static final int AO_LOG_PRODUCT = 2001;
static final int AO_LOG_SERIAL_NUMBER = 2002;
static final int AO_LOG_LOG_FORMAT = 2003;
+
+ /* Added for header fields in megametrum files */
+ static final int AO_LOG_BARO_RESERVED = 3000;
+ static final int AO_LOG_BARO_SENS = 3001;
+ static final int AO_LOG_BARO_OFF = 3002;
+ static final int AO_LOG_BARO_TCS = 3004;
+ static final int AO_LOG_BARO_TCO = 3005;
+ static final int AO_LOG_BARO_TREF = 3006;
+ static final int AO_LOG_BARO_TEMPSENS = 3007;
+ static final int AO_LOG_BARO_CRC = 3008;
+
static final int AO_LOG_SOFTWARE_VERSION = 9999;
/* Added to flag invalid records */
static final int AO_LOG_FORMAT_TINY = 2;
static final int AO_LOG_FORMAT_TELEMETRY = 3;
static final int AO_LOG_FORMAT_TELESCIENCE = 4;
+ static final int AO_LOG_FORMAT_MEGAMETRUM = 5;
static final int AO_LOG_FORMAT_NONE = 127;
static boolean isspace(int c) {
LinkedList<AltosRecord> pad_records;
AltosState state;
- static final int ALTOS_CSV_VERSION = 4;
+ static final int ALTOS_CSV_VERSION = 5;
/* Version 4 format:
*
* drogue (V)
* main (V)
*
+ * Advanced sensors (if available)
+ * accel_x (m/s²)
+ * accel_y (m/s²)
+ * accel_z (m/s²)
+ * gyro_x (d/s)
+ * gyro_y (d/s)
+ * gyro_z (d/s)
+ * mag_x (g)
+ * mag_y (g)
+ * mag_z (g)
+ *
* GPS data (if available)
* connected (1/0)
* locked (1/0)
record.main_voltage());
}
+ void write_advanced_header() {
+ out.printf("accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z");
+ }
+
+ void write_advanced(AltosRecord record) {
+ AltosIMU imu = record.imu;
+ AltosMag mag = record.mag;
+
+ if (imu == null)
+ imu = new AltosIMU();
+ if (mag == null)
+ mag = new AltosMag();
+ out.printf("%d,%d,%d,%d,%d,%d,%d,%d,%d",
+ imu.accel_x, imu.accel_y, imu.accel_z,
+ imu.gyro_x, imu.gyro_y, imu.gyro_z,
+ mag.x, mag.y, mag.z);
+ }
+
void write_gps_header() {
out.printf("connected,locked,nsat,latitude,longitude,altitude,year,month,day,hour,minute,second,pad_dist,pad_range,pad_az,pad_el,hdop");
}
out.printf(",0");
}
- void write_header(boolean gps, boolean companion) {
+ void write_header(boolean advanced, boolean gps, boolean companion) {
out.printf("#"); write_general_header();
out.printf(","); write_flight_header();
out.printf(","); write_basic_header();
+ if (advanced)
+ out.printf(","); write_advanced_header();
if (gps) {
out.printf(","); write_gps_header();
out.printf(","); write_gps_sat_header();
state = new AltosState(record, state);
write_general(record); out.printf(",");
write_flight(record); out.printf(",");
- write_basic(record);
+ write_basic(record); out.printf(",");
+ if (record.imu != null || record.mag != null)
+ write_advanced(record);
if (record.gps != null) {
out.printf(",");
write_gps(record); out.printf(",");
if (record.state == Altos.ao_flight_startup)
return;
if (!header_written) {
- write_header(record.gps != null, record.companion != null);
+ write_header(record.imu != null || record.mag != null,
+ record.gps != null, record.companion != null);
header_written = true;
}
if (!seen_boost) {
}
public AltosConfigData(AltosSerial serial_line) throws InterruptedException, TimeoutException {
- serial_line.printf("c s\nf\nl\nv\n");
+ serial_line.printf("c s\np\nf\nl\nv\n");
lines = new LinkedList<String>();
radio_setting = 0;
radio_frequency = 0;
} else if (filename.endsWith("telem")) {
FileInputStream in = new FileInputStream(file);
return new AltosTelemetryIterable(in);
+ } else if (filename.endsWith("mega")) {
+ FileInputStream in = new FileInputStream(file);
+ return new AltosEepromMegaIterable(in);
} else {
throw new FileNotFoundException();
}
return data[offset] | (data[offset + 1] << 8);
}
+ int data32(int offset) {
+ return data[offset] | (data[offset + 1] << 8) |
+ (data[offset+2] << 16) | (data[offset+3] << 24);
+ }
+
boolean erased(int start, int len) {
for (int i = 0; i < len; i++)
if (data[start+i] != 0xff)
done = true;
}
+ void LogMega(AltosEepromMega r) throws IOException {
+ if (r.cmd != Altos.AO_LOG_INVALID) {
+ String log_line = String.format("%c %4x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x\n",
+ r.cmd, r.tick,
+ r.data8[0], r.data8[1], r.data8[2], r.data8[3],
+ r.data8[4], r.data8[5], r.data8[6], r.data8[7],
+ r.data8[8], r.data8[9], r.data8[10], r.data8[11],
+ r.data8[12], r.data8[13], r.data8[14], r.data8[15],
+ r.data8[16], r.data8[17], r.data8[18], r.data8[19],
+ r.data8[20], r.data8[21], r.data8[22], r.data8[23],
+ r.data8[24], r.data8[25], r.data8[26], r.data8[27]);
+ if (eeprom_file != null)
+ eeprom_file.write(log_line);
+ else
+ eeprom_pending.add(log_line);
+ }
+ }
+
+ void CaptureMega(AltosEepromChunk eechunk) throws IOException {
+ boolean any_valid = false;
+
+ extension = "mega";
+ set_serial(flights.config_data.serial);
+ for (int i = 0; i < eechunk.chunk_size && !done; i += AltosEepromMega.record_length) {
+ try {
+ AltosEepromMega r = new AltosEepromMega(eechunk, i);
+ if (r.cmd == Altos.AO_LOG_FLIGHT)
+ set_flight(r.data16(0));
+
+ /* Monitor state transitions to update display */
+ if (r.cmd == Altos.AO_LOG_STATE && r.data16(0) <= Altos.ao_flight_landed) {
+ state = r.data16(0);
+ if (state > Altos.ao_flight_pad)
+ want_file = true;
+ }
+
+ if (r.cmd == Altos.AO_LOG_GPS_TIME) {
+ year = 2000 + r.data8(14);
+ month = r.data8(15);
+ day = r.data8(14);
+ want_file = true;
+ }
+
+ if (r.cmd == Altos.AO_LOG_STATE && r.data16(0) == Altos.ao_flight_landed)
+ done = true;
+ any_valid = true;
+ LogMega(r);
+ } catch (ParseException pe) {
+ if (parse_exception == null)
+ parse_exception = pe;
+ }
+ }
+ if (!any_valid)
+ done = true;
+
+ CheckFile(false);
+ }
+
void CaptureTelemetry(AltosEepromChunk eechunk) throws IOException {
}
done = false;
start = true;
- if (flights.config_data.serial == 0)
- throw new IOException("no serial number found");
+// if (flights.config_data.serial == 0)
+// throw new IOException("no serial number found");
+ log_format = 5;
+ System.out.printf ("log format: %d\n", log_format);
/* Reset per-capture variables */
flight = 0;
year = 0;
extension = "science";
CaptureTeleScience(eechunk);
break;
+ case Altos.AO_LOG_FORMAT_MEGAMETRUM:
+ extension = "mega";
+ CaptureMega(eechunk);
}
}
CheckFile(true);
AltosRecord r = new AltosRecord(state);
r.time = (r.tick - eeprom.boost_tick) / 100.0;
list.add(r);
- return list;
+ return list;
}
public Iterator<AltosRecord> iterator() {
case Altos.AO_LOG_SOFTWARE_VERSION:
out.printf ("# Software version: %s\n", record.data);
break;
+ case Altos.AO_LOG_BARO_RESERVED:
+ out.printf ("# Baro reserved: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_BARO_SENS:
+ out.printf ("# Baro sens: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_BARO_OFF:
+ out.printf ("# Baro off: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_BARO_TCS:
+ out.printf ("# Baro tcs: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_BARO_TCO:
+ out.printf ("# Baro tco: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_BARO_TREF:
+ out.printf ("# Baro tref: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_BARO_TEMPSENS:
+ out.printf ("# Baro tempsens: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_BARO_CRC:
+ out.printf ("# Baro crc: %d\n", record.a);
+ break;
}
}
}
if (remote)
serial_line.start_remote();
config_data = new AltosConfigData (serial_line);
- if (config_data.serial == 0)
- throw new IOException("no serial number found");
+// if (config_data.serial == 0)
+// throw new IOException("no serial number found");
ArrayList<AltosEepromFlight> flights = new ArrayList<AltosEepromFlight>();
--- /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; version 2 of the License.
+ *
+ * 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 altosui;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.*;
+
+public class AltosEepromMega {
+ public int cmd;
+ public int tick;
+ public boolean valid;
+ public String data;
+ int a, b;
+
+ public int data8[];
+
+ static final int record_length = 32;
+ static final int header_length = 4;
+ static final int data_length = record_length - header_length;
+
+ public int data8(int i) {
+ return data8[i];
+ }
+
+ public int data16(int i) {
+ return ((data8[i] | (data8[i+1] << 8)) << 16) >> 16;
+ }
+
+ public int data32(int i) {
+ return data8[i] | (data8[i+1] << 8) | (data8[i+2] << 16) | (data8[i+3] << 24);
+ }
+
+ /* 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_temp() { return data32(8); }
+
+ /* 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() {
+ int a = data16(26);
+ if (a != 0xffff)
+ return a;
+ return accel_y();
+ }
+
+ /* AO_LOG_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 AltosEepromMega (AltosEepromChunk chunk, int start) throws ParseException {
+ cmd = chunk.data(start);
+
+ valid = !chunk.erased(start, record_length);
+ if (valid) {
+ if (AltosConvert.checksum(chunk.data, start, record_length) != 0)
+ throw new ParseException(String.format("invalid checksum at 0x%x",
+ chunk.address + start), 0);
+ } else {
+ cmd = Altos.AO_LOG_INVALID;
+ }
+
+ tick = chunk.data16(start+2);
+
+ data8 = new int[data_length];
+ for (int i = 0; i < data_length; i++)
+ data8[i] = chunk.data(start + header_length + i);
+ }
+
+ public AltosEepromMega (String line) {
+ valid = false;
+ tick = 0;
+
+ if (line == null) {
+ cmd = Altos.AO_LOG_INVALID;
+ line = "";
+ } else {
+ try {
+ String[] tokens = line.split("\\s+");
+
+ if (tokens[0].length() == 1) {
+ if (tokens.length != 2 + data_length) {
+ cmd = Altos.AO_LOG_INVALID;
+ data = line;
+ } else {
+ cmd = tokens[0].codePointAt(0);
+ tick = Integer.parseInt(tokens[1],16);
+ valid = true;
+ data8 = new int[data_length];
+ for (int i = 0; i < data_length; i++)
+ data8[i] = Integer.parseInt(tokens[2 + i],16);
+ }
+ } else if (tokens[0].equals("Config") && tokens[1].equals("version:")) {
+ cmd = Altos.AO_LOG_CONFIG_VERSION;
+ data = tokens[2];
+ } else if (tokens[0].equals("Main") && tokens[1].equals("deploy:")) {
+ cmd = Altos.AO_LOG_MAIN_DEPLOY;
+ a = Integer.parseInt(tokens[2]);
+ } else if (tokens[0].equals("Apogee") && tokens[1].equals("delay:")) {
+ cmd = Altos.AO_LOG_APOGEE_DELAY;
+ a = Integer.parseInt(tokens[2]);
+ } else if (tokens[0].equals("Radio") && tokens[1].equals("channel:")) {
+ cmd = Altos.AO_LOG_RADIO_CHANNEL;
+ a = Integer.parseInt(tokens[2]);
+ } else if (tokens[0].equals("Callsign:")) {
+ cmd = Altos.AO_LOG_CALLSIGN;
+ data = tokens[1].replaceAll("\"","");
+ } else if (tokens[0].equals("Accel") && tokens[1].equals("cal")) {
+ cmd = Altos.AO_LOG_ACCEL_CAL;
+ a = Integer.parseInt(tokens[3]);
+ b = Integer.parseInt(tokens[5]);
+ } else if (tokens[0].equals("Radio") && tokens[1].equals("cal:")) {
+ cmd = Altos.AO_LOG_RADIO_CAL;
+ a = Integer.parseInt(tokens[2]);
+ } else if (tokens[0].equals("Max") && tokens[1].equals("flight") && tokens[2].equals("log:")) {
+ cmd = Altos.AO_LOG_MAX_FLIGHT_LOG;
+ a = Integer.parseInt(tokens[3]);
+ } else if (tokens[0].equals("manufacturer")) {
+ cmd = Altos.AO_LOG_MANUFACTURER;
+ data = tokens[1];
+ } else if (tokens[0].equals("product")) {
+ cmd = Altos.AO_LOG_PRODUCT;
+ data = tokens[1];
+ } else if (tokens[0].equals("serial-number")) {
+ cmd = Altos.AO_LOG_SERIAL_NUMBER;
+ a = Integer.parseInt(tokens[1]);
+ } else if (tokens[0].equals("log-format")) {
+ cmd = Altos.AO_LOG_LOG_FORMAT;
+ a = Integer.parseInt(tokens[1]);
+ } else if (tokens[0].equals("software-version")) {
+ cmd = Altos.AO_LOG_SOFTWARE_VERSION;
+ data = tokens[1];
+ } else if (tokens[0].equals("ms5607")) {
+ if (tokens[1].equals("reserved:")) {
+ cmd = Altos.AO_LOG_BARO_RESERVED;
+ a = Integer.parseInt(tokens[2]);
+ } else if (tokens[1].equals("sens:")) {
+ cmd = Altos.AO_LOG_BARO_SENS;
+ a = Integer.parseInt(tokens[2]);
+ } else if (tokens[1].equals("off:")) {
+ cmd = Altos.AO_LOG_BARO_OFF;
+ a = Integer.parseInt(tokens[2]);
+ } else if (tokens[1].equals("tcs:")) {
+ cmd = Altos.AO_LOG_BARO_TCS;
+ a = Integer.parseInt(tokens[2]);
+ } else if (tokens[1].equals("tco:")) {
+ cmd = Altos.AO_LOG_BARO_TCO;
+ a = Integer.parseInt(tokens[2]);
+ } else if (tokens[1].equals("tref:")) {
+ cmd = Altos.AO_LOG_BARO_TREF;
+ a = Integer.parseInt(tokens[2]);
+ } else if (tokens[1].equals("tempsens:")) {
+ cmd = Altos.AO_LOG_BARO_TEMPSENS;
+ a = Integer.parseInt(tokens[2]);
+ } else if (tokens[1].equals("crc:")) {
+ cmd = Altos.AO_LOG_BARO_CRC;
+ a = Integer.parseInt(tokens[2]);
+ } else {
+ cmd = Altos.AO_LOG_INVALID;
+ data = line;
+ }
+ } else {
+ cmd = Altos.AO_LOG_INVALID;
+ data = line;
+ }
+ } catch (NumberFormatException ne) {
+ cmd = Altos.AO_LOG_INVALID;
+ data = line;
+ }
+ }
+ }
+
+ public AltosEepromMega(int in_cmd, int in_tick) {
+ cmd = in_cmd;
+ tick = in_tick;
+ valid = true;
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2010 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; version 2 of the License.
+ *
+ * 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 altosui;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.LinkedBlockingQueue;
+
+/*
+ * AltosRecords with an index field so they can be sorted by tick while preserving
+ * the original ordering for elements with matching ticks
+ */
+class AltosOrderedMegaRecord extends AltosEepromMega implements Comparable<AltosOrderedMegaRecord> {
+
+ public int index;
+
+ public AltosOrderedMegaRecord(String line, int in_index, int prev_tick, boolean prev_tick_valid)
+ throws ParseException {
+ super(line);
+ if (prev_tick_valid) {
+ tick |= (prev_tick & ~0xffff);
+ if (tick < prev_tick) {
+ if (prev_tick - tick > 0x8000)
+ tick += 0x10000;
+ } else {
+ if (tick - prev_tick > 0x8000)
+ tick -= 0x10000;
+ }
+ }
+ index = in_index;
+ }
+
+ public AltosOrderedMegaRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) {
+ super(in_cmd, in_tick);
+ a = in_a;
+ b = in_b;
+ index = in_index;
+ }
+
+ public String toString() {
+ return String.format("%d.%d %04x %04x %04x",
+ cmd, index, tick, a, b);
+ }
+
+ public int compareTo(AltosOrderedMegaRecord o) {
+ int tick_diff = tick - o.tick;
+ if (tick_diff != 0)
+ return tick_diff;
+ return index - o.index;
+ }
+}
+
+public class AltosEepromMegaIterable extends AltosRecordIterable {
+
+ static final int seen_flight = 1;
+ static final int seen_sensor = 2;
+ static final int seen_temp_volt = 4;
+ static final int seen_deploy = 8;
+ static final int seen_gps_time = 16;
+ static final int seen_gps_lat = 32;
+ static final int seen_gps_lon = 64;
+
+ static final int seen_basic = seen_flight|seen_sensor;
+
+ boolean has_accel;
+ boolean has_gps;
+ boolean has_ignite;
+
+ AltosEepromMega flight_record;
+ AltosEepromMega gps_date_record;
+
+ TreeSet<AltosOrderedMegaRecord> records;
+
+ AltosMs5607 baro;
+
+ LinkedList<AltosRecord> list;
+
+ class EepromState {
+ int seen;
+ int n_pad_samples;
+ double ground_pres;
+ int gps_tick;
+ int boost_tick;
+ int sensor_tick;
+
+ EepromState() {
+ seen = 0;
+ n_pad_samples = 0;
+ ground_pres = 0.0;
+ gps_tick = 0;
+ }
+ }
+
+ void update_state(AltosRecord state, AltosEepromMega record, EepromState eeprom) {
+ state.tick = record.tick;
+ switch (record.cmd) {
+ case Altos.AO_LOG_FLIGHT:
+ eeprom.seen |= seen_flight;
+ state.ground_accel = record.ground_accel();
+ state.flight_accel = record.ground_accel();
+ state.ground_pres = baro.set(record.ground_pres(), record.ground_temp());
+ state.flight_pres = state.ground_pres;
+ state.flight = record.data16(0);
+ eeprom.boost_tick = record.tick;
+ break;
+ case Altos.AO_LOG_SENSOR:
+ state.accel = record.accel();
+ state.pres = baro.set(record.pres(), record.temp());
+ state.temp = baro.cc;
+ state.imu = new AltosIMU();
+ state.imu.accel_x = record.accel_x();
+ state.imu.accel_y = record.accel_y();
+ state.imu.accel_z = record.accel_z();
+ state.imu.gyro_x = record.gyro_x();
+ state.imu.gyro_y = record.gyro_y();
+ state.imu.gyro_z = record.gyro_z();
+ state.mag = new AltosMag();
+ state.mag.x = record.mag_x();
+ state.mag.y = record.mag_y();
+ state.mag.z = record.mag_z();
+ if (state.state < Altos.ao_flight_boost) {
+ eeprom.n_pad_samples++;
+ eeprom.ground_pres += state.pres;
+ state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples);
+ state.flight_pres = state.ground_pres;
+ } else {
+ state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
+ }
+ state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
+ if ((eeprom.seen & seen_sensor) == 0)
+ eeprom.sensor_tick = record.tick - 1;
+ state.flight_vel += (state.accel_plus_g - state.accel) * (record.tick - eeprom.sensor_tick);
+ eeprom.seen |= seen_sensor;
+ eeprom.sensor_tick = record.tick;
+ has_accel = true;
+ break;
+ case Altos.AO_LOG_PRESSURE:
+ state.pres = record.b;
+ state.flight_pres = state.pres;
+ if (eeprom.n_pad_samples == 0) {
+ eeprom.n_pad_samples++;
+ state.ground_pres = state.pres;
+ }
+ eeprom.seen |= seen_sensor;
+ break;
+ case Altos.AO_LOG_TEMP_VOLT:
+ state.batt = record.v_batt();
+ eeprom.seen |= seen_temp_volt;
+ break;
+ case Altos.AO_LOG_DEPLOY:
+ state.drogue = record.a;
+ state.main = record.b;
+ eeprom.seen |= seen_deploy;
+ has_ignite = true;
+ break;
+ case Altos.AO_LOG_STATE:
+ state.state = record.state();
+ break;
+ case Altos.AO_LOG_GPS_TIME:
+ eeprom.gps_tick = state.tick;
+ AltosGPS old = state.gps;
+ state.gps = new AltosGPS();
+
+ /* GPS date doesn't get repeated through the file */
+ if (old != null) {
+ state.gps.year = old.year;
+ state.gps.month = old.month;
+ state.gps.day = old.day;
+ }
+ state.gps.hour = (record.a & 0xff);
+ state.gps.minute = (record.a >> 8);
+ state.gps.second = (record.b & 0xff);
+
+ int flags = (record.b >> 8);
+ state.gps.connected = (flags & Altos.AO_GPS_RUNNING) != 0;
+ state.gps.locked = (flags & Altos.AO_GPS_VALID) != 0;
+ state.gps.nsat = (flags & Altos.AO_GPS_NUM_SAT_MASK) >>
+ Altos.AO_GPS_NUM_SAT_SHIFT;
+ state.new_gps = true;
+ has_gps = true;
+ break;
+ case Altos.AO_LOG_GPS_LAT:
+ int lat32 = record.a | (record.b << 16);
+ state.gps.lat = (double) lat32 / 1e7;
+ break;
+ case Altos.AO_LOG_GPS_LON:
+ int lon32 = record.a | (record.b << 16);
+ state.gps.lon = (double) lon32 / 1e7;
+ break;
+ case Altos.AO_LOG_GPS_ALT:
+ state.gps.alt = record.a;
+ break;
+ case Altos.AO_LOG_GPS_SAT:
+ if (state.tick == eeprom.gps_tick) {
+ int svid = record.a;
+ int c_n0 = record.b >> 8;
+ state.gps.add_sat(svid, c_n0);
+ }
+ break;
+ case Altos.AO_LOG_GPS_DATE:
+ state.gps.year = (record.a & 0xff) + 2000;
+ state.gps.month = record.a >> 8;
+ state.gps.day = record.b & 0xff;
+ break;
+
+ case Altos.AO_LOG_CONFIG_VERSION:
+ break;
+ case Altos.AO_LOG_MAIN_DEPLOY:
+ break;
+ case Altos.AO_LOG_APOGEE_DELAY:
+ break;
+ case Altos.AO_LOG_RADIO_CHANNEL:
+ break;
+ case Altos.AO_LOG_CALLSIGN:
+ state.callsign = record.data;
+ break;
+ case Altos.AO_LOG_ACCEL_CAL:
+ state.accel_plus_g = record.a;
+ state.accel_minus_g = record.b;
+ break;
+ case Altos.AO_LOG_RADIO_CAL:
+ break;
+ case Altos.AO_LOG_MANUFACTURER:
+ break;
+ case Altos.AO_LOG_PRODUCT:
+ break;
+ case Altos.AO_LOG_SERIAL_NUMBER:
+ state.serial = record.a;
+ break;
+ case Altos.AO_LOG_SOFTWARE_VERSION:
+ break;
+ case Altos.AO_LOG_BARO_RESERVED:
+ baro.reserved = record.a;
+ break;
+ case Altos.AO_LOG_BARO_SENS:
+ baro.sens =record.a;
+ break;
+ case Altos.AO_LOG_BARO_OFF:
+ baro.off =record.a;
+ break;
+ case Altos.AO_LOG_BARO_TCS:
+ baro.tcs =record.a;
+ break;
+ case Altos.AO_LOG_BARO_TCO:
+ baro.tco =record.a;
+ break;
+ case Altos.AO_LOG_BARO_TREF:
+ baro.tref =record.a;
+ break;
+ case Altos.AO_LOG_BARO_TEMPSENS:
+ baro.tempsens =record.a;
+ break;
+ case Altos.AO_LOG_BARO_CRC:
+ baro.crc =record.a;
+ break;
+ }
+ state.seen |= eeprom.seen;
+ }
+
+ LinkedList<AltosRecord> make_list() {
+ LinkedList<AltosRecord> list = new LinkedList<AltosRecord>();
+ Iterator<AltosOrderedMegaRecord> iterator = records.iterator();
+ AltosOrderedMegaRecord record = null;
+ AltosRecord state = new AltosRecord();
+ boolean last_reported = false;
+ EepromState eeprom = new EepromState();
+
+ state.state = Altos.ao_flight_pad;
+ state.accel_plus_g = 15758;
+ state.accel_minus_g = 16294;
+
+ /* Pull in static data from the flight and gps_date records */
+ if (flight_record != null)
+ update_state(state, flight_record, eeprom);
+ if (gps_date_record != null)
+ update_state(state, gps_date_record, eeprom);
+
+ while (iterator.hasNext()) {
+ record = iterator.next();
+ if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
+ AltosRecord r = new AltosRecord(state);
+ r.time = (r.tick - eeprom.boost_tick) / 100.0;
+ list.add(r);
+ }
+ update_state(state, record, eeprom);
+ }
+ AltosRecord r = new AltosRecord(state);
+ r.time = (r.tick - eeprom.boost_tick) / 100.0;
+ list.add(r);
+ return list;
+ }
+
+ public Iterator<AltosRecord> iterator() {
+ if (list == null)
+ list = make_list();
+ return list.iterator();
+ }
+
+ public boolean has_gps() { return has_gps; }
+ public boolean has_accel() { return has_accel; }
+ public boolean has_ignite() { return has_ignite; }
+
+ public void write_comments(PrintStream out) {
+ Iterator<AltosOrderedMegaRecord> iterator = records.iterator();
+ out.printf("# Comments\n");
+ while (iterator.hasNext()) {
+ AltosOrderedMegaRecord record = iterator.next();
+ switch (record.cmd) {
+ case Altos.AO_LOG_CONFIG_VERSION:
+ out.printf("# Config version: %s\n", record.data);
+ break;
+ case Altos.AO_LOG_MAIN_DEPLOY:
+ out.printf("# Main deploy: %s\n", record.a);
+ break;
+ case Altos.AO_LOG_APOGEE_DELAY:
+ out.printf("# Apogee delay: %s\n", record.a);
+ break;
+ case Altos.AO_LOG_RADIO_CHANNEL:
+ out.printf("# Radio channel: %s\n", record.a);
+ break;
+ case Altos.AO_LOG_CALLSIGN:
+ out.printf("# Callsign: %s\n", record.data);
+ break;
+ case Altos.AO_LOG_ACCEL_CAL:
+ out.printf ("# Accel cal: %d %d\n", record.a, record.b);
+ break;
+ case Altos.AO_LOG_RADIO_CAL:
+ out.printf ("# Radio cal: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_MAX_FLIGHT_LOG:
+ out.printf ("# Max flight log: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_MANUFACTURER:
+ out.printf ("# Manufacturer: %s\n", record.data);
+ break;
+ case Altos.AO_LOG_PRODUCT:
+ out.printf ("# Product: %s\n", record.data);
+ break;
+ case Altos.AO_LOG_SERIAL_NUMBER:
+ out.printf ("# Serial number: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_SOFTWARE_VERSION:
+ out.printf ("# Software version: %s\n", record.data);
+ break;
+ case Altos.AO_LOG_BARO_RESERVED:
+ out.printf ("# Baro reserved: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_BARO_SENS:
+ out.printf ("# Baro sens: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_BARO_OFF:
+ out.printf ("# Baro off: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_BARO_TCS:
+ out.printf ("# Baro tcs: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_BARO_TCO:
+ out.printf ("# Baro tco: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_BARO_TREF:
+ out.printf ("# Baro tref: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_BARO_TEMPSENS:
+ out.printf ("# Baro tempsens: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_BARO_CRC:
+ out.printf ("# Baro crc: %d\n", record.a);
+ break;
+ }
+ }
+ }
+
+ /*
+ * Given an AO_LOG_GPS_TIME record with correct time, and one
+ * missing time, rewrite the missing time values with the good
+ * ones, assuming that the difference between them is 'diff' seconds
+ */
+ void update_time(AltosOrderedMegaRecord good, AltosOrderedMegaRecord bad) {
+
+ int diff = (bad.tick - good.tick + 50) / 100;
+
+ int hour = (good.a & 0xff);
+ int minute = (good.a >> 8);
+ int second = (good.b & 0xff);
+ int flags = (good.b >> 8);
+ int seconds = hour * 3600 + minute * 60 + second;
+
+ /* Make sure this looks like a good GPS value */
+ if ((flags & Altos.AO_GPS_NUM_SAT_MASK) >> Altos.AO_GPS_NUM_SAT_SHIFT < 4)
+ flags = (flags & ~Altos.AO_GPS_NUM_SAT_MASK) | (4 << Altos.AO_GPS_NUM_SAT_SHIFT);
+ flags |= Altos.AO_GPS_RUNNING;
+ flags |= Altos.AO_GPS_VALID;
+
+ int new_seconds = seconds + diff;
+ if (new_seconds < 0)
+ new_seconds += 24 * 3600;
+ int new_second = (new_seconds % 60);
+ int new_minutes = (new_seconds / 60);
+ int new_minute = (new_minutes % 60);
+ int new_hours = (new_minutes / 60);
+ int new_hour = (new_hours % 24);
+
+ bad.a = new_hour + (new_minute << 8);
+ bad.b = new_second + (flags << 8);
+ }
+
+ /*
+ * Read the whole file, dumping records into a RB tree so
+ * we can enumerate them in time order -- the eeprom data
+ * are sometimes out of order with GPS data getting timestamps
+ * matching the first packet out of the GPS unit but not
+ * written until the final GPS packet has been received.
+ */
+ public AltosEepromMegaIterable (FileInputStream input) {
+ records = new TreeSet<AltosOrderedMegaRecord>();
+
+ AltosOrderedMegaRecord last_gps_time = null;
+
+ baro = new AltosMs5607();
+
+ int index = 0;
+ int prev_tick = 0;
+ boolean prev_tick_valid = false;
+ boolean missing_time = false;
+
+ try {
+ for (;;) {
+ String line = AltosRecord.gets(input);
+ if (line == null)
+ break;
+ AltosOrderedMegaRecord record = new AltosOrderedMegaRecord(line, index++, prev_tick, prev_tick_valid);
+ if (record == null)
+ break;
+ if (record.cmd == Altos.AO_LOG_INVALID)
+ continue;
+ prev_tick = record.tick;
+ if (record.cmd < Altos.AO_LOG_CONFIG_VERSION)
+ prev_tick_valid = true;
+ if (record.cmd == Altos.AO_LOG_FLIGHT) {
+ flight_record = record;
+ continue;
+ }
+
+ /* Two firmware bugs caused the loss of some GPS data.
+ * The flight date would never be recorded, and often
+ * the flight time would get overwritten by another
+ * record. Detect the loss of the GPS date and fix up the
+ * missing time records
+ */
+ if (record.cmd == Altos.AO_LOG_GPS_DATE) {
+ gps_date_record = record;
+ continue;
+ }
+
+ /* go back and fix up any missing time values */
+ if (record.cmd == Altos.AO_LOG_GPS_TIME) {
+ last_gps_time = record;
+ if (missing_time) {
+ Iterator<AltosOrderedMegaRecord> iterator = records.iterator();
+ while (iterator.hasNext()) {
+ AltosOrderedMegaRecord old = iterator.next();
+ if (old.cmd == Altos.AO_LOG_GPS_TIME &&
+ old.a == -1 && old.b == -1)
+ {
+ update_time(record, old);
+ }
+ }
+ missing_time = false;
+ }
+ }
+
+ if (record.cmd == Altos.AO_LOG_GPS_LAT) {
+ if (last_gps_time == null || last_gps_time.tick != record.tick) {
+ AltosOrderedMegaRecord add_gps_time = new AltosOrderedMegaRecord(Altos.AO_LOG_GPS_TIME,
+ record.tick,
+ -1, -1, index-1);
+ if (last_gps_time != null)
+ update_time(last_gps_time, add_gps_time);
+ else
+ missing_time = true;
+
+ records.add(add_gps_time);
+ record.index = index++;
+ }
+ }
+ records.add(record);
+
+ /* Bail after reading the 'landed' record; we're all done */
+ if (record.cmd == Altos.AO_LOG_STATE &&
+ record.a == Altos.ao_flight_landed)
+ break;
+ }
+ } catch (IOException io) {
+ } catch (ParseException pe) {
+ }
+ try {
+ input.close();
+ } catch (IOException ie) {
+ }
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2012 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; version 2 of the License.
+ *
+ * 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 altosui;
+
+public class AltosIMU {
+ int accel_x;
+ int accel_y;
+ int accel_z;
+
+ int gyro_x;
+ int gyro_y;
+ int gyro_z;
+}
+
\ No newline at end of file
--- /dev/null
+/*
+ * Copyright © 2012 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; version 2 of the License.
+ *
+ * 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 altosui;
+
+public class AltosMag {
+ int x;
+ int y;
+ int z;
+}
+
\ No newline at end of file
--- /dev/null
+/*
+ * Copyright © 2012 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; version 2 of the License.
+ *
+ * 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 altosui;
+
+public class AltosMs5607 {
+ int reserved;
+ int sens;
+ int off;
+ int tcs;
+ int tco;
+ int tref;
+ int tempsens;
+ int crc;
+
+ int raw_pres;
+ int raw_temp;
+ public int pa;
+ public int cc;
+
+ void convert() {
+ int dT;
+ int TEMP;
+ long OFF;
+ long SENS;
+ int P;
+
+ dT = raw_temp - ((int) tref << 8);
+
+ TEMP = (int) (2000 + (((long) dT * tempsens) >> 23));
+
+ OFF = ((long) off << 17) + (((long) tco * dT) >> 6);
+
+ SENS = ((long) sens << 16) + (((long) tcs * dT) >> 7);
+
+ if (TEMP < 2000) {
+ int T2 = (int) (((long) dT * (long) dT) >> 31);
+ int TEMPM = TEMP - 2000;
+ long OFF2 = (61 * (long) TEMPM * (long) TEMPM) >> 4;
+ long SENS2 = 2 * (long) TEMPM * (long) TEMPM;
+ if (TEMP < 1500) {
+ int TEMPP = TEMP + 1500;
+ long TEMPP2 = TEMPP * TEMPP;
+ OFF2 = OFF2 + 15 * TEMPP2;
+ SENS2 = SENS2 + 8 * TEMPP2;
+ }
+ TEMP -= T2;
+ OFF -= OFF2;
+ SENS -= SENS2;
+ }
+
+ pa = (int) (((((long) raw_pres * SENS) >> 21) - OFF) >> 15);
+ cc = TEMP;
+ }
+
+ public int set(int in_pres, int in_temp) {
+ raw_pres = in_pres;
+ raw_temp = in_temp;
+ convert();
+ return pa;
+ }
+}
AltosGPS gps;
boolean new_gps;
+ AltosIMU imu;
+ AltosMag mag;
+
double time; /* seconds since boost */
int device_type;
gps = new AltosGPS(old.gps);
new_gps = false;
companion = old.companion;
+ imu = old.imu;
+ mag = old.mag;
}
public AltosRecord() {
AltosGPS gps;
+ AltosIMU imu;
+ AltosMag mag;
+
double pad_lat;
double pad_lon;
double pad_alt;
max_acceleration = prev_state.max_acceleration;
max_speed = prev_state.max_speed;
max_baro_speed = prev_state.max_baro_speed;
+ imu = prev_state.imu;
+ mag = prev_state.mag;
/* make sure the clock is monotonic */
while (tick < prev_state.tick)
in = new FileInputStream(file);
if (filename.endsWith("eeprom"))
return new AltosEepromIterable(in);
+ else if (filename.endsWith("mega"))
+ return new AltosEepromMegaIterable(in);
else
return new AltosTelemetryIterable(in);
} catch (FileNotFoundException fe) {
AltosEepromIterable.java \
AltosEepromRecord.java \
AltosEepromTeleScience.java \
+ AltosEepromMega.java \
+ AltosEepromMegaIterable.java \
+ AltosMs5607.java \
+ AltosIMU.java \
+ AltosMag.java \
AltosEepromSelect.java \
AltosFile.java \
AltosFlash.java \
projects / fw / altos / commitdiff