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	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, see board_specific_status

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_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 (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_DEM_ANALOG16 (0x0C)

3-Dimensional 16-bit analog sensor value message

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

DEM_SENSOR_ID: 3-Dimensional sensor ID, see dem_sensor_id

VALUE_X: Analog sensor value X

VALUE_Y: Analog sensor value Y

VALUE_Z: Analog sensor value Z

GPS_TIMESTAMP (0x0D)

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 (0x0E)

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 (0x0F)

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 (0x10)

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

ALT: Altitude in ft

DALT: No description

GPS_INFO (0x11)

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

NUM_SAT: Number of satellite

QUALITY: Quality

STREAM_STATUS (0x12)

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 (0x13)

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

SEQ_ID: Sequence ID

DATA: Data payload

STREAM_RETRY (0x14)

LEDS_ON (0x15)

LEDS_OFF (0x16)

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
5V_RAIL_PAYLOAD	No Description	0x05
12V_RAIL_ROCKET	No Description	0x06
TELEMETRY	No Description	0x07
CAMERA_SIDE_LOOKING	No Description	0x08
CAMERA_DOWN_LOOKING	No Description	0x09
CAMERA_RECOVERY	No Description	0x0A
CANARD_PAD_FILTER	Switch Canard to Pad Filter when commanded ACT_STATE_ON	0x0B
CANARD_LOW_POWER_MODE	Canard Low-Power Mode (In Low-Power mode when ACT_STATE_ON, vice versa)	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
THESEUS_ACTUATOR_1	Theseus board actuator channel 1	0x11
THESEUS_ACTUATOR_2	Theseus 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

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, J3 on Injector Sensor Hub	0x0B
PT_CHANNEL_2	Pressure Transducer Channel 2, J4 on Injector Sensor Hub	0x0C
PT_CHANNEL_3	Pressure Transducer Channel 3, J6 on Injector Sensor Hub	0x0D
PT_CHANNEL_4	Pressure Transducer Channel 4, J8 on Injector Sensor Hub	0x0E
PT_CHANNEL_5	Pressure Transducer Channel 5, J10 on Injector Sensor Hub	0x0F
HALL_CHANNEL_1	Hall-Effect Sensor Channel 1, J7 on Injector Sensor Hub	0x10
HALL_CHANNEL_2	Hall-Effect Sensor Channel 2, J5 on Injector Sensor Hub	0x11
HALL_CHANNEL_3	Hall-Effect Sensor Channel 3, J9 on Injector Sensor Hub	0x12
RA_BATT_VOLT_1	No Description	0x13
RA_BATT_VOLT_2	No Description	0x14
RA_BATT_CURR_1	No Description	0x15
RA_BATT_CURR_2	No Description	0x16
RA_MAG_VOLT_1	No Description	0x17
RA_MAG_VOLT_2	No Description	0x18
FPS	Camera framerate	0x19
PAYLOAD_LIM_1	Payload Motor Board Limit Switch 1	0x1A
PAYLOAD_LIM_2	Payload Motor Board Limit Switch 2	0x1B
PAYLOAD_SERVO_DIRECTION	Payload Servo Direction	0x1C
PAYLOAD_INFRARED	Payload Infrared Sensor Reading	0x1D
THESEUS_TEMP_1	Theseus board temperature channel 1	0x1E
THESEUS_TEMP_2	Theseus board temperature channel 2	0x1F
THESEUS_TEMP_3	Theseus board temperature channel 3	0x20
RLCS_RELAY_OUTPUT_VOLT_A	RLCS Relay Board channel A output voltage	0x21
RLCS_RELAY_OUTPUT_VOLT_B	RLCS Relay Board channel B output voltage	0x22
RLCS_RELAY_OUTPUT_CURR_A	RLCS Relay Board channel A output current	0x23
RLCS_RELAY_OUTPUT_CURR_B	RLCS Relay Board channel B output current	0x24
RLCS_RELAY_LIM_VOLT_A	RLCS Relay Board limit switch A voltage	0x25
RLCS_RELAY_LIM_VOLT_B	RLCS Relay Board limit switch B voltage	0x26
LOG_WRITTEN_SIZE	Number of bytes written to log file(reset to 0 when a new file is created)	0x27
SD_LOG_FILE_NAME	SD Card log file name(the number part only)	0x28
SD_USED	SD Card used space size, in MiB	0x29
SD_FREE	SD Card free space size, in MiB	0x2A
FLASH_LOG_FILE_NAME	Flash log file name(the number part only)	0x2B
FLASH_USED	Flash used space size, in MiB	0x2C
FLASH_FREE	FLash free space size, in MiB	0x2D
CANARD_CTRL_CMD_ANGLE	Canard Controller Commanded Angle	0x2E
CANARD_CTRL_COEFF_LIFT	Canard Controller Coefficient of Lift	0x2F
CANARD_MS5611_BARO	Canard MS5611 Barometer pressure reading	0x30
CANARD_MS5611_TEMP	Canard MS5611 Barometer temperature reading	0x31
CANARD_MTI630_BARO_0	Canard MTI-630 Movella barometer reading 0	0x32
CANARD_MTI630_BARO_1	Canard MTI-630 Movella barometer reading 1	0x33
CANARD_MTI630_EST_ALT	Canard MTI-630 Movella Estimation altitude	0x34
CANARD_ADXRS649_GYRO	Canard ADXRS649 1-Axis Gyroscope angular velocity reading	0x35
CANARD_SERVO_ANGLE	Canard Servo encoder angle reading	0x36
CANARD_SERVO_CURR	Canard Servo current reading (in mA)	0x37
CANARD_SERVO_TEMP	Canard Servo temperature reading (in Celcius)	0x38

dem_sensor_id

3-Dimensional SENSOR_ID

dem_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, Altitude, Variance Norm	0x01
CANARD_NAV_ANGLE_VEL	Canard Navigation Angular Velocity	0x02
CANARD_NAV_VEL	Canard Navigation Velocity	0x03
CANARD_LSM6DSV32X_ACCEL	Canard LSM6DSV32X 32G IMU Acceleration	0x04
CANARD_LSM6DSV32X_GYRO	Canard LSM6DSV32X 32G IMU Angular Velocity	0x05
CANARD_LSM303AGR_ACCEL	Canard LSM303AGR Compass Acceleration	0x06
CANARD_LSM303AGR_MAG	Canard LSM303AGR Magnetometer Reading	0x07
CANARD_MTI630_ACCEL	Canard MTI-630 Movella Acceleration	0x08
CANARD_MTI630_GYRO	Canard MTI-630 Movella Angular Velocity	0x09
CANARD_MTI630_MAG	Canard MTI-630 Movella Magnetometer Reading	0x0A
CANARD_MTI630_EST_ORIENTATION	Canard MTI-630 Movella Estimation Orientation (Euler)	0x0B
CANARD_MTI630_EST_ANGLE_VEL	Canard MTI-630 Movella Estimation Angular Velocity	0x0C
CANARD_MTI630_EST_VEL	Canard MTI-630 Movella Estimation Velocity	0x0D
CANARD_ADXL380_ACCEL	Canard ADXL380 Accelerometer Acceleration	0x0E

Bitfields Definition

general_board_status

General board status bitfield

general_board_status 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

board_specific_status

Board specific status bitfield

board_specific_status Bitfield bits

Bitfield Name	Description	Offset
12V_EFUSE_FAULT	No Description	0x00
5V_EFUSE_FAULT	No Description	0x01
PT_OUT_OF_RANGE	No Description	0x02