+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * 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
+ */
+
+
+/*
+ * 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:
+ *
+ * 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 AltosTelemetryRecordLegacy extends AltosRecord implements AltosTelemetryRecord {
+ /*
+ * 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 AltosTelemetryRecordLegacy(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);
+ }
+
+ /*
+ * Given a hex dump of a legacy telemetry line, construct an AltosRecord from that
+ */
+
+ int[] bytes;
+
+ private int int8(int i) {
+ return Altos.int8(bytes, i + 1);
+ }
+ private int uint8(int i) {
+ return Altos.uint8(bytes, i + 1);
+ }
+ private int int16(int i) {
+ return Altos.int16(bytes, i + 1);
+ }
+ private int uint16(int i) {
+ return Altos.uint16(bytes, i + 1);
+ }
+ private int uint32(int i) {
+ return Altos.uint32(bytes, i + 1);
+ }
+ private String string(int i, int l) {
+ return Altos.string(bytes, i + 1, l);
+ }
+
+ static final int AO_GPS_NUM_SAT_MASK = (0xf << 0);
+ static final int AO_GPS_NUM_SAT_SHIFT = (0);
+
+ static final int AO_GPS_VALID = (1 << 4);
+ static final int AO_GPS_RUNNING = (1 << 5);
+ static final int AO_GPS_DATE_VALID = (1 << 6);
+ static final int AO_GPS_COURSE_VALID = (1 << 7);
+
+ static class theLock extends Object {
+ }
+ static public theLock lockObject = new theLock();
+ public AltosTelemetryRecordLegacy(int[] in_bytes, int in_rssi, int in_status) {
+ bytes = in_bytes;
+ synchronized(lockObject) {
+ for (int i = 0; i < in_bytes.length - 2; i++) {
+ if ((i % 10) == 0)
+ System.out.printf("%3d:", i);
+ System.out.printf(" %02x", uint8(i));
+ if ((i % 10) == 9 || i == in_bytes.length - 3)
+ System.out.printf("\n");
+ }
+ }
+ version = 4;
+ callsign = string(62, 8);
+ serial = uint16(0);
+ flight = uint16(2);
+ rssi = in_rssi;
+ status = in_status;
+ state = uint8(4);
+ tick = uint16(21);
+ accel = int16(23);
+ pres = int16(25);
+ temp = int16(27);
+ batt = int16(29);
+ drogue = int16(31);
+ main = int16(33);
+
+ ground_accel = int16(7);
+ ground_pres = int16(15);
+ accel_plus_g = int16(17);
+ accel_minus_g = int16(19);
+
+ if (uint16(11) == 0x8000) {
+ acceleration = int16(5);
+ speed = int16(9);
+ height = int16(13);
+ flight_accel = MISSING;
+ flight_vel = MISSING;
+ flight_pres = MISSING;
+ } else {
+ flight_accel = int16(5);
+ flight_vel = uint32(9);
+ flight_pres = int16(13);
+ acceleration = MISSING;
+ speed = MISSING;
+ height = MISSING;
+ }
+
+ gps = null;
+
+ int gps_flags = uint8(41);
+
+ if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) {
+ gps = new AltosGPS();
+
+ gps.nsat = (gps_flags & AO_GPS_NUM_SAT_MASK);
+ gps.locked = (gps_flags & AO_GPS_VALID) != 0;
+ gps.connected = true;
+ gps.lat = uint32(42) / 1.0e7;
+ gps.lon = uint32(46) / 1.0e7;
+ gps.alt = int16(50);
+ gps.ground_speed = uint16(52) / 100.0;
+ gps.course = uint8(54) * 2;
+ gps.hdop = uint8(55) / 5.0;
+ gps.h_error = uint16(58);
+ gps.v_error = uint16(60);
+
+ int n_tracking_reported = uint8(70);
+ if (n_tracking_reported > 12)
+ n_tracking_reported = 12;
+ int n_tracking_actual = 0;
+ for (int i = 0; i < n_tracking_reported; i++) {
+ if (uint8(71 + i*2) != 0)
+ n_tracking_actual++;
+ }
+ if (n_tracking_actual > 0) {
+ gps.cc_gps_sat = new AltosGPSSat[n_tracking_actual];
+
+ n_tracking_actual = 0;
+ for (int i = 0; i < n_tracking_reported; i++) {
+ int svid = uint8(71 + i*2);
+ int c_n0 = uint8(72 + i*2);
+ if (svid != 0)
+ gps.cc_gps_sat[n_tracking_actual++] = new AltosGPSSat(svid, c_n0);
+ }
+ }
+ }
+
+ time = 0.0;
+ }
+
+ public AltosRecord update_state(AltosRecord previous) {
+ return this;
+ }
+}
projects / fw / altos / commitdiff