# Driver for Acoustic Antenna from Kogger

## Installations request  

```
sudo apt update
sudo apt install python3-serial python3-loguru
```

# Kogger wires  

Brown  : supply (+)
Blue   : ground (-)
Green  : UART_RX (USBL side)
Yellow : UART_TX (USBL side)
Pink   : ground (-), connected to the blue wire inside USBL
Gray   : TRIGGER_IN (USBL side)
White  : TRIGGER_OUT (USBL side)

## Files description

```
.
├── communication.py
├── interface.py
├── kogger_protocol_driver.py
└── test
    ├── test_kogger_driver.py
    └── test_messages.bin
```

### communication.py

Test all functions from kogger\_protocol\_driver.py

### interface.py

Open a tkinter interface with all kogger\_protocol\_driver functions.

### kogger\_protocol\_driver.py

Driver for kogger device

### test folder

Contains tests function for kogger\_protocol\_driver.

#### Raspberry connection to Kogger

+-----------------+         +---------------+         +------------+
|                 |         |               |         |            |
| RASPBERRY PI 4  o---USB---o Convertisseur o---UART--o Antenne    |
|                 |         | USB-vers-UART | (TX,RX, | Kogger     |
|                 |         |               |   GND)  |            |
+-----------------+         +---------------+         +------------+

#### USV / Boat side

Launch :  

```
cd test
./test_usv.py
```

#### AUV / Sub side

Launch :  

```
cd test
./test_auv.py
```


# Analyze koggerApp

 bb55  00    8b   11 00     xx      9cc3
Header Route Mode ID Length Payload Check

On boot : 
A TX payload […]: 
- bb55008b11009cc3
- bb5500931100a4db
- bb550083100100943e
- bb550083130096af
- bb550083120095ad
- bb550083150098b3
- bb550083140097b1
- bb5500832000a3c9
- bb55008b2000abe1
- bb5500932000b3f9
- bb55008318054a5d6bc9017c98
- bb55008b18054a5d6bc90184d8
- bb550

A RX payload: 
- bb5500c91103049cc3401e
- bb5500d1110304a4db6876
- bb5500c1100304943eaa54
- bb5500c113030496af20d8
- bb5500c112030495ad1ccf
- bb5500c1150304 98b328ea
- bb5500c114030497b124e1
- bb5500412022000f00000000000078fe6b94000203000000000000000000000000000000000000000c32
- bb5500c120 0301a3c95144
- bb5500c9200305abe17da8
- bb550051200900000f0002000003018f00
- bb5500d1200305b3f9a500
- bb5500c11803047c98f4a6
- bb5500c91803 0484d84426
- bb5500d11803048a870111

## Conclusion :

Host : read 0x10, 0x11, 0x12, x13, x14, x15, x18, x20
0x10 : ID_DATASET
- bb550083100100943e
- bb5500c1100304943eaa54
0x11 : ID_DIST_SETU
0x12 : ID_CHART_SETUP
0x14 : ID_TRANSC
0x15 : ID_SND_SPD
0x18 : ID_UART
0x20 : ID_VERSION

# Kogger number

## USV to AUV

0 : DISARM         Set AUV to DISARM
1 : DEPTH_HOLD     Set AUV to fixed DEPTH
2 : Pause?
3 : MISSION_DEPTH  Go to mission on DEPTH_HOLD
4 : MISSION        Go to mission on ALT_HOLD
5 : SURFACE        Go to SURFACE
6 : USBL_MODE_RESP Set USBL AUV as response
7 : USBL_MODE_TRAN Set USBL AUV as transponder
8 : 

## AUV to USV

0 : DISARM          AUV is DISARMED
1 : DEPTH_HOLD      AUV is at fixed DEPTH
2 : Pause?
3 : MISSION_DEPTH   AUV is in mission on DEPTH_HOLD
4 : MISSION         AUV is in mission on ALT_HOLD
5 : SURFACE         AUV is going to to SURFACE
6 : RECOVER_STUCK   AUV is in recover_stuck or recover_stuck_random
7 : HARDWARE_FAIL   AUV is in emergency and is going to surface
8 : EMERGENCY_STUCK AUV is stuck

## Kogger transfer in the air

-------------------------------------
 Pinger sending | Responder receiving
 0              | 5
 1              | 2
 2              | 1
 3              | 4
 4              | 3
 5              | 0
 6              | 6
 7              | 7 OR 3 OR 5
 8              | 8 OR 255
-------------------------------------

# Python info  

## struct.unpack  

- ? : bool (1B)
- b : int8 (1B)
- B : uint8 (1B)
- h : int16 
- H : uint16 
- i : int32
- I : uint32
- f : float (4B)
- d : double(8B)
- q : int64
- Q : uint64

# Test multi-antenna

From test/test_multi_antenna.py we can try a multi-antenna with time syncho.

## In spiral mode  

### From USV/Slave  

```
./test_multi_antenna.py /dev/ttyUSB0 0 2
```

### From AUV/Master

Where every lines is an AUV :
```
./test_multi_antenna.py /dev/ttyUSB1 1 2
./test_multi_antenna.py /dev/ttyUSB2 2 2
```