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/*
* 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 org.altusmetrum.AltosLib;
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 abstract class AltosTelemetry extends AltosRecord {
/*
* 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";
static public AltosRecord parse(String line, AltosRecord previous) throws ParseException, AltosCRCException {
AltosTelemetryRecord r = AltosTelemetryRecord.parse(line);
return r.update_state(previous);
}
}
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