Packet Format

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

Message Packet Format Definition

GENERAL_BOARD_STATUS (0x001)

Board status broadcast

Byte 0	Byte 1	Byte 2-5	Byte 6-7
2 byte timestamp		GENERAL_ERROR_BITFIELD	BOARD_ERROR_BITFIELD

GENERAL_ERROR_BITFIELD: General error code bitfield, see general_board_status

BOARD_ERROR_BITFIELD: Board specific error code bitfield

RESET_CMD (0x002)

Command to reset boards

Byte 0	Byte 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 (0x003)

6-bytes of raw data

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

RAW_DATA: Raw data, 6 bytes

CONFIG_SET (0x004)

Set board specific configuration

Byte 0	Byte 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 (0x005)

Broadcast board specific configuration, for verify CONFIG_SET success

Byte 0	Byte 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 (0x006)

Set actuator commanded state

Byte 0	Byte 1	Byte 2	Byte 3
2 byte timestamp		ACTUATOR_ID	ACTUATOR_CMD_STATE

ACTUATOR_ID: Acturator ID, see actuator_id

ACTUATOR_CMD_STATE: Actuator Commanded State, see actuator_state

ACTUATOR_ANALOG_CMD (0x007)

Analog Actuator Command

Byte 0	Byte 1	Byte 2	Byte 3-4
2 byte timestamp		ACTUATOR_ID	ACTUATOR_ANALOG_CMD_STATE

ACTUATOR_ID: Acturator ID, see actuator_id

ACTUATOR_ANALOG_CMD_STATE: Actuator Analog Commanded State (16 bit analog, Definition Board/Actuator specific)

ACTUATOR_STATUS (0x008)

Actuator Status Message

Byte 0	Byte 1	Byte 2	Byte 3	Byte 4
2 byte timestamp		ACTUATOR_ID	ACTUATOR_CURR_STATE	ACTUATOR_CMD_STATE

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

ALT_ARM_CMD (0x009)

Command to arm altimeter

Byte 0	Byte 1	Byte 2	Byte 3
2 byte timestamp		ALT_ID	ALT_ARM_STATE

ALT_ID: Altimeter ID, see altimeter_id

ALT_ARM_STATE: Altimeter set arm state, see alt_arm_state

ALT_ARM_STATUS (0x00A)

Altimeter Arm Status

Byte 0	Byte 1	Byte 2	Byte 3	Byte 4-5	Byte 6-7
2 byte timestamp		ALT_ID	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_TEMP (0x00B)

Temperature Sensor

Byte 0	Byte 1	Byte 2	Byte 3-6
2 byte timestamp		TEMP_SENSOR_ID	TEMP

TEMP_SENSOR_ID: Tempterature sensor ID

TEMP: Temperature

SENSOR_ALTITUDE (0x00C)

Altitude sensor message(exclude GPS with have a specific message)

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

ALT: Altitude in ft

SENSOR_IMU_X (0x00D)

Byte 0	Byte 1	Byte 2	Byte 3-4	Byte 5-6
2 byte timestamp		IMU_ID	LINEAR_ACCEL	ANGULAR_VELOCITY

IMU_ID: IMU Unique Indentifier, see imu_id
LINEAR_ACCEL: Linear Acceleration on X axis
ANGULAR_VELOCITY: Angular Velocity around X axis

SENSOR_IMU_Y (0x00E)

Byte 0	Byte 1	Byte 2	Byte 3-4	Byte 5-6
2 byte timestamp		IMU_ID	LINEAR_ACCEL	ANGULAR_VELOCITY

IMU_ID: IMU Unique Indentifier, see imu_id
LINEAR_ACCEL: Linear Acceleration on Y axis
ANGULAR_VELOCITY: Angular Velocity around Y axis

SENSOR_IMU_Z (0x00F)

Byte 0	Byte 1	Byte 2	Byte 3-4	Byte 5-6
2 byte timestamp		IMU_ID	LINEAR_ACCEL	ANGULAR_VELOCITY

IMU_ID: IMU Unique Indentifier, see imu_id
LINEAR_ACCEL: Linear Acceleration on Z axis
ANGULAR_VELOCITY: Angular Velocity around Z axis

SENSOR_MAG_X (0x010)

Byte 0	Byte 1	Byte 2	Byte 3-4
2 byte timestamp		IMU_ID	MAG

IMU_ID: IMU Unique Indentifier, see imu_id

MAG: magnetometer X value

SENSOR_MAG_Y (0x011)

Byte 0	Byte 1	Byte 2	Byte 3-4
2 byte timestamp		IMU_ID	MAG

IMU_ID: IMU Unique Indentifier, see imu_id

MAG: magnetometer Y value

SENSOR_MAG_Z (0x012)

Byte 0	Byte 1	Byte 2	Byte 3-4
2 byte timestamp		IMU_ID	MAG

IMU_ID: IMU Unique Indentifier, see imu_id

MAG: magnetometer Z value

SENSOR_ANALOG (0x013)

Byte 0	Byte 1	Byte 2	Byte 3-4
2 byte timestamp		SENSOR_ID	VALUE

SENSOR_ID: Sensor ID, see analog_sensor_id

VALUE: Analog sensor value

GPS_TIMESTAMP (0x014)

Byte 0	Byte 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 (0x015)

Byte 0	Byte 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 (0x016)

Byte 0	Byte 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 (0x017)

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

ALT: Altitude in ft

DALT: No description

GPS_INFO (0x018)

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

NUM_SAT: Number of satellite

QUALITY: Quality

STATE_EST_DATA (0x019)

Byte 0	Byte 1	Byte 2	Byte 3-6
2 byte timestamp		STATE_EST_ID	DATA

STATE_EST_ID: State ID, see state_est_id

DATA: State data (IEEE 754 floating point)

LEDS_ON (0x01A)

LEDS_OFF (0x01B)

Enums Definition

general_board_status

General board status bitfield

general_board_status Enum Values
Enum Name	Description	ID
NOMINAL	No Description	0x00
5V_OVER_CURRENT	No Description	0x01
5V_OVER_VOLTAGE	No Description	0x02
5V_UNDER_VOLTAGE	No Description	0x04
12V_OVER_CURRENT	No Description	0x08
12V_OVER_VOLTAGE	No Description	0x10
12V_UNDER_VOLTAGE	No Description	0x20
IO_ERROR	No Description	0x40
FS_ERROR	No Description	0x80

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
CHARGE_ENABLE	Ground side charging board charging enable	0x02
5V_RAIL_ROCKET	No Description	0x03
5V_RAIL_PAYLOAD	No Description	0x04
TELEMETRY	No Description	0x05
CAMERA_INJ_A	No Description	0x06
CAMERA_INJ_B	No Description	0x07
CAMERA_VENT_A	No Description	0x08
CAMERA_VENT_B	No Description	0x09
CAMERA_VENT_C	No Description	0x0A
CAMERA_VENT_D	No Description	0x0B
CAMERA_RECOVERY	No Description	0x0C
PROC_ESTIMATOR_INIT	Actuator command to start processor board state estimation	0x0D
CANARD_ENABLE	Power on Canard motor control board servo	0x0E
CANARD_ANGLE	Canard Angle Command (from Processor board to Motor Control board)	0x0F

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 (COTS)	0x00
STRATOLOGGER	StratoLoggerCF Altimeter (COTS)	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

imu_id

IMU Unique Indentifier

imu_id Enum Values
Enum Name	Description	ID
PROC_ALTIMU10	Polulo AltIMU-10 Connected to Processor Board	0x00
PROC_MTI630	Movella MTI-630 Connected to Processor Board	0x01
PROC_LSM6DSO32	ST LSM6DSO32 Soldered on Processor Board	0x02
SRAD_ALT_ALTIMU10	Polulo AltIMU-10 Connected to SRAD Altimeter	0x03

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
MOTOR_CURR	Motor current in mA	0x08
PRESSURE_OX	Oxidizer Tank pressure in psi	0x09
PRESSURE_FUEL	Fuel Tank pressure in psi	0x0A
PRESSURE_CC	Combustion Chamber pressure in psi	0x0B
BARO_PRESSURE	Barometer pressure measurement	0x0C
BARO_TEMP	Barometer temperature measurement	0x0D
RA_BATT_VOLT_1	No Description	0x0E
RA_BATT_VOLT_2	No Description	0x0F
RA_BATT_CURR_1	No Description	0x10
RA_BATT_CURR_2	No Description	0x11
RA_MAG_VOLT_1	No Description	0x12
RA_MAG_VOLT_2	No Description	0x13
FPS	Camera framerate	0x14
CANARD_ENCODER_1	No Description	0x15
CANARD_ENCODER_2	No Description	0x16
PROC_FLIGHT_PHASE_STATUS	No Description	0x17

state_est_id

State Estimation data field indentifier

state_est_id Enum Values
Enum Name	Description	ID
ATT_Q0	No Description	0x00
ATT_Q1	No Description	0x01
ATT_Q2	No Description	0x02
ATT_Q3	No Description	0x03
RATE_WX	No Description	0x04
RATE_WY	No Description	0x05
RATE_WZ	No Description	0x06
VEL_VX	No Description	0x07
VEL_VY	No Description	0x08
VEL_VZ	No Description	0x09
ALT	No Description	0x0A
COEFF_CL	No Description	0x0B
CANARD_ANGLE	No Description	0x0C