From ae6568f693516d0951268157aa6e8e90f966d02e Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Thu, 13 Sep 2012 16:05:21 -0600 Subject: [PATCH] update docs --- AltOS/doc/altos.html | 168 +++++++++--------- AltOS/doc/altos.pdf | Bin 107595 -> 107609 bytes AltOS/doc/altusmetrum.html | 284 +++++++++++++++++++++---------- AltOS/doc/altusmetrum.pdf | Bin 165038 -> 172755 bytes AltOS/doc/companion.html | 116 +++++++++++++ AltOS/doc/companion.pdf | Bin 0 -> 20018 bytes AltOS/doc/release-notes-1.1.html | 73 ++++++++ AltOS/doc/telemetry.html | 36 ++-- AltOS/doc/telemetry.pdf | Bin 34577 -> 35358 bytes 9 files changed, 481 insertions(+), 196 deletions(-) create mode 100644 AltOS/doc/companion.html create mode 100644 AltOS/doc/companion.pdf create mode 100644 AltOS/doc/release-notes-1.1.html diff --git a/AltOS/doc/altos.html b/AltOS/doc/altos.html index b534cd9..fb997e0 100644 --- a/AltOS/doc/altos.html +++ b/AltOS/doc/altos.html @@ -1,10 +1,10 @@ -AltOS

AltOS

Altos Metrum Operating System

Keith Packard

Copyright © 2010 Keith Packard

+AltOS

AltOS

Altos Metrum Operating System

Keith Packard

Copyright © 2010 Keith Packard

This document is released under the terms of the Creative Commons ShareAlike 3.0 license. -

Revision History
Revision 0.122 November 2010
Initial content

Table of Contents

1. Overview
2. Programming the 8051 with SDCC
1. 8051 memory spaces
1.1. __data
1.2. __idata
1.3. __xdata
1.4. __pdata
1.5. __code
1.6. __bit
1.7. __sfr, __sfr16, __sfr32, __sbit
2. Function calls on the 8051
2.1. __reentrant functions
2.2. Non __reentrant functions
2.3. __interrupt functions
2.4. __critical functions and statements
3. Task functions
1. ao_add_task
2. ao_exit
3. ao_sleep
4. ao_wakeup
5. ao_alarm
6. ao_start_scheduler
7. ao_clock_init
4. Timer Functions
1. ao_time
2. ao_delay
3. ao_timer_set_adc_interval
4. ao_timer_init
5. AltOS Mutexes
1. ao_mutex_get
2. ao_mutex_put
6. CC1111 DMA engine
1. ao_dma_alloc
2. ao_dma_set_transfer
3. ao_dma_start
4. ao_dma_trigger
5. ao_dma_abort
7. SDCC Stdio interface
1. putchar
2. getchar
3. flush
4. ao_add_stdio
8. Command line interface
1. ao_cmd_register
2. ao_cmd_lex
3. ao_cmd_put16
4. ao_cmd_put8
5. ao_cmd_white
6. ao_cmd_hex
7. ao_cmd_decimal
8. ao_match_word
9. ao_cmd_init
9. CC1111 USB target device
1. ao_usb_flush
2. ao_usb_putchar
3. ao_usb_pollchar
4. ao_usb_getchar
5. ao_usb_disable
6. ao_usb_enable
7. ao_usb_init
10. CC1111 Serial peripheral
1. ao_serial_getchar
2. ao_serial_putchar
3. ao_serial_drain
4. ao_serial_set_speed
5. ao_serial_init
11. CC1111 Radio peripheral
1. ao_radio_set_telemetry
2. ao_radio_set_packet
3. ao_radio_set_rdf
4. ao_radio_idle
5. ao_radio_get
6. ao_radio_put
7. ao_radio_abort
8. ao_radio_send
9. ao_radio_recv
10. ao_radio_rdf
11. ao_packet_putchar
12. ao_packet_pollchar
13. ao_packet_slave_start
14. ao_packet_slave_stop
15. ao_packet_slave_init
16. ao_packet_master_init

Chapter 1. Overview

+

Revision History
Revision 0.122 November 2010
Initial content

Table of Contents

1. Overview
2. Programming the 8051 with SDCC
1. 8051 memory spaces
1.1. __data
1.2. __idata
1.3. __xdata
1.4. __pdata
1.5. __code
1.6. __bit
1.7. __sfr, __sfr16, __sfr32, __sbit
2. Function calls on the 8051
2.1. __reentrant functions
2.2. Non __reentrant functions
2.3. __interrupt functions
2.4. __critical functions and statements
3. Task functions
1. ao_add_task
2. ao_exit
3. ao_sleep
4. ao_wakeup
5. ao_alarm
6. ao_start_scheduler
7. ao_clock_init
4. Timer Functions
1. ao_time
2. ao_delay
3. ao_timer_set_adc_interval
4. ao_timer_init
5. AltOS Mutexes
1. ao_mutex_get
2. ao_mutex_put
6. CC1111 DMA engine
1. ao_dma_alloc
2. ao_dma_set_transfer
3. ao_dma_start
4. ao_dma_trigger
5. ao_dma_abort
7. SDCC Stdio interface
1. putchar
2. getchar
3. flush
4. ao_add_stdio
8. Command line interface
1. ao_cmd_register
2. ao_cmd_lex
3. ao_cmd_put16
4. ao_cmd_put8
5. ao_cmd_white
6. ao_cmd_hex
7. ao_cmd_decimal
8. ao_match_word
9. ao_cmd_init
9. CC1111 USB target device
1. ao_usb_flush
2. ao_usb_putchar
3. ao_usb_pollchar
4. ao_usb_getchar
5. ao_usb_disable
6. ao_usb_enable
7. ao_usb_init
10. CC1111 Serial peripheral
1. ao_serial_getchar
2. ao_serial_putchar
3. ao_serial_drain
4. ao_serial_set_speed
5. ao_serial_init
11. CC1111 Radio peripheral
1. ao_radio_set_telemetry
2. ao_radio_set_packet
3. ao_radio_set_rdf
4. ao_radio_idle
5. ao_radio_get
6. ao_radio_put
7. ao_radio_abort
8. ao_radio_send
9. ao_radio_recv
10. ao_radio_rdf
11. ao_packet_putchar
12. ao_packet_pollchar
13. ao_packet_slave_start
14. ao_packet_slave_stop
15. ao_packet_slave_init
16. ao_packet_master_init

Chapter 1. Overview

AltOS is a operating system built for the 8051-compatible processor found in the TI cc1111 microcontroller. It's designed to be small and easy to program with. The main features are: @@ -61,7 +61,7 @@

As you can see, a long sequence of subsystems are initialized and then the scheduler is started. -

Chapter 2. Programming the 8051 with SDCC

Table of Contents

1. 8051 memory spaces
1.1. __data
1.2. __idata
1.3. __xdata
1.4. __pdata
1.5. __code
1.6. __bit
1.7. __sfr, __sfr16, __sfr32, __sbit
2. Function calls on the 8051
2.1. __reentrant functions
2.2. Non __reentrant functions
2.3. __interrupt functions
2.4. __critical functions and statements

+

Chapter 2. Programming the 8051 with SDCC

Table of Contents

1. 8051 memory spaces
1.1. __data
1.2. __idata
1.3. __xdata
1.4. __pdata
1.5. __code
1.6. __bit
1.7. __sfr, __sfr16, __sfr32, __sbit
2. Function calls on the 8051
2.1. __reentrant functions
2.2. Non __reentrant functions
2.3. __interrupt functions
2.4. __critical functions and statements

The 8051 is a primitive 8-bit processor, designed in the mists of time in as few transistors as possible. The architecture is highly irregular and includes several separate memory @@ -69,7 +69,7 @@ stack itself is of limited size. While SDCC papers over the instruction set, it is not completely able to hide the memory architecture from the application designer. -

1. 8051 memory spaces

+

1. 8051 memory spaces

The __data/__xdata/__code memory spaces below were completely separate in the original 8051 design. In the cc1111, this isn't true—they all live in a single unified 64kB address @@ -83,7 +83,7 @@ is decorated with a memory space identifier which clutters the code but makes the resulting code far smaller and more efficient. -

1.1. __data

+

1.1. __data

The 8051 can directly address these 128 bytes of memory. This makes them precious so they should be reserved for frequently addressed values. Oh, just to @@ -93,42 +93,42 @@ these registers located at 0x00 - 0x1F. AltOS uses only the first bank at 0x00 - 0x07, leaving the other 24 bytes available for other data. -

1.2. __idata

+

1.2. __idata

There are an additional 128 bytes of internal memory that share the same address space as __data but which cannot be directly addressed. The stack normally occupies this space and so AltOS doesn't place any static storage here. -

1.3. __xdata

+

1.3. __xdata

This is additional general memory accessed through a single 16-bit address register. The CC1111F32 has 32kB of memory available here. Most program data should live in this memory space. -

1.4. __pdata

+

1.4. __pdata

This is an alias for the first 256 bytes of __xdata memory, but uses a shorter addressing mode with single global 8-bit value for the high 8 bits of the address and any of several 8-bit registers for the low 8 bits. AltOS uses a few bits of this memory, it should probably use more. -

1.5. __code

+

1.5. __code

All executable code must live in this address space, but you can stick read-only data here too. It is addressed using the 16-bit address register and special 'code' access opcodes. Anything read-only should live in this space. -

1.6. __bit

+

1.6. __bit

The 8051 has 128 bits of bit-addressible memory that lives in the __data segment from 0x20 through 0x2f. Special instructions access these bits in a single atomic operation. This isn't so much a separate address space as a special addressing mode for a few bytes in the __data segment. -

1.7. __sfr, __sfr16, __sfr32, __sbit

+

1.7. __sfr, __sfr16, __sfr32, __sbit

Access to physical registers in the device use this mode which declares the variable name, it's type and the address it lives at. No memory is allocated for these variables. -

2. Function calls on the 8051

+

2. Function calls on the 8051

Because stack addressing is expensive, and stack space limited, the default function call declaration in SDCC allocates all parameters and local variables in static global @@ -136,7 +136,7 @@ non-reentrant, and also consume space for parameters and locals even when they are not running. The benefit is smaller code and faster execution. -

2.1. __reentrant functions

+

2.1. __reentrant functions

All functions which are re-entrant, either due to recursion or due to a potential context switch while executing, should be marked as __reentrant so that their parameters and local @@ -149,7 +149,7 @@ invoked can also be marked as __reentrant. The resulting code will be larger, but the savings in memory are frequently worthwhile. -

2.2. Non __reentrant functions

+

2.2. Non __reentrant functions

All parameters and locals in non-reentrant functions can have data space decoration so that they are allocated in __xdata, __pdata or __data space as desired. This can avoid @@ -161,14 +161,14 @@ non-reentrant. Because of this, interrupt handlers must not invoke any library functions, including the multiply and divide code. -

2.3. __interrupt functions

+

2.3. __interrupt functions

Interrupt functions are declared with with an __interrupt decoration that includes the interrupt number. SDCC saves and restores all of the registers in these functions and uses the 'reti' instruction at the end so that they operate as stand-alone interrupt handlers. Interrupt functions may call the ao_wakeup function to wake AltOS tasks. -

2.4. __critical functions and statements

+

2.4. __critical functions and statements

SDCC has built-in support for suspending interrupts during critical code. Functions marked as __critical will have interrupts suspended for the whole period of @@ -177,9 +177,9 @@ that statement. Keeping critical sections as short as possible is key to ensuring that interrupts are handled as quickly as possible. -

Chapter 3. Task functions

Table of Contents

1. ao_add_task
2. ao_exit
3. ao_sleep
4. ao_wakeup
5. ao_alarm
6. ao_start_scheduler
7. ao_clock_init

+

Chapter 3. Task functions

Table of Contents

1. ao_add_task
2. ao_exit
3. ao_sleep
4. ao_wakeup
5. ao_alarm
6. ao_start_scheduler
7. ao_clock_init

This chapter documents how to create, destroy and schedule AltOS tasks. -

1. ao_add_task

+    
1. ao_add_task
 	void
 	ao_add_task(__xdata struct ao_task * task,
 	            void (*start)(void),
@@ -190,12 +190,12 @@
 	display), and the start address. It does not switch to the
 	new task. 'start' must not ever return; there is no place
 	to return to.
-      
2. ao_exit
+      
2. ao_exit
 	void
 	ao_exit(void)
       

 	This terminates the current task.
-      
3. ao_sleep
+      
3. ao_sleep
 	void
 	ao_sleep(__xdata void *wchan)
       

@@ -215,7 +215,7 @@
 	  __critical while (!ao_radio_done)
 	          ao_sleep(&ao_radio_done);

-

4. ao_wakeup

+

4. ao_wakeup

 	void
 	ao_wakeup(__xdata void *wchan)

@@ -233,7 +233,7 @@ ao_sleep block can only be run from normal mode, and so this sequence can never be interrupted with execution of the other sequence. -

5. ao_alarm

+

5. ao_alarm

 	void
 	ao_alarm(uint16_t delay)

@@ -250,13 +250,13 @@ incoming radio data. If no data is received before the timeout fires, ao_sleep will return 1 and then this code will abort the radio receive operation. -

6. ao_start_scheduler

+

6. ao_start_scheduler

 	void
 	ao_start_scheduler(void)

This is called from 'main' when the system is all initialized and ready to run. It will not return. -

7. ao_clock_init

+

7. ao_clock_init

 	void
 	ao_clock_init(void)

@@ -265,7 +265,7 @@ internal devices like USB. It should be called by the 'main' function first, before initializing any of the other devices in the system. -

Chapter 4. Timer Functions

Table of Contents

1. ao_time
2. ao_delay
3. ao_timer_set_adc_interval
4. ao_timer_init

+

Chapter 4. Timer Functions

Table of Contents

1. ao_time
2. ao_delay
3. ao_timer_set_adc_interval
4. ao_timer_init

AltOS sets up one of the cc1111 timers to run at 100Hz and exposes this tick as the fundemental unit of time. At each interrupt, AltOS increments the counter, and schedules any tasks @@ -273,51 +273,51 @@ collect current data readings. Doing this from the ISR ensures that the ADC values are sampled at a regular rate, independent of any scheduling jitter. -

1. ao_time

+    
1. ao_time
 	uint16_t
 	ao_time(void)
       

 	Returns the current system tick count. Note that this is
 	only a 16 bit value, and so it wraps every 655.36 seconds.
-      
2. ao_delay
+      
2. ao_delay
 	void
 	ao_delay(uint16_t ticks);
       

 	Suspend the current task for at least 'ticks' clock units.
-      
3. ao_timer_set_adc_interval
+      
3. ao_timer_set_adc_interval
 	void
 	ao_timer_set_adc_interval(uint8_t interval);
       

 	This sets the number of ticks between ADC samples. If set
 	to 0, no ADC samples are generated. AltOS uses this to
 	slow down the ADC sampling rate to save power.
-      
4. ao_timer_init
+      
4. ao_timer_init
 	void
 	ao_timer_init(void)
       

 	This turns on the 100Hz tick using the CC1111 timer 1. It
 	is required for any of the time-based functions to
 	work. It should be called by 'main' before ao_start_scheduler.
-

Chapter 5. AltOS Mutexes

Table of Contents

1. ao_mutex_get
2. ao_mutex_put

+

Chapter 5. AltOS Mutexes

Table of Contents

1. ao_mutex_get
2. ao_mutex_put

AltOS provides mutexes as a basic synchronization primitive. Each mutexes is simply a byte of memory which holds 0 when the mutex is free or the task id of the owning task when the mutex is owned. Mutex calls are checked—attempting to acquire a mutex already held by the current task or releasing a mutex not held by the current task will both cause a panic. -

1. ao_mutex_get

+    
1. ao_mutex_get
 	void
 	ao_mutex_get(__xdata uint8_t *mutex);
       

 	Acquires the specified mutex, blocking if the mutex is
 	owned by another task.
-      
2. ao_mutex_put
+      
2. ao_mutex_put
 	void
 	ao_mutex_put(__xdata uint8_t *mutex);
       

 	Releases the specified mutex, waking up all tasks waiting
 	for it.
-

Chapter 6. CC1111 DMA engine

Table of Contents

1. ao_dma_alloc
2. ao_dma_set_transfer
3. ao_dma_start
4. ao_dma_trigger
5. ao_dma_abort

+

Chapter 6. CC1111 DMA engine

Table of Contents

1. ao_dma_alloc
2. ao_dma_set_transfer
3. ao_dma_start
4. ao_dma_trigger
5. ao_dma_abort

The CC1111 contains a useful bit of extra hardware in the form of five programmable DMA engines. They can be configured to copy data in memory, or between memory and devices (or even between @@ -334,7 +334,7 @@ from hardware to memory, that trigger event is supplied by the hardware device. When copying data from memory to hardware, the transfer is usually initiated by software. -

1. ao_dma_alloc

+    
1. ao_dma_alloc
 	uint8_t
 	ao_dma_alloc(__xdata uint8_t *done)
       

@@ -345,7 +345,7 @@
 	AO_DMA_ABORTED bit if ao_dma_abort was called. Note that
 	it is possible to get both bits if the transfer was
 	aborted after it had finished.
-      
2. ao_dma_set_transfer
+      
2. ao_dma_set_transfer
 	void
 	ao_dma_set_transfer(uint8_t id,
 	                    void __xdata *srcaddr,
@@ -359,24 +359,24 @@
 	cfg1 are values directly out of the CC1111 documentation
 	and tell the DMA engine what the transfer unit size,
 	direction and step are.
-      
3. ao_dma_start
+      
3. ao_dma_start
 	void
 	ao_dma_start(uint8_t id);
       

 	Arm the specified DMA engine and await a signal from
 	either hardware or software to start transferring data.
-      
4. ao_dma_trigger
+      
4. ao_dma_trigger
 	void
 	ao_dma_trigger(uint8_t id)
       

 	Trigger the specified DMA engine to start copying data.
-      
5. ao_dma_abort
+      
5. ao_dma_abort
 	void
 	ao_dma_abort(uint8_t id)
       

 	Terminate any in-progress DMA transation, marking its
 	'done' variable with the AO_DMA_ABORTED bit.
-

Chapter 7. SDCC Stdio interface

Table of Contents

1. putchar
2. getchar
3. flush
4. ao_add_stdio

+

Chapter 7. SDCC Stdio interface

Table of Contents

1. putchar
2. getchar
3. flush
4. ao_add_stdio

AltOS offers a stdio interface over both USB and the RF packet link. This provides for control of the device localy or remotely. This is hooked up to the stdio functions in SDCC by @@ -384,13 +384,13 @@ automatically multiplex the two available communication channels; output is always delivered to the channel which provided the most recent input. -

1. putchar

+    
1. putchar
 	void
 	putchar(char c)
       

 	Delivers a single character to the current console
 	device.
-      
2. getchar
+      
2. getchar
 	char
 	getchar(void)
       

@@ -398,13 +398,13 @@
 	console devices. The current console device is set to
 	that which delivered this character. This blocks until
 	a character is available.
-      
3. flush
+      
3. flush
 	void
 	flush(void)
       

 	Flushes the current console device output buffer. Any
 	pending characters will be delivered to the target device.
-      xo	  
4. ao_add_stdio
+      xo	  
4. ao_add_stdio
 	void
 	ao_add_stdio(char (*pollchar)(void),
 	                   void (*putchar)(char),
@@ -426,13 +426,13 @@
 	'flush' forces the output buffer to be flushed. It may
 	block until the buffer is delivered, but it is not
 	required to do so.
-

Chapter 8. Command line interface

Table of Contents

1. ao_cmd_register
2. ao_cmd_lex
3. ao_cmd_put16
4. ao_cmd_put8
5. ao_cmd_white
6. ao_cmd_hex
7. ao_cmd_decimal
8. ao_match_word
9. ao_cmd_init

+

Chapter 8. Command line interface

Table of Contents

1. ao_cmd_register
2. ao_cmd_lex
3. ao_cmd_put16
4. ao_cmd_put8
5. ao_cmd_white
6. ao_cmd_hex
7. ao_cmd_decimal
8. ao_match_word
9. ao_cmd_init

AltOS includes a simple command line parser which is hooked up to the stdio interfaces permitting remote control of the device over USB or the RF link as desired. Each command uses a single character to invoke it, the remaining characters on the line are available as parameters to the command. -

1. ao_cmd_register

+    
1. ao_cmd_register
 	void
 	ao_cmd_register(__code struct ao_cmds *cmds)
       

@@ -463,38 +463,38 @@
 		The command line is invalid for some reason other
 		than invalid tokens.
 	      

-

2. ao_cmd_lex

+

2. ao_cmd_lex

 	void
 	ao_cmd_lex(void);

This gets the next character out of the command line buffer and sticks it into ao_cmd_lex_c. At the end of the line, ao_cmd_lex_c will get a newline ('\n') character. -

3. ao_cmd_put16

+

3. ao_cmd_put16

 	void
 	ao_cmd_put16(uint16_t v);

Writes 'v' as four hexadecimal characters. -

4. ao_cmd_put8

+

4. ao_cmd_put8

 	void
 	ao_cmd_put8(uint8_t v);

Writes 'v' as two hexadecimal characters. -

5. ao_cmd_white

+

5. ao_cmd_white

 	void
 	ao_cmd_white(void)

This skips whitespace by calling ao_cmd_lex while ao_cmd_lex_c is either a space or tab. It does not skip any characters if ao_cmd_lex_c already non-white. -

6. ao_cmd_hex

+

6. ao_cmd_hex

 	void
 	ao_cmd_hex(void)

This reads a 16-bit hexadecimal value from the command line with optional leading whitespace. The resulting value is stored in ao_cmd_lex_i; -

7. ao_cmd_decimal

+

7. ao_cmd_decimal

 	void
 	ao_cmd_decimal(void)

@@ -502,7 +502,7 @@ line with optional leading whitespace. The resulting value is stored in ao_cmd_lex_u32 and the low 16 bits are stored in ao_cmd_lex_i; -

8. ao_match_word

+

8. ao_match_word

 	uint8_t
 	ao_match_word(__code char *word)

@@ -510,14 +510,14 @@ line. It does not skip leading white space. If 'word' is found, then 1 is returned. Otherwise, ao_cmd_status is set to ao_cmd_syntax_error and 0 is returned. -

9. ao_cmd_init

+

9. ao_cmd_init

 	void
 	ao_cmd_init(void

Initializes the command system, setting up the built-in commands and adding a task to run the command processing loop. It should be called by 'main' before ao_start_scheduler. -

Chapter 9. CC1111 USB target device

Table of Contents

1. ao_usb_flush
2. ao_usb_putchar
3. ao_usb_pollchar
4. ao_usb_getchar
5. ao_usb_disable
6. ao_usb_enable
7. ao_usb_init

+

Chapter 9. CC1111 USB target device

Table of Contents

1. ao_usb_flush
2. ao_usb_putchar
3. ao_usb_pollchar
4. ao_usb_getchar
5. ao_usb_disable
6. ao_usb_enable
7. ao_usb_init

The CC1111 contains a full-speed USB target device. It can be programmed to offer any kind of USB target, but to simplify interactions with a variety of operating systems, AltOS provides @@ -531,7 +531,7 @@ interface if desired, offering control of the device over the USB link. Alternatively, the functions can be accessed directly to provide for USB-specific I/O. -

1. ao_usb_flush

+    
1. ao_usb_flush
 	void
 	ao_usb_flush(void);
       

@@ -539,7 +539,7 @@
 	to be delivered to the USB host if there is pending data,
 	or if the last IN packet was full to indicate to the host
 	that there isn't any more pending data available.
-      
2. ao_usb_putchar
+      
2. ao_usb_putchar
 	void
 	ao_usb_putchar(char c);
       

@@ -548,7 +548,7 @@
 	adds a byte to the pending IN packet for delivery to the
 	USB host. If the USB packet is full, this queues the 'IN'
 	packet for delivery.
-      
3. ao_usb_pollchar
+      
3. ao_usb_pollchar
 	char
 	ao_usb_pollchar(void);
       

@@ -556,13 +556,13 @@
 	packet received, this returns AO_READ_AGAIN. Otherwise, it
 	returns the next character, reporting to the host that it
 	is ready for more data when the last character is gone.
-      
4. ao_usb_getchar
+      
4. ao_usb_getchar
 	char
 	ao_usb_getchar(void);
       

 	This uses ao_pollchar to receive the next character,
 	blocking while ao_pollchar returns AO_READ_AGAIN.
-      
5. ao_usb_disable
+      
5. ao_usb_disable
 	void
 	ao_usb_disable(void);
       

@@ -577,7 +577,7 @@
 	after disabling the USB device, it's likely that the cable
 	will need to be disconnected and reconnected before it
 	will work again.
-      
6. ao_usb_enable
+      
6. ao_usb_enable
 	void
 	ao_usb_enable(void);
       

@@ -585,7 +585,7 @@
 	disabled. See the note above about needing to physically
 	remove and re-insert the cable to get the host to
 	re-initialize the USB link.
-      
7. ao_usb_init
+      
7. ao_usb_init
 	void
 	ao_usb_init(void);
       

@@ -593,7 +593,7 @@
 	the control end point and adds the usb I/O functions to
 	the stdio system. Call this from main before
 	ao_start_scheduler.
-

Chapter 10. CC1111 Serial peripheral

Table of Contents

1. ao_serial_getchar
2. ao_serial_putchar
3. ao_serial_drain
4. ao_serial_set_speed
5. ao_serial_init

+

Chapter 10. CC1111 Serial peripheral

Table of Contents

1. ao_serial_getchar
2. ao_serial_putchar
3. ao_serial_drain
4. ao_serial_set_speed
5. ao_serial_init

The CC1111 provides two USART peripherals. AltOS uses one for asynch serial data, generally to communicate with a GPS device, and the other for a SPI bus. The UART is configured to operate @@ -604,25 +604,25 @@

To prevent loss of data, AltOS provides receive and transmit fifos of 32 characters each. -

1. ao_serial_getchar

+    
1. ao_serial_getchar
 	char
 	ao_serial_getchar(void);
       

 	Returns the next character from the receive fifo, blocking
 	until a character is received if the fifo is empty.
-      
2. ao_serial_putchar
+      
2. ao_serial_putchar
 	void
 	ao_serial_putchar(char c);
       

 	Adds a character to the transmit fifo, blocking if the
 	fifo is full. Starts transmitting characters.
-      
3. ao_serial_drain
+      
3. ao_serial_drain
 	void
 	ao_serial_drain(void);
       

 	Blocks until the transmit fifo is empty. Used internally
 	when changing serial speeds.
-      
4. ao_serial_set_speed
+      
4. ao_serial_set_speed
 	void
 	ao_serial_set_speed(uint8_t speed);
       

@@ -630,14 +630,14 @@
 	AO_SERIAL_SPEED_4800, AO_SERIAL_SPEED_9600 or
 	AO_SERIAL_SPEED_57600. This first flushes the transmit
 	fifo using ao_serial_drain.
-      
5. ao_serial_init
+      
5. ao_serial_init
 	void
 	ao_serial_init(void)
       

 	Initializes the serial peripheral. Call this from 'main'
 	before jumping to ao_start_scheduler. The default speed
 	setting is AO_SERIAL_SPEED_4800.
-

Chapter 11. CC1111 Radio peripheral

Table of Contents

1. ao_radio_set_telemetry
2. ao_radio_set_packet
3. ao_radio_set_rdf
4. ao_radio_idle
5. ao_radio_get
6. ao_radio_put
7. ao_radio_abort
8. ao_radio_send
9. ao_radio_recv
10. ao_radio_rdf
11. ao_packet_putchar
12. ao_packet_pollchar
13. ao_packet_slave_start
14. ao_packet_slave_stop
15. ao_packet_slave_init
16. ao_packet_master_init

+

Chapter 11. CC1111 Radio peripheral

Table of Contents

1. ao_radio_set_telemetry
2. ao_radio_set_packet
3. ao_radio_set_rdf
4. ao_radio_idle
5. ao_radio_get
6. ao_radio_put
7. ao_radio_abort
8. ao_radio_send
9. ao_radio_recv
10. ao_radio_rdf
11. ao_packet_putchar
12. ao_packet_pollchar
13. ao_packet_slave_start
14. ao_packet_slave_stop
15. ao_packet_slave_init
16. ao_packet_master_init

The CC1111 radio transceiver sends and receives digital packets with forward error correction and detection. The AltOS driver is fairly specific to the needs of the TeleMetrum and TeleDongle @@ -675,7 +675,7 @@ receiver. This is designed to provide a beacon to track the device when other location mechanisms fail.

-

1. ao_radio_set_telemetry

+    
1. ao_radio_set_telemetry
 	  void
 	  ao_radio_set_telemetry(void);
 	

@@ -684,7 +684,7 @@
 	  other RF parameters. It does not include the base frequency
 	  or channel though. Those are set at the time of transmission
 	  or reception, in case the values are changed by the user.
-	
2. ao_radio_set_packet
+	
2. ao_radio_set_packet
 	  void
 	  ao_radio_set_packet(void);
 	

@@ -693,7 +693,7 @@
 	  parameters. It does not include the base frequency or
 	  channel though. Those are set at the time of transmission or
 	  reception, in case the values are changed by the user.
-	
3. ao_radio_set_rdf
+	
3. ao_radio_set_rdf
 	  void
 	  ao_radio_set_rdf(void);
 	

@@ -703,26 +703,26 @@
 	  and data whitening logic is turned off so that the resulting
 	  modulation is received as a 1kHz tone by a conventional 70cm
 	  FM audio receiver.
-	
4. ao_radio_idle
+	
4. ao_radio_idle
 	  void
 	  ao_radio_idle(void);
 	

 	  Sets the radio device to idle mode, waiting until it reaches
 	  that state. This will terminate any in-progress transmit or
 	  receive operation.
-	
5. ao_radio_get
+	
5. ao_radio_get
 	  void
 	  ao_radio_get(void);
 	

 	  Acquires the radio mutex and then configures the radio
 	  frequency using the global radio calibration and channel
 	  values.
-	
6. ao_radio_put
+	
6. ao_radio_put
 	  void
 	  ao_radio_put(void);
 	

 	  Releases the radio mutex.
-	
7. ao_radio_abort
+	
7. ao_radio_abort
 	  void
 	  ao_radio_abort(void);
 	

@@ -734,7 +734,7 @@
       packet. The data from receiving a packet also includes the RSSI
       and status values supplied by the receiver. These are added
       after the telemetry data.
-    
8. ao_radio_send
+    
8. ao_radio_send
 	  void
 	  ao_radio_send(__xdata struct ao_telemetry *telemetry);
 	

@@ -743,7 +743,7 @@
 	  telemetry mode. This function calls ao_radio_get() before
 	  sending, and ao_radio_put() afterwards, to correctly
 	  serialize access to the radio device.
-	
9. ao_radio_recv
+	
9. ao_radio_recv
 	  void
 	  ao_radio_recv(__xdata struct ao_radio_recv *radio);
 	

@@ -757,7 +757,7 @@
 	

       In radio direction finding mode, there's just one function to
       use
-    
10. ao_radio_rdf
+    
10. ao_radio_rdf
 	  void
 	  ao_radio_rdf(int ms);
 	

@@ -768,7 +768,7 @@
       for either master or slave mode (but not both). The basic I/O
       functions look the same at both ends, but the internals are
       different, along with the initialization steps.
-    
11. ao_packet_putchar
+    
11. ao_packet_putchar
 	  void
 	  ao_packet_putchar(char c);
 	

@@ -778,32 +778,32 @@
 	  transmit a packet if the output buffer is full. On the
 	  slave side, any pending data will be sent the next time
 	  the master polls for data.
-	
12. ao_packet_pollchar
+	
12. ao_packet_pollchar
 	  char
 	  ao_packet_pollchar(void);
 	

 	  This returns a pending input character if available,
 	  otherwise returns AO_READ_AGAIN. On the master side, if
 	  this empties the buffer, it triggers a poll for more data.
-	
13. ao_packet_slave_start
+	
13. ao_packet_slave_start
 	  void
 	  ao_packet_slave_start(void);
 	

 	  This is available only on the slave side and starts a task
 	  to listen for packet data.
-	
14. ao_packet_slave_stop
+	
14. ao_packet_slave_stop
 	  void
 	  ao_packet_slave_stop(void);
 	

 	  Disables the packet slave task, stopping the radio receiver.
-	
15. ao_packet_slave_init
+	
15. ao_packet_slave_init
 	  void
 	  ao_packet_slave_init(void);
 	

 	  Adds the packet stdio functions to the stdio package so
 	  that when packet slave mode is enabled, characters will
 	  get send and received through the stdio functions.
-	
16. ao_packet_master_init
+	
16. ao_packet_master_init
 	  void
 	  ao_packet_master_init(void);
 	

diff --git a/AltOS/doc/altos.pdf b/AltOS/doc/altos.pdf
index bd55b6af5a2381db4f559e48bef4ebb1d68d8021..f1e90983188d0b67196e6fb15fbf3dab30c2e95a 100644
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zM$4gO;j(fN1+)ynlSs*n;{V?x#^jQcThe Altus Metrum System
The Altus Metrum System
An Owner's Manual for TeleMetrum, TeleMini and TeleDongle Devices
Bdale Garbee
Keith Packard
Bob Finch
Anthony Towns
Copyright © 2011 Bdale Garbee and Keith Packard

+The Altus Metrum System
The Altus Metrum System
An Owner's Manual for TeleMetrum, TeleMini and TeleDongle Devices
Bdale Garbee
Keith Packard
Bob Finch
Anthony Towns
Copyright © 2011 Bdale Garbee and Keith Packard
Acknowledgements

+	Revision 0.824 November 2010Updated for software version 0.8 
Acknowledgements

     

       Thanks to Bob Finch, W9YA, NAR 12965, TRA 12350 for writing "The
       Mere-Mortals Quick Start/Usage Guide to the Altus Metrum Starter
@@ -40,7 +40,7 @@ Keith
 NAR #88757, TRA #12200

       

     

-  
Table of Contents
1. Introduction and Overview
2. Getting Started
3. Handling Precautions
4. Hardware Overview
5. System Operation
1. Firmware Modes 
2. GPS 
3. Controlling An Altimeter Over The Radio Link
4. Ground Testing 
5. Radio Link 
6. Configurable Parameters
6.1. Radio Frequency
6.2. Apogee Delay
6.3. Main Deployment Altitude
6.4. Maximum Flight Log
6.5. Ignite Mode
6.6. Pad Orientation
6. AltosUI
1. Monitor Flight
1.1. Launch Pad
1.2. Ascent
1.3. Descent
1.4. Landed
1.5. Site Map
2. Save Flight Data
3. Replay Flight
4. Graph Data
5. Export Data
5.1. Comma Separated Value Format
5.2. Keyhole Markup Language (for Google Earth)
6. Configure Altimeter
6.1. Main Deploy Altitude
6.2. Apogee Delay
6.3. Radio Frequency
6.4. Radio Calibration
6.5. Callsign
6.6. Maximum Flight Log Size
6.7. Ignite Mode
6.8. Pad Orientation
7. Configure AltosUI
7.1. Voice Settings
7.2. Log Directory
7.3. Callsign
7.4. Font Size
7.5. Serial Debug
7.6. Manage Frequencies
8. Flash Image
9. Fire Igniter
10. Scan Channels
11. Load Maps
12. Monitor Idle
7. Using Altus Metrum Products
1. Being Legal
2. In the Rocket
3. On the Ground
4. Data Analysis
5. Future Plans
8. Altimeter Installation Recommendations
1. Mounting the Altimeter
2. Dealing with the Antenna
3. Preserving GPS Reception
4. Radio Frequency Interference
5. The Barometric Sensor
6. Ground Testing
9. Updating Device Firmware
1. Updating TeleMetrum Firmware
2. Updating TeleMini Firmware
3. Updating TeleDongle Firmware
10. Hardware Specifications
1. TeleMetrum Specifications
2. TeleMini Specifications
11. FAQ
A. Notes for Older Software
B. Calibration
1. Radio Frequency
2. TeleMetrum Accelerometer
C. Release Notes
Chapter 1. Introduction and Overview

+  
Table of Contents
1. Introduction and Overview
2. Getting Started
3. Handling Precautions
4. Hardware Overview
5. System Operation
1. Firmware Modes 
2. GPS 
3. Controlling An Altimeter Over The Radio Link
4. Ground Testing 
5. Radio Link 
6. Configurable Parameters
6.1. Radio Frequency
6.2. Apogee Delay
6.3. Main Deployment Altitude
6.4. Maximum Flight Log
6.5. Ignite Mode
6.6. Pad Orientation
6. AltosUI
1. Monitor Flight
1.1. Launch Pad
1.2. Ascent
1.3. Descent
1.4. Landed
1.5. Site Map
2. Save Flight Data
3. Replay Flight
4. Graph Data
5. Export Data
5.1. Comma Separated Value Format
5.2. Keyhole Markup Language (for Google Earth)
6. Configure Altimeter
6.1. Main Deploy Altitude
6.2. Apogee Delay
6.3. Radio Frequency
6.4. Radio Calibration
6.5. Callsign
6.6. Maximum Flight Log Size
6.7. Ignite Mode
6.8. Pad Orientation
7. Configure AltosUI
7.1. Voice Settings
7.2. Log Directory
7.3. Callsign
7.4. Imperial Units
7.5. Font Size
7.6. Serial Debug
7.7. Manage Frequencies
8. Configure Groundstation
8.1. Frequency
8.2. Radio Calibration
9. Flash Image
10. Fire Igniter
11. Scan Channels
12. Load Maps
13. Monitor Idle
7. Using Altus Metrum Products
1. Being Legal
2. In the Rocket
3. On the Ground
4. Data Analysis
5. Future Plans
8. Altimeter Installation Recommendations
1. Mounting the Altimeter
2. Dealing with the Antenna
3. Preserving GPS Reception
4. Radio Frequency Interference
5. The Barometric Sensor
6. Ground Testing
9. Updating Device Firmware
1. Updating TeleMetrum Firmware
2. Updating TeleMini Firmware
3. Updating TeleDongle Firmware
10. Hardware Specifications
1. TeleMetrum Specifications
2. TeleMini Specifications
11. FAQ
A. Notes for Older Software
B. Calibration
1. Radio Frequency
2. TeleMetrum Accelerometer
C. Release Notes
Chapter 1. Introduction and Overview

       Welcome to the Altus Metrum community!  Our circuits and software reflect
       our passion for both hobby rocketry and Free Software.  We hope their
       capabilities and performance will delight you in every way, but by
@@ -69,7 +69,7 @@ NAR
       More products will be added to the Altus Metrum family over time, and
       we currently envision that this will be a single, comprehensive manual
       for the entire product family.
-    
Chapter 2. Getting Started

+    
Chapter 2. Getting Started

       The first thing to do after you check the inventory of parts in your
       "starter kit" is to charge the battery.
     

@@ -115,7 +115,7 @@ NAR
       Full source code and build instructions are also available.
       The latest version may always be downloaded from
       http://altusmetrum.org/AltOS.
-    
Chapter 3. Handling Precautions

+    
Chapter 3. Handling Precautions

       All Altus Metrum products are sophisticated electronic devices.  
       When handled gently and properly installed in an air-frame, they
       will deliver impressive results.  However, as with all electronic 
@@ -154,7 +154,7 @@ NAR
       As with all other rocketry electronics, Altus Metrum altimeters must 
       be protected from exposure to corrosive motor exhaust and ejection 
       charge gasses.
-    
Chapter 4. Hardware Overview

+    
Chapter 4. Hardware Overview

       TeleMetrum is a 1 inch by 2.75 inch circuit board.  It was designed to
       fit inside coupler for 29mm air-frame tubing, but using it in a tube that
       small in diameter may require some creativity in mounting and wiring
@@ -180,7 +180,8 @@ NAR
       A typical TeleMetrum or TeleMini installation involves attaching 
       only a suitable Lithium Polymer battery, a single pole switch for 
       power on/off, and two pairs of wires connecting e-matches for the 
-      apogee and main ejection charges.
+      apogee and main ejection charges.  All Altus Metrum products are 
+      designed for use with single-cell batteries with 3.7 volts nominal.
     

       By default, we use the unregulated output of the Li-Po battery directly
       to fire ejection charges.  This works marvelously with standard
@@ -207,7 +208,7 @@ NAR
       connection, and, on TeleMetrum, you can unplug the integrated GPS
       antenna and select an appropriate off-board GPS antenna with
       cable terminating in a U.FL connector.
-    
Chapter 5. System Operation
Table of Contents
1. Firmware Modes 
2. GPS 
3. Controlling An Altimeter Over The Radio Link
4. Ground Testing 
5. Radio Link 
6. Configurable Parameters
6.1. Radio Frequency
6.2. Apogee Delay
6.3. Main Deployment Altitude
6.4. Maximum Flight Log
6.5. Ignite Mode
6.6. Pad Orientation
1. Firmware Modes 

+    
Chapter 5. System Operation
Table of Contents
1. Firmware Modes 
2. GPS 
3. Controlling An Altimeter Over The Radio Link
4. Ground Testing 
5. Radio Link 
6. Configurable Parameters
6.1. Radio Frequency
6.2. Apogee Delay
6.3. Main Deployment Altitude
6.4. Maximum Flight Log
6.5. Ignite Mode
6.6. Pad Orientation
1. Firmware Modes 

         The AltOS firmware build for the altimeters has two
         fundamental modes, "idle" and "flight".  Which of these modes
         the firmware operates in is determined at start up time. For
@@ -262,7 +263,7 @@ NAR
         step of a rickety step-ladder or hanging off the side of a launch 
         tower with a screw-driver trying to turn on your avionics before 
         installing igniters!
-      
2. GPS 

+      
2. GPS 

         TeleMetrum includes a complete GPS receiver.  A complete explanation 
         of how GPS works is beyond the scope of this manual, but the bottom 
         line is that the TeleMetrum GPS receiver needs to lock onto at least 
@@ -280,7 +281,7 @@ NAR
         is turned back on, the GPS system should lock very quickly, typically
         long before igniter installation and return to the flight line are
         complete.
-      
3. Controlling An Altimeter Over The Radio Link

+      
3. Controlling An Altimeter Over The Radio Link

         One of the unique features of the Altus Metrum system is
         the ability to create a two way command link between TeleDongle
         and an altimeter using the digital radio transceivers built into
@@ -348,7 +349,7 @@ NAR
         lights on the devices. The red LED will flash each time a packet
         is tramsitted, while the green LED will light up on TeleDongle when 
         it is waiting to receive a packet from the altimeter.
-      
4. Ground Testing 

+      
4. Ground Testing 

         An important aspect of preparing a rocket using electronic deployment
         for flight is ground testing the recovery system.  Thanks
         to the bi-directional radio link central to the Altus Metrum system,
@@ -364,7 +365,7 @@ NAR
         manual command.  You can now command the altimeter to fire the apogee
         or main charges from a safe distance using your computer and 
         TeleDongle and the Fire Igniter tab to complete ejection testing.
-      
5. Radio Link 

+      
5. Radio Link 

         The chip our boards are based on incorporates an RF transceiver, but
         it's not a full duplex system... each end can only be transmitting or
         receiving at any given moment.  So we had to decide how to manage the
@@ -395,13 +396,13 @@ NAR
         with a 5-element yagi on the ground.  We hope to fly boards to higher 
         altitudes over time, and would of course appreciate customer feedback 
         on performance in higher altitude flights!
-      
6. Configurable Parameters

+      
6. Configurable Parameters

         Configuring an Altus Metrum altimeter for flight is very
         simple.  Even on our baro-only TeleMini board, the use of a Kalman 
         filter means there is no need to set a "mach delay".  The few 
         configurable parameters can all be set using AltosUI over USB or
         or radio link via TeleDongle.
-      
6.1. Radio Frequency

+      
6.1. Radio Frequency

 	  Altus Metrum boards support radio frequencies in the 70cm
 	  band. By default, the configuration interface provides a
 	  list of 10 "standard" frequencies in 100kHz channels starting at
@@ -411,7 +412,7 @@ NAR
 	  frequency will be used to avoid interference.  And of course, both
 	  altimeter and TeleDongle must be configured to the same
 	  frequency to successfully communicate with each other.
-        
6.2. Apogee Delay

+        
6.2. Apogee Delay

           Apogee delay is the number of seconds after the altimeter detects flight
           apogee that the drogue charge should be fired.  In most cases, this
           should be left at the default of 0.  However, if you are flying
@@ -427,7 +428,7 @@ NAR
           or 3 seconds later to avoid any chance of both charges
           firing simultaneously.  We've flown several air-frames this
           way quite happily, including Keith's successful L3 cert.
-        
6.3. Main Deployment Altitude

+        
6.3. Main Deployment Altitude

           By default, the altimeter will fire the main deployment charge at an
           elevation of 250 meters (about 820 feet) above ground.  We think this
           is a good elevation for most air-frames, but feel free to change this
@@ -436,7 +437,7 @@ NAR
           deployment elevation for the backup altimeter to be something lower
           than the primary so that both pyrotechnic charges don't fire
           simultaneously.
-        
6.4. Maximum Flight Log

+        
6.4. Maximum Flight Log

 	  TeleMetrum version 1.1 and 1.2 have 2MB of on-board flash storage,
 	  enough to hold over 40 minutes of data at full data rate
 	  (100 samples/second). TeleMetrum 1.0 has 1MB of on-board
@@ -480,7 +481,7 @@ NAR
 	  the limited storage, TeleMini cannot hold data for more than
 	  one flight, and so must be erased after each flight or it
 	  will not capture data for subsequent flights.
-	
6.5. Ignite Mode

+	
6.5. Ignite Mode

 	  Instead of firing one charge at apogee and another charge at
 	  a fixed height above the ground, you can configure the
 	  altimeter to fire both at apogee or both during
@@ -492,7 +493,7 @@ NAR
 	  main allows some level of redundancy without needing two
 	  flight computers.  In Redundant Apogee or Redundant Main
 	  mode, the two charges will be fired two seconds apart.
-	
6.6. Pad Orientation

+	
6.6. Pad Orientation

 	  TeleMetrum measures acceleration along the axis of the
 	  board. Which way the board is oriented affects the sign of
 	  the acceleration value. Instead of trying to guess which way
@@ -502,7 +503,7 @@ NAR
 	  TeleMetrum board connected to the 70cm antenna to be nearest
 	  the nose of the rocket, with the end containing the screw
 	  terminals nearest the tail.
-	
Chapter 6. AltosUI
Table of Contents
1. Monitor Flight
1.1. Launch Pad
1.2. Ascent
1.3. Descent
1.4. Landed
1.5. Site Map
2. Save Flight Data
3. Replay Flight
4. Graph Data
5. Export Data
5.1. Comma Separated Value Format
5.2. Keyhole Markup Language (for Google Earth)
6. Configure Altimeter
6.1. Main Deploy Altitude
6.2. Apogee Delay
6.3. Radio Frequency
6.4. Radio Calibration
6.5. Callsign
6.6. Maximum Flight Log Size
6.7. Ignite Mode
6.8. Pad Orientation
7. Configure AltosUI
7.1. Voice Settings
7.2. Log Directory
7.3. Callsign
7.4. Font Size
7.5. Serial Debug
7.6. Manage Frequencies
8. Flash Image
9. Fire Igniter
10. Scan Channels
11. Load Maps
12. Monitor Idle

+	
Chapter 6. AltosUI
Table of Contents
1. Monitor Flight
1.1. Launch Pad
1.2. Ascent
1.3. Descent
1.4. Landed
1.5. Site Map
2. Save Flight Data
3. Replay Flight
4. Graph Data
5. Export Data
5.1. Comma Separated Value Format
5.2. Keyhole Markup Language (for Google Earth)
6. Configure Altimeter
6.1. Main Deploy Altitude
6.2. Apogee Delay
6.3. Radio Frequency
6.4. Radio Calibration
6.5. Callsign
6.6. Maximum Flight Log Size
6.7. Ignite Mode
6.8. Pad Orientation
7. Configure AltosUI
7.1. Voice Settings
7.2. Log Directory
7.3. Callsign
7.4. Imperial Units
7.5. Font Size
7.6. Serial Debug
7.7. Manage Frequencies
8. Configure Groundstation
8.1. Frequency
8.2. Radio Calibration
9. Flash Image
10. Fire Igniter
11. Scan Channels
12. Load Maps
13. Monitor Idle

       The AltosUI program provides a graphical user interface for
       interacting with the Altus Metrum product family, including
       TeleMetrum, TeleMini and TeleDongle. AltosUI can monitor telemetry data,
@@ -511,7 +512,7 @@ NAR
       buttons, one for each major activity in the system.  This manual
       is split into chapters, each of which documents one of the tasks
       provided from the top-level toolbar.
-    
1. Monitor Flight
Receive, Record and Display Telemetry Data

+    
1. Monitor Flight
Receive, Record and Display Telemetry Data

         Selecting this item brings up a dialog box listing all of the
         connected TeleDongle devices. When you choose one of these,
         AltosUI will create a window to display telemetry data as
@@ -552,7 +553,7 @@ NAR
         data relevant to the current state of the flight. You can select
         other tabs at any time. The final 'table' tab displays all of
         the raw telemetry values in one place in a spreadsheet-like format.
-      
1.1. Launch Pad

+      
1.1. Launch Pad

           The 'Launch Pad' tab shows information used to decide when the
           rocket is ready for flight. The first elements include red/green
           indicators, if any of these is red, you'll want to evaluate
@@ -601,7 +602,7 @@ NAR
             and altitude, averaging many reported positions to improve the
             accuracy of the fix.
           

-        
1.2. Ascent

+        
1.2. Ascent

           This tab is shown during Boost, Fast and Coast
           phases. The information displayed here helps monitor the
           rocket as it heads towards apogee.
@@ -620,7 +621,7 @@ NAR
           Finally, the current igniter voltages are reported as in the
           Launch Pad tab. This can help diagnose deployment failures
           caused by wiring which comes loose under high acceleration.
-        
1.3. Descent

+        
1.3. Descent

           Once the rocket has reached apogee and (we hope) activated the
           apogee charge, attention switches to tracking the rocket on
           the way back to the ground, and for dual-deploy flights,
@@ -647,7 +648,7 @@ NAR
 	  e-matches are designed to retain continuity even after being
 	  fired, and will continue to show as green or return from red to
 	  green after firing.
-        
1.4. Landed

+        
1.4. Landed

           Once the rocket is on the ground, attention switches to
           recovery. While the radio signal is often lost once the
           rocket is on the ground, the last reported GPS position is
@@ -676,7 +677,7 @@ NAR
 	  To get more detailed information about the flight, you can
 	  click on the 'Graph Flight' button which will bring up a
 	  graph window for the current flight.
-	
1.5. Site Map

+	
1.5. Site Map

           When the TeleMetrum has a GPS fix, the Site Map tab will map
           the rocket's position to make it easier for you to locate the
           rocket, both while it is in the air, and when it has landed. The
@@ -695,7 +696,7 @@ NAR
         

 	  You can pre-load images for your favorite launch sites
 	  before you leave home; check out the 'Preload Maps' section below.
-	
2. Save Flight Data

+	
2. Save Flight Data

         The altimeter records flight data to its internal flash memory.
         TeleMetrum data is recorded at a much higher rate than the telemetry
         system can handle, and is not subject to radio drop-outs. As
@@ -726,7 +727,7 @@ NAR
         The file name for each flight log is computed automatically
         from the recorded flight date, altimeter serial number and
         flight number information.
-      
3. Replay Flight

+      
3. Replay Flight

         Select this button and you are prompted to select a flight
         record file, either a .telem file recording telemetry data or a
         .eeprom file containing flight data saved from the altimeter
@@ -735,7 +736,7 @@ NAR
         Once a flight record is selected, the flight monitor interface
         is displayed and the flight is re-enacted in real time. Check
         the Monitor Flight chapter above to learn how this window operates.
-      
4. Graph Data

+      
4. Graph Data

         Select this button and you are prompted to select a flight
         record file, either a .telem file recording telemetry data or a
         .eeprom file containing flight data saved from
@@ -760,7 +761,7 @@ NAR
         Note that telemetry files will generally produce poor graphs
         due to the lower sampling rate and missed telemetry packets.
         Use saved flight data in .eeprom files for graphing where possible.
-      
5. Export Data

+      
5. Export Data

         This tool takes the raw data files and makes them available for
         external analysis. When you select this button, you are prompted to 
 	select a flight
@@ -769,7 +770,7 @@ NAR
         data). Next, a second dialog appears which is used to select
         where to write the resulting file. It has a selector to choose
         between CSV and KML file formats.
-      
5.1. Comma Separated Value Format

+      
5.1. Comma Separated Value Format

           This is a text file containing the data in a form suitable for
           import into a spreadsheet or other external data analysis
           tool. The first few lines of the file contain the version and
@@ -783,11 +784,11 @@ NAR
           the sensor values are converted to standard units, with the
           barometric data reported in both pressure, altitude and
           height above pad units.
-        
5.2. Keyhole Markup Language (for Google Earth)

+        
5.2. Keyhole Markup Language (for Google Earth)

           This is the format used by Google Earth to provide an overlay 
 	  within that application. With this, you can use Google Earth to 
 	  see the whole flight path in 3D.
-        
6. Configure Altimeter

+        
6. Configure Altimeter

         Select this button and then select either a TeleMetrum or
         TeleDongle Device from the list provided. Selecting a TeleDongle
         device will use the radio link to configure a remote altimeter. 
@@ -815,14 +816,14 @@ NAR
             lost.
           

         The rest of the dialog contains the parameters to be configured.
-      
6.1. Main Deploy Altitude

+      
6.1. Main Deploy Altitude

           This sets the altitude (above the recorded pad altitude) at
           which the 'main' igniter will fire. The drop-down menu shows
           some common values, but you can edit the text directly and
           choose whatever you like. If the apogee charge fires below
           this altitude, then the main charge will fire two seconds
           after the apogee charge fires.
-        
6.2. Apogee Delay

+        
6.2. Apogee Delay

           When flying redundant electronics, it's often important to
           ensure that multiple apogee charges don't fire at precisely
           the same time, as that can over pressurize the apogee deployment
@@ -830,13 +831,13 @@ NAR
           Delay parameter tells the flight computer to fire the apogee
           charge a certain number of seconds after apogee has been
           detected.
-        
6.3. Radio Frequency

+        
6.3. Radio Frequency

           This configures which of the configured frequencies to use for both
           telemetry and packet command mode. Note that if you set this
           value via packet command mode, you will have to reconfigure
           the TeleDongle frequency before you will be able to use packet
           command mode again.
-        
6.4. Radio Calibration

+        
6.4. Radio Calibration

           The radios in every Altus Metrum device are calibrated at the
           factory to ensure that they transmit and receive on the
           specified frequency.  If you need to you can adjust the calibration 
@@ -844,15 +845,15 @@ NAR
 	  the value means, read the appendix on calibration and/or the source
 	  code for more information.  To change a TeleDongle's calibration, 
 	  you must reprogram the unit completely.
-        
6.5. Callsign

+        
6.5. Callsign

           This sets the call sign included in each telemetry packet. Set this
           as needed to conform to your local radio regulations.
-        
6.6. Maximum Flight Log Size

+        
6.6. Maximum Flight Log Size

           This sets the space (in kilobytes) allocated for each flight
           log. The available space will be divided into chunks of this
           size. A smaller value will allow more flights to be stored,
           a larger value will record data from longer flights.
-	
6.7. Ignite Mode

+	
6.7. Ignite Mode

 	  TeleMetrum and TeleMini provide two igniter channels as they
 	  were originally designed as dual-deploy flight
 	  computers. This configuration parameter allows the two
@@ -872,7 +873,7 @@ NAR
 	      Altitude setting during descent. The 'apogee'
 	      channel is fired first, followed after a two second
 	      delay by the 'main' channel.
-	    
6.8. Pad Orientation

+	    
6.8. Pad Orientation

 	  Because it includes an accelerometer, TeleMetrum is
 	  sensitive to the orientation of the board. By default, it
 	  expects the antenna end to point forward. This parameter
@@ -886,9 +887,9 @@ NAR
 	      Antenna Down. In this mode, the antenna end of the
 	      TeleMetrum board must point aft, in line with the
 	      expected flight path.
-	    
7. Configure AltosUI

+	    
7. Configure AltosUI

         This button presents a dialog so that you can configure the AltosUI global settings.
-      
7.1. Voice Settings

+      
7.1. Voice Settings

           AltosUI provides voice announcements during flight so that you
           can keep your eyes on the sky and still get information about
           the current flight status. However, sometimes you don't want
@@ -897,7 +898,7 @@ NAR
               Test Voice—Plays a short message allowing you to verify
               that the audio system is working and the volume settings
               are reasonable
-            
7.2. Log Directory

+            
7.2. Log Directory

           AltosUI logs all telemetry data and saves all TeleMetrum flash
           data to this directory. This directory is also used as the
           staring point when selecting data files for display or export.
@@ -905,30 +906,76 @@ NAR
           Click on the directory name to bring up a directory choosing
           dialog, select a new directory and click 'Select Directory' to
           change where AltosUI reads and writes data files.
-        
7.3. Callsign

+        
7.3. Callsign

           This value is transmitted in each command packet sent from 
 	  TeleDongle and received from an altimeter.  It is not used in 
 	  telemetry mode, as the callsign configured in the altimeter board
 	  is included in all telemetry packets.  Configure this
           with the AltosUI operators call sign as needed to comply with
           your local radio regulations.
-        
7.4. Font Size

+        
7.4. Imperial Units

+	  This switches between metric units (meters) and imperial
+	  units (feet and miles). This affects the display of values
+	  use during flight monitoring, data graphing and all of the
+	  voice announcements. It does not change the units used when
+	  exporting to CSV files, those are always produced in metric units.
+	
7.5. Font Size

 	  Selects the set of fonts used in the flight monitor
 	  window. Choose between the small, medium and large sets.
-	
7.5. Serial Debug

+	
7.6. Serial Debug

           This causes all communication with a connected device to be
           dumped to the console from which AltosUI was started. If
           you've started it from an icon or menu entry, the output
           will simply be discarded. This mode can be useful to debug
           various serial communication issues.
-        
7.6. Manage Frequencies

+        
7.7. Manage Frequencies

 	  This brings up a dialog where you can configure the set of
 	  frequencies shown in the various frequency menus. You can
 	  add as many as you like, or even reconfigure the default
 	  set. Changing this list does not affect the frequency
 	  settings of any devices, it only changes the set of
 	  frequencies shown in the menus.
-	
8. Flash Image

+	
8. Configure Groundstation

+        Select this button and then select a TeleDongle Device from the list provided.
+      

+        The first few lines of the dialog provide information about the
+        connected device, including the product name,
+        software version and hardware serial number. Below that are the
+        individual configuration entries.
+      

+	Note that the TeleDongle itself doesn't save any configuration
+	data, the settings here are recorded on the local machine in
+	the Java preferences database. Moving the TeleDongle to
+	another machine, or using a different user account on the same
+	machine will cause settings made here to have no effect.
+      

+        At the bottom of the dialog, there are three buttons:
+      
  • 
+            Save. This writes any changes to the
+            local Java preferences file. If you don't
+            press this button, any changes you make will be lost.
+          
  • 
+            Reset. This resets the dialog to the most recently saved values,
+            erasing any changes you have made.
+          
  • 
+            Close. This closes the dialog. Any unsaved changes will be
+            lost.
+          

+        The rest of the dialog contains the parameters to be configured.
+      
8.1. Frequency

+          This configures the frequency to use for both telemetry and
+          packet command mode. Set this before starting any operation
+          involving packet command mode so that it will use the right
+          frequency. Telemetry monitoring mode also provides a menu to
+          change the frequency, and that menu also sets the same Java
+          preference value used here.
+        
8.2. Radio Calibration

+          The radios in every Altus Metrum device are calibrated at the
+          factory to ensure that they transmit and receive on the
+          specified frequency.  To change a TeleDongle's calibration, 
+	  you must reprogram the unit completely, so this entry simply
+	  shows the current value and doesn't allow any changes.
+        
9. Flash Image

         This reprograms any Altus Metrum device by using a TeleMetrum
         or TeleDongle as a programming dongle. Please read the
         directions for flashing devices in the Updating Device
@@ -958,7 +1005,7 @@ NAR
         will have to unplug it and then plug it back in for the USB
         connection to reset so that you can communicate with the device
         again.
-      
9. Fire Igniter

+      
10. Fire Igniter

 	This activates the igniter circuits in TeleMetrum to help test
 	recovery systems deployment. Because this command can operate
 	over the Packet Command Link, you can prepare the rocket as
@@ -978,14 +1025,14 @@ NAR
 	you have 10 seconds to press the 'Fire' button or the system
 	will deactivate, at which point you start over again at
 	selecting the desired igniter.
-      
10. Scan Channels

+      
11. Scan Channels

 	This listens for telemetry packets on all of the configured
 	frequencies, displaying information about each device it
 	receives a packet from. You can select which of the three
 	telemetry formats should be tried; by default, it only listens
 	for the standard telemetry packets used in v1.0 and later
 	firmware.
-      
11. Load Maps

+      
12. Load Maps

 	Before heading out to a new launch site, you can use this to
 	load satellite images in case you don't have internet
 	connectivity at the site. This loads a fairly large area
@@ -1004,20 +1051,21 @@ NAR
 	once, so if you load more than one launch site, you may get
 	some gray areas in the map which indicate that Google is tired
 	of sending data to you. Try again later.
-      
12. Monitor Idle

+      
13. Monitor Idle

 	This brings up a dialog similar to the Monitor Flight UI,
 	except it works with the altimeter in "idle" mode by sending
 	query commands to discover the current state rather than
 	listening for telemetry packets.
-      
Chapter 7. Using Altus Metrum Products
Table of Contents
1. Being Legal
2. In the Rocket
3. On the Ground
4. Data Analysis
5. Future Plans
1. Being Legal

+      
Chapter 7. Using Altus Metrum Products
Table of Contents
1. Being Legal
2. In the Rocket
3. On the Ground
4. Data Analysis
5. Future Plans
1. Being Legal

         First off, in the US, you need an amateur radio license or
         other authorization to legally operate the radio transmitters that are part
         of our products.
-      
2. In the Rocket

+      
2. In the Rocket

           In the rocket itself, you just need a TeleMetrum or
 	  TeleMini board and
-          a Li-Po rechargeable battery.  An 860mAh battery weighs less than a 9V
-          alkaline battery, and will run a TeleMetrum for hours.
+          a single-cell, 3.7 volt nominal Li-Po rechargeable battery.  An 
+	  850mAh battery weighs less than a 9V alkaline battery, and will 
+	  run a TeleMetrum for hours.
 	  A 110mAh battery weighs less than a triple A battery and will run a TeleMetrum for
 	  a few hours, or a TeleMini for much (much) longer.
         

@@ -1026,7 +1074,7 @@ NAR
           which is opaque to RF signals, you may choose to have an SMA connector
           installed so that you can run a coaxial cable to an antenna mounted
           elsewhere in the rocket.
-        
3. On the Ground

+        
3. On the Ground

           To receive the data stream from the rocket, you need an antenna and short
           feed-line connected to one of our TeleDongle units.  The
           TeleDongle in turn plugs directly into the USB port on a notebook
@@ -1077,7 +1125,7 @@ NAR
           
           The 440-3 and 440-5 are both good choices for finding a
           TeleMetrum- or TeleMini- equipped rocket when used with a suitable 70cm HT.
-        
4. Data Analysis

+        
4. Data Analysis

           Our software makes it easy to log the data from each flight, both the
           telemetry received during the flight itself, and the more
           complete data log recorded in the flash memory on the altimeter
@@ -1092,7 +1140,7 @@ NAR
           Our ultimate goal is to emit a set of files for each flight that can be
           published as a web page per flight, or just viewed on your local disk with
           a web browser.
-        
5. Future Plans

+        
5. Future Plans

           In the future, we intend to offer "companion boards" for the rocket that will
           plug in to TeleMetrum to collect additional data, provide more pyro channels,
           and so forth.  
@@ -1107,14 +1155,14 @@ NAR
           if you have some great idea for an addition to the current Altus Metrum family,
           feel free to dive in and help!  Or let us know what you'd like to see that
           we aren't already working on, and maybe we'll get excited about it too...
-        
Chapter 8. Altimeter Installation Recommendations
Table of Contents
1. Mounting the Altimeter
2. Dealing with the Antenna
3. Preserving GPS Reception
4. Radio Frequency Interference
5. The Barometric Sensor
6. Ground Testing

+        
Chapter 8. Altimeter Installation Recommendations
Table of Contents
1. Mounting the Altimeter
2. Dealing with the Antenna
3. Preserving GPS Reception
4. Radio Frequency Interference
5. The Barometric Sensor
6. Ground Testing

       Building high-power rockets that fly safely is hard enough. Mix
       in some sophisticated electronics and a bunch of radio energy
       and oftentimes you find few perfect solutions. This chapter
       contains some suggestions about how to install Altus Metrum
       products into the rocket air-frame, including how to safely and
       reliably mix a variety of electronics into the same air-frame.
-    
1. Mounting the Altimeter

+    
1. Mounting the Altimeter

 	The first consideration is to ensure that the altimeter is
 	securely fastened to the air-frame. For TeleMetrum, we use
 	nylon standoffs and nylon screws; they're good to at least 50G
@@ -1131,7 +1179,7 @@ NAR
 	  Watch for any metal touching components on the
 	  board. Shorting out connections on the bottom of the board
 	  can cause the altimeter to fail during flight.
-	
2. Dealing with the Antenna

+	
2. Dealing with the Antenna

 	The antenna supplied is just a piece of solid, insulated,
 	wire. If it gets damaged or broken, it can be easily
 	replaced. It should be kept straight and not cut; bending or
@@ -1174,7 +1222,7 @@ NAR
 	SMA connector, and then run 50Ω coax from the board to the
 	antenna. Building a remote antenna is beyond the scope of this
 	manual.
-      
3. Preserving GPS Reception

+      
3. Preserving GPS Reception

 	The GPS antenna and receiver in TeleMetrum are highly
 	sensitive and normally have no trouble tracking enough
 	satellites to provide accurate position information for
@@ -1193,7 +1241,7 @@ NAR
 	  antenna as that's covered with a ground plane. But, keep
 	  wires and metal out from above the patch antenna.
 	

-      
4. Radio Frequency Interference

+      
4. Radio Frequency Interference

 	Any altimeter will generate RFI; the digital circuits use
 	high-frequency clocks that spray radio interference across a
 	wide band. Altus Metrum altimeters generate intentional radio
@@ -1231,7 +1279,7 @@ NAR
 	  70cm amateur band, so you should avoid lengths that are a
 	  simple ratio of that length; essentially any multiple of 1/4
 	  of the wavelength (17.5cm).
-

5. The Barometric Sensor

+

5. The Barometric Sensor

Altusmetrum altimeters measure altitude with a barometric sensor, essentially measuring the amount of air above the rocket to figure out how high it is. A large number of @@ -1249,7 +1297,7 @@ NAR chemical damage from the products of APCP or BP combustion, so make sure the ebay is carefully sealed from any compartment which contains ejection charges or motors. -

6. Ground Testing

+

6. Ground Testing

The most important aspect of any installation is careful ground testing. Bringing an air-frame up to the LCO table which hasn't been ground tested can lead to delays or ejection @@ -1271,7 +1319,7 @@ NAR interface through a TeleDongle to command each charge to fire. Make sure the charge is sufficient to robustly separate the air-frame and deploy the recovery system. -

Chapter 9. Updating Device Firmware

Table of Contents

1. Updating TeleMetrum Firmware
2. Updating TeleMini Firmware
3. Updating TeleDongle Firmware

+

Chapter 9. Updating Device Firmware

Table of Contents

1. Updating TeleMetrum Firmware
2. Updating TeleMini Firmware
3. Updating TeleDongle Firmware

The big concept to understand is that you have to use a TeleDongle as a programmer to update a TeleMetrum or TeleMini, and a TeleMetrum or other TeleDongle to program the TeleDongle @@ -1287,7 +1335,7 @@ NAR version from http://www.altusmetrum.org/AltOS/.

We recommend updating the altimeter first, before updating TeleDongle. -

1. Updating TeleMetrum Firmware

  1. +

    1. Updating TeleMetrum Firmware

    1. Find the 'programming cable' that you got as part of the starter kit, that has a red 8-pin MicroMaTch connector on one end and a red 4-pin MicroMaTch connector on the other end. @@ -1330,7 +1378,7 @@ NAR the version, etc.
    2. If something goes wrong, give it another try. -

    2. Updating TeleMini Firmware

    1. +

    2. Updating TeleMini Firmware

    1. You'll need a special 'programming cable' to reprogram the TeleMini. It's available on the Altus Metrum web store, or you can make your own using an 8-pin MicroMaTch connector on @@ -1374,7 +1422,7 @@ NAR letting it come up in "flight" mode and listening for telemetry.
    2. If something goes wrong, give it another try. -

    3. Updating TeleDongle Firmware

    +

3. Updating TeleDongle Firmware

Updating TeleDongle's firmware is just like updating TeleMetrum or TeleMini firmware, but you use either a TeleMetrum or another TeleDongle as the programmer.

  1. @@ -1434,7 +1482,7 @@ NAR slightly to extract the connector. We used a locking connector on TeleMetrum to help ensure that the cabling to companion boards used in a rocket don't ever come loose accidentally in flight. -

Chapter 10. Hardware Specifications

Table of Contents

1. TeleMetrum Specifications
2. TeleMini Specifications

1. TeleMetrum Specifications

  • +

Chapter 10. Hardware Specifications

Table of Contents

1. TeleMetrum Specifications
2. TeleMini Specifications

1. TeleMetrum Specifications

  • Recording altimeter for model rocketry.

  • Supports dual deployment (can fire 2 ejection charges). @@ -1458,7 +1506,7 @@ NAR optional separate pyro battery if needed.

  • 2.75 x 1 inch board designed to fit inside 29mm air-frame coupler tube. -

2. TeleMini Specifications

  • +

2. TeleMini Specifications

  • Recording altimeter for model rocketry.

  • Supports dual deployment (can fire 2 ejection charges). @@ -1477,7 +1525,7 @@ NAR optional separate pyro battery if needed.

  • 1.5 x .5 inch board designed to fit inside 18mm air-frame coupler tube. -

Chapter 11. FAQ

+

Chapter 11. FAQ

TeleMetrum seems to shut off when disconnected from the computer. Make sure the battery is adequately charged. Remember the unit will pull more power than the USB port can deliver before the @@ -1517,7 +1565,7 @@ NAR data after physically retrieving your altimeter. Make sure to save the on-board data after each flight; while the TeleMetrum can store multiple flights, you never know when you'll lose the altimeter... -

Appendix A. Notes for Older Software

+

Appendix A. Notes for Older Software

Before AltosUI was written, using Altus Metrum devices required some finesse with the Linux command line. There was a limited @@ -1693,7 +1741,7 @@ NAR the Log and Device menus. It has a wonderful display of the incoming flight data and I am sure you will enjoy what it has to say to you once you enable the voice output! -

Appendix B. Calibration

Table of Contents

1. Radio Frequency
2. TeleMetrum Accelerometer

+

Appendix B. Calibration

Table of Contents

1. Radio Frequency
2. TeleMetrum Accelerometer

There are only two calibrations required for a TeleMetrum board, and only one for TeleDongle and TeleMini. All boards are shipped from the factory pre-calibrated, but the procedures are documented here @@ -1701,7 +1749,7 @@ NAR AltosUI, you must connect to the board with a serial terminal program and interact directly with the on-board command interpreter to effect calibration. -

1. Radio Frequency

+

1. Radio Frequency

The radio frequency is synthesized from a clock based on the 48 MHz crystal on the board. The actual frequency of this oscillator must be measured to generate a calibration constant. While our @@ -1736,7 +1784,7 @@ NAR radio frequency is reset to the default 434.550 Mhz. If you want to use another frequency, you will have to set that again after calibration is completed. -

2. TeleMetrum Accelerometer

+

2. TeleMetrum Accelerometer

The TeleMetrum accelerometer we use has its own 5 volt power supply and the output must be passed through a resistive voltage divider to match @@ -1780,29 +1828,77 @@ NAR to the index post on the 4-pin end of the programming cable, and power up the board. It should come up in 'idle mode' (two beeps), allowing a re-cal. -

Appendix C. Release Notes

- Version 1.0.3 is a minor release adding support for TeleMetrum v1.2 boards +

Appendix C. Release Notes

+ Version 1.1 is a minor release. It provides a few new features in AltosUI + and the AltOS firmware and fixes bugs.

AltOS Firmware Changes

  • - TeleMetrum version 1.2 is functionally identical to version 1.1, the - only change required in the firmware was to adjust the product name reported - over the USB link. + Add apogee-lockout value. Overrides the apogee detection logic to + prevent incorrect apogee charge firing. +
  • + Fix a bug where the data reported in telemetry packets was + from 320ms ago. +
  • + Force the radio frequency to 434.550MHz when the debug clock + pin is connected to ground at boot time. This provides a way + to talk to a TeleMini which is configured to some unknown frequency. +
  • + Provide RSSI values for Monitor Idle mode. This makes it easy to check radio + range without needing to go to flight mode. +
  • + Fix a bug which caused the old received telemetry packets to + be retransmitted over the USB link when the radio was turned + off and back on.

- Version 1.0.2 is a bugfix release, addressing a minor issue - found in version 1.0.1 -

- AltOS Firmware Changes + AltosUI Changes

  • - On TeleMetrum, wait to enable the radio link for remote command operations - until the device enters either idle or invalid mode. Ticket #26. + Fix a bug that caused GPS ready to happen too quickly. The + software was using every telemetry packet to signal new GPS + data, which caused GPS ready to be signalled after 10 packets + instead of 10 GPS updates. +
  • + Fix Google Earth data export to work with recent versions. The + google earth file loading code got a lot pickier, requiring + some minor white space changes in the export code. +
  • + Make the look-n-feel configurable, providing a choice from + the available options. +
  • + Add an 'Age' element to mark how long since a telemetry packet + has been received. Useful to quickly gauge whether + communications with the rocket are still active. +
  • + Add 'Configure Ground Station' dialog to set the radio + frequency used by a particular TeleDongle without having to go + through the flight monitor UI. +
  • + Add configuration for the new apogee-lockout value. A menu provides a list of + reasonable values, or the value can be set by hand. +
  • + Changed how flight data are downloaded. Now there's an initial + dialog asking which flights to download, and after that + finishes, a second dialog comes up asking which flights to delete. +
  • + Re-compute time spent in each state for the flight graph; this + figures out the actual boost and landing times instead of + using the conservative values provide by the flight + electronics. This improves the accuracy of the boost + acceleration and main descent rate computations. +
  • + Make AltosUI run on Mac OS Lion. The default Java heap space + was dramatically reduced for this release causing much of the + UI to fail randomly. This most often affected the satellite + mapping download and displays. +
  • + Change how data are displayed in the 'table' tab of the flight + monitoring window. This eliminates entries duplicated from the + header and adds both current altitude and pad altitude, which + are useful in 'Monitor Idle' mode.
  • - On TeleMini, delay during reboot for one second to give the - TeleDongle time to leave radio link mode. Otherwise, the - TeleDongle would send another radio link packet out while the - TeleMini was rebooting, sending TeleMini right back to idle - mode. Ticket #27. + Add Imperial units mode to present data in feet instead of + meters.

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a/AltOS/doc/release-notes-1.1.html b/AltOS/doc/release-notes-1.1.html new file mode 100644 index 0000000..a86a5ae --- /dev/null +++ b/AltOS/doc/release-notes-1.1.html @@ -0,0 +1,73 @@ +

    + Version 1.1 is a minor release. It provides a few new features in AltosUI + and the AltOS firmware and fixes bugs. +

    + AltOS Firmware Changes +

    • + Add apogee-lockout value. Overrides the apogee detection logic to + prevent incorrect apogee charge firing. +
    • + Fix a bug where the data reported in telemetry packets was + from 320ms ago. +
    • + Force the radio frequency to 434.550MHz when the debug clock + pin is connected to ground at boot time. This provides a way + to talk to a TeleMini which is configured to some unknown frequency. +
    • + Provide RSSI values for Monitor Idle mode. This makes it easy to check radio + range without needing to go to flight mode. +
    • + Fix a bug which caused the old received telemetry packets to + be retransmitted over the USB link when the radio was turned + off and back on. +

    +

    + AltosUI Changes +

    • + Fix a bug that caused GPS ready to happen too quickly. The + software was using every telemetry packet to signal new GPS + data, which caused GPS ready to be signalled after 10 packets + instead of 10 GPS updates. +
    • + Fix Google Earth data export to work with recent versions. The + google earth file loading code got a lot pickier, requiring + some minor white space changes in the export code. +
    • + Make the look-n-feel configurable, providing a choice from + the available options. +
    • + Add an 'Age' element to mark how long since a telemetry packet + has been received. Useful to quickly gauge whether + communications with the rocket are still active. +
    • + Add 'Configure Ground Station' dialog to set the radio + frequency used by a particular TeleDongle without having to go + through the flight monitor UI. +
    • + Add configuration for the new apogee-lockout value. A menu provides a list of + reasonable values, or the value can be set by hand. +
    • + Changed how flight data are downloaded. Now there's an initial + dialog asking which flights to download, and after that + finishes, a second dialog comes up asking which flights to delete. +
    • + Re-compute time spent in each state for the flight graph; this + figures out the actual boost and landing times instead of + using the conservative values provide by the flight + electronics. This improves the accuracy of the boost + acceleration and main descent rate computations. +
    • + Make AltosUI run on Mac OS Lion. The default Java heap space + was dramatically reduced for this release causing much of the + UI to fail randomly. This most often affected the satellite + mapping download and displays. +
    • + Change how data are displayed in the 'table' tab of the flight + monitoring window. This eliminates entries duplicated from the + header and adds both current altitude and pad altitude, which + are useful in 'Monitor Idle' mode. +
    • + Add Imperial units mode to present data in feet instead of + meters. +

    +

    diff --git a/AltOS/doc/telemetry.html b/AltOS/doc/telemetry.html index bf301dc..e1cdb01 100644 --- a/AltOS/doc/telemetry.html +++ b/AltOS/doc/telemetry.html @@ -1,10 +1,10 @@ -AltOS Telemetry

    AltOS Telemetry

    Packet Definitions

    Keith Packard

    Copyright © 2011 Keith Packard

    +AltOS Telemetry

    AltOS Telemetry

    Packet Definitions

    Keith Packard

    Copyright © 2011 Keith Packard

    This document is released under the terms of the Creative Commons ShareAlike 3.0 license. -

    Revision History
    Revision 0.101 July 2011
    Initial content

    Table of Contents

    1. Packet Format Design
    2. Packet Formats
    2.1. Packet Header
    2.2. Sensor Data
    2.3. Configuration Data
    2.4. GPS Location
    2.5. GPS Satellite Data
    3. Data Transmission
    3.1. Modulation Scheme
    3.2. Error Correction
    4. TeleDongle packet format
    5. History and Motivation

    1. Packet Format Design

    +

    Revision History
    Revision 0.101 July 2011
    Initial content

    Table of Contents

    1. Packet Format Design
    2. Packet Formats
    2.1. Packet Header
    2.2. Sensor Data
    2.3. Configuration Data
    2.4. GPS Location
    2.5. GPS Satellite Data
    3. Data Transmission
    3.1. Modulation Scheme
    3.2. Error Correction
    4. TeleDongle packet format
    5. History and Motivation

    1. Packet Format Design

    AltOS telemetry data is split into multiple different packets, all the same size, but each includs an identifier so that the ground station can distinguish among different types. A single @@ -22,14 +22,14 @@ All packet types start with a five byte header which encodes the device serial number, device clock value and the packet type. The remaining 27 bytes encode type-specific data. -

    2. Packet Formats

    +

    2. Packet Formats

    This section first defines the packet header common to all packets and then the per-packet data layout. -

    2.1. Packet Header

    Table 1. Telemetry Packet Header

    OffsetData TypeNameDescription
    0uint16_tserialDevice serial Number
    2uint16_ttickDevice time in 100ths of a second
    4uint8_ttypePacket type
    5   

    +

    2.1. Packet Header

    Table 1. Telemetry Packet Header

    OffsetData TypeNameDescription
    0uint16_tserialDevice serial Number
    2uint16_ttickDevice time in 100ths of a second
    4uint8_ttypePacket type
    5   

    Each packet starts with these five bytes which serve to identify which device has transmitted the packet, when it was transmitted and what the rest of the packet contains. -

    2.2. Sensor Data

    TypeDescription
    0x01TeleMetrum Sensor Data
    0x02TeleMini Sensor Data
    0x03TeleNano Sensor Data

    +

    2.2. Sensor Data

    TypeDescription
    0x01TeleMetrum Sensor Data
    0x02TeleMini Sensor Data
    0x03TeleNano Sensor Data

    TeleMetrum, TeleMini and TeleNano share this same packet format for sensor data. Each uses a distinct packet type so that the receiver knows which data values are valid and which @@ -38,63 +38,63 @@ Sensor Data packets are transmitted once per second on the ground, 10 times per second during ascent and once per second during descent and landing -

    Table 2. Sensor Packet Contents

    OffsetData TypeNameDescription
    5uint8_tstateFlight state
    6int16_taccelaccelerometer (TM only)
    8int16_tprespressure sensor
    10int16_ttemptemperature sensor
    12int16_tv_battbattery voltage
    14int16_tsense_ddrogue continuity sense (TM/Tm)
    16int16_tsense_mmain continuity sense (TM/Tm)
    18int16_taccelerationm/s² * 16
    20int16_tspeedm/s * 16
    22int16_theightm
    24int16_tground_presAverage barometer reading on ground
    26int16_tground_accelTM
    28int16_taccel_plus_gTM
    30int16_taccel_minus_gTM
    32   

    2.3. Configuration Data

    TypeDescription
    0x04Configuration Data

    +

    Table 2. Sensor Packet Contents

    OffsetData TypeNameDescription
    5uint8_tstateFlight state
    6int16_taccelaccelerometer (TM only)
    8int16_tprespressure sensor
    10int16_ttemptemperature sensor
    12int16_tv_battbattery voltage
    14int16_tsense_ddrogue continuity sense (TM/Tm)
    16int16_tsense_mmain continuity sense (TM/Tm)
    18int16_taccelerationm/s² * 16
    20int16_tspeedm/s * 16
    22int16_theightm
    24int16_tground_presAverage barometer reading on ground
    26int16_tground_accelTM
    28int16_taccel_plus_gTM
    30int16_taccel_minus_gTM
    32   

    2.3. Configuration Data

    TypeDescription
    0x04Configuration Data

    This provides a description of the software installed on the flight computer as well as any user-specified configuration data.

    Configuration data packets are transmitted once per second during all phases of the flight -

    Table 3. Sensor Packet Contents

    OffsetData TypeNameDescription
    5uint8_ttypeDevice type
    6uint16_tflightFlight number
    8uint8_tconfig_majorConfig major version
    9uint8_tconfig_minorConfig minor version
    10uint16_tapogee_delayApogee deploy delay in seconds
    12uint16_tmain_deployMain deploy alt in meters
    14uint16_tflight_log_maxMaximum flight log size (kB)
    16charcallsign[8]Radio operator identifier
    24charversion[8]Software version identifier
    32   

    2.4. GPS Location

    TypeDescription
    0x05GPS Location

    +

    Table 3. Sensor Packet Contents

    OffsetData TypeNameDescription
    5uint8_ttypeDevice type
    6uint16_tflightFlight number
    8uint8_tconfig_majorConfig major version
    9uint8_tconfig_minorConfig minor version
    10uint16_tapogee_delayApogee deploy delay in seconds
    12uint16_tmain_deployMain deploy alt in meters
    14uint16_tflight_log_maxMaximum flight log size (kB)
    16charcallsign[8]Radio operator identifier
    24charversion[8]Software version identifier
    32   

    2.4. GPS Location

    TypeDescription
    0x05GPS Location

    This packet provides all of the information available from the Venus SkyTraq GPS receiver—position, time, speed and precision estimates.

    GPS Location packets are transmitted once per second during all phases of the flight -

    Table 4. GPS Location Packet Contents

    OffsetData TypeNameDescription
    5uint8_tflagsSee GPS Flags table below
    6int16_taltitudem
    8int32_tlatitudedegrees * 107
    12int32_tlongitudedegrees * 107
    16uint8_tyear 
    17uint8_tmonth 
    18uint8_tday 
    19uint8_thour 
    20uint8_tminute 
    21uint8_tsecond 
    22uint8_tpdop* 5
    23uint8_thdop* 5
    24uint8_tvdop* 5
    25uint8_tmodeSee GPS Mode table below
    26uint16_tground_speedcm/s
    28int16_tclimb_ratecm/s
    30uint8_tcourse/ 2
    31uint8_tunused[1] 
    32   

    +

    Table 4. GPS Location Packet Contents

    OffsetData TypeNameDescription
    5uint8_tflagsSee GPS Flags table below
    6int16_taltitudem
    8int32_tlatitudedegrees * 107
    12int32_tlongitudedegrees * 107
    16uint8_tyear 
    17uint8_tmonth 
    18uint8_tday 
    19uint8_thour 
    20uint8_tminute 
    21uint8_tsecond 
    22uint8_tpdop* 5
    23uint8_thdop* 5
    24uint8_tvdop* 5
    25uint8_tmodeSee GPS Mode table below
    26uint16_tground_speedcm/s
    28int16_tclimb_ratecm/s
    30uint8_tcourse/ 2
    31uint8_tunused[1] 
    32   

    Packed into a one byte field are status flags and the count of satellites used to compute the position fix. Note that this number may be lower than the number of satellites being tracked; the receiver will not use information from satellites with weak signals or which are close enough to the horizon to have significantly degraded position accuracy. -

    Table 5. GPS Flags

    BitsNameDescription
    0-3nsatsNumber of satellites in solution
    4validGPS solution is valid
    5runningGPS receiver is operational
    6date_validReported date is valid
    7course_validground speed, course and climb rates are valid

    +

    Table 5. GPS Flags

    BitsNameDescription
    0-3nsatsNumber of satellites in solution
    4validGPS solution is valid
    5runningGPS receiver is operational
    6date_validReported date is valid
    7course_validground speed, course and climb rates are valid

    Here are all of the valid GPS operational modes. Altus Metrum products will only ever report 'N' (not valid), 'A' (Autonomous) modes or 'E' (Estimated). The remaining modes are either testing modes or require additional data. -

    Table 6. GPS Mode

    ModeNameDecsription
    NNot ValidAll data are invalid
    AAutonomous modeData are derived from satellite data
    DDifferential Mode +

    Table 6. GPS Mode

    ModeNameDecsription
    NNot ValidAll data are invalid
    AAutonomous modeData are derived from satellite data
    DDifferential Mode Data are augmented with differential data from a known ground station. The SkyTraq unit in TeleMetrum does not support this mode
    EEstimated Data are estimated using dead reckoning from the last known data -
    MManualData were entered manually
    SSimulatedGPS receiver testing mode

    2.5. GPS Satellite Data

    TypeDescription
    0x06GPS Satellite Data

    +

    MManualData were entered manually
    SSimulatedGPS receiver testing mode

    2.5. GPS Satellite Data

    TypeDescription
    0x06GPS Satellite Data

    This packet provides space vehicle identifiers and signal quality information in the form of a C/N1 number for up to 12 satellites. The order of the svids is not specified.

    GPS Satellite data are transmitted once per second during all phases of the flight. -

    Table 7. GPS Satellite Data Contents

    OffsetData TypeNameDescription
    5uint8_tchannelsNumber of reported satellite information
    6sat_info_tsats[12]See Per-Satellite data table below
    30uint8_tunused[2] 
    32   

    Table 8. GPS Per-Satellite data (sat_info_t)

    OffsetData TypeNameDescription
    0uint8_tsvidSpace Vehicle Identifier
    1uint8_tc_n_1C/N1 signal quality indicator
    2   

    3. Data Transmission

    +

    Table 7. GPS Satellite Data Contents

    OffsetData TypeNameDescription
    5uint8_tchannelsNumber of reported satellite information
    6sat_info_tsats[12]See Per-Satellite data table below
    30uint8_tunused[2] 
    32   

    Table 8. GPS Per-Satellite data (sat_info_t)

    OffsetData TypeNameDescription
    0uint8_tsvidSpace Vehicle Identifier
    1uint8_tc_n_1C/N1 signal quality indicator
    2   

    3. Data Transmission

    Altus Metrum devices use the Texas Instruments CC1111 microcontroller which includes an integrated sub-GHz digital transceiver. This transceiver is used to both transmit and receive the telemetry packets. This section discusses what modulation scheme is used and how this device is configured. -

    3.1. Modulation Scheme

    +

    3.1. Modulation Scheme

    Texas Instruments provides a tool for computing modulation parameters given a desired modulation format and basic bit rate. For AltOS, the basic bit rate was specified as 38 kBaud, resulting in the following signal parmeters: -

    Table 9. 

    ParameterValueDescription
    ModulationGFSKGaussian Frequency Shift Keying
    Deviation20.507812 kHzFrequency modulation
    Data rate38.360596 kBaudRaw bit rate
    RX Filter Bandwidth93.75 kHzReceiver Band pass filter bandwidth
    IF Frequency140.62 kHzReceiver intermediate frequency

    3.2. Error Correction

    +

    Table 9. 

    ParameterValueDescription
    ModulationGFSKGaussian Frequency Shift Keying
    Deviation20.507812 kHzFrequency modulation
    Data rate38.360596 kBaudRaw bit rate
    RX Filter Bandwidth93.75 kHzReceiver Band pass filter bandwidth
    IF Frequency140.62 kHzReceiver intermediate frequency

    3.2. Error Correction

    The cc1111 provides forward error correction in hardware, which AltOS uses to improve reception of weak signals. The overall effect of this is to halve the available bandwidth for data from 38 kBaud to 19 kBaud. -

    Table 10. 

    ParameterValueDescription
    Error CorrectionConvolutional coding FEC1/2 code, constraint length m=4
    Interleaving4 x 4Reduce effect of noise burst
    Data WhiteningXOR with 9-bit PNRRotate right with bit 8 = bit 0 xor bit 5, initial - value 111111111

    4. TeleDongle packet format

    +

    Table 10. 

    ParameterValueDescription
    Error CorrectionConvolutional coding FEC1/2 code, constraint length m=4
    Interleaving4 x 4Reduce effect of noise burst
    Data WhiteningXOR with 9-bit PNRRotate right with bit 8 = bit 0 xor bit 5, initial + value 111111111

    4. TeleDongle packet format

    TeleDongle does not do any interpretation of the packet data, instead it is configured to receive packets of a specified length (32 bytes in this case). For each received packet, @@ -106,9 +106,9 @@ the packet data, two bytes added by the cc1111 radio receiver hardware and finally a checksum so that the host software can validate that the line was transmitted without any errors. -

    Table 11. 

    OffsetNameExampleDescription
    0length22Total length of data bytes in the line. Note that +

    Table 11. 

    OffsetNameExampleDescription
    0length22Total length of data bytes in the line. Note that this includes the added RSSI and status bytes
    1 ·· length-3packet4f ·· 00Bytes of actual packet data
    length-2rssi3fReceived signal strength. dBm = rssi / 2 - 74
    length-1lqia9Link Quality Indicator and CRC status. Bit 7 - is set when the CRC is correct
    lengthchecksum88(0x5a + sum(bytes 1 ·· length-1)) % 256

    5. History and Motivation

    + is set when the CRC is correct

    lengthchecksum88(0x5a + sum(bytes 1 ·· length-1)) % 256

    5. History and Motivation

    The original AltoOS telemetry mechanism encoded everything available piece of information on the TeleMetrum hardware into a single unified packet. Initially, the packets contained very diff --git a/AltOS/doc/telemetry.pdf b/AltOS/doc/telemetry.pdf index 5f101bf59c6217749bd3640a1452e1cbda754ae2..938dc825b08db024044d0cad75feda06008cbd0e 100644 GIT binary patch delta 17961 zcmZs?V|XUfvIZL4wr$%sCbn%mUu@f$WWtGU+nOX3+twG~+56o4=bqEQ`gvE?TJ=^v zUAbFqb*Km7Ee`^5YLQ)`1w@%HD>Ne%L^?j79WxraTkY*EgQ9MiF1NA8Sn zf7-h!dcLHXCm8{jdE=Z;_3U#oWyeiXrm(M@K;x#pHt?`{G5(CVI!N29Lpo@4S2`vi zX`ilof5xYs0w}hV^0@DY#!wb4Wz!OqA{lo^mVeL98IG*-hg5`TT+-<^cMY$+Y4H26 z!Z{NvZ=1FLa-^*RY5+{?KKBsEYBAqD06k-G2?v_(k|uy)>9jJ#s{vH@zc}SBz101| zi!yeFP8E2epPt-3))S%z!MXDV)wg6fwSVb9mJQa<)|4`%r{;ZIp;zY!v>xH!xns>3 zGg}Q7;xhG14h>sscZ}@mS6fX5ANXMDg+Bz@#8n z@$Zkv+T#|^?-FRvc7b1NCc`MEu3`N|;i)#M=m@ZPyht|(J*2S;P$!4_n7mO0yj5R2Y>J=5tp{%o%MDAPFO>TVqaF}Nuh~-Emm&}y#iY4udoytndkhpoXR9O)J2vVqc z;{oP(N9IRck2JjaMtp)^Nhjo}+kaTad*m4R7cv2#QSL(yWxK)MKzRm*Q!j-pU*nPM zHY7arXr{IX7XF6aw-+fyKJz#U9#R2jq9&2y?G<+4 zRu@ibxFCdW4S&TZepr>B$1Ke*^l08!*SsD}fnr#-r$WqZr#Ww&;kIDuW>a(V>jeAw`(O>Gnd%yJf+T 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    AltOS Companion Port

    Protocol Definitions

    Keith Packard

    Copyright © 2012 Keith Packard

    + This document is released under the terms of the + + Creative Commons ShareAlike 3.0 + + license. +

    Revision History
    Revision 0.113 January 2012
    Initial content

    Table of Contents

    1. Companion Port
    2. Companion SPI Protocol
    3. SPI Message Formats
    3.1. Command Message
    3.2. SETUP reply message
    3.3. FETCH reply message
    4. History and Motivation

    1. Companion Port

    + Many Altus Metrum products come with an eight pin Micro MaTch + connector, called the Companion Port. This is often used to + program devices using a programming cable. However, it can also + be used to connect TeleMetrum to external companion boards + (hence the name). +

    + The Companion Port provides two different functions: +

    • + Power. Both battery-level and 3.3V regulated power are + available. Note that the amount of regulated power is not + huge; TeleMetrum contains a 150mA regulator and uses, at + peak, about 120mA or so. For applications needing more than + a few dozen mA, placing a separate regulator on them and + using the battery for power is probably a good idea. +
    • + SPI. The flight computer operates as a SPI master, using + a protocol defined in this document. Companion boards + provide a matching SPI slave implementation which supplies + telemetry information for the radio downlink during flight +

    +

    2. Companion SPI Protocol

    + The flight computer implements a SPI master communications + channel over the companion port, and uses this to get + information about a connected companion board and then to get + telemetry data for transmission during flight. +

    + At startup time, the flight computer sends a setup request + packet, and the companion board returns a board identifier, the + desired telemetry update period and the number of data channels + provided. The flight computer doesn't interpret the telemetry + data at all, simply packing it up and sending it over the link. + Telemetry packets are 32 bytes long, and companion packets use 8 + bytes as a header leaving room for a maximum of 12 16-bit data + values. +

    + Because of the limits of the AVR processors used in the first + two companion boards, the SPI data rate is set to 187.5kbaud. +

    3. SPI Message Formats

    + This section first defines the command message format sent from + the flight computer to the companion board, and then the various + reply message formats for each type of command message. +

    3.1. Command Message

    Table 1. Companion Command Message

    OffsetData TypeNameDescription
    0uint8_tcommandCommand identifier
    1uint8_tflight_stateCurrent flight computer state
    2uint16_ttickFlight computer clock (100 ticks/second)
    4uint16_tserialFlight computer serial number
    6uint16_tflightFlight number
    8   

    Table 2. Companion Command Identifiers

    ValueNameDescription
    1SETUPSupply the flight computer with companion + information
    2FETCHReturn telemetry information
    3NOTIFYTell companion board when flight state + changes

    + The flight computer will send a SETUP message shortly after + power-up and will then send FETCH messages no more often than + the rate specified in the SETUP reply. NOTIFY messages will be + sent whenever the flight state changes. +

    + 'flight_state' records the current state of the flight, + whether on the pad, under power, coasting to apogee or + descending on the drogue or main chute. +

    + 'tick' provides the current flight computer clock, which + be used to synchronize data recorded on the flight computer + with that recorded on the companion board in post-flight analysis. +

    + 'serial' is the product serial number of the flight computer, + 'flight' is the flight sequence number. Together, these two + uniquely identify the flight and can be recorded with any + companion board data logging to associate the companion data + with the proper flight. +

    + NOTIFY commands require no reply at all, they are used solely + to inform the companion board when the state of the flight, as + computed by the flight computer, changes. Companion boards can + use this to change data collection parameters, disabling data + logging until the flight starts and terminating it when the + flight ends. +

    3.2. SETUP reply message

    Table 3. SETUP reply contents

    OffsetData TypeNameDescription
    0uint16_tboard_idBoard identifier
    2uint16_tboard_id_inverse~board_id—used to tell if a board is present
    4uint8_tupdate_periodMinimum time (in 100Hz ticks) between FETCH commands
    5uint8_tchannelsNumber of data channels to retrieve in FETCH command
    6   

    + The SETUP reply contains enough information to uniquely + identify the companion board to the end user as well as for + the flight computer to know how many data values to expect in + reply to a FETCH command, and how often to fetch that data. +

    + To detect the presence of a companion board, the flight + computer checks to make sure that board_id_inverse is the + bit-wise inverse of board_id. Current companion boards use + USB product ID as the board_id, but the flight computer does + not interpret this data and so it can be any value. +

    3.3. FETCH reply message

    Table 4. FETCH reply contents

    OffsetData TypeNameDescription
    0uint16_tdata00th data item
    2uint16_tdata11st data item
    ...   

    + The FETCH reply contains arbitrary data to be reported over + the flight computer telemetry link. The number of 16-bit data items + must match the 'channels' value provided in the SETUP reply + message. +

    4. History and Motivation

    + To allow cross-programming, the original TeleMetrum and + TeleDongle designs needed to include some kind of + connector. With that in place, adding the ability to connect + external cards to TeleMetrum was fairly simple. We set the + software piece of this puzzle aside until we had a companion + board to use. +

    + The first companion board was TeleScience. Designed to collect + temperature data from the nose and fin of the airframe, the main + requirement for the companion port was that it be able to report + telemetry data during flight as a back-up in case the + TeleScience on-board data was lost. +

    + The second companion board, TelePyro, provides 8 additional + channels for deployment, staging or other activities. To avoid + re-programming the TeleMetrum to use TelePyro, we decided to + provide enough information over the companion link for it to + independently control those channels. +

    + Providing a standard, constant interface between the flight + computer and companion boards allows for the base flight + computer firmware to include support for companion boards. +