altosui: Support raw telemetry from TeleDongle

Use raw telemetry frames when TeleDongle supports them, this involves
parsing the hex dump of the packet instead of having teledongle take
the packet apart. Only the legacy format is working at this point; the
altos bits for the new split telemetry frames is not written yet.

Signed-off-by: Keith Packard <keithp@keithp.com>

1 files changed, 135 insertions, 0 deletions

diff --git a/altosui/AltosTelemetryRecordRaw.java b/altosui/AltosTelemetryRecordRaw.java
new file mode 100644
index 00000000..35796a22
--- /dev/null
+++ b/altosui/AltosTelemetryRecordRaw.java
@@ -0,0 +1,135 @@
+/*
+ * Copyright © 2011 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;
+
+public class AltosTelemetryRecordRaw implements AltosTelemetryRecord {
+	int[]	bytes;
+	int	serial;
+	int	tick;
+	int	type;
+
+	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_config = 0x04;
+	final static int packet_type_GPS_location = 0x05;
+	final static int packet_type_GPS_satellites = 0x06;
+	
+	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;
+
+	static boolean cksum(int[] bytes) {
+		int	sum = 0x5a;
+		for (int i = 1; i < bytes.length - 1; i++)
+			sum += bytes[i];
+		sum &= 0xff;
+		System.out.printf("%d bytes sum 0x%x last byte 0x%x\n",
+				  bytes.length, sum, bytes[bytes.length - 1]);
+		return sum == bytes[bytes.length - 1];
+	}
+
+	public static AltosTelemetryRecord parse (String hex) throws ParseException, AltosCRCException {
+		AltosTelemetryRecord	r;
+
+		int[] bytes;
+		try {
+			bytes = Altos.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);
+
+		int	rssi = Altos.int8(bytes, bytes.length - 3) / 2 - 74;
+		int	status = Altos.uint8(bytes, bytes.length - 2);
+
+		System.out.printf ("rssi 0x%x = %d status 0x%x\n",
+				   Altos.uint8(bytes, bytes.length - 3),
+				   rssi, status);
+
+		if ((status & PKT_APPEND_STATUS_1_CRC_OK) == 0)
+			throw new AltosCRCException(rssi);
+
+		/* length, data ..., rssi, status, checksum -- 4 bytes extra */
+		switch (bytes.length) {
+		case Altos.ao_telemetry_split_len + 4:
+			int	type = Altos.uint8(bytes, 4 + 1);
+			switch (type) {
+			case packet_type_TM_sensor:
+			case packet_type_Tm_sensor:
+			case packet_type_Tn_sensor:
+				r = new AltosTelemetryRecordSensor(bytes);
+				break;
+			default:
+				r = new AltosTelemetryRecordRaw(bytes);
+				break;
+			}
+		case Altos.ao_telemetry_legacy_len + 4:
+			r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
+			break;
+		default:
+			throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
+		}
+		return r;
+	}
+
+	public int int8(int off) {
+		return Altos.int8(bytes, off + 1);
+	}
+
+	public int uint8(int off) {
+		return Altos.uint8(bytes, off + 1);
+	}
+
+	public int int16(int off) {
+		return Altos.int16(bytes, off + 1);
+	}
+
+	public int uint16(int off) {
+		return Altos.uint16(bytes, off + 1);
+	}
+
+	public int uint32(int off) {
+		return Altos.uint32(bytes, off + 1);
+	}
+
+	public AltosTelemetryRecordRaw(int[] in_bytes) {
+		bytes = in_bytes;
+		serial = uint16(0);
+		tick   = uint16(2);
+		type   = uint8(4);
+	}
+
+	public AltosRecord update_state(AltosRecord previous) {
+		if (previous != null)
+			return new AltosRecord(previous);
+		else
+			return new AltosRecord();
+	}
+}