Poulpe
9a158f5c5f
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.
205 lines
4.1 KiB
Markdown
205 lines
4.1 KiB
Markdown
# Driver for Acoustic Antenna from Kogger
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## Installations request
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```
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sudo apt update
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sudo apt install python3-serial python3-loguru
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```
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# Kogger wires
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Brown : supply (+)
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Blue : ground (-)
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Green : UART_RX (USBL side)
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Yellow : UART_TX (USBL side)
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Pink : ground (-), connected to the blue wire inside USBL
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Gray : TRIGGER_IN (USBL side)
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White : TRIGGER_OUT (USBL side)
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## Files description
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```
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.
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├── communication.py
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├── interface.py
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├── kogger_protocol_driver.py
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└── test
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├── test_kogger_driver.py
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└── test_messages.bin
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```
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### communication.py
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Test all functions from kogger\_protocol\_driver.py
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### interface.py
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Open a tkinter interface with all kogger\_protocol\_driver functions.
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### kogger\_protocol\_driver.py
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Driver for kogger device
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### test folder
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Contains tests function for kogger\_protocol\_driver.
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#### Raspberry connection to Kogger
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+-----------------+ +---------------+ +------------+
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| | | | | |
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| RASPBERRY PI 4 o---USB---o Convertisseur o---UART--o Antenne |
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| | | USB-vers-UART | (TX,RX, | Kogger |
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| | | | GND) | |
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+-----------------+ +---------------+ +------------+
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#### USV / Boat side
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Launch :
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```
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cd test
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./test_usv.py
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```
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#### AUV / Sub side
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Launch :
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```
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cd test
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./test_auv.py
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```
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# Analyze koggerApp
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bb55 00 8b 11 00 xx 9cc3
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Header Route Mode ID Length Payload Check
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On boot :
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A TX payload […]:
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- bb55008b11009cc3
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- bb5500931100a4db
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- bb550083100100943e
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- bb550083130096af
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- bb550083120095ad
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- bb550083150098b3
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- bb550083140097b1
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- bb5500832000a3c9
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- bb55008b2000abe1
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- bb5500932000b3f9
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- bb55008318054a5d6bc9017c98
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- bb55008b18054a5d6bc90184d8
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- bb550
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A RX payload:
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- bb5500c91103049cc3401e
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- bb5500d1110304a4db6876
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- bb5500c1100304943eaa54
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- bb5500c113030496af20d8
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- bb5500c112030495ad1ccf
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- bb5500c1150304 98b328ea
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- bb5500c114030497b124e1
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- bb5500412022000f00000000000078fe6b94000203000000000000000000000000000000000000000c32
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- bb5500c120 0301a3c95144
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- bb5500c9200305abe17da8
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- bb550051200900000f0002000003018f00
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- bb5500d1200305b3f9a500
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- bb5500c11803047c98f4a6
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- bb5500c91803 0484d84426
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- bb5500d11803048a870111
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## Conclusion :
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Host : read 0x10, 0x11, 0x12, x13, x14, x15, x18, x20
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0x10 : ID_DATASET
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- bb550083100100943e
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- bb5500c1100304943eaa54
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0x11 : ID_DIST_SETU
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0x12 : ID_CHART_SETUP
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0x14 : ID_TRANSC
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0x15 : ID_SND_SPD
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0x18 : ID_UART
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0x20 : ID_VERSION
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# Kogger number
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## USV to AUV
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0 : DISARM Set AUV to DISARM
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1 : DEPTH_HOLD Set AUV to fixed DEPTH
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2 : Pause?
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3 : MISSION_DEPTH Go to mission on DEPTH_HOLD
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4 : MISSION Go to mission on ALT_HOLD
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5 : SURFACE Go to SURFACE
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6 : USBL_MODE_RESP Set USBL AUV as response
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7 : USBL_MODE_TRAN Set USBL AUV as transponder
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8 :
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## AUV to USV
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0 : DISARM AUV is DISARMED
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1 : DEPTH_HOLD AUV is at fixed DEPTH
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2 : Pause?
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3 : MISSION_DEPTH AUV is in mission on DEPTH_HOLD
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4 : MISSION AUV is in mission on ALT_HOLD
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5 : SURFACE AUV is going to to SURFACE
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6 : RECOVER_STUCK AUV is in recover_stuck or recover_stuck_random
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7 : HARDWARE_FAIL AUV is in emergency and is going to surface
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8 : EMERGENCY_STUCK AUV is stuck
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## Kogger transfer in the air
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-------------------------------------
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Pinger sending | Responder receiving
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0 | 5
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1 | 2
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2 | 1
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3 | 4
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4 | 3
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5 | 0
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6 | 6
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7 | 7 OR 3 OR 5
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8 | 8 OR 255
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-------------------------------------
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# Python info
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## struct.unpack
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- ? : bool (1B)
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- b : int8 (1B)
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- B : uint8 (1B)
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- h : int16
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- H : uint16
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- i : int32
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- I : uint32
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- f : float (4B)
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- d : double(8B)
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- q : int64
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- Q : uint64
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# Test multi-antenna
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From test/test_multi_antenna.py we can try a multi-antenna with time syncho.
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## In spiral mode
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### From USV/Slave
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```
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./test_multi_antenna.py /dev/ttyUSB0 0 2
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```
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### From AUV/Master
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Where every lines is an AUV :
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```
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./test_multi_antenna.py /dev/ttyUSB1 1 2
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./test_multi_antenna.py /dev/ttyUSB2 2 2
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```
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