1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
|
/*
* 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; 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
*/
public abstract class AltosTelemetry implements AltosDataProvider {
int[] bytes;
/* All telemetry packets have these fields */
static public int rssi(int[] bytes) { return AltosConvert.telem_to_rssi(AltosLib.int8(bytes, bytes.length - 3)); }
static public int status(int[] bytes) { return AltosLib.uint8(bytes, bytes.length - 2); }
public int rssi() { return rssi(bytes); }
public int status() { return status(bytes); }
/* All telemetry packets report these fields in some form */
public abstract int serial();
public abstract int tick();
/* Mark when we received the packet */
long received_time;
/* Mark frequency packet was received on */
public double frequency = AltosLib.MISSING;
static boolean cksum(int[] bytes) {
int sum = 0x5a;
for (int i = 1; i < bytes.length - 1; i++)
sum += bytes[i];
sum &= 0xff;
return sum == bytes[bytes.length - 1];
}
public void provide_data(AltosDataListener listener) {
listener.set_serial(serial());
if (listener.state() == AltosLib.ao_flight_invalid)
listener.set_state(AltosLib.ao_flight_startup);
if (frequency != AltosLib.MISSING)
listener.set_frequency(frequency);
listener.set_tick(tick());
listener.set_rssi(rssi(), status());
listener.set_received_time(received_time);
}
final static int PKT_APPEND_STATUS_1_CRC_OK = (1 << 7);
final static int PKT_APPEND_STATUS_1_LQI_MASK = (0x7f);
final static int PKT_APPEND_STATUS_1_LQI_SHIFT = 0;
final static int packet_type_TM_sensor = 0x01;
final static int packet_type_Tm_sensor = 0x02;
final static int packet_type_Tn_sensor = 0x03;
final static int packet_type_configuration = 0x04;
final static int packet_type_location = 0x05;
final static int packet_type_satellite = 0x06;
final static int packet_type_companion = 0x07;
final static int packet_type_mega_sensor_mpu = 0x08;
final static int packet_type_mega_data_15v = 0x09;
final static int packet_type_metrum_sensor = 0x0a;
final static int packet_type_metrum_data = 0x0b;
final static int packet_type_mini2 = 0x10;
final static int packet_type_mini3 = 0x11;
final static int packet_type_mega_sensor_bmx160 = 0x12;
final static int packet_type_mega_norm_mpu6000_mmc5983 = 0x13;
final static int packet_type_mega_norm_bmi088_mmc5983 = 0x14;
final static int packet_type_mega_data_30v = 0x15;
static AltosTelemetry parse_hex(String hex) throws ParseException, AltosCRCException {
AltosTelemetry telem = null;
int[] bytes;
try {
bytes = AltosLib.hexbytes(hex);
} catch (NumberFormatException ne) {
throw new ParseException(ne.getMessage(), 0);
}
/* one for length, one for checksum */
if (bytes[0] != bytes.length - 2)
throw new ParseException(String.format("invalid length %d != %d\n",
bytes[0],
bytes.length - 2), 0);
if (!cksum(bytes))
throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
if ((status(bytes) & PKT_APPEND_STATUS_1_CRC_OK) == 0)
throw new AltosCRCException(rssi(bytes));
/* length, data ..., rssi, status, checksum -- 4 bytes extra */
switch (bytes.length) {
case AltosLib.ao_telemetry_standard_len + 4:
telem = AltosTelemetryStandard.parse_hex(bytes);
break;
case AltosLib.ao_telemetry_0_9_len + 4:
telem = new AltosTelemetryLegacy(bytes);
break;
case AltosLib.ao_telemetry_0_8_len + 4:
telem = new AltosTelemetryLegacy(bytes);
break;
default:
throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
}
return telem;
}
public void set_frequency(double frequency) {
this.frequency = frequency;
}
public AltosTelemetry() {
this.received_time = System.currentTimeMillis();
}
public AltosTelemetry(int[] bytes) throws AltosCRCException {
this();
this.bytes = bytes;
if ((status() & PKT_APPEND_STATUS_1_CRC_OK) == 0)
throw new AltosCRCException(rssi());
}
public static AltosTelemetry parse(String line) throws ParseException, AltosCRCException {
String[] word = line.split("\\s+");
int i =0;
if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
i += 2;
AltosParse.word(word[i++], "RSSI");
throw new AltosCRCException(AltosParse.parse_int(word[i++]));
}
AltosTelemetry telem = null;
if (word[i].equals("TELEM")) {
telem = parse_hex(word[i+1]);
} else {
telem = new AltosTelemetryLegacy(line);
}
return telem;
}
}
|
