X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altosui%2FAltosTelemetry.java;h=a05269f4d305c7f5d3c9ad62587b5ed5cd0ea453;hp=bdb6466a46d7d66ec03914cad9653bac9b71c8a9;hb=c3314dae2d3df82e188daf6ba8520cce833592c6;hpb=51c7741040d95c5deece939dae5e4136cc04afc4 diff --git a/altosui/AltosTelemetry.java b/altosui/AltosTelemetry.java index bdb6466a..a05269f4 100644 --- a/altosui/AltosTelemetry.java +++ b/altosui/AltosTelemetry.java @@ -27,10 +27,44 @@ import java.util.HashMap; /* - * The telemetry data stream is a bit of a mess at present, 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 + * The packet format is a simple hex dump of the raw telemetry frame. + * It starts with 'TELEM', then contains hex digits with a checksum as the last + * byte on the line. + * + * 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: @@ -47,97 +81,161 @@ import java.util.HashMap; * 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 { - 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++]); - } - - 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++]); - - 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); + /* + * 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"; + + static public AltosRecord parse(String line, AltosRecord previous) throws ParseException, AltosCRCException { + AltosTelemetryRecord r = AltosTelemetryRecordGeneral.parse(line); + + return r.update_state(previous); } }