle from vertical */
173 int16_t accel; /* 6 Z axis */
175 int32_t pres; /* 8 Pa * 10 */
176 int16_t temp; /* 12 °C * 100 */
178 int16_t accel_x; /* 14 */
179 int16_t accel_y; /* 16 */
180 int16_t accel_z; /* 18 */
182 int16_t gyro_x; /* 20 */
183 int16_t gyro_y; /* 22 */
184 int16_t gyro_z; /* 24 */
186 int16_t mag_x; /* 26 */
187 int16_t mag_z; /* 30 */
188 int16_t mag_y; /* 28 */
192 #define AO_TELEMETRY_MEGA_DATA 0x09
194 struct ao_telemetry_mega_data {
195 uint16_t serial; /* 0 */
196 uint16_t tick; /* 2 */
197 uint8_t type; /* 4 */
199 uint8_t state; /* 5 flight state */
201 int16_t v_batt; /* 6 battery voltage */
202 int16_t v_pyro; /* 8 pyro battery voltage */
203 int8_t sense[6]; /* 10 continuity sense */
205 int32_t ground_pres; /* 16 average pres on pad */
206 int16_t ground_accel; /* 20 average accel on pad */
207 int16_t accel_plus_g; /* 22 accel calibration at +1g */
208 int16_t accel_minus_g; /* 24 accel calibration at -1g */
210 int16_t acceleration; /* 26 m/s² * 16 */
211 int16_t speed; /* 28 m/s * 16 */
212 int16_t height; /* 30 m */
216 #define AO_TELEMETRY_METRUM_SENSOR 0x0A
218 struct ao_telemetry_metrum_sensor {
219 uint16_t serial; /* 0 */
220 uint16_t tick; /* 2 */
221 uint8_t type; /* 4 */
223 uint8_t state; /* 5 flight state */
224 int16_t accel; /* 6 Z axis */
226 int32_t pres; /* 8 Pa * 10 */
227 int16_t temp; /* 12 °C * 100 */
229 int16_t acceleration; /* 14 m/s² * 16 */
230 int16_t speed; /* 16 m/s * 16 */
231 int16_t height; /* 18 m */
233 int16_t v_batt; /* 20 battery voltage */
234 int16_t sense_a; /* 22 apogee continuity sense */
235 int16_t sense_m; /* 24 main continuity sense */
237 uint8_t pad[6]; /* 26 */
241 #define AO_TELEMETRY_METRUM_DATA 0x0B
243 struct ao_telemetry_metrum_data {
244 uint16_t serial; /* 0 */
245 uint16_t tick; /* 2 */
246 uint8_t type; /* 4 */
247 uint8_t pad5[3]; /* 5 */
249 int32_t ground_pres; /* 8 average pres on pad */
250 int16_t ground_accel; /* 12 average accel on pad */
251 int16_t accel_plus_g; /* 14 accel calibration at +1g */
252 int16_t accel_minus_g; /* 16 accel calibration at -1g */
254 uint8_t pad18[14]; /* 18 */
258 #define AO_TELEMETRY_MINI 0x10
259 #define AO_TELEMETRY_MINI3 0x11
261 struct ao_telemetry_mini {
262 uint16_t serial; /* 0 */
263 uint16_t tick; /* 2 */
264 uint8_t type; /* 4 */
266 uint8_t state; /* 5 flight state */
267 int16_t v_batt; /* 6 battery voltage */
268 int16_t sense_a; /* 8 apogee continuity */
269 int16_t sense_m; /* 10 main continuity */
271 int32_t pres; /* 12 Pa * 10 */
272 int16_t temp; /* 16 °C * 100 */
274 int16_t acceleration; /* 18 m/s² * 16 */
275 int16_t speed; /* 20 m/s * 16 */
276 int16_t height; /* 22 m */
278 int32_t ground_pres; /* 24 average pres on pad */
280 int32_t pad28; /* 28 */
284 /* #define AO_SEND_ALL_BARO */
286 #define AO_TELEMETRY_BARO 0x80
289 * This packet allows the full sampling rate baro
290 * data to be captured over the RF link so that the
291 * flight software can be tested using 'real' data.
293 * Along with this telemetry packet, the flight
294 * code is modified to send full-rate telemetry all the time
295 * and never send an RDF tone; this ensure that the full radio
298 struct ao_telemetry_baro {
299 uint16_t serial; /* 0 */
300 uint16_t tick; /* 2 */
301 uint8_t type; /* 4 */
302 uint8_t samples; /* 5 number samples */
304 int16_t baro[12]; /* 6 samples */
308 union ao_telemetry_all {
309 struct ao_telemetry_generic generic;
310 struct ao_telemetry_sensor sensor;
311 struct ao_telemetry_configuration configuration;
312 struct ao_telemetry_location location;
313 struct ao_telemetry_satellite satellite;
314 struct ao_telemetry_companion companion;
315 struct ao_telemetry_mega_sensor mega_sensor;
316 struct ao_telemetry_mega_data mega_data;
317 struct ao_telemetry_metrum_sensor metrum_sensor;
318 struct ao_telemetry_metrum_data metrum_data;
319 struct ao_telemetry_mini mini;
320 struct ao_telemetry_baro baro;
323 #define CC_TELEMETRY_HEADER "TELEM"
325 /* "TELEM " 1 byte length 32 data bytes 1 rssi 1 status 1 checksum 1 null */
327 #define CC_TELEMETRY_BUFSIZE (6 + (1 + 32 + 3) * 2 + 1)
330 cc_telemetry_parse(const char *input_line, union ao_telemetry_all *telemetry);
333 cc_telemetry_cksum(const union ao_telemetry_all *telemetry);
336 cc_telemetry_unparse(const union ao_telemetry_all *telemetry, char output_line[CC_TELEMETRY_BUFSIZE]);