+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-package org.altusmetrum.altoslib_11;
-
-import java.io.*;
-import java.util.*;
-import java.text.*;
-
-public class AltosEepromMega extends AltosEeprom {
- public static final int record_length = 32;
-
- public static final int max_sat = 12;
-
- private int log_format;
-
- public int record_length() { return record_length; }
-
- /* AO_LOG_FLIGHT elements */
- public int flight() { return data16(0); }
- public int ground_accel() { return data16(2); }
- public int ground_pres() { return data32(4); }
- public int ground_accel_along() { return data16(8); }
- public int ground_accel_across() { return data16(10); }
- public int ground_accel_through() { return data16(12); }
- public int ground_roll() {
- switch (log_format) {
- case AltosLib.AO_LOG_FORMAT_TELEMEGA:
- return data32(16);
- case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
- return data16(14);
- default:
- return AltosLib.MISSING;
- }
- }
- public int ground_pitch() {
- switch (log_format) {
- case AltosLib.AO_LOG_FORMAT_TELEMEGA:
- return data32(20);
- case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
- return data16(16);
- default:
- return AltosLib.MISSING;
- }
- }
- public int ground_yaw() {
- switch (log_format) {
- case AltosLib.AO_LOG_FORMAT_TELEMEGA:
- return data32(24);
- case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
- return data16(18);
- default:
- return AltosLib.MISSING;
- }
- }
-
- /* AO_LOG_STATE elements */
- public int state() { return data16(0); }
- public int reason() { return data16(2); }
-
- /* AO_LOG_SENSOR elements */
- public int pres() { return data32(0); }
- public int temp() { return data32(4); }
- public int accel_x() { return data16(8); }
- public int accel_y() { return data16(10); }
- public int accel_z() { return data16(12); }
- public int gyro_x() { return data16(14); }
- public int gyro_y() { return data16(16); }
- public int gyro_z() { return data16(18); }
- public int mag_x() { return data16(20); }
- public int mag_y() { return data16(22); }
- public int mag_z() { return data16(24); }
- public int accel() { return data16(26); }
-
- /* AO_LOG_TEMP_VOLT elements */
- public int v_batt() { return data16(0); }
- public int v_pbatt() { return data16(2); }
- public int nsense() { return data16(4); }
- public int sense(int i) { return data16(6 + i * 2); }
- public int pyro() { return data16(26); }
-
- /* AO_LOG_GPS_TIME elements */
- public int latitude() { return data32(0); }
- public int longitude() { return data32(4); }
- public int altitude_low() { return data16(8); }
- public int hour() { return data8(10); }
- public int minute() { return data8(11); }
- public int second() { return data8(12); }
- public int flags() { return data8(13); }
- public int year() { return data8(14); }
- public int month() { return data8(15); }
- public int day() { return data8(16); }
- public int course() { return data8(17); }
- public int ground_speed() { return data16(18); }
- public int climb_rate() { return data16(20); }
- public int pdop() { return data8(22); }
- public int hdop() { return data8(23); }
- public int vdop() { return data8(24); }
- public int mode() { return data8(25); }
- public int altitude_high() { return data16(26); }
-
- /* AO_LOG_GPS_SAT elements */
- public int nsat() { return data16(0); }
- public int svid(int n) { return data8(2 + n * 2); }
- public int c_n(int n) { return data8(2 + n * 2 + 1); }
-
- public AltosEepromMega (AltosEepromChunk chunk, int start, int log_format) throws ParseException {
- this.log_format = log_format;
- parse_chunk(chunk, start);
- }
-
- public void update_state(AltosState state) {
- super.update_state(state);
-
- AltosGPS gps;
-
- /* Flush any pending GPS changes */
- if (state.gps_pending) {
- switch (cmd) {
- case AltosLib.AO_LOG_GPS_LAT:
- case AltosLib.AO_LOG_GPS_LON:
- case AltosLib.AO_LOG_GPS_ALT:
- case AltosLib.AO_LOG_GPS_SAT:
- case AltosLib.AO_LOG_GPS_DATE:
- break;
- default:
- state.set_temp_gps();
- break;
- }
- }
-
- switch (cmd) {
- case AltosLib.AO_LOG_FLIGHT:
- state.set_boost_tick(tick);
- state.set_flight(flight());
- state.set_ground_accel(ground_accel());
- state.set_ground_pressure(ground_pres());
- state.set_accel_ground(ground_accel_along(),
- ground_accel_across(),
- ground_accel_through());
- state.set_gyro_zero(ground_roll() / 512.0,
- ground_pitch() / 512.0,
- ground_yaw() / 512.0);
- break;
- case AltosLib.AO_LOG_STATE:
- state.set_tick(tick);
- state.set_state(state());
- break;
- case AltosLib.AO_LOG_SENSOR:
- state.set_tick(tick);
- state.set_ms5607(pres(), temp());
-
- AltosIMU imu = new AltosIMU(accel_y(), /* along */
- accel_x(), /* across */
- accel_z(), /* through */
- gyro_y(), /* roll */
- gyro_x(), /* pitch */
- gyro_z()); /* yaw */
-
- if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
- state.check_imu_wrap(imu);
-
- state.set_imu(imu);
-
- state.set_mag(new AltosMag(mag_x(),
- mag_y(),
- mag_z()));
-
- state.set_accel(accel());
-
- break;
- case AltosLib.AO_LOG_TEMP_VOLT:
- state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
- state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
-
- int nsense = nsense();
-
- state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
- state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
-
- double voltages[] = new double[nsense-2];
- for (int i = 0; i < nsense-2; i++)
- voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
-
- state.set_ignitor_voltage(voltages);
- state.set_pyro_fired(pyro());
- break;
- case AltosLib.AO_LOG_GPS_TIME:
- state.set_tick(tick);
- gps = state.make_temp_gps(false);
- gps.lat = latitude() / 1e7;
- gps.lon = longitude() / 1e7;
-
- if (state.altitude_32())
- gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
- else
- gps.alt = altitude_low();
-
- gps.hour = hour();
- gps.minute = minute();
- gps.second = second();
-
- int flags = flags();
-
- gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
- gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
- gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
- AltosLib.AO_GPS_NUM_SAT_SHIFT;
-
- gps.year = 2000 + year();
- gps.month = month();
- gps.day = day();
- gps.ground_speed = ground_speed() * 1.0e-2;
- gps.course = course() * 2;
- gps.climb_rate = climb_rate() * 1.0e-2;
- if (state.compare_version("1.4.9") >= 0) {
- gps.pdop = pdop() / 10.0;
- gps.hdop = hdop() / 10.0;
- gps.vdop = vdop() / 10.0;
- } else {
- gps.pdop = pdop() / 100.0;
- if (gps.pdop < 0.8)
- gps.pdop += 2.56;
- gps.hdop = hdop() / 100.0;
- if (gps.hdop < 0.8)
- gps.hdop += 2.56;
- gps.vdop = vdop() / 100.0;
- if (gps.vdop < 0.8)
- gps.vdop += 2.56;
- }
- break;
- case AltosLib.AO_LOG_GPS_SAT:
- state.set_tick(tick);
- gps = state.make_temp_gps(true);
-
- int n = nsat();
- if (n > max_sat)
- n = max_sat;
- for (int i = 0; i < n; i++)
- gps.add_sat(svid(i), c_n(i));
- break;
- }
- }
-
- public AltosEepromMega (String line, int log_format) {
- this.log_format = log_format;
- parse_string(line);
- }
-
- static public LinkedList<AltosEeprom> read(FileInputStream input, int log_format) {
- LinkedList<AltosEeprom> megas = new LinkedList<AltosEeprom>();
-
- for (;;) {
- try {
- String line = AltosLib.gets(input);
- if (line == null)
- break;
- try {
- AltosEepromMega mega = new AltosEepromMega(line, log_format);
- if (mega.cmd != AltosLib.AO_LOG_INVALID)
- megas.add(mega);
- } catch (Exception e) {
- System.out.printf ("exception\n");
- }
- } catch (IOException ie) {
- break;
- }
- }
-
- return megas;
- }
-}
projects / fw / altos / blobdiff