/* * 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; either version 2 of the License, or * (at your option) any later version. * * 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 org.altusmetrum.altoslib_14; import java.text.*; /* * 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 AltosTelemetryLegacy extends AltosTelemetry { /* * 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_pd GPS pdop (integer * 10) * 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_PDOP = "g_pd"; 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"; public int tick; public int serial; public int rssi; public int status; public int tick() { return tick; } public int serial() { return serial; } public int rssi() { return rssi; } public int status() { return status; } public int version; public String callsign; public int flight; public int state; public AltosGPS gps; public int gps_sequence; /* Telemetry sources have these values recorded from the flight computer */ public double kalman_height; public double kalman_speed; public double kalman_acceleration; /* Sensor values */ public int accel; public int pres; public int temp; public int batt; public int apogee; public int main; public int ground_accel; public int ground_pres; public int accel_plus_g; public int accel_minus_g; public int flight_accel; public int flight_vel; public int flight_pres; 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, AltosLib.MISSING); flight = map.get_int(AO_TELEM_FLIGHT, AltosLib.MISSING); rssi = map.get_int(AO_TELEM_RSSI, AltosLib.MISSING); state = AltosLib.state(map.get_string(AO_TELEM_STATE, "invalid")); /* raw sensor values */ accel = map.get_int(AO_TELEM_RAW_ACCEL, AltosLib.MISSING); pres = map.get_int(AO_TELEM_RAW_BARO, AltosLib.MISSING); temp = map.get_int(AO_TELEM_RAW_THERMO, AltosLib.MISSING); batt = map.get_int(AO_TELEM_RAW_BATT, AltosLib.MISSING); apogee = map.get_int(AO_TELEM_RAW_DROGUE, AltosLib.MISSING); main = map.get_int(AO_TELEM_RAW_MAIN, AltosLib.MISSING); /* sensor calibration information */ ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, AltosLib.MISSING); ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, AltosLib.MISSING); accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, AltosLib.MISSING); accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, AltosLib.MISSING); /* flight computer values */ kalman_acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, AltosLib.MISSING, 1/16.0); kalman_speed = map.get_double(AO_TELEM_KALMAN_SPEED, AltosLib.MISSING, 1/16.0); kalman_height = map.get_int(AO_TELEM_KALMAN_HEIGHT, AltosLib.MISSING); flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, AltosLib.MISSING); flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, AltosLib.MISSING); flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, AltosLib.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 = AltosLib.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:"); apogee = 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) { kalman_speed = ((short) flight_vel) / 16.0; kalman_acceleration = flight_accel / 16.0; kalman_height = flight_pres; flight_vel = AltosLib.MISSING; flight_pres = AltosLib.MISSING; flight_accel = AltosLib.MISSING; } else { kalman_speed = AltosLib.MISSING; kalman_acceleration = AltosLib.MISSING; kalman_height = AltosLib.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); gps_sequence++; } public AltosTelemetryLegacy(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 AltosRecordTM from that */ int adjust; /* private int int8(int i) { return AltosLib.int8(bytes, i + 1 + adjust); } */ private int uint8(int i) { return AltosLib.uint8(bytes, i + 1 + adjust); } private int int16(int i) { return AltosLib.int16(bytes, i + 1 + adjust); } private int uint16(int i) { return AltosLib.uint16(bytes, i + 1 + adjust); } private int uint32(int i) { return AltosLib.uint32(bytes, i + 1 + adjust); } private String string(int i, int l) { return AltosLib.string(bytes, i + 1 + adjust, 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); public AltosTelemetryLegacy(int[] in_bytes) throws AltosCRCException { super(in_bytes); version = 4; adjust = 0; if (bytes.length == AltosLib.ao_telemetry_0_8_len + 4) { serial = uint8(0); adjust = -1; } else serial = uint16(0); rssi = super.rssi(); callsign = string(62, 8); flight = uint16(2); state = uint8(4); tick = uint16(21); accel = int16(23); pres = int16(25); temp = int16(27); batt = int16(29); apogee = 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) { kalman_acceleration = int16(5); kalman_speed = int16(9); kalman_height = int16(13); flight_accel = AltosLib.MISSING; flight_vel = AltosLib.MISSING; flight_pres = AltosLib.MISSING; } else { flight_accel = int16(5); flight_vel = uint32(9); flight_pres = int16(13); kalman_acceleration = AltosLib.MISSING; kalman_speed = AltosLib.MISSING; kalman_height = AltosLib.MISSING; } gps = null; int gps_flags = uint8(41); if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) { gps = new AltosGPS(); gps_sequence++; 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); } } } } public void provide_data(AltosDataListener listener) { listener.set_serial(serial); listener.set_tick(tick); listener.set_state(this.state); listener.set_flight(flight); listener.set_rssi(rssi, status); listener.set_pressure(AltosConvert.barometer_to_pressure(pres)); AltosCalData cal_data = listener.cal_data(); cal_data.set_accel_plus_minus(accel_plus_g, accel_minus_g); listener.set_acceleration(cal_data.acceleration(accel)); if (kalman_height != AltosLib.MISSING) listener.set_kalman(kalman_height, kalman_speed, kalman_acceleration); listener.set_temperature(AltosConvert.thermometer_to_temperature(temp)); listener.set_battery_voltage(AltosConvert.cc_battery_to_voltage(batt)); listener.set_apogee_voltage(AltosConvert.cc_igniter_to_voltage(apogee)); listener.set_main_voltage(AltosConvert.cc_igniter_to_voltage(main)); if (gps != null) listener.set_gps(gps, true, true); } }