Packet Format

Note: All multi-byte data field are big-endian

Message Packet Format Definition

UNDEFINED (0x00)

Undefined message, do not use

GENERAL_BOARD_STATUS (0x01)

Board status broadcast

Byte 0-1		Byte 2-5
2 byte timestamp		BOARD_ERROR_BITFIELD

BOARD_ERROR_BITFIELD: Board error code bitfield, see board_error_bitfield

RESET_CMD (0x02)

Command to reset boards

Byte 0-1		Byte 2	Byte 3
2 byte timestamp		BOARD_TYPE_ID	BOARD_INST_ID

BOARD_TYPE_ID: Board Type ID of board to reset, set to 0 to reset all boards on bus

BOARD_INST_ID: Board Inst ID of board to reset, set to 0 to reset all board of specific type

DEBUG_RAW (0x03)

6-bytes of raw data

Byte 0-1		Byte 2-7
2 byte timestamp		RAW_DATA

RAW_DATA: Raw data, 6 bytes

CONFIG_SET (0x04)

Set board specific configuration

Byte 0-1		Byte 2	Byte 3	Byte 4-5	Byte 6-7
2 byte timestamp		BOARD_TYPE_ID	BOARD_INST_ID	CONFIG_ID	CONFIG_VALUE

BOARD_TYPE_ID: Board Type ID of target board, cannot be zero
BOARD_INST_ID: Board Inst ID of target board, set to 0 to set all board of specific type
CONFIG_ID: Configuration ID, Board Specific
CONFIG_VALUE: Configuration Value, Board and Config ID specific

CONFIG_STATUS (0x05)

Broadcast board specific configuration, for verify CONFIG_SET success

Byte 0-1		Byte 2-3	Byte 4-5
2 byte timestamp		CONFIG_ID	CONFIG_VALUE

CONFIG_ID: Configuration ID, Board Specific

CONFIG_VALUE: Configuration Value, Board and Config ID specific

ACTUATOR_CMD (0x06)

Set actuator commanded state

Metadata	Byte 0-1		Byte 2
ACTUATOR_ID	2 byte timestamp		ACTUATOR_CMD_STATE

ACTUATOR_ID: Acturator ID, see actuator_id

ACTUATOR_CMD_STATE: Actuator Commanded State, see actuator_state

ACTUATOR_STATUS (0x07)

Actuator Status Message

Metadata	Byte 0-1		Byte 2	Byte 3
ACTUATOR_ID	2 byte timestamp		ACTUATOR_CMD_STATE	ACTUATOR_CURR_STATE

ACTUATOR_ID: Acturator ID, see actuator_id
ACTUATOR_CMD_STATE: Actuator Commanded State, see actuator_state
ACTUATOR_CURR_STATE: Actuator Current State, see actuator_state

ALT_ARM_CMD (0x08)

Command to arm altimeter

Metadata	Byte 0-1		Byte 2
ALT_ID	2 byte timestamp		ALT_ARM_STATE

ALT_ID: Altimeter ID, see altimeter_id

ALT_ARM_STATE: Altimeter set arm state, see alt_arm_state

ALT_ARM_STATUS (0x09)

Altimeter Arm Status

Metadata	Byte 0-1		Byte 2	Byte 3-4	Byte 5-6
ALT_ID	2 byte timestamp		ALT_ARM_STATE	DROGUE_V	MAIN_V

ALT_ID: Altimeter ID, see altimeter_id
ALT_ARM_STATE: Altimeter current arm state, see alt_arm_state
DROGUE_V: Drogue Pyro Voltage
MAIN_V: Main Pyro Voltage

SENSOR_ANALOG16 (0x0A)

16-bits analog sensor

Metadata	Byte 0-1		Byte 2-3
SENSOR_ID	2 byte timestamp		VALUE

SENSOR_ID: Sensor ID, see analog_sensor_id

VALUE: Analog sensor value

SENSOR_ANALOG32 (0x0B)

32-bits analog sensor

Metadata	Byte 0-1		Byte 2-5
SENSOR_ID	2 byte timestamp		VALUE

SENSOR_ID: Sensor ID, see analog_sensor_id

VALUE: Analog sensor value

SENSOR_2D_ANALOG24 (0x0C)

2-Dimensional 24-bit analog sensor value message

Metadata	Byte 0-1		Byte 2-4	Byte 5-7
SENSOR_ID	2 byte timestamp		VALUE_X	VALUE_Y

SENSOR_ID: 2 Dimensional sensor ID, see dem_2d_sensor_id
VALUE_X: Analog sensor value X
VALUE_Y: Analog sensor value Y

SENSOR_3D_ANALOG16 (0x0D)

3-Dimensional 16-bit analog sensor value message

Metadata	Byte 0-1		Byte 2-3	Byte 4-5	Byte 6-7
SENSOR_ID	2 byte timestamp		VALUE_X	VALUE_Y	VALUE_Z

SENSOR_ID: 3 Dimensional sensor ID, see dem_3d_sensor_id
VALUE_X: Analog sensor value X
VALUE_Y: Analog sensor value Y
VALUE_Z: Analog sensor value Z

GPS_TIMESTAMP (0x0E)

Byte 0-1		Byte 2	Byte 3	Byte 4	Byte 5
2 byte timestamp		UTC_HOURS	UTC_MINUTES	UTC_SECONDS	UTC_DSECONDS

UTC_HOURS: Hour
UTC_MINUTES: Minutes
UTC_SECONDS: Seconds
UTC_DSECONDS: Decisecond

GPS_LATITUDE (0x0F)

Byte 0-1		Byte 2	Byte 3	Byte 4-5	Byte 6
2 byte timestamp		DEGREES	MINUTES	DMINUTES_H	DIR_NS

DEGREES: Degrees
MINUTES: Minutes
DMINUTES_H: No description
DIR_NS: North/South

GPS_LONGITUDE (0x10)

Byte 0-1		Byte 2	Byte 3	Byte 4-5	Byte 6
2 byte timestamp		DEGREES	MINUTES	DMINUTES_H	DIR_EW

DEGREES: Degrees
MINUTES: Minutes
DMINUTES_H: No description
DIR_EW: East/West

GPS_ALTITUDE (0x11)

Byte 0-1		Byte 2-5	Byte 6
2 byte timestamp		ALT	DALT

ALT: Altitude in ft

DALT: No description

GPS_INFO (0x12)

Byte 0-1		Byte 2	Byte 3
2 byte timestamp		NUM_SAT	QUALITY

NUM_SAT: Number of satellite

QUALITY: Quality

STREAM_STATUS (0x13)

Byte 0-1		Byte 2-4	Byte 5-7
2 byte timestamp		TOTAL_SIZE	TX_SIZE

TOTAL_SIZE: Total transfer size in bytes

TX_SIZE: Transfered size in bytes

STREAM_DATA (0x14)

Metadata	Byte 0-1		Byte 2-7
SEQ_ID	2 byte timestamp		DATA

SEQ_ID: Sequence ID

DATA: Data payload

STREAM_RETRY (0x15)

LEDS_ON (0x16)

LEDS_OFF (0x17)

Enums Definition

actuator_id

Actuator ID for Actuator Command and Status Messages

actuator_id Enum Values
Enum Name	Description	ID
OX_INJECTOR_VALVE	Oxidizer Injector Valve, for hall-effect sensor state feedback and Canard activation	0x00
FUEL_INJECTOR_VALVE	Oxidizer Injector Valve, for hall-effect sensor state feedback	0x01
ROCKET_CHARGE_ENABLE	Rocket Ground-side Charging Enable	0x02
PAYLOAD_CHARGE_ENABLE	Payload Ground-side Charging Enable	0x03
5V_RAIL_ROCKET	No Description	0x04
12V_RAIL_ROCKET	No Description	0x05
TELEMETRY	No Description	0x06
CAMERA_SIDE_LOOKING	No Description	0x07
CAMERA_DOWN_LOOKING	No Description	0x08
CAMERA_RECOVERY	No Description	0x09
CANARD_PAD_FILTER	Switch Canard to Pad Filter when commanded ACT_STATE_ON	0x0A
CANARD_5V_OUTPUT	Enable Canard Board’s 5V output to payload	0x0B
CANARD_LIPO_ON	Enable Canard board draw power from LiPo	0x0C
SRAD_ALT_ESTIMATOR_INIT	Actuator command to start SRAD Altimeter state estimation	0x0D
SRAD_ALT_GPS_RESET	Actuator command to reset GPS Receiver on SRAD Altimeter	0x0E
CAMERA_CAPTURE	No Description	0x0F
PAYLOAD_LOGGING_ENABLE	Payload Sensor Board Logging Enable Control	0x10
INJECTOR_BOARD_ACTUATOR_1	Injector board actuator channel 1	0x11
INJECTOR_BOARD_ACTUATOR_2	Injector board actuator channel 2	0x12
RLCS_RELAY_POWER	RLCS Relay Board Power Relay	0x13
RLCS_RELAY_SELECT	RLCS Relay Board Select Relay(Limit switch state feedback)	0x14
PAYLOAD_LASER	Payload Laser	0x15
PAYLOAD_PZT_ARM	Payload PZT phase biasing arming	0x16

actuator_state

Actuator State

actuator_state Enum Values
Enum Name	Description	ID
ON	Actuator is in ON state, or Open	0x00
OFF	Actuator is in OFF state, or Close	0x01
UNK	Unknown state, for example when ball valve is turning	0x02
ILLEGAL	Illegal state, for example when limit switch of both state being triggered	0x03

altimeter_id

Altimeter ID for uniquely indentify each altimeter

altimeter_id Enum Values
Enum Name	Description	ID
RAVEN	Raven4 Altimeter	0x00
STRATOLOGGER	StratoLoggerCF	0x01
SRAD	SRAD Altimeter	0x02

alt_arm_state

Altimiter Arm State

alt_arm_state Enum Values
Enum Name	Description	ID
DISARMED	Disarmed	0x00
ARMED	Armed	0x01

analog_sensor_id

Sensor ID for Sensor Messages

analog_sensor_id Enum Values
Enum Name	Description	ID
5V_VOLT	Voltage of 5V rail in mV	0x00
5V_CURR	Current of 5V rail in mA	0x01
12V_VOLT	Voltage of 12V rail in mV	0x02
12V_CURR	Current of 12V rail in mA	0x03
CHARGE_VOLT	LiPo charging voltage in mV	0x04
CHARGE_CURR	LiPo charging current in mA	0x05
BATT_VOLT	Battery Voltage in mV	0x06
BATT_CURR	Battery Current in mA	0x07
RADIO_CURR	Radio current in mA	0x08
GPS_CURR	GPS Receiver current in mA	0x09
LOCAL_CURR	Local voltage rail (e.g. 3.3V) current in mA	0x0A
PT_CHANNEL_1	Pressure Transducer Channel 1	0x0B
PT_CHANNEL_2	Pressure Transducer Channel 2	0x0C
PT_CHANNEL_3	Pressure Transducer Channel 3	0x0D
PT_CHANNEL_4	Pressure Transducer Channel 4	0x0E
PT_CHANNEL_5	Pressure Transducer Channel 5	0x0F
PT_CHANNEL_6	Pressure Transducer Channel 6	0x10
PT_CHANNEL_7	Pressure Transducer Channel 7	0x11
PT_CHANNEL_8	Pressure Transducer Channel 8	0x12
PT_CHANNEL_9	Pressure Transducer Channel 9	0x13
PT_CHANNEL_10	Pressure Transducer Channel 10	0x14
HALL_CHANNEL_1	Hall-Effect Sensor Channel 1	0x15
HALL_CHANNEL_2	Hall-Effect Sensor Channel 2	0x16
HALL_CHANNEL_3	Hall-Effect Sensor Channel 3	0x17
RA_BATT_VOLT_1	No Description	0x18
RA_BATT_VOLT_2	No Description	0x19
RA_BATT_CURR_1	No Description	0x1A
RA_BATT_CURR_2	No Description	0x1B
RA_MAG_VOLT_1	No Description	0x1C
RA_MAG_VOLT_2	No Description	0x1D
FPS	Camera framerate	0x1E
PAYLOAD_LIM_1	Payload Motor Board Limit Switch 1	0x1F
PAYLOAD_LIM_2	Payload Motor Board Limit Switch 2	0x20
PAYLOAD_SERVO_DIRECTION	Payload Servo Direction	0x21
PAYLOAD_INFRARED	Payload Infrared Sensor Reading	0x22
INJECTOR_BOARD_TEMP_1	Injector board temperature channel 1	0x23
INJECTOR_BOARD_TEMP_2	Injector board temperature channel 2	0x24
INJECTOR_BOARD_TEMP_3	Injector board temperature channel 3	0x25
RLCS_RELAY_OUTPUT_VOLT_A	RLCS Relay Board channel A output voltage	0x26
RLCS_RELAY_OUTPUT_VOLT_B	RLCS Relay Board channel B output voltage	0x27
RLCS_RELAY_OUTPUT_CURR_A	RLCS Relay Board channel A output current	0x28
RLCS_RELAY_OUTPUT_CURR_B	RLCS Relay Board channel B output current	0x29
RLCS_RELAY_LIM_VOLT_A	RLCS Relay Board limit switch A voltage	0x2A
RLCS_RELAY_LIM_VOLT_B	RLCS Relay Board limit switch B voltage	0x2B
LOG_WRITTEN_SIZE	Number of bytes written to log file(reset to 0 when a new file is created)	0x2C
SD_LOG_FILE_NAME	SD Card log file name(the number part only)	0x2D
SD_USED	SD Card used space size, in MiB	0x2E
SD_FREE	SD Card free space size, in MiB	0x2F
FLASH_LOG_FILE_NAME	Flash log file name(the number part only)	0x30
FLASH_USED	Flash used space size, in MiB	0x31
FLASH_FREE	FLash free space size, in MiB	0x32
CANARD_CTRL_CMD_ANGLE	Canard Controller Commanded Angle	0x33
CANARD_CTRL_COEFF_LIFT	Canard Controller Coefficient of Lift	0x34
CANARD_MTI630_BARO_0	Canard MTI-630 Movella barometer reading 0	0x35
CANARD_MTI630_BARO_1	Canard MTI-630 Movella barometer reading 1	0x36
CANARD_MTI630_EST_ALT	Canard MTI-630 Movella Estimation altitude	0x37
CANARD_ADXRS649_GYRO	Canard ADXRS649 1-Axis Gyroscope angular velocity reading	0x38
CANARD_SERVO_ANGLE	Canard Servo encoder angle reading	0x39
CANARD_SERVO_CURR	Canard Servo current reading (in mA)	0x3A
CANARD_SERVO_TEMP	Canard Servo temperature reading (in Celcius)	0x3B
PAYLOAD_SENSOR_CURR_READING	Payload Sensor Current Reading	0x3C

dem_2d_sensor_id

2 Dimensional Sensor ID

dem_2d_sensor_id Enum Values
Enum Name	Description	ID
CANARD_NAV_VEL_ANGLE_VEL_X	Canard Navigation Velocity(X) and Angular Velocity(Y) on X-axis	0x00
CANARD_NAV_VEL_ANGLE_VEL_Y	Canard Navigation Velocity(X) and Angular Velocity(Y) on Y-axis	0x01
CANARD_NAV_VEL_ANGLE_VEL_Z	Canard Navigation Velocity(X) and Angular Velocity(Y) on Z-axis	0x02
CANARD_MS5611_BARO_TEMP	Canard MS5611 Barometer Pressure(X) and Temperature(Y) reading	0x03

dem_3d_sensor_id

3 Dimensional Sensor ID

dem_3d_sensor_id Enum Values
Enum Name	Description	ID
CANARD_NAV_ORIENTATION_QUAT_QX_QY_QZ	Canard Navigation Orientation QX, QY, QZ	0x00
CANARD_NAV_ORIENTATION_QUAT_QW_ALT_VARNORM	Canard Navigation Orientation QW(X), Altitude(Y), Variance Norm(Z)	0x01
CANARD_LSM6DSV32X_ACCEL	Canard LSM6DSV32X 32G IMU Acceleration	0x02
CANARD_LSM6DSV32X_GYRO	Canard LSM6DSV32X 32G IMU Angular Velocity	0x03
CANARD_LSM303AGR_ACCEL	Canard LSM303AGR Compass Acceleration	0x04
CANARD_LSM303AGR_MAG	Canard LSM303AGR Magnetometer Reading	0x05
CANARD_MTI630_ACCEL	Canard MTI-630 Movella Acceleration	0x06
CANARD_MTI630_GYRO	Canard MTI-630 Movella Angular Velocity	0x07
CANARD_MTI630_MAG	Canard MTI-630 Movella Magnetometer Reading	0x08
CANARD_MTI630_EST_ORIENTATION	Canard MTI-630 Movella Estimation Orientation (Euler)	0x09
CANARD_MTI630_EST_ANGLE_VEL	Canard MTI-630 Movella Estimation Angular Velocity	0x0A
CANARD_MTI630_EST_VEL	Canard MTI-630 Movella Estimation Velocity	0x0B
CANARD_ADXL380_ACCEL	Canard ADXL380 Accelerometer Acceleration	0x0C

Bitfields Definition

board_error_bitfield

Board error bitfield

board_error_bitfield Bitfield bits
Bitfield Name	Description	Offset
5V_OVER_CURRENT	No Description	0x00
5V_OVER_VOLTAGE	No Description	0x01
5V_UNDER_VOLTAGE	No Description	0x02
12V_OVER_CURRENT	No Description	0x03
12V_OVER_VOLTAGE	No Description	0x04
12V_UNDER_VOLTAGE	No Description	0x05
BATT_OVER_CURRENT	No Description	0x06
BATT_OVER_VOLTAGE	No Description	0x07
BATT_UNDER_VOLTAGE	No Description	0x08
MOTOR_OVER_CURRENT	No Description	0x09
IO_ERROR	No Description	0x0A
FS_ERROR	No Description	0x0B
WATCHDOG_TIMEOUT	No Description	0x0C
12V_EFUSE_FAULT	No Description	0x0D
5V_EFUSE_FAULT	No Description	0x0E
PT_OUT_OF_RANGE	No Description	0x0F