Telemetry packet format (shared with 02 - Tools/00 - Matlab/Telemetry/parseTelemetry.m and 02 - Tools/01 - Python/acwing_tools/telemetry.py). More...

#include <stdint.h>
#include <stddef.h>

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Data Structures
struct	tlm_state_t

struct	tlm_init_t

struct	tlm_status_t

Macros
#define	TLM_SYNC0 0xA5u

#define	TLM_SYNC1 0x5Au

#define	TLM_TYPE_STATE 0x01u

#define	TLM_TYPE_INIT 0x02u

#define	TLM_TYPE_STATUS 0x03u
	10 Hz diagnostics, ALWAYS sent (also during calibration)

#define	TLM_TYPE_REPLAY 0x04u
	trace of the filter calls + resulting state (parity)

#define	TLM_OVERHEAD 6u

#define	TLM_F_RUNNING 0x01u

#define	TLM_F_MAG_NEW 0x02u
	magnetometer update performed on this sample

#define	TLM_F_ACC_GATED 0x04u
	acc de-weighted (magnitude or NIS)

#define	TLM_F_MAG_GATED 0x08u

#define	TLM_F_OVERRUN 0x10u
	samples lost upstream (queue full)

#define	TLM_F_STILL 0x20u
	stillness detector active

#define	TLM_I_EST_BIAS 0x01u

#define	TLM_I_ADAPTIVE 0x02u

#define	TLM_I_TILT_COMP 0x04u

#define	TLM_I_DECOUPLE 0x08u

#define	TLM_I_RESET_JAC 0x10u

#define	TLM_I_TANGENT 0x20u
	tangential vector innovation (firmware 0.6.0)

#define	TLM_REPLAY_TAIL 60u

#define	TLM_REPLAY_MAX (6u + 140u + TLM_REPLAY_TAIL)

#define	TLM_FRAME_MAX (TLM_REPLAY_MAX + TLM_OVERHEAD)

Functions
uint16_t	tlm_crc16 (const uint8_t *data, size_t len)

size_t	tlm_encode (uint8_t type, const void payload, uint8_t len, uint8_t out, size_t cap)
	Writes the complete frame into out; returns its length, 0 if cap is too small.

Detailed Description

Telemetry packet format (shared with 02 - Tools/00 - Matlab/Telemetry/parseTelemetry.m and 02 - Tools/01 - Python/acwing_tools/telemetry.py).

Frame (little-endian): 0xA5 0x5A | TYPE | LEN | PAYLOAD[LEN] | CRC16 (LSB, MSB) CRC-16/CCITT-FALSE (poly 0x1021, init 0xFFFF) computed over TYPE..PAYLOAD.

TYPE 0x01 STATE : one filter sample (attitude + bias + raw sensors) TYPE 0x02 INIT : parameters used by the filter, re-sent periodically. Lets MATLAB re-run iekfAttitude.m with EXACTLY the same conditions (compareEmbeddedVsMatlab.m). TYPE 0x03 STATUS : diagnostics, always sent TYPE 0x04 REPLAY : trace of the filter calls + resulting state

The same frames go over BLE as a byte stream (tlm_ble.h): no BLE-specific packet format.

Definition in file telemetry.h.

Macro Definition Documentation

◆ TLM_SYNC0

#define TLM_SYNC0 0xA5u

Definition at line 26 of file telemetry.h.

◆ TLM_SYNC1

#define TLM_SYNC1 0x5Au

Definition at line 27 of file telemetry.h.

◆ TLM_TYPE_STATE

#define TLM_TYPE_STATE 0x01u

Definition at line 28 of file telemetry.h.

◆ TLM_TYPE_INIT

#define TLM_TYPE_INIT 0x02u

Definition at line 29 of file telemetry.h.

◆ TLM_TYPE_STATUS

#define TLM_TYPE_STATUS 0x03u

10 Hz diagnostics, ALWAYS sent (also during calibration)

Definition at line 30 of file telemetry.h.

◆ TLM_TYPE_REPLAY

#define TLM_TYPE_REPLAY 0x04u

trace of the filter calls + resulting state (parity)

Definition at line 31 of file telemetry.h.

◆ TLM_OVERHEAD

#define TLM_OVERHEAD 6u

Definition at line 32 of file telemetry.h.

◆ TLM_F_RUNNING

#define TLM_F_RUNNING 0x01u

Definition at line 35 of file telemetry.h.

◆ TLM_F_MAG_NEW

#define TLM_F_MAG_NEW 0x02u

magnetometer update performed on this sample

Definition at line 36 of file telemetry.h.

◆ TLM_F_ACC_GATED

#define TLM_F_ACC_GATED 0x04u

acc de-weighted (magnitude or NIS)

Definition at line 37 of file telemetry.h.

◆ TLM_F_MAG_GATED

#define TLM_F_MAG_GATED 0x08u

Definition at line 38 of file telemetry.h.

◆ TLM_F_OVERRUN

#define TLM_F_OVERRUN 0x10u

samples lost upstream (queue full)

Definition at line 39 of file telemetry.h.

◆ TLM_F_STILL

#define TLM_F_STILL 0x20u

stillness detector active

Definition at line 40 of file telemetry.h.

◆ TLM_I_EST_BIAS

#define TLM_I_EST_BIAS 0x01u

Definition at line 42 of file telemetry.h.

◆ TLM_I_ADAPTIVE

#define TLM_I_ADAPTIVE 0x02u

Definition at line 43 of file telemetry.h.

◆ TLM_I_TILT_COMP

#define TLM_I_TILT_COMP 0x04u

Definition at line 44 of file telemetry.h.

◆ TLM_I_DECOUPLE

#define TLM_I_DECOUPLE 0x08u

Definition at line 45 of file telemetry.h.

◆ TLM_I_RESET_JAC

#define TLM_I_RESET_JAC 0x10u

Definition at line 46 of file telemetry.h.

◆ TLM_I_TANGENT

#define TLM_I_TANGENT 0x20u

tangential vector innovation (firmware 0.6.0)

Definition at line 47 of file telemetry.h.

◆ TLM_REPLAY_TAIL

#define TLM_REPLAY_TAIL 60u

Definition at line 114 of file telemetry.h.

◆ TLM_REPLAY_MAX

#define TLM_REPLAY_MAX (6u + 140u + TLM_REPLAY_TAIL)

Definition at line 115 of file telemetry.h.

◆ TLM_FRAME_MAX

#define TLM_FRAME_MAX (TLM_REPLAY_MAX + TLM_OVERHEAD)

Definition at line 116 of file telemetry.h.

Function Documentation

◆ tlm_crc16()

uint16_t tlm_crc16	(	const uint8_t *	data,
		size_t	len
	)

Definition at line 7 of file telemetry.c.

Referenced by frame_ready(), and tlm_encode().

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◆ tlm_encode()

size_t tlm_encode	(	uint8_t	type,
		const void *	payload,
		uint8_t	len,
		uint8_t *	out,
		size_t	cap
	)

Writes the complete frame into out; returns its length, 0 if cap is too small.

Definition at line 18 of file telemetry.c.

References cap, tlm_crc16(), TLM_OVERHEAD, TLM_SYNC0, and TLM_SYNC1.

Referenced by pv2_frame(), send_status(), tlm_build_init(), tlm_build_replay(), and tlm_build_state().

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