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-rw-r--r--altosui/Altos.java68
-rw-r--r--altosui/AltosEepromIterable.java1
-rw-r--r--altosui/AltosFile.java2
-rw-r--r--altosui/AltosFlightUI.java10
-rw-r--r--altosui/AltosGPS.java16
-rw-r--r--altosui/AltosGPSSat.java32
-rw-r--r--altosui/AltosLog.java8
-rw-r--r--altosui/AltosPreferences.java2
-rw-r--r--altosui/AltosRecord.java11
-rw-r--r--altosui/AltosSerial.java21
-rw-r--r--altosui/AltosTelemetry.java153
-rw-r--r--altosui/AltosTelemetryIterable.java4
-rw-r--r--altosui/AltosTelemetryReader.java6
-rw-r--r--altosui/AltosTelemetryRecord.java23
-rw-r--r--altosui/AltosTelemetryRecordGeneral.java44
-rw-r--r--altosui/AltosTelemetryRecordLegacy.java512
-rw-r--r--altosui/AltosTelemetryRecordRaw.java135
-rw-r--r--altosui/AltosTelemetryRecordSensor.java64
-rw-r--r--altosui/Makefile.am6
-rw-r--r--configure.ac2
20 files changed, 948 insertions, 172 deletions
diff --git a/altosui/Altos.java b/altosui/Altos.java
index 6a2d9b9b..25d97bcf 100644
--- a/altosui/Altos.java
+++ b/altosui/Altos.java
@@ -20,6 +20,7 @@ package altosui;
import java.awt.*;
import java.util.*;
import java.text.*;
+import java.nio.charset.Charset;
import libaltosJNI.*;
@@ -69,8 +70,11 @@ public class Altos {
/* Telemetry modes */
static final int ao_telemetry_off = 0;
- static final int ao_telemetry_full = 1;
- static final int ao_telemetry_tiny = 2;
+ static final int ao_telemetry_legacy = 1;
+ static final int ao_telemetry_split = 2;
+
+ static final int ao_telemetry_split_len = 32;
+ static final int ao_telemetry_legacy_len = 95;
static HashMap<String,Integer> string_to_state = new HashMap<String,Integer>();
@@ -201,6 +205,66 @@ public class Altos {
return -1;
}
+ static int int8(int[] bytes, int i) {
+ return (int) (byte) bytes[i];
+ }
+
+ static int uint8(int[] bytes, int i) {
+ return bytes[i];
+ }
+
+ static int int16(int[] bytes, int i) {
+ return (int) (short) (bytes[i] + (bytes[i+1] << 8));
+ }
+
+ static int uint16(int[] bytes, int i) {
+ return bytes[i] + (bytes[i+1] << 8);
+ }
+
+ static int uint32(int[] bytes, int i) {
+ return bytes[i] +
+ (bytes[i+1] << 8) +
+ (bytes[i+2] << 16) +
+ (bytes[i+3] << 24);
+ }
+
+ static final Charset unicode_set = Charset.forName("UTF-8");
+
+ static String string(int[] bytes, int s, int l) {
+ byte[] b = new byte[bytes.length];
+ for (int i = 0; i < l; i++)
+ b[i] = (byte) bytes[s+i];
+ return new String(b, unicode_set);
+ }
+
+ static int hexbyte(String s, int i) {
+ int c0, c1;
+
+ if (s.length() < i + 2)
+ throw new NumberFormatException(String.format("invalid hex \"%s\"", s));
+ c0 = s.charAt(i);
+ if (!Altos.ishex(c0))
+ throw new NumberFormatException(String.format("invalid hex \"%c\"", c0));
+ c1 = s.charAt(i+1);
+ if (!Altos.ishex(c1))
+ throw new NumberFormatException(String.format("invalid hex \"%c\"", c1));
+ return Altos.fromhex(c0) * 16 + Altos.fromhex(c1);
+ }
+
+ static int[] hexbytes(String s) {
+ int n;
+ int[] r;
+ int i;
+
+ if ((s.length() & 1) != 0)
+ throw new NumberFormatException(String.format("invalid line \"%s\"", s));
+ n = s.length() / 2;
+ r = new int[n];
+ for (i = 0; i < n; i++)
+ r[i] = Altos.hexbyte(s, i * 2);
+ return r;
+ }
+
static int fromdec(String s) throws NumberFormatException {
int c, v = 0;
int sign = 1;
diff --git a/altosui/AltosEepromIterable.java b/altosui/AltosEepromIterable.java
index 16349b88..812e5fc6 100644
--- a/altosui/AltosEepromIterable.java
+++ b/altosui/AltosEepromIterable.java
@@ -230,6 +230,7 @@ public class AltosEepromIterable extends AltosRecordIterable {
case Altos.AO_LOG_SOFTWARE_VERSION:
break;
}
+ state.seen |= eeprom.seen;
}
LinkedList<AltosRecord> make_list() {
diff --git a/altosui/AltosFile.java b/altosui/AltosFile.java
index 06360572..2e33b271 100644
--- a/altosui/AltosFile.java
+++ b/altosui/AltosFile.java
@@ -38,7 +38,7 @@ class AltosFile extends File {
extension);
}
- public AltosFile(AltosTelemetry telem) {
+ public AltosFile(AltosRecord telem) {
this(telem.serial, telem.flight, "telem");
}
}
diff --git a/altosui/AltosFlightUI.java b/altosui/AltosFlightUI.java
index eb6c6d9d..5f1fc678 100644
--- a/altosui/AltosFlightUI.java
+++ b/altosui/AltosFlightUI.java
@@ -156,9 +156,13 @@ public class AltosFlightUI extends JFrame implements AltosFlightDisplay {
// Telemetry format menu
telemetries = new JComboBox();
- telemetries.addItem("TeleMetrum");
- telemetries.addItem("TeleMini/TeleNano");
- telemetries.setSelectedIndex(AltosPreferences.telemetry(serial) - 1);
+ telemetries.addItem("Legacy TeleMetrum");
+ telemetries.addItem("Split Telemetry");
+ int telemetry = 1;
+ telemetry = AltosPreferences.telemetry(serial);
+ if (telemetry > Altos.ao_telemetry_split)
+ telemetry = Altos.ao_telemetry_split;
+ telemetries.setSelectedIndex(telemetry - 1);
telemetries.setMaximumRowCount(2);
telemetries.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
diff --git a/altosui/AltosGPS.java b/altosui/AltosGPS.java
index 0dbc8364..b5df7c9a 100644
--- a/altosui/AltosGPS.java
+++ b/altosui/AltosGPS.java
@@ -21,10 +21,6 @@ import java.lang.*;
import java.text.*;
public class AltosGPS {
- public class AltosGPSSat {
- int svid;
- int c_n0;
- }
final static int MISSING = AltosRecord.MISSING;
@@ -158,9 +154,9 @@ public class AltosGPS {
else
tracking_channels = AltosParse.parse_int(words[i]);
i++;
- cc_gps_sat = new AltosGPS.AltosGPSSat[tracking_channels];
+ cc_gps_sat = new AltosGPSSat[tracking_channels];
for (int chan = 0; chan < tracking_channels; chan++) {
- cc_gps_sat[chan] = new AltosGPS.AltosGPSSat();
+ cc_gps_sat[chan] = new AltosGPSSat();
cc_gps_sat[chan].svid = AltosParse.parse_int(words[i++]);
/* Older versions included SiRF status bits */
if (version < 2)
@@ -168,7 +164,7 @@ public class AltosGPS {
cc_gps_sat[chan].c_n0 = AltosParse.parse_int(words[i++]);
}
} else
- cc_gps_sat = new AltosGPS.AltosGPSSat[0];
+ cc_gps_sat = new AltosGPSSat[0];
}
public void set_latitude(int in_lat) {
@@ -201,14 +197,14 @@ public class AltosGPS {
public void add_sat(int svid, int c_n0) {
if (cc_gps_sat == null) {
- cc_gps_sat = new AltosGPS.AltosGPSSat[1];
+ cc_gps_sat = new AltosGPSSat[1];
} else {
- AltosGPSSat[] new_gps_sat = new AltosGPS.AltosGPSSat[cc_gps_sat.length + 1];
+ AltosGPSSat[] new_gps_sat = new AltosGPSSat[cc_gps_sat.length + 1];
for (int i = 0; i < cc_gps_sat.length; i++)
new_gps_sat[i] = cc_gps_sat[i];
cc_gps_sat = new_gps_sat;
}
- AltosGPS.AltosGPSSat sat = new AltosGPS.AltosGPSSat();
+ AltosGPSSat sat = new AltosGPSSat();
sat.svid = svid;
sat.c_n0 = c_n0;
cc_gps_sat[cc_gps_sat.length - 1] = sat;
diff --git a/altosui/AltosGPSSat.java b/altosui/AltosGPSSat.java
new file mode 100644
index 00000000..fb125651
--- /dev/null
+++ b/altosui/AltosGPSSat.java
@@ -0,0 +1,32 @@
+/*
+ * 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;
+
+public class AltosGPSSat {
+ int svid;
+ int c_n0;
+
+ public AltosGPSSat(int s, int c) {
+ svid = s;
+ c_n0= c;
+ }
+
+ public AltosGPSSat() {
+ }
+}
+
diff --git a/altosui/AltosLog.java b/altosui/AltosLog.java
index dd147d21..64275f32 100644
--- a/altosui/AltosLog.java
+++ b/altosui/AltosLog.java
@@ -54,9 +54,10 @@ class AltosLog implements Runnable {
}
}
- boolean open (AltosTelemetry telem) throws IOException {
+ boolean open (AltosRecord telem) throws IOException {
AltosFile a = new AltosFile(telem);
+ System.out.printf("open %s\n", a.toString());
log_file = new FileWriter(a, true);
if (log_file != null) {
while (!pending_queue.isEmpty()) {
@@ -74,18 +75,21 @@ class AltosLog implements Runnable {
public void run () {
try {
+ AltosRecord previous = null;
for (;;) {
AltosLine line = input_queue.take();
if (line.line == null)
continue;
try {
- AltosTelemetry telem = new AltosTelemetry(line.line);
+ AltosRecord telem = AltosTelemetry.parse(line.line, previous);
if (telem.serial != serial || telem.flight != flight || log_file == null) {
close_log_file();
serial = telem.serial;
flight = telem.flight;
+ System.out.printf("Opening telem %d %d\n", serial, flight);
open(telem);
}
+ previous = telem;
} catch (ParseException pe) {
} catch (AltosCRCException ce) {
}
diff --git a/altosui/AltosPreferences.java b/altosui/AltosPreferences.java
index b1192be1..5029aff6 100644
--- a/altosui/AltosPreferences.java
+++ b/altosui/AltosPreferences.java
@@ -216,7 +216,7 @@ class AltosPreferences {
if (telemetries.containsKey(serial))
return telemetries.get(serial);
int telemetry = preferences.getInt(String.format(telemetryPreferenceFormat, serial),
- Altos.ao_telemetry_full);
+ Altos.ao_telemetry_split);
telemetries.put(serial, telemetry);
return telemetry;
}
diff --git a/altosui/AltosRecord.java b/altosui/AltosRecord.java
index 200fffe5..8976edf0 100644
--- a/altosui/AltosRecord.java
+++ b/altosui/AltosRecord.java
@@ -25,6 +25,15 @@ import java.io.*;
public class AltosRecord {
final static int MISSING = 0x7fffffff;
+ static final int seen_flight = 1;
+ static final int seen_sensor = 2;
+ static final int seen_temp_volt = 4;
+ static final int seen_deploy = 8;
+ static final int seen_gps_time = 16;
+ static final int seen_gps_lat = 32;
+ static final int seen_gps_lon = 64;
+ int seen;
+
int version;
String callsign;
int serial;
@@ -226,6 +235,7 @@ public class AltosRecord {
public AltosRecord(AltosRecord old) {
version = old.version;
+ seen = old.seen;
callsign = old.callsign;
serial = old.serial;
flight = old.flight;
@@ -254,6 +264,7 @@ public class AltosRecord {
public AltosRecord() {
version = 0;
+ seen = 0;
callsign = "N0CALL";
serial = 0;
flight = 0;
diff --git a/altosui/AltosSerial.java b/altosui/AltosSerial.java
index 6c80b66f..3666cb41 100644
--- a/altosui/AltosSerial.java
+++ b/altosui/AltosSerial.java
@@ -95,7 +95,7 @@ public class AltosSerial implements Runnable {
}
if (debug)
System.out.printf("\t\t\t\t\t%s\n", line);
- if (line.startsWith("VERSION") || line.startsWith("CRC")) {
+ if (line.startsWith("TELEM") || line.startsWith("VERSION") || line.startsWith("CRC")) {
for (int e = 0; e < monitors.size(); e++) {
LinkedBlockingQueue<AltosLine> q = monitors.get(e);
q.put(new AltosLine (line));
@@ -325,11 +325,22 @@ public class AltosSerial implements Runnable {
set_callsign(AltosPreferences.callsign());
}
+ private int telemetry_len() {
+ switch (telemetry) {
+ case 1:
+ default:
+ return Altos.ao_telemetry_legacy_len;
+ case 2:
+ return Altos.ao_telemetry_split_len;
+ }
+ }
+
public void set_channel(int in_channel) {
channel = in_channel;
if (altos != null) {
if (monitor_mode)
- printf("m 0\nc r %d\nm %d\n", channel, telemetry);
+ printf("m 0\nc r %d\nm %x\n",
+ channel, telemetry_len());
else
printf("c r %d\n", channel);
flush_output();
@@ -340,7 +351,7 @@ public class AltosSerial implements Runnable {
telemetry = in_telemetry;
if (altos != null) {
if (monitor_mode)
- printf("m 0\nm %d\n", telemetry);
+ printf("m 0\nm %x\n", telemetry_len());
flush_output();
}
}
@@ -349,7 +360,7 @@ public class AltosSerial implements Runnable {
monitor_mode = monitor;
if (altos != null) {
if (monitor)
- printf("m %d\n", telemetry);
+ printf("m %x\n", telemetry_len());
else
printf("m 0\n");
flush_output();
@@ -393,7 +404,7 @@ public class AltosSerial implements Runnable {
line = "";
monitor_mode = false;
frame = null;
- telemetry = Altos.ao_telemetry_full;
+ telemetry = Altos.ao_telemetry_split;
monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();
reply_queue = new LinkedBlockingQueue<AltosLine> ();
open();
diff --git a/altosui/AltosTelemetry.java b/altosui/AltosTelemetry.java
index 7d68b5b5..a05269f4 100644
--- a/altosui/AltosTelemetry.java
+++ b/altosui/AltosTelemetry.java
@@ -27,6 +27,10 @@ import java.util.HashMap;
/*
+ * 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
@@ -81,6 +85,7 @@ import java.util.HashMap;
*/
public class AltosTelemetry extends AltosRecord {
+
/*
* General header fields
*
@@ -228,151 +233,9 @@ public class AltosTelemetry extends AltosRecord {
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 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++]);
- }
+ static public AltosRecord parse(String line, AltosRecord previous) throws ParseException, AltosCRCException {
+ AltosTelemetryRecord r = AltosTelemetryRecordGeneral.parse(line);
- if (version < 4)
- parse_legacy(words, i);
- else
- parse_v4(words, i);
+ return r.update_state(previous);
}
}
diff --git a/altosui/AltosTelemetryIterable.java b/altosui/AltosTelemetryIterable.java
index 44e5ad8f..90a08485 100644
--- a/altosui/AltosTelemetryIterable.java
+++ b/altosui/AltosTelemetryIterable.java
@@ -40,6 +40,7 @@ public class AltosTelemetryIterable extends AltosRecordIterable {
int current_tick = 0;
int boost_tick = 0;
+ AltosRecord previous = null;
records = new LinkedList<AltosRecord> ();
try {
@@ -49,9 +50,10 @@ public class AltosTelemetryIterable extends AltosRecordIterable {
break;
}
try {
- AltosTelemetry record = new AltosTelemetry(line);
+ AltosRecord record = AltosTelemetry.parse(line, previous);
if (record == null)
break;
+ previous = record;
if (records.isEmpty()) {
current_tick = record.tick;
} else {
diff --git a/altosui/AltosTelemetryReader.java b/altosui/AltosTelemetryReader.java
index 980391b4..18f17841 100644
--- a/altosui/AltosTelemetryReader.java
+++ b/altosui/AltosTelemetryReader.java
@@ -26,6 +26,7 @@ class AltosTelemetryReader extends AltosFlightReader {
AltosDevice device;
AltosSerial serial;
AltosLog log;
+ AltosRecord previous;
LinkedBlockingQueue<AltosLine> telem;
@@ -33,7 +34,9 @@ class AltosTelemetryReader extends AltosFlightReader {
AltosLine l = telem.take();
if (l.line == null)
throw new IOException("IO error");
- return new AltosTelemetry(l.line);
+ AltosRecord next = AltosTelemetry.parse(l.line, previous);
+ previous = next;
+ return next;
}
void close(boolean interrupted) {
@@ -58,6 +61,7 @@ class AltosTelemetryReader extends AltosFlightReader {
serial = new AltosSerial(device);
log = new AltosLog(serial);
name = device.toShortString();
+ previous = null;
telem = new LinkedBlockingQueue<AltosLine>();
serial.set_radio();
diff --git a/altosui/AltosTelemetryRecord.java b/altosui/AltosTelemetryRecord.java
new file mode 100644
index 00000000..cfac309a
--- /dev/null
+++ b/altosui/AltosTelemetryRecord.java
@@ -0,0 +1,23 @@
+/*
+ * 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;
+
+public interface AltosTelemetryRecord {
+
+ public AltosRecord update_state(AltosRecord previous);
+}
diff --git a/altosui/AltosTelemetryRecordGeneral.java b/altosui/AltosTelemetryRecordGeneral.java
new file mode 100644
index 00000000..55f6c495
--- /dev/null
+++ b/altosui/AltosTelemetryRecordGeneral.java
@@ -0,0 +1,44 @@
+/*
+ * 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 AltosTelemetryRecordGeneral {
+
+ static AltosTelemetryRecord parse(String line) throws ParseException, AltosCRCException {
+ AltosTelemetryRecord r;
+
+ 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++]));
+ }
+
+ System.out.printf("First word \"%s\"\n", word[i]);
+ if (word[i].equals("TELEM"))
+ r = AltosTelemetryRecordRaw.parse(word[i+1]);
+ else
+ r = new AltosTelemetryRecordLegacy(line);
+ return r;
+ }
+}
diff --git a/altosui/AltosTelemetryRecordLegacy.java b/altosui/AltosTelemetryRecordLegacy.java
new file mode 100644
index 00000000..e3751ee7
--- /dev/null
+++ b/altosui/AltosTelemetryRecordLegacy.java
@@ -0,0 +1,512 @@
+/*
+ * 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;
+ }
+}
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();
+ }
+}
diff --git a/altosui/AltosTelemetryRecordSensor.java b/altosui/AltosTelemetryRecordSensor.java
new file mode 100644
index 00000000..5ae9f891
--- /dev/null
+++ b/altosui/AltosTelemetryRecordSensor.java
@@ -0,0 +1,64 @@
+/*
+ * 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;
+
+
+public class AltosTelemetryRecordSensor extends AltosTelemetryRecordRaw {
+ int state;
+ int accel;
+ int pres;
+ int temp;
+ int v_batt;
+ int sense_d;
+ int sense_m;
+
+ int acceleration;
+ int speed;
+ int height;
+
+ int ground_accel;
+ int ground_pres;
+ int accel_plus_g;
+ int accel_minus_g;
+
+ public AltosTelemetryRecordSensor(int[] in_bytes) {
+ super(in_bytes);
+ state = uint8(5);
+
+ accel = int16(6);
+ pres = int16(8);
+ temp = int16(10);
+ v_batt = int16(12);
+ sense_d = int16(14);
+ sense_m = int16(16);
+
+ acceleration = int16(18);
+ speed = int16(20);
+ height = int16(22);
+
+ ground_accel = int16(24);
+ ground_pres = int16(26);
+ accel_plus_g = int16(28);
+ accel_minus_g = int16(30);
+ }
+
+ public AltosRecord update_state(AltosRecord previous) {
+ AltosRecord next = super.update_state(previous);
+ return next;
+ }
+}
diff --git a/altosui/Makefile.am b/altosui/Makefile.am
index f4d84ad2..6a4d9d17 100644
--- a/altosui/Makefile.am
+++ b/altosui/Makefile.am
@@ -51,6 +51,7 @@ altosui_JAVA = \
AltosFlightStatus.java \
AltosFlightUI.java \
AltosGPS.java \
+ AltosGPSSat.java \
AltosGreatCircle.java \
AltosHexfile.java \
Altos.java \
@@ -70,6 +71,11 @@ altosui_JAVA = \
AltosRecord.java \
AltosRecordIterable.java \
AltosTelemetryReader.java \
+ AltosTelemetryRecord.java \
+ AltosTelemetryRecordGeneral.java \
+ AltosTelemetryRecordRaw.java \
+ AltosTelemetryRecordSensor.java \
+ AltosTelemetryRecordLegacy.java \
AltosTelemetryMap.java \
AltosReplayReader.java \
AltosRomconfig.java \
diff --git a/configure.ac b/configure.ac
index 32ef7d74..07d30717 100644
--- a/configure.ac
+++ b/configure.ac
@@ -18,7 +18,7 @@ dnl
dnl Process this file with autoconf to create configure.
AC_PREREQ(2.57)
-AC_INIT([altos], 0.9.4)
+AC_INIT([altos], 0.9.4.99)
AC_CONFIG_SRCDIR([src/ao.h])
AM_INIT_AUTOMAKE([foreign dist-bzip2])
AM_MAINTAINER_MODE
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-15 22:58:12 +0000