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; 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 #ifndef _CC_TELEMETRY_H_
19 #define _CC_TELEMETRY_H_
23 #define AO_MAX_CALLSIGN 8
24 #define AO_MAX_VERSION 8
25 #define AO_MAX_TELEMETRY 128
27 struct ao_telemetry_generic {
28 uint16_t serial; /* 0 */
29 uint16_t tick; /* 2 */
31 uint8_t payload[27]; /* 5 */
32 uint8_t rssi; /* 32 */
33 uint8_t status; /* 33 */
37 #define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
38 #define AO_TELEMETRY_SENSOR_TELEMINI 0x02
39 #define AO_TELEMETRY_SENSOR_TELENANO 0x03
41 struct ao_telemetry_sensor {
42 uint16_t serial; /* 0 */
43 uint16_t tick; /* 2 */
46 uint8_t state; /* 5 flight state */
47 int16_t accel; /* 6 accelerometer (TM only) */
48 int16_t pres; /* 8 pressure sensor */
49 int16_t temp; /* 10 temperature sensor */
50 int16_t v_batt; /* 12 battery voltage */
51 int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
52 int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
54 int16_t acceleration; /* 18 m/s² * 16 */
55 int16_t speed; /* 20 m/s * 16 */
56 int16_t height; /* 22 m */
58 int16_t ground_pres; /* 24 average pres on pad */
59 int16_t ground_accel; /* 26 average accel on pad */
60 int16_t accel_plus_g; /* 28 accel calibration at +1g */
61 int16_t accel_minus_g; /* 30 accel calibration at -1g */
65 #define AO_TELEMETRY_CONFIGURATION 0x04
67 struct ao_telemetry_configuration {
68 uint16_t serial; /* 0 */
69 uint16_t tick; /* 2 */
72 uint8_t device; /* 5 device type */
73 uint16_t flight; /* 6 flight number */
74 uint8_t config_major; /* 8 Config major version */
75 uint8_t config_minor; /* 9 Config minor version */
76 uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
77 uint16_t main_deploy; /* 12 Main deploy alt in meters */
78 uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
79 char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
80 char version[AO_MAX_VERSION]; /* 24 Software version */
84 #define AO_TELEMETRY_LOCATION 0x05
86 #define AO_GPS_MODE_NOT_VALID 'N'
87 #define AO_GPS_MODE_AUTONOMOUS 'A'
88 #define AO_GPS_MODE_DIFFERENTIAL 'D'
89 #define AO_GPS_MODE_ESTIMATED 'E'
90 #define AO_GPS_MODE_MANUAL 'M'
91 #define AO_GPS_MODE_SIMULATED 'S'
93 #define AO_GPS_STATE_VALID 0x80
95 struct ao_telemetry_location {
96 uint16_t serial; /* 0 */
97 uint16_t tick; /* 2 */
100 uint8_t flags; /* 5 Number of sats and other flags */
101 int16_t altitude; /* 6 GPS reported altitude (m) */
102 int32_t latitude; /* 8 latitude (degrees * 10⁷) */
103 int32_t longitude; /* 12 longitude (degrees * 10⁷) */
104 uint8_t year; /* 16 (- 2000) */
105 uint8_t month; /* 17 (1-12) */
106 uint8_t day; /* 18 (1-31) */
107 uint8_t hour; /* 19 (0-23) */
108 uint8_t minute; /* 20 (0-59) */
109 uint8_t second; /* 21 (0-59) */
110 uint8_t pdop; /* 22 (m * 5) */
111 uint8_t hdop; /* 23 (m * 5) */
112 uint8_t vdop; /* 24 (m * 5) */
113 uint8_t mode; /* 25 */
114 uint16_t ground_speed; /* 26 cm/s */
115 int16_t climb_rate; /* 28 cm/s */
116 uint8_t course; /* 30 degrees / 2 */
117 uint8_t state; /* 31 */
121 #define AO_TELEMETRY_SATELLITE 0x06
123 struct ao_telemetry_satellite_info {
128 struct ao_telemetry_satellite {
129 uint16_t serial; /* 0 */
130 uint16_t tick; /* 2 */
131 uint8_t type; /* 4 */
132 uint8_t channels; /* 5 number of reported sats */
134 struct ao_telemetry_satellite_info sats[12]; /* 6 */
135 uint8_t unused[2]; /* 30 */
139 #define AO_TELEMETRY_COMPANION 0x07
141 #define AO_COMPANION_MAX_CHANNELS 12
143 struct ao_telemetry_companion {
144 uint16_t serial; /* 0 */
145 uint16_t tick; /* 2 */
146 uint8_t type; /* 4 */
147 uint8_t board_id; /* 5 */
149 uint8_t update_period; /* 6 */
150 uint8_t channels; /* 7 */
151 uint16_t companion_data[AO_COMPANION_MAX_CHANNELS]; /* 8 */
155 #define AO_TELEMETRY_MEGA_SENSOR 0x08
157 struct ao_telemetry_mega_sensor {
158 uint16_t serial; /* 0 */
159 uint16_t tick; /* 2 */
160 uint8_t type; /* 4 */
162 uint8_t orient; /* 5 angle from vertical */
163 int16_t accel; /* 6 Z axis */
165 int32_t pres; /* 8 Pa * 10 */
166 int16_t temp; /* 12 °C * 100 */
168 int16_t accel_x; /* 14 */
169 int16_t accel_y; /* 16 */
170 int16_t accel_z; /* 18 */
172 int16_t gyro_x; /* 20 */
173 int16_t gyro_y; /* 22 */
174 int16_t gyro_z; /* 24 */
176 int16_t mag_x; /* 26 */
177 int16_t mag_y; /* 28 */
178 int16_t mag_z; /* 30 */
182 #define AO_TELEMETRY_MEGA_DATA 0x09
184 struct ao_telemetry_mega_data {
185 uint16_t serial; /* 0 */
186 uint16_t tick; /* 2 */
187 uint8_t type; /* 4 */
189 uint8_t state; /* 5 flight state */
191 int16_t v_batt; /* 6 battery voltage */
192 int16_t v_pyro; /* 8 pyro battery voltage */
193 int8_t sense[6]; /* 10 continuity sense */
195 int32_t ground_pres; /* 16 average pres on pad */
196 int16_t ground_accel; /* 20 average accel on pad */
197 int16_t accel_plus_g; /* 22 accel calibration at +1g */
198 int16_t accel_minus_g; /* 24 accel calibration at -1g */
200 int16_t acceleration; /* 26 m/s² * 16 */
201 int16_t speed; /* 28 m/s * 16 */
202 int16_t height; /* 30 m */
206 #define AO_TELEMETRY_METRUM_SENSOR 0x0A
208 struct ao_telemetry_metrum_sensor {
209 uint16_t serial; /* 0 */
210 uint16_t tick; /* 2 */
211 uint8_t type; /* 4 */
213 uint8_t state; /* 5 flight state */
214 int16_t accel; /* 6 Z axis */
216 int32_t pres; /* 8 Pa * 10 */
217 int16_t temp; /* 12 °C * 100 */
219 int16_t acceleration; /* 14 m/s² * 16 */
220 int16_t speed; /* 16 m/s * 16 */
221 int16_t height; /* 18 m */
223 int16_t v_batt; /* 20 battery voltage */
224 int16_t sense_a; /* 22 apogee continuity sense */
225 int16_t sense_m; /* 24 main continuity sense */
227 uint8_t pad[6]; /* 26 */
231 #define AO_TELEMETRY_METRUM_DATA 0x0B
233 struct ao_telemetry_metrum_data {
234 uint16_t serial; /* 0 */
235 uint16_t tick; /* 2 */
236 uint8_t type; /* 4 */
238 int32_t ground_pres; /* 8 average pres on pad */
239 int16_t ground_accel; /* 12 average accel on pad */
240 int16_t accel_plus_g; /* 14 accel calibration at +1g */
241 int16_t accel_minus_g; /* 16 accel calibration at -1g */
243 uint8_t pad[14]; /* 18 */
247 #define AO_TELEMETRY_MINI 0x10
249 struct ao_telemetry_mini {
250 uint16_t serial; /* 0 */
251 uint16_t tick; /* 2 */
252 uint8_t type; /* 4 */
254 uint8_t state; /* 5 flight state */
255 int16_t v_batt; /* 6 battery voltage */
256 int16_t sense_a; /* 8 apogee continuity */
257 int16_t sense_m; /* 10 main continuity */
259 int32_t pres; /* 12 Pa * 10 */
260 int16_t temp; /* 16 °C * 100 */
262 int16_t acceleration; /* 18 m/s² * 16 */
263 int16_t speed; /* 20 m/s * 16 */
264 int16_t height; /* 22 m */
266 int32_t ground_pres; /* 24 average pres on pad */
268 int32_t pad28; /* 28 */
272 /* #define AO_SEND_ALL_BARO */
274 #define AO_TELEMETRY_BARO 0x80
277 * This packet allows the full sampling rate baro
278 * data to be captured over the RF link so that the
279 * flight software can be tested using 'real' data.
281 * Along with this telemetry packet, the flight
282 * code is modified to send full-rate telemetry all the time
283 * and never send an RDF tone; this ensure that the full radio
286 struct ao_telemetry_baro {
287 uint16_t serial; /* 0 */
288 uint16_t tick; /* 2 */
289 uint8_t type; /* 4 */
290 uint8_t samples; /* 5 number samples */
292 int16_t baro[12]; /* 6 samples */
296 union ao_telemetry_all {
297 struct ao_telemetry_generic generic;
298 struct ao_telemetry_sensor sensor;
299 struct ao_telemetry_configuration configuration;
300 struct ao_telemetry_location location;
301 struct ao_telemetry_satellite satellite;
302 struct ao_telemetry_companion companion;
303 struct ao_telemetry_mega_sensor mega_sensor;
304 struct ao_telemetry_mega_data mega_data;
305 struct ao_telemetry_metrum_sensor metrum_sensor;
306 struct ao_telemetry_metrum_data metrum_data;
307 struct ao_telemetry_mini mini;
308 struct ao_telemetry_baro baro;
311 #define CC_TELEMETRY_HEADER "TELEM"
313 /* "TELEM " 1 byte length 32 data bytes 1 rssi 1 status 1 checksum 1 null */
315 #define CC_TELEMETRY_BUFSIZE (6 + (1 + 32 + 3) * 2 + 1)
318 cc_telemetry_parse(const char *input_line, union ao_telemetry_all *telemetry);
321 cc_telemetry_cksum(const union ao_telemetry_all *telemetry);
324 cc_telemetry_unparse(const union ao_telemetry_all *telemetry, char output_line[CC_TELEMETRY_BUFSIZE]);