git.gag.com Git - fw/altos/blob - altoslib/AltosConfigData.java

   1 /*
   2  * Copyright © 2011 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 package org.altusmetrum.altoslib_14;
  20
  21 import java.util.*;
  22 import java.text.*;
  23 import java.util.concurrent.*;
  24
  25 /* Don't change the field names in this structure; they're part of all .eeprom files */
  26 public class AltosConfigData {
  27
  28         /* Version information */
  29         public String   manufacturer;
  30         public String   product;
  31         public int      serial;
  32         public int      flight;
  33         public int      log_format;
  34         public int      log_space;
  35         public String   version;
  36         public int      altitude_32;
  37         public int      config_major, config_minor;
  38
  39         /* Config information */
  40         /* HAS_FLIGHT*/
  41         public int      main_deploy;
  42         public int      apogee_delay;
  43         public int      apogee_lockout;
  44
  45         /* HAS_RADIO */
  46         public int      radio_frequency;
  47         public String   callsign;
  48         public int      radio_enable;
  49         public int      radio_calibration;
  50         public int      telemetry_rate;
  51         /* Old HAS_RADIO values */
  52         public int      radio_channel;
  53         public int      radio_setting;
  54
  55         /* HAS_ACCEL */
  56         public int      accel_cal_plus, accel_cal_minus;
  57         private int     accel_cal_plus_cooked, accel_cal_minus_cooked;
  58         private boolean accel_cal_adjusted;
  59         public int      pad_orientation;
  60
  61         /* HAS_LOG */
  62         public int      flight_log_max;
  63         public int      log_fixed;
  64
  65         /* HAS_IGNITE */
  66         public int      ignite_mode;
  67
  68         /* HAS_AES */
  69         public String   aes_key;
  70
  71         /* AO_PYRO_NUM */
  72         public AltosPyro[]      pyros;
  73         public int              npyro;
  74         public int              pyro;
  75         public double           pyro_firing_time;
  76
  77         /* HAS_APRS */
  78         public int              aprs_interval;
  79         public int              aprs_ssid;
  80         public int              aprs_format;
  81         public int              aprs_offset;
  82
  83         /* HAS_BEEP */
  84         public int              beep;
  85
  86         /* HAS_RADIO_10MW */
  87         public int              radio_10mw;
  88
  89         public int              report_feet;
  90
  91         /* HAS_GPS_MOSAIC */
  92         public int              gps_receiver;
  93
  94         /* Storage info replies */
  95         public int      storage_size;
  96         public int      storage_erase_unit;
  97
  98         /* Log listing replies */
  99         public int      stored_flight;
 100         public AltosEepromFlight[] flights;
 101
 102         /* HAS_TRACKER */
 103         public int      tracker_motion;
 104         public int      tracker_interval;
 105
 106         /* HAS_GYRO */
 107         public int      accel_zero_along, accel_zero_across, accel_zero_through;
 108
 109         /* ms5607 data */
 110         AltosMs5607     ms5607;
 111
 112         public AltosMs5607 ms5607() {
 113                 if (ms5607 == null)
 114                         ms5607 = new AltosMs5607();
 115                 return ms5607;
 116         }
 117
 118         public static String get_string(String line, String label) throws  ParseException {
 119                 if (line.startsWith(label)) {
 120                         String  quoted = line.substring(label.length()).trim();
 121
 122                         if (quoted.startsWith("\""))
 123                                 quoted = quoted.substring(1);
 124                         if (quoted.endsWith("\""))
 125                                 quoted = quoted.substring(0,quoted.length()-1);
 126                         return quoted;
 127                 }
 128                 throw new ParseException("mismatch", 0);
 129         }
 130
 131         public static int get_int(String line, String label) throws NumberFormatException, ParseException {
 132                 if (line.startsWith(label)) {
 133                         String tail = line.substring(label.length()).trim();
 134                         String[] tokens = tail.split("\\s+");
 135                         if (tokens.length > 0)
 136                                 return  Integer.parseInt(tokens[0]);
 137                 }
 138                 throw new ParseException("mismatch", 0);
 139         }
 140
 141         public static int[] get_values(String line, String label) throws NumberFormatException, ParseException {
 142                 if (line.startsWith(label)) {
 143                         String tail = line.substring(label.length()).trim();
 144                         String[] tokens = tail.split("\\s+");
 145                         if (tokens.length > 1) {
 146                                 int[]   values = new int[2];
 147                                 values[0] = Integer.parseInt(tokens[0]);
 148                                 values[1] = Integer.parseInt(tokens[1]);
 149                                 return values;
 150                         }
 151                 }
 152                 throw new ParseException("mismatch", 0);
 153         }
 154
 155         public int log_space() {
 156                 if (log_space != AltosLib.MISSING)
 157                         return log_space;
 158
 159                 if (storage_size != AltosLib.MISSING) {
 160                         int     space = storage_size;
 161
 162                         if (storage_erase_unit != AltosLib.MISSING && use_flash_for_config())
 163                                 space -= storage_erase_unit;
 164
 165                         if (space != AltosLib.MISSING)
 166                                 return space;
 167                 }
 168                 return 0;
 169         }
 170
 171         public int log_available() {
 172                 switch (log_format) {
 173                 case AltosLib.AO_LOG_FORMAT_TINY:
 174                         if (flights == null)
 175                                 return 1;
 176                         return 0;
 177                 case AltosLib.AO_LOG_FORMAT_TELEMETRY:
 178                 case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
 179                         return 1;
 180                 default:
 181                         if (flight_log_max <= 0)
 182                                 return 1;
 183                         int     log_max = flight_log_max * 1024;
 184                         int     log_space = log_space();
 185                         int     log_used;
 186
 187                         if (flights == null)
 188                                 log_used = 0;
 189                         else
 190                                 log_used = flights.length * log_max;
 191                         int     log_avail;
 192
 193                         if (log_used >= log_space)
 194                                 log_avail = 0;
 195                         else
 196                                 log_avail = (log_space - log_used) / log_max;
 197
 198                         return log_avail;
 199                 }
 200         }
 201
 202         public int invert_accel_value(int value) {
 203                 if (value == AltosLib.MISSING)
 204                         return AltosLib.MISSING;
 205
 206                 switch (log_format) {
 207                 case AltosLib.AO_LOG_FORMAT_FULL:
 208                         return 0x7fff - value;
 209                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 210                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 211                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 212                         return 4095 - value;
 213                 case AltosLib.AO_LOG_FORMAT_TELEMETRUM:
 214                         /*
 215                          * TeleMetrum v2 and later use the same log format, but
 216                          * have different accelerometers. This is the only place
 217                          * it matters in altoslib.
 218                          */
 219                         if (product.startsWith("TeleMetrum-v2"))
 220                                 return 4095 - value;
 221                         /* fall through */
 222                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 223                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
 224                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
 225                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 226                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_3:
 227                 case AltosLib.AO_LOG_FORMAT_EASYMOTOR:
 228                         /* ADXL375 */
 229                         return -value;
 230                 case AltosLib.AO_LOG_FORMAT_EASYTIMER_2:
 231                         /* BMI088 */
 232                         return -value;
 233                 default:
 234                         if (product.startsWith("EasyTimer-"))
 235                                 return -value;
 236                         return AltosLib.MISSING;
 237                 }
 238         }
 239
 240         public boolean has_monitor_battery() {
 241                 if (product == null)
 242                         return false;
 243                 if (product.startsWith("TeleBT"))
 244                         return true;
 245                 return false;
 246         }
 247
 248         int[] parse_version(String v) {
 249                 String[] parts = v.split("\\.");
 250                 int r[] = new int[parts.length];
 251
 252                 for (int i = 0; i < parts.length; i++) {
 253                         try {
 254                                 r[i] = (int) AltosLib.fromdec(parts[i]);
 255                         } catch (NumberFormatException n) {
 256                                 r[i] = 0;
 257                         }
 258                 }
 259
 260                 return r;
 261         }
 262
 263         public boolean altitude_32() {
 264                 return altitude_32 == 1;
 265         }
 266
 267         public int compare_version(String other) {
 268                 int[]   me = parse_version(version);
 269                 int[]   them = parse_version(other);
 270
 271                 int     l = Math.min(me.length, them.length);
 272
 273                 for (int i = 0; i < l; i++) {
 274                         int     d = me[i] - them[i];
 275                         if (d != 0)
 276                                 return d;
 277                 }
 278                 if (me.length > l)
 279                         return 1;
 280                 if (them.length > l)
 281                         return -1;
 282                 return 0;
 283         }
 284
 285         public void reset() {
 286                 manufacturer = null;
 287                 product = null;
 288                 serial = AltosLib.MISSING;
 289                 flight = AltosLib.MISSING;
 290                 log_format = AltosLib.AO_LOG_FORMAT_UNKNOWN;
 291                 log_space = AltosLib.MISSING;
 292                 version = "unknown";
 293                 config_major = AltosLib.MISSING;
 294                 config_minor = AltosLib.MISSING;
 295
 296                 main_deploy = AltosLib.MISSING;
 297                 apogee_delay = AltosLib.MISSING;
 298                 apogee_lockout = AltosLib.MISSING;
 299
 300                 radio_frequency = AltosLib.MISSING;
 301                 callsign = null;
 302                 radio_enable = AltosLib.MISSING;
 303                 radio_calibration = AltosLib.MISSING;
 304                 radio_channel = AltosLib.MISSING;
 305                 radio_setting = AltosLib.MISSING;
 306                 telemetry_rate = AltosLib.MISSING;
 307
 308                 accel_cal_plus_cooked = AltosLib.MISSING;
 309                 accel_cal_minus_cooked = AltosLib.MISSING;
 310                 accel_cal_plus = AltosLib.MISSING;
 311                 accel_cal_minus = AltosLib.MISSING;
 312                 pad_orientation = AltosLib.MISSING;
 313                 accel_cal_adjusted = false;
 314
 315                 flight_log_max = AltosLib.MISSING;
 316                 log_fixed = AltosLib.MISSING;
 317                 ignite_mode = AltosLib.MISSING;
 318
 319                 aes_key = null;
 320
 321                 pyro = AltosLib.MISSING;
 322                 npyro = AltosLib.MISSING;
 323                 pyros = null;
 324                 pyro_firing_time = AltosLib.MISSING;
 325
 326                 aprs_interval = AltosLib.MISSING;
 327                 aprs_ssid = AltosLib.MISSING;
 328                 aprs_format = AltosLib.MISSING;
 329                 aprs_offset = AltosLib.MISSING;
 330
 331                 beep = AltosLib.MISSING;
 332
 333                 radio_10mw = AltosLib.MISSING;
 334
 335                 report_feet = AltosLib.MISSING;
 336
 337                 gps_receiver = AltosLib.MISSING;
 338
 339                 tracker_motion = AltosLib.MISSING;
 340                 tracker_interval = AltosLib.MISSING;
 341
 342                 storage_size = AltosLib.MISSING;
 343                 storage_erase_unit = AltosLib.MISSING;
 344                 stored_flight = 0;
 345                 flights = null;
 346
 347                 accel_zero_along = AltosLib.MISSING;
 348                 accel_zero_across = AltosLib.MISSING;
 349                 accel_zero_through = AltosLib.MISSING;
 350         }
 351
 352         /* Return + accel calibration relative to a specific pad orientation */
 353         public int accel_cal_plus(int pad_orientation) {
 354                 adjust_accel_cal();
 355                 if (!accel_cal_adjusted)
 356                         return AltosLib.MISSING;
 357
 358                 switch (pad_orientation) {
 359                 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
 360                 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
 361                 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
 362                         return accel_cal_plus_cooked;
 363                 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
 364                 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
 365                 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
 366                         return invert_accel_value(accel_cal_minus_cooked);
 367                 default:
 368                         return AltosLib.MISSING;
 369                 }
 370         }
 371
 372         /* Return - accel calibration relative to a specific pad orientation */
 373         public int accel_cal_minus(int pad_orientation) {
 374                 adjust_accel_cal();
 375                 if (!accel_cal_adjusted)
 376                         return AltosLib.MISSING;
 377
 378                 switch (pad_orientation) {
 379                 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
 380                 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
 381                 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
 382                         return accel_cal_minus_cooked;
 383                 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
 384                 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
 385                 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
 386                         return invert_accel_value(accel_cal_plus_cooked);
 387                 default:
 388                         return AltosLib.MISSING;
 389                 }
 390         }
 391
 392         /* Once we have all of the values from the config data, compute the
 393          * accel cal values relative to Antenna Up orientation.
 394          */
 395         private void adjust_accel_cal() {
 396                 if (!accel_cal_adjusted &&
 397                     product != null &&
 398                     pad_orientation != AltosLib.MISSING &&
 399                     accel_cal_plus != AltosLib.MISSING &&
 400                     accel_cal_minus != AltosLib.MISSING)
 401                 {
 402                         switch (pad_orientation) {
 403                         case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
 404                         case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
 405                         case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
 406                                 accel_cal_plus_cooked = accel_cal_plus;
 407                                 accel_cal_minus_cooked = accel_cal_minus;
 408                                 accel_cal_adjusted = true;
 409                                 break;
 410                         case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
 411                         case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
 412                         case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
 413                                 accel_cal_plus_cooked = invert_accel_value(accel_cal_minus);
 414                                 accel_cal_minus_cooked = invert_accel_value(accel_cal_plus);
 415                                 accel_cal_adjusted = true;
 416                                 break;
 417                         default:
 418                                 break;
 419                         }
 420                 }
 421         }
 422
 423         public void parse_line(String line) {
 424
 425                 /* Version replies */
 426                 try { manufacturer = get_string(line, "manufacturer"); } catch (Exception e) {}
 427                 try { product = get_string(line, "product"); } catch (Exception e) {}
 428                 try { serial = get_int(line, "serial-number"); } catch (Exception e) {}
 429                 try { flight = get_int(line, "current-flight"); } catch (Exception e) {}
 430                 try { log_format = get_int(line, "log-format"); } catch (Exception e) {}
 431                 try { log_space = get_int(line, "log-space"); } catch (Exception e) {}
 432                 try { altitude_32 = get_int(line, "altitude-32"); } catch (Exception e) {}
 433                 try { version = get_string(line, "software-version"); } catch (Exception e) {}
 434
 435                 /* Version also contains MS5607 info, which we ignore here */
 436
 437                 try { ms5607().reserved = get_int(line, "ms5607 reserved:"); } catch (Exception e) {}
 438                 try { ms5607().sens = get_int(line, "ms5607 sens:"); } catch (Exception e) {}
 439                 try { ms5607().off = get_int(line, "ms5607 off:"); } catch (Exception e) {}
 440                 try { ms5607().tcs = get_int(line, "ms5607 tcs:"); } catch (Exception e) {}
 441                 try { ms5607().tco = get_int(line, "ms5607 tco:"); } catch (Exception e) {}
 442                 try { ms5607().tref = get_int(line, "ms5607 tref:"); } catch (Exception e) {}
 443                 try { ms5607().tempsens = get_int(line, "ms5607 tempsens:"); } catch (Exception e) {}
 444                 try { ms5607().crc = get_int(line, "ms5607 crc:"); } catch (Exception e) {}
 445
 446                 /* Config show replies */
 447
 448                 try {
 449                         if (line.startsWith("Config version")) {
 450                                 String[] bits = line.split("\\s+");
 451                                 if (bits.length >= 3) {
 452                                         String[] cfg = bits[2].split("\\.");
 453
 454                                         if (cfg.length >= 2) {
 455                                                 config_major = Integer.parseInt(cfg[0]);
 456                                                 config_minor = Integer.parseInt(cfg[1]);
 457                                         }
 458                                 }
 459                         }
 460                 } catch (Exception e) {}
 461
 462                 /* HAS_FLIGHT */
 463                 try { main_deploy = get_int(line, "Main deploy:"); } catch (Exception e) {}
 464                 try { apogee_delay = get_int(line, "Apogee delay:"); } catch (Exception e) {}
 465                 try { apogee_lockout = get_int(line, "Apogee lockout:"); } catch (Exception e) {}
 466
 467                 /* HAS_RADIO */
 468                 try {
 469                         radio_frequency = get_int(line, "Frequency:");
 470                         if (radio_frequency < 0)
 471                                 radio_frequency = 434550;
 472                 } catch (Exception e) {}
 473                 try { callsign = get_string(line, "Callsign:"); } catch (Exception e) {}
 474                 try { radio_enable = get_int(line, "Radio enable:"); } catch (Exception e) {}
 475                 try { radio_calibration = get_int(line, "Radio cal:"); } catch (Exception e) {}
 476                 try { telemetry_rate = get_int(line, "Telemetry rate:"); } catch (Exception e) {}
 477
 478                 /* Old HAS_RADIO values */
 479                 try { radio_channel = get_int(line, "Radio channel:"); } catch (Exception e) {}
 480                 try { radio_setting = get_int(line, "Radio setting:"); } catch (Exception e) {}
 481
 482                 /* HAS_ACCEL */
 483                 try {
 484                         if (line.startsWith("Accel cal")) {
 485                                 String[] bits = line.split("\\s+");
 486                                 if (bits.length >= 6) {
 487                                         accel_cal_plus = Integer.parseInt(bits[3]);
 488                                         accel_cal_minus = Integer.parseInt(bits[5]);
 489                                         accel_cal_adjusted = false;
 490                                 }
 491                         }
 492                 } catch (Exception e) {}
 493                 try { pad_orientation = get_int(line, "Pad orientation:"); } catch (Exception e) {}
 494
 495                 /* HAS_LOG */
 496                 try { flight_log_max = get_int(line, "Max flight log:"); } catch (Exception e) {}
 497                 try { log_fixed = get_int(line, "Log fixed:"); } catch (Exception e) {}
 498
 499                 /* HAS_IGNITE */
 500                 try { ignite_mode = get_int(line, "Ignite mode:"); } catch (Exception e) {}
 501
 502                 /* HAS_AES */
 503                 try { aes_key = get_string(line, "AES key:"); } catch (Exception e) {}
 504
 505                 /* AO_PYRO_NUM */
 506                 try {
 507                         npyro = get_int(line, "Pyro-count:");
 508                         pyros = new AltosPyro[npyro];
 509                         pyro = 0;
 510                 } catch (Exception e) {}
 511                 if (npyro != AltosLib.MISSING) {
 512                         try {
 513                                 AltosPyro p = new AltosPyro(pyro, line);
 514                                 if (pyro < npyro)
 515                                         pyros[pyro++] = p;
 516                         } catch (Exception e) {}
 517                 }
 518                 try { pyro_firing_time = get_int(line, "Pyro time:") / 100.0; } catch (Exception e) {}
 519
 520                 /* HAS_APRS */
 521                 try { aprs_interval = get_int(line, "APRS interval:"); } catch (Exception e) {}
 522                 try { aprs_ssid = get_int(line, "APRS SSID:"); } catch (Exception e) {}
 523                 try { aprs_format = get_int(line, "APRS format:"); } catch (Exception e) {}
 524                 try { aprs_offset = get_int(line, "APRS offset:"); } catch (Exception e) {}
 525
 526                 /* HAS_BEEP */
 527                 try { beep = get_int(line, "Beeper setting:"); } catch (Exception e) {}
 528
 529                 /* HAS_RADIO_10MW */
 530                 try { radio_10mw = get_int(line, "Radio 10mw limit:"); } catch (Exception e) {}
 531
 532                 try { report_feet = get_int(line, "Report in feet:"); } catch (Exception e) {}
 533
 534                 try { gps_receiver = get_int(line, "GPS receiver:"); } catch (Exception e) {}
 535
 536                 /* HAS_TRACKER */
 537                 try {
 538                         int[] values = get_values(line, "Tracker setting:");
 539                         tracker_motion = values[0];
 540                         tracker_interval = values[1];
 541                 } catch (Exception e) {}
 542
 543                 /* Storage info replies */
 544                 try { storage_size = get_int(line, "Storage size:"); } catch (Exception e) {}
 545                 try { storage_erase_unit = get_int(line, "Storage erase unit:"); } catch (Exception e) {}
 546
 547                 /* Log listing replies */
 548                 try {
 549                         int flight = get_int(line, "flight");
 550                         String[] tokens = line.split("\\s+");
 551                         if (tokens.length >= 6) {
 552                                 int     start = -1, end = -1;
 553                                 try {
 554                                         if (tokens[2].equals("start"))
 555                                                 start = AltosParse.parse_hex(tokens[3]);
 556                                         if (tokens[4].equals("end"))
 557                                                 end = AltosParse.parse_hex(tokens[5]);
 558                                         if (flight != 0 && start >= 0 && end > 0) {
 559                                                 int len;
 560                                                 if (flights == null)
 561                                                         len = 0;
 562                                                 else
 563                                                         len = flights.length;
 564                                                 AltosEepromFlight [] new_flights = new AltosEepromFlight[len + 1];
 565                                                 for (int i = 0; i < len; i++)
 566                                                         new_flights[i] = flights[i];
 567                                                 new_flights[len] = new AltosEepromFlight(flight, start, end);
 568                                                 flights = new_flights;
 569                                                 stored_flight = flights.length;
 570                                         }
 571                                 } catch (ParseException pe) { System.out.printf("Parse error %s\n", pe.toString()); }
 572                         }
 573                 }  catch (Exception e) {}
 574
 575                 /* HAS_GYRO */
 576                 try {
 577                         if (line.startsWith("IMU cal along")) {
 578                                 String[] bits = line.split("\\s+");
 579                                 if (bits.length >= 8) {
 580                                         accel_zero_along = Integer.parseInt(bits[3]);
 581                                         accel_zero_across = Integer.parseInt(bits[5]);
 582                                         accel_zero_through = Integer.parseInt(bits[7]);
 583                                 }
 584                         }
 585                 } catch (Exception e) {}
 586         }
 587
 588         public AltosConfigData() {
 589                 reset();
 590         }
 591
 592         private void read_link(AltosLink link, String finished) throws InterruptedException, TimeoutException {
 593                 for (;;) {
 594                         String line = link.get_reply();
 595                         if (line == null)
 596                                 throw new TimeoutException();
 597                         if (line.contains("Syntax error"))
 598                                 continue;
 599                         this.parse_line(line);
 600
 601                         /* signals the end of the version info */
 602                         if (line.startsWith(finished))
 603                                 break;
 604                 }
 605         }
 606
 607         public boolean has_frequency() {
 608                 return radio_frequency != AltosLib.MISSING || radio_setting != AltosLib.MISSING || radio_channel != AltosLib.MISSING;
 609         }
 610
 611         public boolean has_telemetry_rate() {
 612                 return telemetry_rate != AltosLib.MISSING;
 613         }
 614
 615         public void set_frequency(double freq) {
 616                 int     frequency = radio_frequency;
 617                 int     setting = radio_setting;
 618
 619                 if (frequency != AltosLib.MISSING) {
 620                         radio_frequency = (int) Math.floor (freq * 1000 + 0.5);
 621                         radio_channel = AltosLib.MISSING;
 622                 } else if (setting != AltosLib.MISSING) {
 623                         radio_setting =AltosConvert.radio_frequency_to_setting(freq, radio_calibration);
 624                         radio_channel = AltosLib.MISSING;
 625                 } else {
 626                         radio_channel = AltosConvert.radio_frequency_to_channel(freq);
 627                 }
 628         }
 629
 630         public double frequency() {
 631                 int     channel = radio_channel;
 632                 int     setting = radio_setting;
 633
 634                 if (radio_frequency == AltosLib.MISSING && channel == AltosLib.MISSING && setting == AltosLib.MISSING)
 635                         return AltosLib.MISSING;
 636
 637                 if (channel == AltosLib.MISSING)
 638                         channel = 0;
 639                 if (setting == AltosLib.MISSING)
 640                         setting = 0;
 641
 642                 return AltosConvert.radio_to_frequency(radio_frequency,
 643                                                        setting,
 644                                                        radio_calibration,
 645                                                        channel);
 646         }
 647
 648         boolean use_flash_for_config() {
 649                 if (product.startsWith("TeleMega"))
 650                         return false;
 651                 if (product.startsWith("TeleMetrum-v2"))
 652                         return false;
 653                 if (product.startsWith("TeleMetrum-v3"))
 654                         return false;
 655                 if (product.startsWith("TeleMetrum-v4"))
 656                         return true;
 657                 if (product.startsWith("EasyMega"))
 658                         return false;
 659                 return true;
 660         }
 661
 662
 663         public boolean mma655x_inverted() throws AltosUnknownProduct {
 664                 if (product != null) {
 665                         if (product.startsWith("EasyMega-v1"))
 666                                 return false;
 667                         if (product.startsWith("TeleMetrum-v2"))
 668                                 return true;
 669                         if (product.startsWith("TeleMega-v2"))
 670                                 return false;
 671                         if (product.startsWith("TeleMega-v1"))
 672                                 return false;
 673                 }
 674                 throw new AltosUnknownProduct(product);
 675         }
 676
 677         public boolean adxl375_inverted() throws AltosUnknownProduct {
 678                 if (product != null) {
 679                         if (product.startsWith("EasyMega-v2"))
 680                                 return true;
 681                         if (product.startsWith("TeleMetrum-v3"))
 682                                 return true;
 683                         if (product.startsWith("TeleMetrum-v4"))
 684                                 return true;
 685                         if (product.startsWith("TeleMega-v4"))
 686                                 return true;
 687                         if (product.startsWith("TeleMega-v5"))
 688                                 return true;
 689                         if (product.startsWith("TeleMega-v6"))
 690                                 return true;
 691                         if (product.startsWith("EasyMotor-v2"))
 692                                 return true;
 693                         if (product.startsWith("EasyMotor-v3"))
 694                                 return true;
 695                 }
 696                 throw new AltosUnknownProduct(product);
 697         }
 698
 699         public int adxl375_axis() throws AltosUnknownProduct {
 700                 if (product != null) {
 701                         if (product.startsWith("EasyMega-v2"))
 702                                 return AltosAdxl375.X_AXIS;
 703                         if (product.startsWith("TeleMetrum-v3"))
 704                                 return AltosAdxl375.X_AXIS;
 705                         if (product.startsWith("TeleMetrum-v4"))
 706                                 return AltosAdxl375.X_AXIS;
 707                         if (product.startsWith("TeleMega-v4"))
 708                                 return AltosAdxl375.X_AXIS;
 709                         if (product.startsWith("TeleMega-v5"))
 710                                 return AltosAdxl375.X_AXIS;
 711                         if (product.startsWith("TeleMega-v6"))
 712                                 return AltosAdxl375.X_AXIS;
 713                         if (product.startsWith("EasyMotor-v2"))
 714                                 return AltosAdxl375.X_AXIS;
 715                         if (product.startsWith("EasyMotor-v3"))
 716                                 return AltosAdxl375.X_AXIS;
 717
 718                 }
 719                 throw new AltosUnknownProduct(product);
 720         }
 721
 722         public void get_values(AltosConfigValues source) throws AltosConfigDataException {
 723
 724                 /* HAS_FLIGHT */
 725                 if (main_deploy != AltosLib.MISSING)
 726                         main_deploy = source.main_deploy();
 727                 if (apogee_delay != AltosLib.MISSING)
 728                         apogee_delay = source.apogee_delay();
 729                 if (apogee_lockout != AltosLib.MISSING)
 730                         apogee_lockout = source.apogee_lockout();
 731
 732                 /* HAS_RADIO */
 733                 if (has_frequency())
 734                         set_frequency(source.radio_frequency());
 735                 if (radio_enable != AltosLib.MISSING)
 736                         radio_enable = source.radio_enable();
 737                 if (callsign != null)
 738                         callsign = source.callsign();
 739                 if (telemetry_rate != AltosLib.MISSING)
 740                         telemetry_rate = source.telemetry_rate();
 741
 742                 /* HAS_ACCEL */
 743                 if (pad_orientation != AltosLib.MISSING)
 744                         pad_orientation = source.pad_orientation();
 745
 746                 if (accel_cal_plus_cooked != AltosLib.MISSING)
 747                         accel_cal_plus_cooked = source.accel_cal_plus();
 748
 749                 if (accel_cal_minus_cooked != AltosLib.MISSING)
 750                         accel_cal_minus_cooked = source.accel_cal_minus();
 751
 752                 /* HAS_LOG */
 753                 if (flight_log_max != AltosLib.MISSING)
 754                         flight_log_max = source.flight_log_max();
 755
 756                 /* HAS_IGNITE */
 757                 if (ignite_mode != AltosLib.MISSING)
 758                         ignite_mode = source.ignite_mode();
 759
 760                 /* AO_PYRO_NUM */
 761                 if (npyro != AltosLib.MISSING)
 762                         pyros = source.pyros();
 763                 if (pyro_firing_time != AltosLib.MISSING)
 764                         pyro_firing_time = source.pyro_firing_time();
 765
 766                 /* HAS_APRS */
 767                 if (aprs_interval != AltosLib.MISSING)
 768                         aprs_interval = source.aprs_interval();
 769                 if (aprs_ssid != AltosLib.MISSING)
 770                         aprs_ssid = source.aprs_ssid();
 771                 if (aprs_format != AltosLib.MISSING)
 772                         aprs_format = source.aprs_format();
 773                 if (aprs_offset != AltosLib.MISSING)
 774                         aprs_offset = source.aprs_offset();
 775
 776                 /* HAS_BEEP */
 777                 if (beep != AltosLib.MISSING)
 778                         beep = source.beep();
 779
 780                 /* HAS_RADIO_10MW */
 781                 if (radio_10mw != AltosLib.MISSING)
 782                         radio_10mw = source.radio_10mw();
 783
 784                 if (report_feet != AltosLib.MISSING)
 785                         report_feet = source.report_feet();
 786
 787                 if (gps_receiver != AltosLib.MISSING)
 788                         gps_receiver = source.gps_receiver();
 789
 790                 /* HAS_TRACKER */
 791                 if (tracker_motion != AltosLib.MISSING)
 792                         tracker_motion = source.tracker_motion();
 793                 if (tracker_interval != AltosLib.MISSING)
 794                         tracker_interval = source.tracker_interval();
 795         }
 796
 797         public void set_values(AltosConfigValues dest) {
 798                 dest.set_serial(serial);
 799                 dest.set_product(product);
 800                 dest.set_version(version);
 801                 dest.set_altitude_32(altitude_32);
 802                 dest.set_main_deploy(main_deploy);
 803                 dest.set_apogee_delay(apogee_delay);
 804                 dest.set_apogee_lockout(apogee_lockout);
 805                 dest.set_radio_calibration(radio_calibration);
 806                 dest.set_radio_frequency(frequency());
 807                 dest.set_telemetry_rate(telemetry_rate);
 808                 boolean max_enabled = true;
 809
 810                 if (log_space() == 0)
 811                         max_enabled = false;
 812
 813                 if (log_fixed != AltosLib.MISSING)
 814                         max_enabled = false;
 815
 816                 switch (log_format) {
 817                 case AltosLib.AO_LOG_FORMAT_TINY:
 818                         max_enabled = false;
 819                         break;
 820                 default:
 821                         if (flights != null)
 822                                 max_enabled = false;
 823                         break;
 824                 }
 825
 826                 dest.set_flight_log_max_enabled(max_enabled);
 827                 dest.set_radio_enable(radio_enable);
 828                 dest.set_flight_log_max_limit(log_space() >> 10, storage_erase_unit >> 10);
 829                 dest.set_flight_log_max(flight_log_max);
 830                 dest.set_ignite_mode(ignite_mode);
 831                 dest.set_pad_orientation(pad_orientation);
 832                 dest.set_accel_cal(accel_cal_plus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP),
 833                                    accel_cal_minus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP));
 834                 dest.set_callsign(callsign);
 835                 if (npyro != AltosLib.MISSING)
 836                         dest.set_pyros(pyros);
 837                 else
 838                         dest.set_pyros(null);
 839                 dest.set_pyro_firing_time(pyro_firing_time);
 840                 dest.set_aprs_interval(aprs_interval);
 841                 dest.set_aprs_ssid(aprs_ssid);
 842                 dest.set_aprs_format(aprs_format);
 843                 dest.set_aprs_offset(aprs_offset);
 844                 dest.set_beep(beep);
 845                 dest.set_radio_10mw(radio_10mw);
 846                 dest.set_report_feet(report_feet);
 847                 dest.set_gps_receiver(gps_receiver);
 848                 dest.set_tracker_motion(tracker_motion);
 849                 dest.set_tracker_interval(tracker_interval);
 850         }
 851
 852         public boolean log_has_state() {
 853                 switch (log_format) {
 854                 case AltosLib.AO_LOG_FORMAT_TELEGPS:
 855                         return false;
 856                 }
 857                 return true;
 858         }
 859
 860         public void save(AltosLink link, boolean remote) throws InterruptedException, TimeoutException {
 861
 862                 /* HAS_FLIGHT */
 863                 if (main_deploy != AltosLib.MISSING)
 864                         link.printf("c m %d\n", main_deploy);
 865                 if (apogee_delay != AltosLib.MISSING)
 866                         link.printf("c d %d\n", apogee_delay);
 867                 if (apogee_lockout != AltosLib.MISSING)
 868                         link.printf("c L %d\n", apogee_lockout);
 869
 870                 /* HAS_RADIO */
 871                 if (has_frequency()) {
 872                         boolean has_frequency = radio_frequency != AltosLib.MISSING;
 873                         boolean has_setting = radio_setting != AltosLib.MISSING;
 874                         double frequency = frequency();
 875                         link.set_radio_frequency(frequency,
 876                                                         has_frequency,
 877                                                         has_setting,
 878                                                         radio_calibration);
 879                         /* When remote, reset the dongle frequency at the same time */
 880                         if (remote && frequency != link.frequency) {
 881                                 link.stop_remote();
 882                                 link.set_radio_frequency(frequency);
 883                                 link.start_remote();
 884                         }
 885                 }
 886
 887                 if (telemetry_rate != AltosLib.MISSING) {
 888                         link.printf("c T %d\n", telemetry_rate);
 889                         if (remote && telemetry_rate != link.telemetry_rate) {
 890                                 link.stop_remote();
 891                                 link.set_telemetry_rate(telemetry_rate);
 892                                 link.start_remote();
 893                         }
 894                 }
 895
 896                 if (callsign != null) {
 897                         link.printf("c c %s\n", callsign);
 898                         if (remote && !callsign.equals(link.callsign)) {
 899                                 System.out.printf("changing link callsign from %s to %s\n", link.callsign, callsign);
 900                                 link.stop_remote();
 901                                 link.set_callsign(callsign);
 902                                 link.start_remote();
 903                         }
 904                 }
 905
 906                 if (radio_enable != AltosLib.MISSING)
 907                         link.printf("c e %d\n", radio_enable);
 908
 909                 /* HAS_ACCEL */
 910                 /* set orientation first so that we know how to set the accel cal */
 911                 if (pad_orientation != AltosLib.MISSING)
 912                         link.printf("c o %d\n", pad_orientation);
 913                 int plus = accel_cal_plus(pad_orientation);
 914                 int minus = accel_cal_minus(pad_orientation);
 915                 if (plus != AltosLib.MISSING && minus != AltosLib.MISSING) {
 916                         if (plus < 0)
 917                                 plus = 65536 + plus;
 918                         if (minus < 0)
 919                                 minus = 65536 + minus;
 920                         if (accel_zero_along != AltosLib.MISSING &&
 921                             accel_zero_across != AltosLib.MISSING &&
 922                             accel_zero_through != AltosLib.MISSING)
 923                                 link.printf("c a %d %d %d %d %d\n",
 924                                             plus, minus,
 925                                             accel_zero_along,
 926                                             accel_zero_across,
 927                                             accel_zero_through);
 928                         else
 929                                 link.printf("c a %d %d\n", plus, minus);
 930                 }
 931
 932                 /* HAS_LOG */
 933                 if (flight_log_max != 0 && flight_log_max != AltosLib.MISSING)
 934                         link.printf("c l %d\n", flight_log_max);
 935
 936                 /* HAS_IGNITE */
 937                 if (ignite_mode != AltosLib.MISSING)
 938                         link.printf("c i %d\n", ignite_mode);
 939
 940                 /* HAS_AES */
 941                 /* UI doesn't support AES key config */
 942
 943                 /* AO_PYRO_NUM */
 944                 if (npyro != AltosLib.MISSING) {
 945                         for (int p = 0; p < pyros.length; p++) {
 946                                 link.printf("c P %s\n",
 947                                                    pyros[p].toString());
 948                         }
 949                 }
 950                 if (pyro_firing_time != AltosLib.MISSING)
 951                         link.printf("c I %d\n", (int) (pyro_firing_time * 100.0 + 0.5));
 952
 953                 /* HAS_APRS */
 954                 if (aprs_interval != AltosLib.MISSING)
 955                         link.printf("c A %d\n", aprs_interval);
 956                 if (aprs_ssid != AltosLib.MISSING)
 957                         link.printf("c S %d\n", aprs_ssid);
 958                 if (aprs_format != AltosLib.MISSING)
 959                         link.printf("c C %d\n", aprs_format);
 960                 if (aprs_offset != AltosLib.MISSING)
 961                         link.printf("c O %d\n", aprs_offset);
 962
 963                 /* HAS_BEEP */
 964                 if (beep != AltosLib.MISSING)
 965                         link.printf("c b %d\n", beep);
 966
 967                 /* HAS_RADIO_10MW */
 968                 if (radio_10mw != AltosLib.MISSING)
 969                         link.printf("c p %d\n", radio_10mw);
 970
 971                 if (report_feet != AltosLib.MISSING)
 972                         link.printf("c u %d\n", report_feet);
 973
 974                 /* HAS_GPS_MOSAIC */
 975                 if (gps_receiver != AltosLib.MISSING)
 976                         link.printf("c g %d\n", gps_receiver);
 977
 978                 /* HAS_TRACKER */
 979                 if (tracker_motion != AltosLib.MISSING && tracker_interval != AltosLib.MISSING)
 980                         link.printf("c t %d %d\n", tracker_motion, tracker_interval);
 981
 982                 /* HAS_GYRO */
 983                 /* UI doesn't support accel cal */
 984
 985                 link.printf("c w\n");
 986                 read_link(link, "Saved");
 987         }
 988
 989         public AltosConfigData(AltosLink link) throws InterruptedException, TimeoutException {
 990                 reset();
 991                 link.printf("c s\nf\nv\n");
 992                 read_link(link, "software-version");
 993                 switch (log_format) {
 994                 case AltosLib.AO_LOG_FORMAT_UNKNOWN:
 995                 case AltosLib.AO_LOG_FORMAT_NONE:
 996                         break;
 997                 default:
 998                         link.printf("l\n");
 999                         read_link(link, "done");
1000                         break;
1001                 }
1002                 adjust_accel_cal();
1003         }
1004 }