Files

Poulpe 9a158f5c5f Initial: ContinuousTransponder wrapper for Kogger USBL

High-level Python wrapper around the upstream cosma-tech/kogger_acousticAntenna
driver. Configures a Kogger acoustic antenna as a permanent slave transponder
in a single start() call: address filter, echo filter, optional TDMA sync slot,
permanent response window, and Python callbacks for each ping received.

No modification to the upstream driver — only composes existing public methods
in the right order. Snapshot of upstream driver included read-only under driver/
for reference.

Includes:
- transponder_continu.py (302 lines): the wrapper class + CLI
- examples/auv_slave.py (79 lines): usage example with logging
- README.md: design rationale, usage, multi-AUV TDMA, watchdog, hardware wiring
- driver/: snapshot of cosma-tech/kogger_acousticAntenna at commit 1b539f9
  ('Add index slot for multi pinger', 2025-03-11)

Built for Cosma context (USV master + N AUVs slaves) following the design
conversation in Discord #ping-pong-ping (2026-04-27). See poulpe/ping-pong-ping
on Gitea for the interactive demo of the protocol.

2026-04-27 22:08:44 +00:00

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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

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