/* * Copyright © 2010 Keith Packard * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; version 2 of the License. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License along * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ package altosui; import java.lang.*; import java.text.*; import java.util.HashMap; /* * Telemetry data contents */ /* * Version 4 is a replacement with consistent syntax. Each telemetry line * contains a sequence of space-separated names and values, the values are * either integers or strings. The names are all unique. All values are * optional * * VERSION 4 c KD7SQG n 236 f 18 r -25 s pad t 513 r_a 15756 r_b 26444 r_t 20944 * r_v 26640 r_d 512 r_m 208 c_a 15775 c_b 26439 c_p 15749 c_m 16281 a_a 15764 * a_s 0 a_b 26439 g_s u g_n 0 s_n 0 * * VERSION 4 c KD7SQG n 19 f 0 r -23 s pad t 513 r_b 26372 r_t 21292 r_v 26788 * r_d 136 r_m 140 c_b 26370 k_h 0 k_s 0 k_a 0 * * General header fields * * Name Value * * VERSION Telemetry version number (4 or more). Must be first. * c Callsign (string, no spaces allowed) * n Flight unit serial number (integer) * f Flight number (integer) * r Packet RSSI value (integer) * s Flight computer state (string, no spaces allowed) * t Flight computer clock (integer in centiseconds) * * Version 3 is Version 2 with fixed RSSI numbers -- the radio reports * in 1/2dB increments while this protocol provides only integers. So, * the syntax didn't change just the interpretation of the RSSI * values. * * Version 2 of the telemetry data stream is a bit of a mess, with no * consistent formatting. In particular, the GPS data is formatted for * viewing instead of parsing. However, the key feature is that every * telemetry line contains all of the information necessary to * describe the current rocket state, including the calibration values * for accelerometer and barometer. * * GPS unlocked: * * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -68 STATUS ff STATE pad 1001 \ * a: 16032 p: 21232 t: 20284 v: 25160 d: 204 m: 204 fa: 16038 ga: 16032 fv: 0 \ * fp: 21232 gp: 21230 a+: 16049 a-: 16304 GPS 0 sat unlocked SAT 1 15 30 * * GPS locked: * * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -71 STATUS ff STATE pad 2504 \ * a: 16028 p: 21220 t: 20360 v: 25004 d: 208 m: 200 fa: 16031 ga: 16032 fv: 330 \ * fp: 21231 gp: 21230 a+: 16049 a-: 16304 \ * GPS 9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W 1790m \ * 0.00m/s(H) 0° 0.00m/s(V) 1.0(hdop) 0(herr) 0(verr) \ * SAT 10 29 30 24 28 5 25 21 20 15 33 1 23 30 24 18 26 10 29 2 26 * */ public class AltosTelemetry extends AltosRecord { /* * General header fields * * Name Value * * VERSION Telemetry version number (4 or more). Must be first. * c Callsign (string, no spaces allowed) * n Flight unit serial number (integer) * f Flight number (integer) * r Packet RSSI value (integer) * s Flight computer state (string, no spaces allowed) * t Flight computer clock (integer in centiseconds) */ final static String AO_TELEM_VERSION = "VERSION"; final static String AO_TELEM_CALL = "c"; final static String AO_TELEM_SERIAL = "n"; final static String AO_TELEM_FLIGHT = "f"; final static String AO_TELEM_RSSI = "r"; final static String AO_TELEM_STATE = "s"; final static String AO_TELEM_TICK = "t"; /* * Raw sensor values * * Name Value * r_a Accelerometer reading (integer) * r_b Barometer reading (integer) * r_t Thermometer reading (integer) * r_v Battery reading (integer) * r_d Drogue continuity (integer) * r_m Main continuity (integer) */ final static String AO_TELEM_RAW_ACCEL = "r_a"; final static String AO_TELEM_RAW_BARO = "r_b"; final static String AO_TELEM_RAW_THERMO = "r_t"; final static String AO_TELEM_RAW_BATT = "r_v"; final static String AO_TELEM_RAW_DROGUE = "r_d"; final static String AO_TELEM_RAW_MAIN = "r_m"; /* * Sensor calibration values * * Name Value * c_a Ground accelerometer reading (integer) * c_b Ground barometer reading (integer) * c_p Accelerometer reading for +1g * c_m Accelerometer reading for -1g */ final static String AO_TELEM_CAL_ACCEL_GROUND = "c_a"; final static String AO_TELEM_CAL_BARO_GROUND = "c_b"; final static String AO_TELEM_CAL_ACCEL_PLUS = "c_p"; final static String AO_TELEM_CAL_ACCEL_MINUS = "c_m"; /* * Kalman state values * * Name Value * k_h Height above pad (integer, meters) * k_s Vertical speeed (integer, m/s * 16) * k_a Vertical acceleration (integer, m/s² * 16) */ final static String AO_TELEM_KALMAN_HEIGHT = "k_h"; final static String AO_TELEM_KALMAN_SPEED = "k_s"; final static String AO_TELEM_KALMAN_ACCEL = "k_a"; /* * Ad-hoc flight values * * Name Value * a_a Acceleration (integer, sensor units) * a_s Speed (integer, integrated acceleration value) * a_b Barometer reading (integer, sensor units) */ final static String AO_TELEM_ADHOC_ACCEL = "a_a"; final static String AO_TELEM_ADHOC_SPEED = "a_s"; final static String AO_TELEM_ADHOC_BARO = "a_b"; /* * GPS values * * Name Value * g_s GPS state (string): * l locked * u unlocked * e error (missing or broken) * g_n Number of sats used in solution * g_ns Latitude (degrees * 10e7) * g_ew Longitude (degrees * 10e7) * g_a Altitude (integer meters) * g_Y GPS year (integer) * g_M GPS month (integer - 1-12) * g_D GPS day (integer - 1-31) * g_h GPS hour (integer - 0-23) * g_m GPS minute (integer - 0-59) * g_s GPS second (integer - 0-59) * g_v GPS vertical speed (integer, cm/sec) * g_s GPS horizontal speed (integer, cm/sec) * g_c GPS course (integer, 0-359) * g_hd GPS hdop (integer * 10) * g_vd GPS vdop (integer * 10) * g_he GPS h error (integer) * g_ve GPS v error (integer) */ final static String AO_TELEM_GPS_STATE = "g"; final static String AO_TELEM_GPS_STATE_LOCKED = "l"; final static String AO_TELEM_GPS_STATE_UNLOCKED = "u"; final static String AO_TELEM_GPS_STATE_ERROR = "e"; final static String AO_TELEM_GPS_NUM_SAT = "g_n"; final static String AO_TELEM_GPS_LATITUDE = "g_ns"; final static String AO_TELEM_GPS_LONGITUDE = "g_ew"; final static String AO_TELEM_GPS_ALTITUDE = "g_a"; final static String AO_TELEM_GPS_YEAR = "g_Y"; final static String AO_TELEM_GPS_MONTH = "g_M"; final static String AO_TELEM_GPS_DAY = "g_D"; final static String AO_TELEM_GPS_HOUR = "g_h"; final static String AO_TELEM_GPS_MINUTE = "g_m"; final static String AO_TELEM_GPS_SECOND = "g_s"; final static String AO_TELEM_GPS_VERTICAL_SPEED = "g_v"; final static String AO_TELEM_GPS_HORIZONTAL_SPEED = "g_g"; final static String AO_TELEM_GPS_COURSE = "g_c"; final static String AO_TELEM_GPS_HDOP = "g_hd"; final static String AO_TELEM_GPS_VDOP = "g_vd"; final static String AO_TELEM_GPS_HERROR = "g_he"; final static String AO_TELEM_GPS_VERROR = "g_ve"; /* * GPS satellite values * * Name Value * s_n Number of satellites reported (integer) * s_v0 Space vehicle ID (integer) for report 0 * s_c0 C/N0 number (integer) for report 0 * s_v1 Space vehicle ID (integer) for report 1 * s_c1 C/N0 number (integer) for report 1 * ... */ final static String AO_TELEM_SAT_NUM = "s_n"; final static String AO_TELEM_SAT_SVID = "s_v"; final static String AO_TELEM_SAT_C_N_0 = "s_c"; private void parse_v4(String[] words, int i) throws ParseException { AltosTelemetryMap map = new AltosTelemetryMap(words, i); callsign = map.get_string(AO_TELEM_CALL, "N0CALL"); serial = map.get_int(AO_TELEM_SERIAL, MISSING); flight = map.get_int(AO_TELEM_FLIGHT, MISSING); rssi = map.get_int(AO_TELEM_RSSI, MISSING); state = Altos.state(map.get_string(AO_TELEM_STATE, "invalid")); tick = map.get_int(AO_TELEM_TICK, 0); /* raw sensor values */ accel = map.get_int(AO_TELEM_RAW_ACCEL, MISSING); pres = map.get_int(AO_TELEM_RAW_BARO, MISSING); temp = map.get_int(AO_TELEM_RAW_THERMO, MISSING); batt = map.get_int(AO_TELEM_RAW_BATT, MISSING); drogue = map.get_int(AO_TELEM_RAW_DROGUE, MISSING); main = map.get_int(AO_TELEM_RAW_MAIN, MISSING); /* sensor calibration information */ ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, MISSING); ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, MISSING); accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, MISSING); accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, MISSING); /* flight computer values */ acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, MISSING, 1/16.0); speed = map.get_double(AO_TELEM_KALMAN_SPEED, MISSING, 1/16.0); height = map.get_int(AO_TELEM_KALMAN_HEIGHT, MISSING); flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, MISSING); flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, MISSING); flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, MISSING); if (map.has(AO_TELEM_GPS_STATE)) gps = new AltosGPS(map); else gps = null; } private void parse_legacy(String[] words, int i) throws ParseException { AltosParse.word (words[i++], "CALL"); callsign = words[i++]; AltosParse.word (words[i++], "SERIAL"); serial = AltosParse.parse_int(words[i++]); if (version >= 2) { AltosParse.word (words[i++], "FLIGHT"); flight = AltosParse.parse_int(words[i++]); } else flight = 0; AltosParse.word(words[i++], "RSSI"); rssi = AltosParse.parse_int(words[i++]); /* Older telemetry data had mis-computed RSSI value */ if (version <= 2) rssi = (rssi + 74) / 2 - 74; AltosParse.word(words[i++], "STATUS"); status = AltosParse.parse_hex(words[i++]); AltosParse.word(words[i++], "STATE"); state = Altos.state(words[i++]); tick = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "a:"); accel = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "p:"); pres = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "t:"); temp = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "v:"); batt = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "d:"); drogue = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "m:"); main = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "fa:"); flight_accel = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "ga:"); ground_accel = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "fv:"); flight_vel = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "fp:"); flight_pres = AltosParse.parse_int(words[i++]); /* Old TeleDongle code with kalman-reporting TeleMetrum code */ if ((flight_vel & 0xffff0000) == 0x80000000) { speed = ((short) flight_vel) / 16.0; acceleration = flight_accel / 16.0; height = flight_pres; flight_vel = MISSING; flight_pres = MISSING; flight_accel = MISSING; } AltosParse.word(words[i++], "gp:"); ground_pres = AltosParse.parse_int(words[i++]); if (version >= 1) { AltosParse.word(words[i++], "a+:"); accel_plus_g = AltosParse.parse_int(words[i++]); AltosParse.word(words[i++], "a-:"); accel_minus_g = AltosParse.parse_int(words[i++]); } else { accel_plus_g = ground_accel; accel_minus_g = ground_accel + 530; } gps = new AltosGPS(words, i, version); } public AltosTelemetry(String line) throws ParseException, AltosCRCException { String[] words = line.split("\\s+"); int i = 0; if (words[i].equals("CRC") && words[i+1].equals("INVALID")) { i += 2; AltosParse.word(words[i++], "RSSI"); rssi = AltosParse.parse_int(words[i++]); throw new AltosCRCException(rssi); } if (words[i].equals("CALL")) { version = 0; } else { AltosParse.word (words[i++], "VERSION"); version = AltosParse.parse_int(words[i++]); } if (version < 4) parse_legacy(words, i); else parse_v4(words, i); } }