//import android.os.Message;
import android.util.Log;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosBluetooth extends AltosLink {
import android.app.AlertDialog;
import android.location.Location;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosDroid extends FragmentActivity {
// Debugging
case MSG_CRC_ERROR:
case MSG_UPDATE_AGE:
if (ad.saved_state != null) {
- ad.mAgeView.setText(String.format("%d", (System.currentTimeMillis() - ad.saved_state.report_time + 500) / 1000));
+ ad.mAgeView.setText(String.format("%d", (System.currentTimeMillis() - ad.saved_state.received_time + 500) / 1000));
}
break;
}
}
if (state != null) {
- mCallsignView.setText(state.data.callsign);
- mSerialView.setText(String.format("%d", state.data.serial));
- mFlightView.setText(String.format("%d", state.data.flight));
- mStateView.setText(state.data.state());
- mRSSIView.setText(String.format("%d", state.data.rssi));
+ mCallsignView.setText(state.callsign);
+ mSerialView.setText(String.format("%d", state.serial));
+ mFlightView.setText(String.format("%d", state.flight));
+ mStateView.setText(state.state_name());
+ mRSSIView.setText(String.format("%d", state.rssi));
}
for (AltosDroidTab mTab : mTabs)
static String pos(double p, String pos, String neg) {
String h = pos;
- if (p == AltosRecord.MISSING)
+ if (p == AltosLib.MISSING)
return "";
if (p < 0) {
h = neg;
}
static String number(String format, double value) {
- if (value == AltosRecord.MISSING)
+ if (value == AltosLib.MISSING)
return "";
return String.format(format, value);
}
static String integer(String format, int value) {
- if (value == AltosRecord.MISSING)
+ if (value == AltosLib.MISSING)
return "";
return String.format(format, value);
}
import android.content.SharedPreferences;
import android.os.Environment;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosDroidPreferences implements AltosPreferencesBackend {
public final static String NAME = "org.altusmetrum.AltosDroid";
package org.altusmetrum.AltosDroid;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import android.location.Location;
public interface AltosDroidTab {
-/*\r
- * Copyright © 2011 Keith Packard <keithp@keithp.com>\r
- * Copyright © 2012 Mike Beattie <mike@ethernal.org>\r
- *\r
- * This program is free software; you can redistribute it and/or modify\r
- * it under the terms of the GNU General Public License as published by\r
- * the Free Software Foundation; version 2 of the License.\r
- *\r
- * This program is distributed in the hope that it will be useful, but\r
- * WITHOUT ANY WARRANTY; without even the implied warranty of\r
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU\r
- * General Public License for more details.\r
- *\r
- * You should have received a copy of the GNU General Public License along\r
- * with this program; if not, write to the Free Software Foundation, Inc.,\r
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.\r
- */\r
-\r
-package org.altusmetrum.AltosDroid;\r
-\r
-import android.speech.tts.TextToSpeech;\r
-import android.speech.tts.TextToSpeech.OnInitListener;\r
-\r
-import org.altusmetrum.altoslib_1.*;\r
-\r
-public class AltosVoice {\r
-\r
- private TextToSpeech tts = null;\r
- private boolean tts_enabled = false;\r
-\r
- private IdleThread idle_thread = null;\r
-\r
- private AltosState old_state = null;\r
-\r
- public AltosVoice(AltosDroid a) {\r
-\r
- tts = new TextToSpeech(a, new OnInitListener() {\r
- public void onInit(int status) {\r
- if (status == TextToSpeech.SUCCESS) tts_enabled = true;\r
- if (tts_enabled) {\r
- idle_thread = new IdleThread();\r
- }\r
- }\r
- });\r
-\r
- }\r
-\r
- public void speak(String s) {\r
- if (!tts_enabled) return;\r
- tts.speak(s, TextToSpeech.QUEUE_ADD, null);\r
- }\r
-\r
- public void stop() {\r
- if (tts != null) tts.shutdown();\r
- if (idle_thread != null) {\r
- idle_thread.interrupt();\r
- idle_thread = null;\r
- }\r
- }\r
-\r
- public void tell(AltosState state) {\r
- if (!tts_enabled) return;\r
-\r
- boolean spoke = false;\r
- if (old_state == null || old_state.state != state.state) {\r
- speak(state.data.state());\r
- if ((old_state == null || old_state.state <= AltosLib.ao_flight_boost) &&\r
- state.state > AltosLib.ao_flight_boost) {\r
- speak(String.format("max speed: %d meters per second.", (int) (state.max_speed() + 0.5)));\r
- spoke = true;\r
- } else if ((old_state == null || old_state.state < AltosLib.ao_flight_drogue) &&\r
- state.state >= AltosLib.ao_flight_drogue) {\r
- speak(String.format("max height: %d meters.", (int) (state.max_height + 0.5)));\r
- spoke = true;\r
- }\r
- }\r
- if (old_state == null || old_state.gps_ready != state.gps_ready) {\r
- if (state.gps_ready) {\r
- speak("GPS ready");\r
- spoke = true;\r
- } else if (old_state != null) {\r
- speak("GPS lost");\r
- spoke = true;\r
- }\r
- }\r
- old_state = state;\r
- idle_thread.notice(state, spoke);\r
- }\r
-\r
-\r
- class IdleThread extends Thread {\r
- boolean started;\r
- private AltosState state;\r
- int reported_landing;\r
- int report_interval;\r
- long report_time;\r
-\r
- public synchronized void report(boolean last) {\r
- if (state == null)\r
- return;\r
-\r
- /* reset the landing count once we hear about a new flight */\r
- if (state.state < AltosLib.ao_flight_drogue)\r
- reported_landing = 0;\r
-\r
- /* Shut up once the rocket is on the ground */\r
- if (reported_landing > 2) {\r
- return;\r
- }\r
-\r
- /* If the rocket isn't on the pad, then report height */\r
- if (AltosLib.ao_flight_drogue <= state.state &&\r
- state.state < AltosLib.ao_flight_landed &&\r
- state.range >= 0)\r
- {\r
- speak(String.format("Height %d, bearing %s %d, elevation %d, range %d.\n",\r
- (int) (state.height + 0.5),\r
- state.from_pad.bearing_words(\r
- AltosGreatCircle.BEARING_VOICE),\r
- (int) (state.from_pad.bearing + 0.5),\r
- (int) (state.elevation + 0.5),\r
- (int) (state.range + 0.5)));\r
- } else if (state.state > AltosLib.ao_flight_pad) {\r
- speak(String.format("%d meters", (int) (state.height + 0.5)));\r
- } else {\r
- reported_landing = 0;\r
- }\r
-\r
- /* If the rocket is coming down, check to see if it has landed;\r
- * either we've got a landed report or we haven't heard from it in\r
- * a long time\r
- */\r
- if (state.state >= AltosLib.ao_flight_drogue &&\r
- (last ||\r
- System.currentTimeMillis() - state.report_time >= 15000 ||\r
- state.state == AltosLib.ao_flight_landed))\r
- {\r
- if (Math.abs(state.baro_speed) < 20 && state.height < 100)\r
- speak("rocket landed safely");\r
- else\r
- speak("rocket may have crashed");\r
- if (state.from_pad != null)\r
- speak(String.format("Bearing %d degrees, range %d meters.",\r
- (int) (state.from_pad.bearing + 0.5),\r
- (int) (state.from_pad.distance + 0.5)));\r
- ++reported_landing;\r
- }\r
- }\r
-\r
- long now () {\r
- return System.currentTimeMillis();\r
- }\r
-\r
- void set_report_time() {\r
- report_time = now() + report_interval;\r
- }\r
-\r
- public void run () {\r
- try {\r
- for (;;) {\r
- set_report_time();\r
- for (;;) {\r
- synchronized (this) {\r
- long sleep_time = report_time - now();\r
- if (sleep_time <= 0)\r
- break;\r
- wait(sleep_time);\r
- }\r
- }\r
- report(false);\r
- }\r
- } catch (InterruptedException ie) {\r
- }\r
- }\r
-\r
- public synchronized void notice(AltosState new_state, boolean spoken) {\r
- AltosState old_state = state;\r
- state = new_state;\r
- if (!started && state.state > AltosLib.ao_flight_pad) {\r
- started = true;\r
- start();\r
- }\r
-\r
- if (state.state < AltosLib.ao_flight_drogue)\r
- report_interval = 10000;\r
- else\r
- report_interval = 20000;\r
- if (old_state != null && old_state.state != state.state) {\r
- report_time = now();\r
- this.notify();\r
- } else if (spoken)\r
- set_report_time();\r
- }\r
-\r
- public IdleThread() {\r
- state = null;\r
- reported_landing = 0;\r
- report_interval = 10000;\r
- }\r
- }\r
-\r
-}\r
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ * Copyright © 2012 Mike Beattie <mike@ethernal.org>
+ *
+ * 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 org.altusmetrum.AltosDroid;
+
+import android.speech.tts.TextToSpeech;
+import android.speech.tts.TextToSpeech.OnInitListener;
+
+import org.altusmetrum.altoslib_2.*;
+
+public class AltosVoice {
+
+ private TextToSpeech tts = null;
+ private boolean tts_enabled = false;
+
+ private IdleThread idle_thread = null;
+
+ private AltosState old_state = null;
+
+ public AltosVoice(AltosDroid a) {
+
+ tts = new TextToSpeech(a, new OnInitListener() {
+ public void onInit(int status) {
+ if (status == TextToSpeech.SUCCESS) tts_enabled = true;
+ if (tts_enabled) {
+ idle_thread = new IdleThread();
+ }
+ }
+ });
+
+ }
+
+ public void speak(String s) {
+ if (!tts_enabled) return;
+ tts.speak(s, TextToSpeech.QUEUE_ADD, null);
+ }
+
+ public void stop() {
+ if (tts != null) tts.shutdown();
+ if (idle_thread != null) {
+ idle_thread.interrupt();
+ idle_thread = null;
+ }
+ }
+
+ public void tell(AltosState state) {
+ if (!tts_enabled) return;
+
+ boolean spoke = false;
+ if (old_state == null || old_state.state != state.state) {
+ speak(state.state_name());
+ if ((old_state == null || old_state.state <= AltosLib.ao_flight_boost) &&
+ state.state > AltosLib.ao_flight_boost) {
+ speak(String.format("max speed: %d meters per second.", (int) (state.max_speed() + 0.5)));
+ spoke = true;
+ } else if ((old_state == null || old_state.state < AltosLib.ao_flight_drogue) &&
+ state.state >= AltosLib.ao_flight_drogue) {
+ speak(String.format("max height: %d meters.", (int) (state.max_height() + 0.5)));
+ spoke = true;
+ }
+ }
+ if (old_state == null || old_state.gps_ready != state.gps_ready) {
+ if (state.gps_ready) {
+ speak("GPS ready");
+ spoke = true;
+ } else if (old_state != null) {
+ speak("GPS lost");
+ spoke = true;
+ }
+ }
+ old_state = state;
+ idle_thread.notice(state, spoke);
+ }
+
+
+ class IdleThread extends Thread {
+ boolean started;
+ private AltosState state;
+ int reported_landing;
+ int report_interval;
+ long report_time;
+
+ public synchronized void report(boolean last) {
+ if (state == null)
+ return;
+
+ /* reset the landing count once we hear about a new flight */
+ if (state.state < AltosLib.ao_flight_drogue)
+ reported_landing = 0;
+
+ /* Shut up once the rocket is on the ground */
+ if (reported_landing > 2) {
+ return;
+ }
+
+ /* If the rocket isn't on the pad, then report height */
+ if (AltosLib.ao_flight_drogue <= state.state &&
+ state.state < AltosLib.ao_flight_landed &&
+ state.range >= 0)
+ {
+ speak(String.format("Height %d, bearing %s %d, elevation %d, range %d.\n",
+ (int) (state.height() + 0.5),
+ state.from_pad.bearing_words(
+ AltosGreatCircle.BEARING_VOICE),
+ (int) (state.from_pad.bearing + 0.5),
+ (int) (state.elevation + 0.5),
+ (int) (state.range + 0.5)));
+ } else if (state.state > AltosLib.ao_flight_pad) {
+ speak(String.format("%d meters", (int) (state.height() + 0.5)));
+ } else {
+ reported_landing = 0;
+ }
+
+ /* If the rocket is coming down, check to see if it has landed;
+ * either we've got a landed report or we haven't heard from it in
+ * a long time
+ */
+ if (state.state >= AltosLib.ao_flight_drogue &&
+ (last ||
+ System.currentTimeMillis() - state.received_time >= 15000 ||
+ state.state == AltosLib.ao_flight_landed))
+ {
+ if (Math.abs(state.speed()) < 20 && state.height() < 100)
+ speak("rocket landed safely");
+ else
+ speak("rocket may have crashed");
+ if (state.from_pad != null)
+ speak(String.format("Bearing %d degrees, range %d meters.",
+ (int) (state.from_pad.bearing + 0.5),
+ (int) (state.from_pad.distance + 0.5)));
+ ++reported_landing;
+ }
+ }
+
+ long now () {
+ return System.currentTimeMillis();
+ }
+
+ void set_report_time() {
+ report_time = now() + report_interval;
+ }
+
+ public void run () {
+ try {
+ for (;;) {
+ set_report_time();
+ for (;;) {
+ synchronized (this) {
+ long sleep_time = report_time - now();
+ if (sleep_time <= 0)
+ break;
+ wait(sleep_time);
+ }
+ }
+ report(false);
+ }
+ } catch (InterruptedException ie) {
+ }
+ }
+
+ public synchronized void notice(AltosState new_state, boolean spoken) {
+ AltosState old_state = state;
+ state = new_state;
+ if (!started && state.state > AltosLib.ao_flight_pad) {
+ started = true;
+ start();
+ }
+
+ if (state.state < AltosLib.ao_flight_drogue)
+ report_interval = 10000;
+ else
+ report_interval = 20000;
+ if (old_state != null && old_state.state != state.state) {
+ report_time = now();
+ this.notify();
+ } else if (spoken)
+ set_report_time();
+ }
+
+ public IdleThread() {
+ state = null;
+ reported_landing = 0;
+ report_interval = 10000;
+ }
+ }
+
+}
-package org.altusmetrum.AltosDroid;\r
-\r
- import java.lang.reflect.Array;\r
- import java.lang.reflect.Field;\r
- import java.util.HashMap;\r
-\r
- public class Dumper {\r
- private static Dumper instance = new Dumper();\r
-\r
- protected static Dumper getInstance() {\r
- return instance;\r
- }\r
-\r
- class DumpContext {\r
- int maxDepth = 0;\r
- int maxArrayElements = 0;\r
- int callCount = 0;\r
- HashMap<String, String> ignoreList = new HashMap<String, String>();\r
- HashMap<Object, Integer> visited = new HashMap<Object, Integer>();\r
- }\r
-\r
- public static String dump(Object o) {\r
- return dump(o, 0, 0, null);\r
- }\r
-\r
- public static String dump(Object o, int maxDepth, int maxArrayElements, String[] ignoreList) {\r
- DumpContext ctx = Dumper.getInstance().new DumpContext();\r
- ctx.maxDepth = maxDepth;\r
- ctx.maxArrayElements = maxArrayElements;\r
-\r
- if (ignoreList != null) {\r
- for (int i = 0; i < Array.getLength(ignoreList); i++) {\r
- int colonIdx = ignoreList[i].indexOf(':');\r
- if (colonIdx == -1)\r
- ignoreList[i] = ignoreList[i] + ":";\r
- ctx.ignoreList.put(ignoreList[i], ignoreList[i]);\r
- }\r
- }\r
-\r
- return dump(o, ctx);\r
- }\r
-\r
- protected static String dump(Object o, DumpContext ctx) {\r
- if (o == null) {\r
- return "<null>";\r
- }\r
-\r
- ctx.callCount++;\r
- StringBuffer tabs = new StringBuffer();\r
- for (int k = 0; k < ctx.callCount; k++) {\r
- tabs.append("\t");\r
- }\r
- StringBuffer buffer = new StringBuffer();\r
- @SuppressWarnings("rawtypes")\r
- Class oClass = o.getClass();\r
-\r
- String oSimpleName = getSimpleNameWithoutArrayQualifier(oClass);\r
-\r
- if (ctx.ignoreList.get(oSimpleName + ":") != null)\r
- return "<Ignored>";\r
-\r
- if (oClass.isArray()) {\r
- buffer.append("\n");\r
- buffer.append(tabs.toString().substring(1));\r
- buffer.append("[\n");\r
- int rowCount = ctx.maxArrayElements == 0 ? Array.getLength(o) : Math.min(ctx.maxArrayElements, Array.getLength(o));\r
- for (int i = 0; i < rowCount; i++) {\r
- buffer.append(tabs.toString());\r
- try {\r
- Object value = Array.get(o, i);\r
- buffer.append(dumpValue(value, ctx));\r
- } catch (Exception e) {\r
- buffer.append(e.getMessage());\r
- }\r
- if (i < Array.getLength(o) - 1)\r
- buffer.append(",");\r
- buffer.append("\n");\r
- }\r
- if (rowCount < Array.getLength(o)) {\r
- buffer.append(tabs.toString());\r
- buffer.append(Array.getLength(o) - rowCount + " more array elements...");\r
- buffer.append("\n");\r
- }\r
- buffer.append(tabs.toString().substring(1));\r
- buffer.append("]");\r
- } else {\r
- buffer.append("\n");\r
- buffer.append(tabs.toString().substring(1));\r
- buffer.append("{\n");\r
- buffer.append(tabs.toString());\r
- buffer.append("hashCode: " + o.hashCode());\r
- buffer.append("\n");\r
- while (oClass != null && oClass != Object.class) {\r
- Field[] fields = oClass.getDeclaredFields();\r
-\r
- if (ctx.ignoreList.get(oClass.getSimpleName()) == null) {\r
- if (oClass != o.getClass()) {\r
- buffer.append(tabs.toString().substring(1));\r
- buffer.append(" Inherited from superclass " + oSimpleName + ":\n");\r
- }\r
-\r
- for (int i = 0; i < fields.length; i++) {\r
-\r
- String fSimpleName = getSimpleNameWithoutArrayQualifier(fields[i].getType());\r
- String fName = fields[i].getName();\r
-\r
- fields[i].setAccessible(true);\r
- buffer.append(tabs.toString());\r
- buffer.append(fName + "(" + fSimpleName + ")");\r
- buffer.append("=");\r
-\r
- if (ctx.ignoreList.get(":" + fName) == null &&\r
- ctx.ignoreList.get(fSimpleName + ":" + fName) == null &&\r
- ctx.ignoreList.get(fSimpleName + ":") == null) {\r
-\r
- try {\r
- Object value = fields[i].get(o);\r
- buffer.append(dumpValue(value, ctx));\r
- } catch (Exception e) {\r
- buffer.append(e.getMessage());\r
- }\r
- buffer.append("\n");\r
- } else {\r
- buffer.append("<Ignored>");\r
- buffer.append("\n");\r
- }\r
- }\r
- oClass = oClass.getSuperclass();\r
- oSimpleName = oClass.getSimpleName();\r
- } else {\r
- oClass = null;\r
- oSimpleName = "";\r
- }\r
- }\r
- buffer.append(tabs.toString().substring(1));\r
- buffer.append("}");\r
- }\r
- ctx.callCount--;\r
- return buffer.toString();\r
- }\r
-\r
- protected static String dumpValue(Object value, DumpContext ctx) {\r
- if (value == null) {\r
- return "<null>";\r
- }\r
- if (value.getClass().isPrimitive() ||\r
- value.getClass() == java.lang.Short.class ||\r
- value.getClass() == java.lang.Long.class ||\r
- value.getClass() == java.lang.String.class ||\r
- value.getClass() == java.lang.Integer.class ||\r
- value.getClass() == java.lang.Float.class ||\r
- value.getClass() == java.lang.Byte.class ||\r
- value.getClass() == java.lang.Character.class ||\r
- value.getClass() == java.lang.Double.class ||\r
- value.getClass() == java.lang.Boolean.class) {\r
-\r
- return value.toString();\r
-\r
- } else {\r
-\r
- Integer visitedIndex = ctx.visited.get(value);\r
- if (visitedIndex == null) {\r
- ctx.visited.put(value, ctx.callCount);\r
- if (ctx.maxDepth == 0 || ctx.callCount < ctx.maxDepth) {\r
- return dump(value, ctx);\r
- } else {\r
- return "<Reached max recursion depth>";\r
- }\r
- } else {\r
- return "<Previously visited - see hashCode " + value.hashCode() + ">";\r
- }\r
- }\r
- }\r
-\r
-\r
- private static String getSimpleNameWithoutArrayQualifier(@SuppressWarnings("rawtypes") Class clazz) {\r
- String simpleName = clazz.getSimpleName();\r
- int indexOfBracket = simpleName.indexOf('['); \r
- if (indexOfBracket != -1)\r
- return simpleName.substring(0, indexOfBracket);\r
- return simpleName;\r
- }\r
-}\r
+package org.altusmetrum.AltosDroid;
+
+ import java.lang.reflect.Array;
+ import java.lang.reflect.Field;
+ import java.util.HashMap;
+
+ public class Dumper {
+ private static Dumper instance = new Dumper();
+
+ protected static Dumper getInstance() {
+ return instance;
+ }
+
+ class DumpContext {
+ int maxDepth = 0;
+ int maxArrayElements = 0;
+ int callCount = 0;
+ HashMap<String, String> ignoreList = new HashMap<String, String>();
+ HashMap<Object, Integer> visited = new HashMap<Object, Integer>();
+ }
+
+ public static String dump(Object o) {
+ return dump(o, 0, 0, null);
+ }
+
+ public static String dump(Object o, int maxDepth, int maxArrayElements, String[] ignoreList) {
+ DumpContext ctx = Dumper.getInstance().new DumpContext();
+ ctx.maxDepth = maxDepth;
+ ctx.maxArrayElements = maxArrayElements;
+
+ if (ignoreList != null) {
+ for (int i = 0; i < Array.getLength(ignoreList); i++) {
+ int colonIdx = ignoreList[i].indexOf(':');
+ if (colonIdx == -1)
+ ignoreList[i] = ignoreList[i] + ":";
+ ctx.ignoreList.put(ignoreList[i], ignoreList[i]);
+ }
+ }
+
+ return dump(o, ctx);
+ }
+
+ protected static String dump(Object o, DumpContext ctx) {
+ if (o == null) {
+ return "<null>";
+ }
+
+ ctx.callCount++;
+ StringBuffer tabs = new StringBuffer();
+ for (int k = 0; k < ctx.callCount; k++) {
+ tabs.append("\t");
+ }
+ StringBuffer buffer = new StringBuffer();
+ @SuppressWarnings("rawtypes")
+ Class oClass = o.getClass();
+
+ String oSimpleName = getSimpleNameWithoutArrayQualifier(oClass);
+
+ if (ctx.ignoreList.get(oSimpleName + ":") != null)
+ return "<Ignored>";
+
+ if (oClass.isArray()) {
+ buffer.append("\n");
+ buffer.append(tabs.toString().substring(1));
+ buffer.append("[\n");
+ int rowCount = ctx.maxArrayElements == 0 ? Array.getLength(o) : Math.min(ctx.maxArrayElements, Array.getLength(o));
+ for (int i = 0; i < rowCount; i++) {
+ buffer.append(tabs.toString());
+ try {
+ Object value = Array.get(o, i);
+ buffer.append(dumpValue(value, ctx));
+ } catch (Exception e) {
+ buffer.append(e.getMessage());
+ }
+ if (i < Array.getLength(o) - 1)
+ buffer.append(",");
+ buffer.append("\n");
+ }
+ if (rowCount < Array.getLength(o)) {
+ buffer.append(tabs.toString());
+ buffer.append(Array.getLength(o) - rowCount + " more array elements...");
+ buffer.append("\n");
+ }
+ buffer.append(tabs.toString().substring(1));
+ buffer.append("]");
+ } else {
+ buffer.append("\n");
+ buffer.append(tabs.toString().substring(1));
+ buffer.append("{\n");
+ buffer.append(tabs.toString());
+ buffer.append("hashCode: " + o.hashCode());
+ buffer.append("\n");
+ while (oClass != null && oClass != Object.class) {
+ Field[] fields = oClass.getDeclaredFields();
+
+ if (ctx.ignoreList.get(oClass.getSimpleName()) == null) {
+ if (oClass != o.getClass()) {
+ buffer.append(tabs.toString().substring(1));
+ buffer.append(" Inherited from superclass " + oSimpleName + ":\n");
+ }
+
+ for (int i = 0; i < fields.length; i++) {
+
+ String fSimpleName = getSimpleNameWithoutArrayQualifier(fields[i].getType());
+ String fName = fields[i].getName();
+
+ fields[i].setAccessible(true);
+ buffer.append(tabs.toString());
+ buffer.append(fName + "(" + fSimpleName + ")");
+ buffer.append("=");
+
+ if (ctx.ignoreList.get(":" + fName) == null &&
+ ctx.ignoreList.get(fSimpleName + ":" + fName) == null &&
+ ctx.ignoreList.get(fSimpleName + ":") == null) {
+
+ try {
+ Object value = fields[i].get(o);
+ buffer.append(dumpValue(value, ctx));
+ } catch (Exception e) {
+ buffer.append(e.getMessage());
+ }
+ buffer.append("\n");
+ } else {
+ buffer.append("<Ignored>");
+ buffer.append("\n");
+ }
+ }
+ oClass = oClass.getSuperclass();
+ oSimpleName = oClass.getSimpleName();
+ } else {
+ oClass = null;
+ oSimpleName = "";
+ }
+ }
+ buffer.append(tabs.toString().substring(1));
+ buffer.append("}");
+ }
+ ctx.callCount--;
+ return buffer.toString();
+ }
+
+ protected static String dumpValue(Object value, DumpContext ctx) {
+ if (value == null) {
+ return "<null>";
+ }
+ if (value.getClass().isPrimitive() ||
+ value.getClass() == java.lang.Short.class ||
+ value.getClass() == java.lang.Long.class ||
+ value.getClass() == java.lang.String.class ||
+ value.getClass() == java.lang.Integer.class ||
+ value.getClass() == java.lang.Float.class ||
+ value.getClass() == java.lang.Byte.class ||
+ value.getClass() == java.lang.Character.class ||
+ value.getClass() == java.lang.Double.class ||
+ value.getClass() == java.lang.Boolean.class) {
+
+ return value.toString();
+
+ } else {
+
+ Integer visitedIndex = ctx.visited.get(value);
+ if (visitedIndex == null) {
+ ctx.visited.put(value, ctx.callCount);
+ if (ctx.maxDepth == 0 || ctx.callCount < ctx.maxDepth) {
+ return dump(value, ctx);
+ } else {
+ return "<Reached max recursion depth>";
+ }
+ } else {
+ return "<Previously visited - see hashCode " + value.hashCode() + ">";
+ }
+ }
+ }
+
+
+ private static String getSimpleNameWithoutArrayQualifier(@SuppressWarnings("rawtypes") Class clazz) {
+ String simpleName = clazz.getSimpleName();
+ int indexOfBracket = simpleName.indexOf('[');
+ if (indexOfBracket != -1)
+ return simpleName.substring(0, indexOfBracket);
+ return simpleName;
+ }
+}
package org.altusmetrum.AltosDroid;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import android.app.Activity;
import android.os.Bundle;
public void update_ui(AltosState state, AltosGreatCircle from_receiver, Location receiver) {
if (state != null) {
- mHeightView.setText(AltosDroid.number("%6.0f m", state.height));
- mMaxHeightView.setText(AltosDroid.number("%6.0f m", state.max_height));
+ mHeightView.setText(AltosDroid.number("%6.0f m", state.height()));
+ mMaxHeightView.setText(AltosDroid.number("%6.0f m", state.max_height()));
mSpeedView.setText(AltosDroid.number("%6.0f m/s", state.speed()));
mMaxSpeedView.setText(AltosDroid.number("%6.0f m/s", state.max_speed()));
- mAccelView.setText(AltosDroid.number("%6.0f m/s²", state.acceleration));
- mMaxAccelView.setText(AltosDroid.number("%6.0f m/s²", state.max_acceleration));
+ mAccelView.setText(AltosDroid.number("%6.0f m/s²", state.acceleration()));
+ mMaxAccelView.setText(AltosDroid.number("%6.0f m/s²", state.max_acceleration()));
if (state.gps != null) {
mLatitudeView.setText(AltosDroid.pos(state.gps.lat, "N", "S"));
mLongitudeView.setText("");
}
- mApogeeVoltageView.setText(AltosDroid.number("%4.2f V", state.drogue_sense));
- mApogeeLights.set(state.drogue_sense > 3.2, state.drogue_sense == AltosRecord.MISSING);
+ mApogeeVoltageView.setText(AltosDroid.number("%4.2f V", state.apogee_voltage));
+ mApogeeLights.set(state.apogee_voltage > 3.2, state.apogee_voltage == AltosLib.MISSING);
- mMainVoltageView.setText(AltosDroid.number("%4.2f V", state.main_sense));
- mMainLights.set(state.main_sense > 3.2, state.main_sense == AltosRecord.MISSING);
+ mMainVoltageView.setText(AltosDroid.number("%4.2f V", state.main_voltage));
+ mMainLights.set(state.main_voltage > 3.2, state.main_voltage == AltosLib.MISSING);
}
}
}
package org.altusmetrum.AltosDroid;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import android.app.Activity;
import android.os.Bundle;
public void update_ui(AltosState state, AltosGreatCircle from_receiver, Location receiver) {
if (state != null) {
mSpeedView.setText(AltosDroid.number("%6.0f m/s", state.speed()));
- mHeightView.setText(AltosDroid.number("%6.0f m", state.height));
+ mHeightView.setText(AltosDroid.number("%6.0f m", state.height()));
if (from_receiver != null) {
mElevationView.setText(AltosDroid.number("%3.0f°", from_receiver.elevation));
mRangeView.setText(AltosDroid.number("%6.0f m", from_receiver.range));
mLongitudeView.setText(AltosDroid.pos(state.gps.lon, "W", "E"));
}
- mApogeeVoltageView.setText(AltosDroid.number("%4.2f V", state.drogue_sense));
- mApogeeLights.set(state.drogue_sense > 3.2, state.drogue_sense == AltosRecord.MISSING);
+ mApogeeVoltageView.setText(AltosDroid.number("%4.2f V", state.apogee_voltage));
+ mApogeeLights.set(state.apogee_voltage > 3.2, state.apogee_voltage == AltosLib.MISSING);
- mMainVoltageView.setText(AltosDroid.number("%4.2f V", state.main_sense));
- mMainLights.set(state.main_sense > 3.2, state.main_sense == AltosRecord.MISSING);
+ mMainVoltageView.setText(AltosDroid.number("%4.2f V", state.main_voltage));
+ mMainLights.set(state.main_voltage > 3.2, state.main_voltage == AltosLib.MISSING);
}
}
package org.altusmetrum.AltosDroid;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import android.app.Activity;
import android.os.Bundle;
}
if (state != null) {
- mMaxHeightView.setText(String.format("%6.0f m", state.max_height));
- mMaxAccelView.setText(String.format("%6.0f m/s²", state.max_acceleration));
+ mMaxHeightView.setText(String.format("%6.0f m", state.max_height()));
+ mMaxAccelView.setText(String.format("%6.0f m/s²", state.max_acceleration()));
mMaxSpeedView.setText(String.format("%6.0f m/s", state.max_speed()));
}
}
import java.util.Arrays;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import com.google.android.gms.maps.CameraUpdateFactory;
import com.google.android.gms.maps.GoogleMap;
package org.altusmetrum.AltosDroid;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import android.app.Activity;
import android.os.Bundle;
public void update_ui(AltosState state, AltosGreatCircle from_receiver, Location receiver) {
if (state != null) {
- mBatteryVoltageView.setText(AltosDroid.number("%4.2f V", state.battery));
- mBatteryLights.set(state.battery > 3.7, state.battery == AltosRecord.MISSING);
+ mBatteryVoltageView.setText(AltosDroid.number("%4.2f V", state.battery_voltage));
+ mBatteryLights.set(state.battery_voltage > 3.7, state.battery_voltage == AltosLib.MISSING);
- mApogeeVoltageView.setText(AltosDroid.number("%4.2f V", state.drogue_sense));
- mApogeeLights.set(state.drogue_sense > 3.2, state.drogue_sense == AltosRecord.MISSING);
+ mApogeeVoltageView.setText(AltosDroid.number("%4.2f V", state.apogee_voltage));
+ mApogeeLights.set(state.apogee_voltage > 3.2, state.apogee_voltage == AltosLib.MISSING);
- mMainVoltageView.setText(AltosDroid.number("%4.2f V", state.main_sense));
- mMainLights.set(state.main_sense > 3.2, state.main_sense == AltosRecord.MISSING);
+ mMainVoltageView.setText(AltosDroid.number("%4.2f V", state.main_voltage));
+ mMainLights.set(state.main_voltage > 3.2, state.main_voltage == AltosLib.MISSING);
- if (state.data.flight != 0) {
- if (state.data.state <= AltosLib.ao_flight_pad)
+ if (state.flight != 0) {
+ if (state.state <= AltosLib.ao_flight_pad)
mDataLoggingView.setText("Ready to record");
- else if (state.data.state < AltosLib.ao_flight_landed)
+ else if (state.state < AltosLib.ao_flight_landed)
mDataLoggingView.setText("Recording data");
else
mDataLoggingView.setText("Recorded data");
} else {
mDataLoggingView.setText("Storage full");
}
- mDataLoggingLights.set(state.data.flight != 0, state.data.flight == AltosRecord.MISSING);
+ mDataLoggingLights.set(state.flight != 0, state.flight == AltosLib.MISSING);
if (state.gps != null) {
mGPSLockedView.setText(AltosDroid.integer("%4d sats", state.gps.nsat));
package org.altusmetrum.AltosDroid;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import android.content.BroadcastReceiver;
import android.content.Context;
-/*\r
- * Copyright © 2011 Keith Packard <keithp@keithp.com>\r
- * Copyright © 2012 Mike Beattie <mike@ethernal.org>\r
- *\r
- * This program is free software; you can redistribute it and/or modify\r
- * it under the terms of the GNU General Public License as published by\r
- * the Free Software Foundation; version 2 of the License.\r
- *\r
- * This program is distributed in the hope that it will be useful, but\r
- * WITHOUT ANY WARRANTY; without even the implied warranty of\r
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU\r
- * General Public License for more details.\r
- *\r
- * You should have received a copy of the GNU General Public License along\r
- * with this program; if not, write to the Free Software Foundation, Inc.,\r
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.\r
- */\r
-\r
-\r
-package org.altusmetrum.AltosDroid;\r
-\r
-import java.text.*;\r
-import java.io.*;\r
-import java.util.concurrent.*;\r
-import android.util.Log;\r
-import android.os.Handler;\r
-\r
-import org.altusmetrum.altoslib_1.*;\r
-\r
-\r
-public class TelemetryReader extends Thread {\r
-\r
- private static final String TAG = "TelemetryReader";\r
-\r
- int crc_errors;\r
-\r
- Handler handler;\r
-\r
- AltosLink link;\r
- AltosRecord previous;\r
-\r
- LinkedBlockingQueue<AltosLine> telem;\r
-\r
- public AltosRecord read() throws ParseException, AltosCRCException, InterruptedException, IOException {\r
- AltosLine l = telem.take();\r
- if (l.line == null)\r
- throw new IOException("IO error");\r
- AltosRecord next = AltosTelemetry.parse(l.line, previous);\r
- previous = next;\r
- return next;\r
- }\r
-\r
- public void close() {\r
- previous = null;\r
- link.remove_monitor(telem);\r
- link = null;\r
- telem.clear();\r
- telem = null;\r
- }\r
-\r
- public void run() {\r
- AltosState state = null;\r
-\r
- try {\r
- for (;;) {\r
- try {\r
- AltosRecord record = read();\r
- if (record == null)\r
- break;\r
- state = new AltosState(record, state);\r
- handler.obtainMessage(TelemetryService.MSG_TELEMETRY, state).sendToTarget();\r
- } catch (ParseException pp) {\r
- Log.e(TAG, String.format("Parse error: %d \"%s\"", pp.getErrorOffset(), pp.getMessage()));\r
- } catch (AltosCRCException ce) {\r
- ++crc_errors;\r
- handler.obtainMessage(TelemetryService.MSG_CRC_ERROR, new Integer(crc_errors)).sendToTarget();\r
- }\r
- }\r
- } catch (InterruptedException ee) {\r
- } catch (IOException ie) {\r
- } finally {\r
- close();\r
- }\r
- }\r
-\r
- public TelemetryReader (AltosLink in_link, Handler in_handler) {\r
- link = in_link;\r
- handler = in_handler;\r
-\r
- previous = null;\r
- telem = new LinkedBlockingQueue<AltosLine>();\r
- link.add_monitor(telem);\r
- }\r
-}\r
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ * Copyright © 2012 Mike Beattie <mike@ethernal.org>
+ *
+ * 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 org.altusmetrum.AltosDroid;
+
+import java.text.*;
+import java.io.*;
+import java.util.concurrent.*;
+import android.util.Log;
+import android.os.Handler;
+
+import org.altusmetrum.altoslib_2.*;
+
+
+public class TelemetryReader extends Thread {
+
+ private static final String TAG = "TelemetryReader";
+
+ int crc_errors;
+
+ Handler handler;
+
+ AltosLink link;
+ AltosState state = null;
+
+ LinkedBlockingQueue<AltosLine> telemQueue;
+
+ public AltosState read() throws ParseException, AltosCRCException, InterruptedException, IOException {
+ AltosLine l = telemQueue.take();
+ if (l.line == null)
+ throw new IOException("IO error");
+ AltosTelemetry telem = AltosTelemetryLegacy.parse(l.line);
+ if (state == null)
+ state = new AltosState();
+ else
+ state = state.clone();
+ telem.update_state(state);
+ return state;
+ }
+
+ public void close() {
+ state = null;
+ link.remove_monitor(telemQueue);
+ link = null;
+ telemQueue.clear();
+ telemQueue = null;
+ }
+
+ public void run() {
+ AltosState state = null;
+
+ try {
+ for (;;) {
+ try {
+ state = read();
+ handler.obtainMessage(TelemetryService.MSG_TELEMETRY, state).sendToTarget();
+ } catch (ParseException pp) {
+ Log.e(TAG, String.format("Parse error: %d \"%s\"", pp.getErrorOffset(), pp.getMessage()));
+ } catch (AltosCRCException ce) {
+ ++crc_errors;
+ handler.obtainMessage(TelemetryService.MSG_CRC_ERROR, new Integer(crc_errors)).sendToTarget();
+ }
+ }
+ } catch (InterruptedException ee) {
+ } catch (IOException ie) {
+ } finally {
+ close();
+ }
+ }
+
+ public TelemetryReader (AltosLink in_link, Handler in_handler) {
+ link = in_link;
+ handler = in_handler;
+
+ state = null;
+ telemQueue = new LinkedBlockingQueue<AltosLine>();
+ link.add_monitor(telemQueue);
+ }
+}
import android.location.LocationListener;
import android.location.Criteria;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class TelemetryService extends Service implements LocationListener {
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
public class AltosAccel extends AltosUnits {
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
public class AltosCRCException extends Exception {
public int rssi;
--- /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 org.altusmetrum.altoslib_2;
+
+public class AltosCompanion {
+ public final static int board_id_telescience = 0x0a;
+ public final static int MAX_CHANNELS = 12;
+
+ public int tick;
+ public int board_id;
+ public int update_period;
+ public int channels;
+ public int[] companion_data;
+
+ public AltosCompanion(int in_channels) {
+ channels = in_channels;
+ if (channels < 0)
+ channels = 0;
+ if (channels > MAX_CHANNELS)
+ channels = MAX_CHANNELS;
+ companion_data = new int[channels];
+ }
+}
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.util.*;
import java.text.*;
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
public interface AltosConfigValues {
/* set and get all of the dialog values */
/*
* Sensor data conversion functions
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
public class AltosConvert {
/*
return ignite / 32767 * 15.0;
}
+ public static double
+ barometer_to_pressure(double count)
+ {
+ return ((count / 16.0) / 2047.0 + 0.095) / 0.009 * 1000.0;
+ }
+
+ static double
+ thermometer_to_temperature(double thermo)
+ {
+ return (thermo - 19791.268) / 32728.0 * 1.25 / 0.00247;
+ }
+
+ static double mega_adc(int raw) {
+ return raw / 4095.0;
+ }
+
+ static public double mega_battery_voltage(int v_batt) {
+ if (v_batt != AltosLib.MISSING)
+ return 3.3 * mega_adc(v_batt) * (15.0 + 27.0) / 27.0;
+ return AltosLib.MISSING;
+ }
+
+ static double mega_pyro_voltage(int raw) {
+ if (raw != AltosLib.MISSING)
+ return 3.3 * mega_adc(raw) * (100.0 + 27.0) / 27.0;
+ return AltosLib.MISSING;
+ }
+
+ static double tele_mini_voltage(int sensor) {
+ double supply = 3.3;
+
+ return sensor / 32767.0 * supply * 127/27;
+ }
+
+ static double easy_mini_voltage(int sensor) {
+ double supply = 3.0;
+
+ return sensor / 32767.0 * supply * 127/27;
+ }
+
public static double radio_to_frequency(int freq, int setting, int cal, int channel) {
double f;
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.io.*;
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
public class AltosDistance extends AltosUnits {
--- /dev/null
+/*
+ * Copyright © 2013 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 org.altusmetrum.altoslib_2;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+
+public abstract class AltosEeprom implements AltosStateUpdate {
+ public int cmd;
+ public int tick;
+ public int data8[];
+ public boolean valid;
+
+ public int data8(int i) {
+ return data8[i];
+ }
+
+ public int data16(int i) {
+ return ((data8[i] | (data8[i+1] << 8)) << 16) >> 16;
+ }
+
+ public int data24(int i) {
+ return data8[i] | (data8[i+1] << 8) | (data8[i+2] << 16);
+ }
+
+ public int data32(int i) {
+ return data8[i] | (data8[i+1] << 8) | (data8[i+2] << 16) | (data8[i+3] << 24);
+ }
+
+ public final static int header_length = 4;
+
+ public abstract int record_length();
+
+ public void update_state(AltosState state) {
+ if (cmd == AltosLib.AO_LOG_FLIGHT)
+ state.set_boost_tick(tick);
+ else
+ state.set_tick(tick);
+ }
+
+ public void write(PrintStream out) {
+ out.printf("%c %04x", cmd, tick);
+ if (data8 != null) {
+ for (int i = 0; i < data8.length; i++)
+ out.printf (" %02x", data8[i]);
+ }
+ out.printf ("\n");
+ }
+
+ public String string() {
+ String s;
+
+ s = String.format("%c %04x", cmd, tick);
+ if (data8 != null) {
+ for (int i = 0; i < data8.length; i++) {
+ String d = String.format(" %02x", data8[i]);
+ s = s.concat(d);
+ }
+ }
+ s = s.concat("\n");
+ return s;
+ }
+
+ void parse_chunk(AltosEepromChunk chunk, int start) throws ParseException {
+ cmd = chunk.data(start);
+
+ int data_length = record_length() - header_length;
+
+ 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 = AltosLib.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);
+ }
+
+ void parse_string(String line) {
+ valid = false;
+ tick = 0;
+ cmd = AltosLib.AO_LOG_INVALID;
+
+ int data_length = record_length() - header_length;
+
+ if (line == null)
+ return;
+ try {
+ String[] tokens = line.split("\\s+");
+
+ if (tokens[0].length() == 1) {
+ if (tokens.length == 2 + data_length) {
+ 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);
+ }
+ }
+ } catch (NumberFormatException ne) {
+ }
+ }
+}
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.text.*;
import java.util.concurrent.*;
return true;
}
+ public AltosEeprom eeprom(int offset, int log_format, AltosState state) {
+ AltosEeprom eeprom = null;
+ try {
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_FULL:
+ eeprom = new AltosEepromTM(this, offset);
+ break;
+ case AltosLib.AO_LOG_FORMAT_TINY:
+ eeprom = new AltosEepromTm(this, offset, state);
+ break;
+ case AltosLib.AO_LOG_FORMAT_TELEMETRY:
+ case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
+ break;
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ eeprom = new AltosEepromMega(this, offset);
+ break;
+ case AltosLib.AO_LOG_FORMAT_TELEMETRUM:
+ eeprom = new AltosEepromMetrum2(this, offset);
+ break;
+ case AltosLib.AO_LOG_FORMAT_TELEMINI:
+ case AltosLib.AO_LOG_FORMAT_EASYMINI:
+ eeprom = new AltosEepromMini(this, offset);
+ break;
+ }
+ } catch (ParseException e) {
+ }
+ return eeprom;
+ }
+
public AltosEepromChunk(AltosLink link, int block, boolean flush)
throws TimeoutException, InterruptedException {
--- /dev/null
+/*
+ * Copyright © 2013 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 org.altusmetrum.altoslib_2;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+
+class AltosEepromIterator implements Iterator<AltosState> {
+ AltosState state;
+ Iterator<AltosEeprom> body;
+ AltosEeprom next;
+ boolean seen;
+
+ public boolean hasNext() {
+ return !seen || body.hasNext();
+ }
+
+ public AltosState next() {
+ if (seen) {
+ AltosState n = state.clone();
+ AltosEeprom e = body.next();
+
+ e.update_state(n);
+ state = n;
+ }
+ seen = true;
+ return state;
+ }
+
+ public void remove () {
+ }
+
+ public AltosEepromIterator(AltosState start, Iterator<AltosEeprom> body) {
+ this.state = start;
+ this.body = body;
+ this.seen = false;
+ }
+}
+
+public class AltosEepromFile extends AltosStateIterable {
+
+ AltosEepromIterable headers;
+ AltosEepromIterable body;
+ AltosState start;
+
+ public void write_comments(PrintStream out) {
+ headers.write(out);
+ }
+
+ public void write(PrintStream out) {
+ headers.write(out);
+ body.write(out);
+ }
+
+ public AltosEepromFile(FileInputStream input) {
+ headers = new AltosEepromIterable(AltosEepromHeader.read(input));
+
+ start = headers.state();
+ start.set_state(AltosLib.ao_flight_pad);
+
+ switch (start.log_format) {
+ case AltosLib.AO_LOG_FORMAT_FULL:
+ body = new AltosEepromIterable(AltosEepromTM.read(input));
+ break;
+ case AltosLib.AO_LOG_FORMAT_TINY:
+ body = new AltosEepromIterable(AltosEepromTm.read(input));
+ break;
+ case AltosLib.AO_LOG_FORMAT_TELEMETRY:
+ case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ body = new AltosEepromIterable(AltosEepromMega.read(input));
+ break;
+ case AltosLib.AO_LOG_FORMAT_TELEMETRUM:
+ body = new AltosEepromIterable(AltosEepromMetrum2.read(input));
+ break;
+ case AltosLib.AO_LOG_FORMAT_TELEMINI:
+ case AltosLib.AO_LOG_FORMAT_EASYMINI:
+ body = new AltosEepromIterable(AltosEepromMini.read(input));
+ break;
+ default:
+ body = new AltosEepromIterable(new LinkedList<AltosEeprom>());
+ break;
+ }
+
+ /* Find boost tick */
+ AltosState state = start.clone();
+ for (AltosEeprom eeprom : body) {
+ eeprom.update_state(state);
+ state.finish_update();
+ if (state.state >= AltosLib.ao_flight_boost) {
+ start.set_boost_tick(state.tick);
+ break;
+ }
+ }
+ }
+
+ public Iterator<AltosState> iterator() {
+ AltosState state = start.clone();
+ Iterator<AltosEeprom> i = body.iterator();
+
+ while (i.hasNext() && !state.valid()) {
+ i.next().update_state(state);
+ state.finish_update();
+ }
+ return new AltosEepromIterator(state, i);
+ }
+}
\ No newline at end of file
--- /dev/null
+/*
+ * Copyright © 2013 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 org.altusmetrum.altoslib_2;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+
+public class AltosEepromHeader extends AltosEeprom {
+
+ public int cmd;
+ public String data;
+ public int config_a, config_b;
+ public boolean last;
+ public boolean valid;
+
+ public int record_length () { return 0; }
+
+ /* XXX pull rest of config data to state */
+ public void update_state(AltosState state) {
+ switch (cmd) {
+ case AltosLib.AO_LOG_CONFIG_VERSION:
+ break;
+ case AltosLib.AO_LOG_MAIN_DEPLOY:
+ break;
+ case AltosLib.AO_LOG_APOGEE_DELAY:
+ break;
+ case AltosLib.AO_LOG_RADIO_CHANNEL:
+ break;
+ case AltosLib.AO_LOG_CALLSIGN:
+ state.set_callsign(data);
+ break;
+ case AltosLib.AO_LOG_ACCEL_CAL:
+ state.set_accel_g(config_a, config_b);
+ break;
+ case AltosLib.AO_LOG_RADIO_CAL:
+ break;
+ case AltosLib.AO_LOG_MANUFACTURER:
+ break;
+ case AltosLib.AO_LOG_PRODUCT:
+ break;
+ case AltosLib.AO_LOG_LOG_FORMAT:
+ state.log_format = config_a;
+ break;
+ case AltosLib.AO_LOG_SERIAL_NUMBER:
+ state.set_serial(config_a);
+ break;
+ case AltosLib.AO_LOG_BARO_RESERVED:
+ state.make_baro();
+ state.baro.reserved = config_a;
+ break;
+ case AltosLib.AO_LOG_BARO_SENS:
+ state.make_baro();
+ state.baro.sens = config_a;
+ break;
+ case AltosLib.AO_LOG_BARO_OFF:
+ state.make_baro();
+ state.baro.off = config_a;
+ break;
+ case AltosLib.AO_LOG_BARO_TCS:
+ state.make_baro();
+ state.baro.tcs = config_a;
+ break;
+ case AltosLib.AO_LOG_BARO_TCO:
+ state.make_baro();
+ state.baro.tco = config_a;
+ break;
+ case AltosLib.AO_LOG_BARO_TREF:
+ state.make_baro();
+ state.baro.tref = config_a;
+ break;
+ case AltosLib.AO_LOG_BARO_TEMPSENS:
+ state.make_baro();
+ state.baro.tempsens = config_a;
+ break;
+ case AltosLib.AO_LOG_BARO_CRC:
+ state.make_baro();
+ state.baro.crc = config_a;
+ break;
+ case AltosLib.AO_LOG_SOFTWARE_VERSION:
+ state.set_firmware_version(data);
+ break;
+ }
+ }
+
+ public void write(PrintStream out) {
+ switch (cmd) {
+ case AltosLib.AO_LOG_CONFIG_VERSION:
+ out.printf("# Config version: %s\n", data);
+ break;
+ case AltosLib.AO_LOG_MAIN_DEPLOY:
+ out.printf("# Main deploy: %s\n", config_a);
+ break;
+ case AltosLib.AO_LOG_APOGEE_DELAY:
+ out.printf("# Apogee delay: %s\n", config_a);
+ break;
+ case AltosLib.AO_LOG_RADIO_CHANNEL:
+ out.printf("# Radio channel: %s\n", config_a);
+ break;
+ case AltosLib.AO_LOG_CALLSIGN:
+ out.printf("# Callsign: %s\n", data);
+ break;
+ case AltosLib.AO_LOG_ACCEL_CAL:
+ out.printf ("# Accel cal: %d %d\n", config_a, config_b);
+ break;
+ case AltosLib.AO_LOG_RADIO_CAL:
+ out.printf ("# Radio cal: %d\n", config_a);
+ break;
+ case AltosLib.AO_LOG_MAX_FLIGHT_LOG:
+ out.printf ("# Max flight log: %d\n", config_a);
+ break;
+ case AltosLib.AO_LOG_MANUFACTURER:
+ out.printf ("# Manufacturer: %s\n", data);
+ break;
+ case AltosLib.AO_LOG_PRODUCT:
+ out.printf ("# Product: %s\n", data);
+ break;
+ case AltosLib.AO_LOG_SERIAL_NUMBER:
+ out.printf ("# Serial number: %d\n", config_a);
+ break;
+ case AltosLib.AO_LOG_SOFTWARE_VERSION:
+ out.printf ("# Software version: %s\n", data);
+ break;
+ case AltosLib.AO_LOG_BARO_RESERVED:
+ out.printf ("# Baro reserved: %d\n", config_a);
+ break;
+ case AltosLib.AO_LOG_BARO_SENS:
+ out.printf ("# Baro sens: %d\n", config_a);
+ break;
+ case AltosLib.AO_LOG_BARO_OFF:
+ out.printf ("# Baro off: %d\n", config_a);
+ break;
+ case AltosLib.AO_LOG_BARO_TCS:
+ out.printf ("# Baro tcs: %d\n", config_a);
+ break;
+ case AltosLib.AO_LOG_BARO_TCO:
+ out.printf ("# Baro tco: %d\n", config_a);
+ break;
+ case AltosLib.AO_LOG_BARO_TREF:
+ out.printf ("# Baro tref: %d\n", config_a);
+ break;
+ case AltosLib.AO_LOG_BARO_TEMPSENS:
+ out.printf ("# Baro tempsens: %d\n", config_a);
+ break;
+ case AltosLib.AO_LOG_BARO_CRC:
+ out.printf ("# Baro crc: %d\n", config_a);
+ break;
+ }
+ }
+
+ public AltosEepromHeader (String[] tokens) {
+ last = false;
+ valid = true;
+ try {
+ if (tokens[0].equals("Config") && tokens[1].equals("version:")) {
+ cmd = AltosLib.AO_LOG_CONFIG_VERSION;
+ data = tokens[2];
+ } else if (tokens[0].equals("Main") && tokens[1].equals("deploy:")) {
+ cmd = AltosLib.AO_LOG_MAIN_DEPLOY;
+ config_a = Integer.parseInt(tokens[2]);
+ } else if (tokens[0].equals("Apogee") && tokens[1].equals("delay:")) {
+ cmd = AltosLib.AO_LOG_APOGEE_DELAY;
+ config_a = Integer.parseInt(tokens[2]);
+ } else if (tokens[0].equals("Radio") && tokens[1].equals("channel:")) {
+ cmd = AltosLib.AO_LOG_RADIO_CHANNEL;
+ config_a = Integer.parseInt(tokens[2]);
+ } else if (tokens[0].equals("Callsign:")) {
+ cmd = AltosLib.AO_LOG_CALLSIGN;
+ data = tokens[1].replaceAll("\"","");
+ } else if (tokens[0].equals("Accel") && tokens[1].equals("cal")) {
+ cmd = AltosLib.AO_LOG_ACCEL_CAL;
+ config_a = Integer.parseInt(tokens[3]);
+ config_b = Integer.parseInt(tokens[5]);
+ } else if (tokens[0].equals("Radio") && tokens[1].equals("cal:")) {
+ cmd = AltosLib.AO_LOG_RADIO_CAL;
+ config_a = Integer.parseInt(tokens[2]);
+ } else if (tokens[0].equals("Max") && tokens[1].equals("flight") && tokens[2].equals("log:")) {
+ cmd = AltosLib.AO_LOG_MAX_FLIGHT_LOG;
+ config_a = Integer.parseInt(tokens[3]);
+ } else if (tokens[0].equals("manufacturer")) {
+ cmd = AltosLib.AO_LOG_MANUFACTURER;
+ data = tokens[1];
+ } else if (tokens[0].equals("product")) {
+ cmd = AltosLib.AO_LOG_PRODUCT;
+ data = tokens[1];
+ } else if (tokens[0].equals("serial-number")) {
+ cmd = AltosLib.AO_LOG_SERIAL_NUMBER;
+ config_a = Integer.parseInt(tokens[1]);
+ } else if (tokens[0].equals("log-format")) {
+ cmd = AltosLib.AO_LOG_LOG_FORMAT;
+ config_a = Integer.parseInt(tokens[1]);
+ } else if (tokens[0].equals("software-version")) {
+ cmd = AltosLib.AO_LOG_SOFTWARE_VERSION;
+ data = tokens[1];
+ last = true;
+ } else if (tokens[0].equals("ms5607")) {
+ if (tokens[1].equals("reserved:")) {
+ cmd = AltosLib.AO_LOG_BARO_RESERVED;
+ config_a = Integer.parseInt(tokens[2]);
+ } else if (tokens[1].equals("sens:")) {
+ cmd = AltosLib.AO_LOG_BARO_SENS;
+ config_a = Integer.parseInt(tokens[2]);
+ } else if (tokens[1].equals("off:")) {
+ cmd = AltosLib.AO_LOG_BARO_OFF;
+ config_a = Integer.parseInt(tokens[2]);
+ } else if (tokens[1].equals("tcs:")) {
+ cmd = AltosLib.AO_LOG_BARO_TCS;
+ config_a = Integer.parseInt(tokens[2]);
+ } else if (tokens[1].equals("tco:")) {
+ cmd = AltosLib.AO_LOG_BARO_TCO;
+ config_a = Integer.parseInt(tokens[2]);
+ } else if (tokens[1].equals("tref:")) {
+ cmd = AltosLib.AO_LOG_BARO_TREF;
+ config_a = Integer.parseInt(tokens[2]);
+ } else if (tokens[1].equals("tempsens:")) {
+ cmd = AltosLib.AO_LOG_BARO_TEMPSENS;
+ config_a = Integer.parseInt(tokens[2]);
+ } else if (tokens[1].equals("crc:")) {
+ cmd = AltosLib.AO_LOG_BARO_CRC;
+ config_a = Integer.parseInt(tokens[2]);
+ } else {
+ cmd = AltosLib.AO_LOG_INVALID;
+ data = tokens[2];
+ }
+ } else
+ valid = false;
+ } catch (Exception e) {
+ valid = false;
+ }
+ }
+
+ static public LinkedList<AltosEeprom> read(FileInputStream input) {
+ LinkedList<AltosEeprom> headers = new LinkedList<AltosEeprom>();
+
+ for (;;) {
+ try {
+ String line = AltosLib.gets(input);
+ if (line == null)
+ break;
+ AltosEepromHeader header = new AltosEepromHeader(line);
+ headers.add(header);
+ if (header.last)
+ break;
+ } catch (IOException ie) {
+ break;
+ }
+ }
+
+ return headers;
+ }
+
+ static public void write (PrintStream out, LinkedList<AltosEepromHeader> headers) {
+ out.printf("# Comments\n");
+ for (AltosEepromHeader header : headers) {
+ header.write(out);
+ }
+
+ }
+
+ public AltosEepromHeader (String line) {
+ this(line.split("\\s+"));
+ }
+}
/*
- * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ * Copyright © 2013 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
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.io.*;
import java.util.*;
import java.text.*;
-public class AltosEepromIterable extends AltosRecordIterable {
+class AltosEepromOrdered implements Comparable<AltosEepromOrdered> {
+ AltosEeprom eeprom;
+ int index;
+ int tick;
- static final int seen_basic = AltosRecord.seen_flight|AltosRecord.seen_sensor;
-
- boolean has_accel;
- boolean has_gps;
- boolean has_ignite;
-
- AltosEepromRecord flight_record;
- AltosEepromRecord gps_date_record;
-
- TreeSet<AltosOrderedRecord> records;
-
- 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;
- }
+ int cmdi() {
+ if (eeprom.cmd == AltosLib.AO_LOG_FLIGHT)
+ return 0;
+ return 1;
}
- void update_state(AltosRecordTM state, AltosEepromRecord record, EepromState eeprom) {
- state.tick = record.tick;
- switch (record.cmd) {
- case AltosLib.AO_LOG_FLIGHT:
- eeprom.seen |= AltosRecord.seen_flight;
- state.ground_accel = record.a;
- state.flight_accel = record.a;
- state.flight = record.b;
- eeprom.boost_tick = record.tick;
- break;
- case AltosLib.AO_LOG_SENSOR:
- state.accel = record.a;
- state.pres = record.b;
- if (state.state < AltosLib.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 & AltosRecord.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 |= AltosRecord.seen_sensor;
- eeprom.sensor_tick = record.tick;
- has_accel = true;
- break;
- case AltosLib.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 |= AltosRecord.seen_sensor;
- break;
- case AltosLib.AO_LOG_TEMP_VOLT:
- state.temp = record.a;
- state.batt = record.b;
- eeprom.seen |= AltosRecord.seen_temp_volt;
- break;
- case AltosLib.AO_LOG_DEPLOY:
- state.drogue = record.a;
- state.main = record.b;
- eeprom.seen |= AltosRecord.seen_deploy;
- has_ignite = true;
- break;
- case AltosLib.AO_LOG_STATE:
- state.state = record.a;
- break;
- case AltosLib.AO_LOG_GPS_TIME:
- eeprom.gps_tick = state.tick;
- eeprom.seen |= AltosRecord.seen_gps_time;
- AltosGPS old = state.gps;
- state.gps = new AltosGPS();
+ public int compareTo(AltosEepromOrdered o) {
+ int cmd_diff = cmdi() - o.cmdi();
- /* 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);
+ if (cmd_diff != 0)
+ return cmd_diff;
- int flags = (record.b >> 8);
- state.gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
- state.gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
- state.gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
- AltosLib.AO_GPS_NUM_SAT_SHIFT;
- state.gps_sequence++;
- has_gps = true;
- break;
- case AltosLib.AO_LOG_GPS_LAT:
- eeprom.seen |= AltosRecord.seen_gps_lat;
- int lat32 = record.a | (record.b << 16);
- if (state.gps == null)
- state.gps = new AltosGPS();
- state.gps.lat = (double) lat32 / 1e7;
- break;
- case AltosLib.AO_LOG_GPS_LON:
- eeprom.seen |= AltosRecord.seen_gps_lon;
- int lon32 = record.a | (record.b << 16);
- if (state.gps == null)
- state.gps = new AltosGPS();
- state.gps.lon = (double) lon32 / 1e7;
- break;
- case AltosLib.AO_LOG_GPS_ALT:
- if (state.gps == null)
- state.gps = new AltosGPS();
- state.gps.alt = record.a;
- break;
- case AltosLib.AO_LOG_GPS_SAT:
- if (state.tick == eeprom.gps_tick) {
- int svid = record.a;
- int c_n0 = record.b >> 8;
- if (state.gps == null)
- state.gps = new AltosGPS();
- state.gps.add_sat(svid, c_n0);
- }
- break;
- case AltosLib.AO_LOG_GPS_DATE:
- if (state.gps == null)
- state.gps = new AltosGPS();
- state.gps.year = (record.a & 0xff) + 2000;
- state.gps.month = record.a >> 8;
- state.gps.day = record.b & 0xff;
- break;
+ int tick_diff = tick - o.tick;
- case AltosLib.AO_LOG_CONFIG_VERSION:
- break;
- case AltosLib.AO_LOG_MAIN_DEPLOY:
- break;
- case AltosLib.AO_LOG_APOGEE_DELAY:
- break;
- case AltosLib.AO_LOG_RADIO_CHANNEL:
- break;
- case AltosLib.AO_LOG_CALLSIGN:
- state.callsign = record.data;
- break;
- case AltosLib.AO_LOG_ACCEL_CAL:
- state.accel_plus_g = record.a;
- state.accel_minus_g = record.b;
- break;
- case AltosLib.AO_LOG_RADIO_CAL:
- break;
- case AltosLib.AO_LOG_MANUFACTURER:
- break;
- case AltosLib.AO_LOG_PRODUCT:
- break;
- case AltosLib.AO_LOG_SERIAL_NUMBER:
- state.serial = record.a;
- break;
- case AltosLib.AO_LOG_SOFTWARE_VERSION:
- break;
- }
- state.seen |= eeprom.seen;
+ if (tick_diff != 0)
+ return tick_diff;
+ return index - o.index;
}
- LinkedList<AltosRecord> make_list() {
- LinkedList<AltosRecord> list = new LinkedList<AltosRecord>();
- Iterator<AltosOrderedRecord> iterator = records.iterator();
- AltosOrderedRecord record = null;
- AltosRecordTM state = new AltosRecordTM();
- //boolean last_reported = false;
- EepromState eeprom = new EepromState();
-
- state.state = AltosLib.ao_flight_pad;
- state.accel_plus_g = 15758;
- state.accel_minus_g = 16294;
- state.flight_vel = 0;
-
- /* 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);
+ AltosEepromOrdered (AltosEeprom eeprom, int index, int tick) {
+ this.eeprom = eeprom;
+ this.index = index;
+ this.tick = tick;
+ }
+}
- while (iterator.hasNext()) {
- record = iterator.next();
- if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
- AltosRecordTM r = state.clone();
- r.time = (r.tick - eeprom.boost_tick) / 100.0;
- list.add(r);
+class AltosEepromOrderedIterator implements Iterator<AltosEeprom> {
+ TreeSet<AltosEepromOrdered> olist;
+ Iterator<AltosEepromOrdered> oiterator;
+
+ public AltosEepromOrderedIterator(Iterable<AltosEeprom> eeproms) {
+ olist = new TreeSet<AltosEepromOrdered>();
+
+ int tick = 0;
+ int index = 0;
+ boolean first = true;
+
+ for (AltosEeprom e : eeproms) {
+ int t = e.tick;
+ if (first)
+ tick = t;
+ else {
+ while (t < tick - 32767)
+ t += 65536;
+ tick = t;
}
- update_state(state, record, eeprom);
+ olist.add(new AltosEepromOrdered(e, index++, tick));
+ first = false;
}
- AltosRecordTM r = state.clone();
- 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();
+ oiterator = olist.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<AltosOrderedRecord> iterator = records.iterator();
- out.printf("# Comments\n");
- while (iterator.hasNext()) {
- AltosOrderedRecord record = iterator.next();
- switch (record.cmd) {
- case AltosLib.AO_LOG_CONFIG_VERSION:
- out.printf("# Config version: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_MAIN_DEPLOY:
- out.printf("# Main deploy: %s\n", record.a);
- break;
- case AltosLib.AO_LOG_APOGEE_DELAY:
- out.printf("# Apogee delay: %s\n", record.a);
- break;
- case AltosLib.AO_LOG_RADIO_CHANNEL:
- out.printf("# Radio channel: %s\n", record.a);
- break;
- case AltosLib.AO_LOG_CALLSIGN:
- out.printf("# Callsign: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_ACCEL_CAL:
- out.printf ("# Accel cal: %d %d\n", record.a, record.b);
- break;
- case AltosLib.AO_LOG_RADIO_CAL:
- out.printf ("# Radio cal: %d\n", record.a);
- break;
- case AltosLib.AO_LOG_MAX_FLIGHT_LOG:
- out.printf ("# Max flight log: %d\n", record.a);
- break;
- case AltosLib.AO_LOG_MANUFACTURER:
- out.printf ("# Manufacturer: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_PRODUCT:
- out.printf ("# Product: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_SERIAL_NUMBER:
- out.printf ("# Serial number: %d\n", record.a);
- break;
- case AltosLib.AO_LOG_SOFTWARE_VERSION:
- out.printf ("# Software version: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_BARO_RESERVED:
- out.printf ("# Baro reserved: %d\n", record.a);
- break;
- case AltosLib.AO_LOG_BARO_SENS:
- out.printf ("# Baro sens: %d\n", record.a);
- break;
- case AltosLib.AO_LOG_BARO_OFF:
- out.printf ("# Baro off: %d\n", record.a);
- break;
- case AltosLib.AO_LOG_BARO_TCS:
- out.printf ("# Baro tcs: %d\n", record.a);
- break;
- case AltosLib.AO_LOG_BARO_TCO:
- out.printf ("# Baro tco: %d\n", record.a);
- break;
- case AltosLib.AO_LOG_BARO_TREF:
- out.printf ("# Baro tref: %d\n", record.a);
- break;
- case AltosLib.AO_LOG_BARO_TEMPSENS:
- out.printf ("# Baro tempsens: %d\n", record.a);
- break;
- case AltosLib.AO_LOG_BARO_CRC:
- out.printf ("# Baro crc: %d\n", record.a);
- break;
- }
- }
+ public boolean hasNext() {
+ return oiterator.hasNext();
}
- /*
- * 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(AltosOrderedRecord good, AltosOrderedRecord 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 & AltosLib.AO_GPS_NUM_SAT_MASK) >> AltosLib.AO_GPS_NUM_SAT_SHIFT < 4)
- flags = (flags & ~AltosLib.AO_GPS_NUM_SAT_MASK) | (4 << AltosLib.AO_GPS_NUM_SAT_SHIFT);
- flags |= AltosLib.AO_GPS_RUNNING;
- flags |= AltosLib.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);
+ public AltosEeprom next() {
+ return oiterator.next().eeprom;
}
- /*
- * 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 AltosEepromIterable (FileInputStream input) {
- records = new TreeSet<AltosOrderedRecord>();
-
- AltosOrderedRecord last_gps_time = null;
-
- int index = 0;
- int prev_tick = 0;
- boolean prev_tick_valid = false;
- boolean missing_time = false;
+ public void remove () {
+ }
+}
- try {
- for (;;) {
- String line = AltosLib.gets(input);
- if (line == null)
- break;
- AltosOrderedRecord record = new AltosOrderedRecord(line, index++, prev_tick, prev_tick_valid);
- if (record.cmd == AltosLib.AO_LOG_INVALID)
- continue;
- prev_tick = record.tick;
- if (record.cmd < AltosLib.AO_LOG_CONFIG_VERSION)
- prev_tick_valid = true;
- if (record.cmd == AltosLib.AO_LOG_FLIGHT) {
- flight_record = record;
- continue;
- }
+public class AltosEepromIterable implements Iterable<AltosEeprom> {
+ public LinkedList<AltosEeprom> eeproms;
- /* 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 == AltosLib.AO_LOG_GPS_DATE) {
- gps_date_record = record;
- continue;
- }
+ public void write(PrintStream out) {
+ for (AltosEeprom eeprom : eeproms)
+ eeprom.write(out);
+ }
- /* go back and fix up any missing time values */
- if (record.cmd == AltosLib.AO_LOG_GPS_TIME) {
- last_gps_time = record;
- if (missing_time) {
- Iterator<AltosOrderedRecord> iterator = records.iterator();
- while (iterator.hasNext()) {
- AltosOrderedRecord old = iterator.next();
- if (old.cmd == AltosLib.AO_LOG_GPS_TIME &&
- old.a == -1 && old.b == -1)
- {
- update_time(record, old);
- }
- }
- missing_time = false;
- }
- }
+ public AltosState state() {
+ AltosState state = new AltosState();
- if (record.cmd == AltosLib.AO_LOG_GPS_LAT) {
- if (last_gps_time == null || last_gps_time.tick != record.tick) {
- AltosOrderedRecord add_gps_time = new AltosOrderedRecord(AltosLib.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;
+ for (AltosEeprom header : eeproms)
+ header.update_state(state);
+ return state;
+ }
- records.add(add_gps_time);
- record.index = index++;
- }
- }
- records.add(record);
+ public AltosEepromIterable(LinkedList<AltosEeprom> eeproms) {
+ this.eeproms = eeproms;
+ }
- /* Bail after reading the 'landed' record; we're all done */
- if (record.cmd == AltosLib.AO_LOG_STATE &&
- record.a == AltosLib.ao_flight_landed)
- break;
- }
- } catch (IOException io) {
- } catch (ParseException pe) {
- }
- try {
- input.close();
- } catch (IOException ie) {
- }
+ public Iterator<AltosEeprom> iterator() {
+ if (eeproms == null)
+ eeproms = new LinkedList<AltosEeprom>();
+ return new AltosEepromOrderedIterator(eeproms);
}
-}
+}
\ No newline at end of file
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.text.*;
import java.util.concurrent.*;
for (block = in_start_block; block < in_end_block; block++) {
AltosEepromChunk eechunk = new AltosEepromChunk(link, block, block == in_start_block);
- for (int i = 0; i < AltosEepromChunk.chunk_size; i += AltosEepromRecord.record_length) {
+ for (int i = 0; i < AltosEepromChunk.chunk_size; i += AltosEepromTM.record_length) {
try {
- AltosEepromRecord r = new AltosEepromRecord(eechunk, i);
+ AltosEepromTM r = new AltosEepromTM(eechunk, i);
if (r.cmd == AltosLib.AO_LOG_FLIGHT) {
flight = r.b;
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
+import java.io.*;
+import java.util.*;
import java.text.*;
-public class AltosEepromMega {
- public int cmd;
- public int tick;
- public boolean valid;
- public String data;
- public int config_a, config_b;
-
- public int data8[];
-
+public class AltosEepromMega extends AltosEeprom {
public 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);
- }
+ public int record_length() { return record_length; }
/* AO_LOG_FLIGHT elements */
public int flight() { return data16(0); }
public int mag_z() { return data16(24); }
public int accel() { return data16(26); }
- /* AO_LOG_VOLT elements */
+ /* 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 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) 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 = AltosLib.AO_LOG_INVALID;
- }
+ parse_chunk(chunk, start);
+ }
- tick = chunk.data16(start+2);
+ 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;
+ }
+ }
- data8 = new int[data_length];
- for (int i = 0; i < data_length; i++)
- data8[i] = chunk.data(start + header_length + i);
+ 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_temperature(ground_temp() / 100.0);
+ 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();
+ imu.accel_x = accel_x();
+ imu.accel_y = accel_y();
+ imu.accel_z = accel_z();
+
+ imu.gyro_x = gyro_x();
+ imu.gyro_y = gyro_y();
+ imu.gyro_z = gyro_z();
+ state.imu = imu;
+
+ AltosMag mag = new AltosMag();
+ mag.x = mag_x();
+ mag.y = mag_y();
+ mag.z = mag_z();
+
+ state.mag = mag;
+
+ 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);
+ 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;
+ gps.alt = altitude();
+
+ 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();
+ break;
+ case AltosLib.AO_LOG_GPS_SAT:
+ state.set_tick(tick);
+ gps = state.make_temp_gps(true);
+
+ int n = nsat();
+ for (int i = 0; i < n; i++)
+ gps.add_sat(svid(i), c_n(i));
+ break;
+ }
}
public AltosEepromMega (String line) {
- valid = false;
- tick = 0;
+ parse_string(line);
+ }
- if (line == null) {
- cmd = AltosLib.AO_LOG_INVALID;
- line = "";
- } else {
+ static public LinkedList<AltosEeprom> read(FileInputStream input) {
+ LinkedList<AltosEeprom> megas = new LinkedList<AltosEeprom>();
+
+ for (;;) {
try {
- String[] tokens = line.split("\\s+");
-
- if (tokens[0].length() == 1) {
- if (tokens.length != 2 + data_length) {
- cmd = AltosLib.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 = AltosLib.AO_LOG_CONFIG_VERSION;
- data = tokens[2];
- } else if (tokens[0].equals("Main") && tokens[1].equals("deploy:")) {
- cmd = AltosLib.AO_LOG_MAIN_DEPLOY;
- config_a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Apogee") && tokens[1].equals("delay:")) {
- cmd = AltosLib.AO_LOG_APOGEE_DELAY;
- config_a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Radio") && tokens[1].equals("channel:")) {
- cmd = AltosLib.AO_LOG_RADIO_CHANNEL;
- config_a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Callsign:")) {
- cmd = AltosLib.AO_LOG_CALLSIGN;
- data = tokens[1].replaceAll("\"","");
- } else if (tokens[0].equals("Accel") && tokens[1].equals("cal")) {
- cmd = AltosLib.AO_LOG_ACCEL_CAL;
- config_a = Integer.parseInt(tokens[3]);
- config_b = Integer.parseInt(tokens[5]);
- } else if (tokens[0].equals("Radio") && tokens[1].equals("cal:")) {
- cmd = AltosLib.AO_LOG_RADIO_CAL;
- config_a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Max") && tokens[1].equals("flight") && tokens[2].equals("log:")) {
- cmd = AltosLib.AO_LOG_MAX_FLIGHT_LOG;
- config_a = Integer.parseInt(tokens[3]);
- } else if (tokens[0].equals("manufacturer")) {
- cmd = AltosLib.AO_LOG_MANUFACTURER;
- data = tokens[1];
- } else if (tokens[0].equals("product")) {
- cmd = AltosLib.AO_LOG_PRODUCT;
- data = tokens[1];
- } else if (tokens[0].equals("serial-number")) {
- cmd = AltosLib.AO_LOG_SERIAL_NUMBER;
- config_a = Integer.parseInt(tokens[1]);
- } else if (tokens[0].equals("log-format")) {
- cmd = AltosLib.AO_LOG_LOG_FORMAT;
- config_a = Integer.parseInt(tokens[1]);
- } else if (tokens[0].equals("software-version")) {
- cmd = AltosLib.AO_LOG_SOFTWARE_VERSION;
- data = tokens[1];
- } else if (tokens[0].equals("ms5607")) {
- if (tokens[1].equals("reserved:")) {
- cmd = AltosLib.AO_LOG_BARO_RESERVED;
- config_a = Integer.parseInt(tokens[2]);
- } else if (tokens[1].equals("sens:")) {
- cmd = AltosLib.AO_LOG_BARO_SENS;
- config_a = Integer.parseInt(tokens[2]);
- } else if (tokens[1].equals("off:")) {
- cmd = AltosLib.AO_LOG_BARO_OFF;
- config_a = Integer.parseInt(tokens[2]);
- } else if (tokens[1].equals("tcs:")) {
- cmd = AltosLib.AO_LOG_BARO_TCS;
- config_a = Integer.parseInt(tokens[2]);
- } else if (tokens[1].equals("tco:")) {
- cmd = AltosLib.AO_LOG_BARO_TCO;
- config_a = Integer.parseInt(tokens[2]);
- } else if (tokens[1].equals("tref:")) {
- cmd = AltosLib.AO_LOG_BARO_TREF;
- config_a = Integer.parseInt(tokens[2]);
- } else if (tokens[1].equals("tempsens:")) {
- cmd = AltosLib.AO_LOG_BARO_TEMPSENS;
- config_a = Integer.parseInt(tokens[2]);
- } else if (tokens[1].equals("crc:")) {
- cmd = AltosLib.AO_LOG_BARO_CRC;
- config_a = Integer.parseInt(tokens[2]);
- } else {
- cmd = AltosLib.AO_LOG_INVALID;
- data = line;
- }
- } else {
- cmd = AltosLib.AO_LOG_INVALID;
- data = line;
+ String line = AltosLib.gets(input);
+ if (line == null)
+ break;
+ try {
+ AltosEepromMega mega = new AltosEepromMega(line);
+ if (mega.cmd != AltosLib.AO_LOG_INVALID)
+ megas.add(mega);
+ } catch (Exception e) {
+ System.out.printf ("exception\n");
}
- } catch (NumberFormatException ne) {
- cmd = AltosLib.AO_LOG_INVALID;
- data = line;
+ } catch (IOException ie) {
+ break;
}
}
- }
- public AltosEepromMega(int in_cmd, int in_tick) {
- cmd = in_cmd;
- tick = in_tick;
- valid = true;
+ return megas;
}
}
+++ /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 org.altusmetrum.altoslib_1;
-
-import java.io.*;
-import java.util.*;
-import java.text.*;
-
-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(AltosRecordMM state, AltosEepromMega record, EepromState eeprom) {
- state.tick = record.tick;
- switch (record.cmd) {
- case AltosLib.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 AltosLib.AO_LOG_SENSOR:
- state.accel = record.accel();
- baro.set(record.pres(), record.temp());
- state.pres = baro.pa;
- 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 < AltosLib.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 AltosLib.AO_LOG_TEMP_VOLT:
- state.v_batt = record.v_batt();
- state.v_pyro = record.v_pbatt();
- for (int i = 0; i < record.nsense(); i++)
- state.sense[i] = record.sense(i);
- eeprom.seen |= seen_temp_volt;
- break;
- case AltosLib.AO_LOG_STATE:
- state.state = record.state();
- break;
- case AltosLib.AO_LOG_GPS_TIME:
- eeprom.gps_tick = state.tick;
- state.gps = new AltosGPS();
-
- state.gps.lat = record.latitude() / 1e7;
- state.gps.lon = record.longitude() / 1e7;
- state.gps.alt = record.altitude();
- state.gps.year = record.year() + 2000;
- state.gps.month = record.month();
- state.gps.day = record.day();
-
- state.gps.hour = record.hour();
- state.gps.minute = record.minute();
- state.gps.second = record.second();
-
- int flags = record.flags();
- state.gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
- state.gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
- state.gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
- AltosLib.AO_GPS_NUM_SAT_SHIFT;
- state.gps_sequence++;
- has_gps = true;
- eeprom.seen |= seen_gps_time | seen_gps_lat | seen_gps_lon;
- break;
- case AltosLib.AO_LOG_GPS_SAT:
- if (state.tick == eeprom.gps_tick) {
- int nsat = record.nsat();
- for (int i = 0; i < nsat; i++)
- state.gps.add_sat(record.svid(i), record.c_n(i));
- }
- break;
- case AltosLib.AO_LOG_CONFIG_VERSION:
- break;
- case AltosLib.AO_LOG_MAIN_DEPLOY:
- break;
- case AltosLib.AO_LOG_APOGEE_DELAY:
- break;
- case AltosLib.AO_LOG_RADIO_CHANNEL:
- break;
- case AltosLib.AO_LOG_CALLSIGN:
- state.callsign = record.data;
- break;
- case AltosLib.AO_LOG_ACCEL_CAL:
- state.accel_plus_g = record.config_a;
- state.accel_minus_g = record.config_b;
- break;
- case AltosLib.AO_LOG_RADIO_CAL:
- break;
- case AltosLib.AO_LOG_MANUFACTURER:
- break;
- case AltosLib.AO_LOG_PRODUCT:
- break;
- case AltosLib.AO_LOG_SERIAL_NUMBER:
- state.serial = record.config_a;
- break;
- case AltosLib.AO_LOG_SOFTWARE_VERSION:
- break;
- case AltosLib.AO_LOG_BARO_RESERVED:
- baro.reserved = record.config_a;
- break;
- case AltosLib.AO_LOG_BARO_SENS:
- baro.sens =record.config_a;
- break;
- case AltosLib.AO_LOG_BARO_OFF:
- baro.off =record.config_a;
- break;
- case AltosLib.AO_LOG_BARO_TCS:
- baro.tcs =record.config_a;
- break;
- case AltosLib.AO_LOG_BARO_TCO:
- baro.tco =record.config_a;
- break;
- case AltosLib.AO_LOG_BARO_TREF:
- baro.tref =record.config_a;
- break;
- case AltosLib.AO_LOG_BARO_TEMPSENS:
- baro.tempsens =record.config_a;
- break;
- case AltosLib.AO_LOG_BARO_CRC:
- baro.crc =record.config_a;
- break;
- }
- state.seen |= eeprom.seen;
- }
-
- LinkedList<AltosRecord> make_list() {
- LinkedList<AltosRecord> list = new LinkedList<AltosRecord>();
- Iterator<AltosOrderedMegaRecord> iterator = records.iterator();
- AltosOrderedMegaRecord record = null;
- AltosRecordMM state = new AltosRecordMM();
- //boolean last_reported = false;
- EepromState eeprom = new EepromState();
-
- state.state = AltosLib.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) {
- AltosRecordMM r = state.clone();
- r.time = (r.tick - eeprom.boost_tick) / 100.0;
- list.add(r);
- }
- update_state(state, record, eeprom);
- }
- AltosRecordMM r = state.clone();
- 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 AltosLib.AO_LOG_CONFIG_VERSION:
- out.printf("# Config version: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_MAIN_DEPLOY:
- out.printf("# Main deploy: %s\n", record.config_a);
- break;
- case AltosLib.AO_LOG_APOGEE_DELAY:
- out.printf("# Apogee delay: %s\n", record.config_a);
- break;
- case AltosLib.AO_LOG_RADIO_CHANNEL:
- out.printf("# Radio channel: %s\n", record.config_a);
- break;
- case AltosLib.AO_LOG_CALLSIGN:
- out.printf("# Callsign: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_ACCEL_CAL:
- out.printf ("# Accel cal: %d %d\n", record.config_a, record.config_b);
- break;
- case AltosLib.AO_LOG_RADIO_CAL:
- out.printf ("# Radio cal: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_MAX_FLIGHT_LOG:
- out.printf ("# Max flight log: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_MANUFACTURER:
- out.printf ("# Manufacturer: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_PRODUCT:
- out.printf ("# Product: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_SERIAL_NUMBER:
- out.printf ("# Serial number: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_SOFTWARE_VERSION:
- out.printf ("# Software version: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_BARO_RESERVED:
- out.printf ("# Baro reserved: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_BARO_SENS:
- out.printf ("# Baro sens: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_BARO_OFF:
- out.printf ("# Baro off: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_BARO_TCS:
- out.printf ("# Baro tcs: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_BARO_TCO:
- out.printf ("# Baro tco: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_BARO_TREF:
- out.printf ("# Baro tref: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_BARO_TEMPSENS:
- out.printf ("# Baro tempsens: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_BARO_CRC:
- out.printf ("# Baro crc: %d\n", record.config_a);
- break;
- }
- }
- }
-
- /*
- * 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 = AltosLib.gets(input);
- if (line == null)
- break;
- AltosOrderedMegaRecord record = new AltosOrderedMegaRecord(line, index++, prev_tick, prev_tick_valid);
- if (record.cmd == AltosLib.AO_LOG_INVALID)
- continue;
- prev_tick = record.tick;
- if (record.cmd < AltosLib.AO_LOG_CONFIG_VERSION)
- prev_tick_valid = true;
- if (record.cmd == AltosLib.AO_LOG_FLIGHT) {
- flight_record = record;
- continue;
- }
-
- records.add(record);
-
- /* Bail after reading the 'landed' record; we're all done */
- if (record.cmd == AltosLib.AO_LOG_STATE &&
- record.state() == AltosLib.ao_flight_landed)
- break;
- }
- } catch (IOException io) {
- } catch (ParseException pe) {
- }
- try {
- input.close();
- } catch (IOException ie) {
- }
- }
-}
--- /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 org.altusmetrum.altoslib_2;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+
+public class AltosEepromMetrum2 extends AltosEeprom {
+ public static final int record_length = 16;
+
+ 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_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() { return data16(8); }
+
+ /* AO_LOG_TEMP_VOLT elements */
+ public int v_batt() { return data16(0); }
+ public int sense_a() { return data16(2); }
+ public int sense_m() { return data16(4); }
+
+ /* AO_LOG_GPS_POS elements */
+ public int latitude() { return data32(0); }
+ public int longitude() { return data32(4); }
+ public int altitude() { return data16(8); }
+
+ /* AO_LOG_GPS_TIME elements */
+ public int hour() { return data8(0); }
+ public int minute() { return data8(1); }
+ public int second() { return data8(2); }
+ public int flags() { return data8(3); }
+ public int year() { return data8(4); }
+ public int month() { return data8(5); }
+ public int day() { return data8(6); }
+
+ /* AO_LOG_GPS_SAT elements */
+ public int nsat() { return data8(0); }
+ public int more() { return data8(1); }
+ public int svid(int n) { return data8(2 + n * 2); }
+ public int c_n(int n) { return data8(2 + n * 2 + 1); }
+
+ public AltosEepromMetrum2 (AltosEepromChunk chunk, int start) throws ParseException {
+ 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_POS:
+ 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_flight(flight());
+ state.set_ground_accel(ground_accel());
+ state.set_ground_pressure(ground_pres());
+// state.set_temperature(ground_temp() / 100.0);
+ break;
+ case AltosLib.AO_LOG_STATE:
+ state.set_state(state());
+ break;
+ case AltosLib.AO_LOG_SENSOR:
+ state.set_ms5607(pres(), temp());
+ state.set_accel(accel());
+
+ break;
+ case AltosLib.AO_LOG_TEMP_VOLT:
+ state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
+
+ state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense_a()));
+ state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense_m()));
+
+ break;
+ case AltosLib.AO_LOG_GPS_POS:
+ gps = state.make_temp_gps(false);
+ gps.lat = latitude() / 1e7;
+ gps.lon = longitude() / 1e7;
+ gps.alt = altitude();
+ break;
+ case AltosLib.AO_LOG_GPS_TIME:
+ gps = state.make_temp_gps(false);
+
+ 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();
+ break;
+ case AltosLib.AO_LOG_GPS_SAT:
+ gps = state.make_temp_gps(true);
+
+ int n = nsat();
+ for (int i = 0; i < n; i++)
+ gps.add_sat(svid(i), c_n(i));
+ break;
+ }
+ }
+
+ public AltosEepromMetrum2 (String line) {
+ parse_string(line);
+ }
+
+ static public LinkedList<AltosEeprom> read(FileInputStream input) {
+ LinkedList<AltosEeprom> metrums = new LinkedList<AltosEeprom>();
+
+ for (;;) {
+ try {
+ String line = AltosLib.gets(input);
+ if (line == null)
+ break;
+ try {
+ AltosEepromMetrum2 metrum = new AltosEepromMetrum2(line);
+
+ if (metrum.cmd != AltosLib.AO_LOG_INVALID)
+ metrums.add(metrum);
+ } catch (Exception e) {
+ System.out.printf ("exception\n");
+ }
+ } catch (IOException ie) {
+ break;
+ }
+ }
+
+ return metrums;
+ }
+}
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
+import java.io.*;
+import java.util.*;
import java.text.*;
-public class AltosEepromMini {
- public int cmd;
- public int tick;
- public boolean valid;
- public String data;
- public int config_a, config_b;
-
- public int data8[];
-
+public class AltosEepromMini extends AltosEeprom {
public static final int record_length = 16;
- 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 data24(int i) {
- return data8[i] | (data8[i+1] << 8) | (data8[i+2] << 16);
- }
-
- public int data32(int i) {
- return data8[i] | (data8[i+1] << 8) | (data8[i+2] << 16) | (data8[i+3] << 24);
- }
+ public int record_length() { return record_length; }
/* AO_LOG_FLIGHT elements */
public int flight() { return data16(0); }
public int sense_m() { return data16(8); }
public int v_batt() { return data16(10); }
- public AltosEepromMini (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 = AltosLib.AO_LOG_INVALID;
- }
+ double voltage(AltosState state, int sensor) {
+ if (state.log_format == AltosLib.AO_LOG_FORMAT_EASYMINI)
+ return AltosConvert.easy_mini_voltage(sensor);
+ else
+ return AltosConvert.tele_mini_voltage(sensor);
+ }
- tick = chunk.data16(start+2);
+ public void update_state(AltosState state) {
+ super.update_state(state);
+
+ switch (cmd) {
+ case AltosLib.AO_LOG_FLIGHT:
+ state.set_flight(flight());
+ state.set_ground_pressure(ground_pres());
+ break;
+ case AltosLib.AO_LOG_STATE:
+ state.set_state(state());
+ break;
+ case AltosLib.AO_LOG_SENSOR:
+ state.set_ms5607(pres(), temp());
+ state.set_apogee_voltage(voltage(state, sense_a()));
+ state.set_main_voltage(voltage(state, sense_m()));
+ state.set_battery_voltage(voltage(state, v_batt()));
+ break;
+ }
+ }
- data8 = new int[data_length];
- for (int i = 0; i < data_length; i++)
- data8[i] = chunk.data(start + header_length + i);
+ public AltosEepromMini (AltosEepromChunk chunk, int start) throws ParseException {
+ parse_chunk(chunk, start);
}
public AltosEepromMini (String line) {
- valid = false;
- tick = 0;
-
- if (line == null) {
- cmd = AltosLib.AO_LOG_INVALID;
- line = "";
- } else {
- try {
- String[] tokens = line.split("\\s+");
-
- if (tokens[0].length() == 1) {
- if (tokens.length != 2 + data_length) {
- cmd = AltosLib.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 = AltosLib.AO_LOG_CONFIG_VERSION;
- data = tokens[2];
- } else if (tokens[0].equals("Main") && tokens[1].equals("deploy:")) {
- cmd = AltosLib.AO_LOG_MAIN_DEPLOY;
- config_a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Apogee") && tokens[1].equals("delay:")) {
- cmd = AltosLib.AO_LOG_APOGEE_DELAY;
- config_a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Radio") && tokens[1].equals("channel:")) {
- cmd = AltosLib.AO_LOG_RADIO_CHANNEL;
- config_a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Callsign:")) {
- cmd = AltosLib.AO_LOG_CALLSIGN;
- data = tokens[1].replaceAll("\"","");
- } else if (tokens[0].equals("Accel") && tokens[1].equals("cal")) {
- cmd = AltosLib.AO_LOG_ACCEL_CAL;
- config_a = Integer.parseInt(tokens[3]);
- config_b = Integer.parseInt(tokens[5]);
- } else if (tokens[0].equals("Radio") && tokens[1].equals("cal:")) {
- cmd = AltosLib.AO_LOG_RADIO_CAL;
- config_a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Max") && tokens[1].equals("flight") && tokens[2].equals("log:")) {
- cmd = AltosLib.AO_LOG_MAX_FLIGHT_LOG;
- config_a = Integer.parseInt(tokens[3]);
- } else if (tokens[0].equals("manufacturer")) {
- cmd = AltosLib.AO_LOG_MANUFACTURER;
- data = tokens[1];
- } else if (tokens[0].equals("product")) {
- cmd = AltosLib.AO_LOG_PRODUCT;
- data = tokens[1];
- } else if (tokens[0].equals("serial-number")) {
- cmd = AltosLib.AO_LOG_SERIAL_NUMBER;
- config_a = Integer.parseInt(tokens[1]);
- } else if (tokens[0].equals("log-format")) {
- cmd = AltosLib.AO_LOG_LOG_FORMAT;
- config_a = Integer.parseInt(tokens[1]);
- } else if (tokens[0].equals("software-version")) {
- cmd = AltosLib.AO_LOG_SOFTWARE_VERSION;
- data = tokens[1];
- } else if (tokens[0].equals("ms5607")) {
- if (tokens[1].equals("reserved:")) {
- cmd = AltosLib.AO_LOG_BARO_RESERVED;
- config_a = Integer.parseInt(tokens[2]);
- } else if (tokens[1].equals("sens:")) {
- cmd = AltosLib.AO_LOG_BARO_SENS;
- config_a = Integer.parseInt(tokens[2]);
- } else if (tokens[1].equals("off:")) {
- cmd = AltosLib.AO_LOG_BARO_OFF;
- config_a = Integer.parseInt(tokens[2]);
- } else if (tokens[1].equals("tcs:")) {
- cmd = AltosLib.AO_LOG_BARO_TCS;
- config_a = Integer.parseInt(tokens[2]);
- } else if (tokens[1].equals("tco:")) {
- cmd = AltosLib.AO_LOG_BARO_TCO;
- config_a = Integer.parseInt(tokens[2]);
- } else if (tokens[1].equals("tref:")) {
- cmd = AltosLib.AO_LOG_BARO_TREF;
- config_a = Integer.parseInt(tokens[2]);
- } else if (tokens[1].equals("tempsens:")) {
- cmd = AltosLib.AO_LOG_BARO_TEMPSENS;
- config_a = Integer.parseInt(tokens[2]);
- } else if (tokens[1].equals("crc:")) {
- cmd = AltosLib.AO_LOG_BARO_CRC;
- config_a = Integer.parseInt(tokens[2]);
- } else {
- cmd = AltosLib.AO_LOG_INVALID;
- data = line;
- }
- } else {
- cmd = AltosLib.AO_LOG_INVALID;
- data = line;
- }
- } catch (NumberFormatException ne) {
- cmd = AltosLib.AO_LOG_INVALID;
- data = line;
- }
- }
+ parse_string(line);
}
public AltosEepromMini(int in_cmd, int in_tick) {
tick = in_tick;
valid = true;
}
+
+ static public LinkedList<AltosEeprom> read(FileInputStream input) {
+ LinkedList<AltosEeprom> minis = new LinkedList<AltosEeprom>();
+
+ for (;;) {
+ try {
+ String line = AltosLib.gets(input);
+ if (line == null)
+ break;
+ AltosEepromMini mini = new AltosEepromMini(line);
+ minis.add(mini);
+ } catch (IOException ie) {
+ break;
+ }
+ }
+
+ return minis;
+ }
}
+++ /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 org.altusmetrum.altoslib_1;
-
-import java.io.*;
-import java.util.*;
-import java.text.*;
-
-public class AltosEepromMiniIterable extends AltosRecordIterable {
-
- static final int seen_flight = 1;
- static final int seen_sensor = 2;
-
- static final int seen_basic = seen_flight|seen_sensor;
-
- boolean has_accel;
- boolean has_gps;
- boolean has_ignite;
-
- AltosEepromMini flight_record;
-
- TreeSet<AltosOrderedMiniRecord> records;
-
- AltosMs5607 baro;
-
- LinkedList<AltosRecord> list;
-
- class EepromState {
- int seen;
- int n_pad_samples;
- double ground_pres;
- int boost_tick;
- int sensor_tick;
-
- EepromState() {
- seen = 0;
- n_pad_samples = 0;
- ground_pres = 0.0;
- }
- }
-
- void update_state(AltosRecordMini state, AltosEepromMini record, EepromState eeprom) {
- state.tick = record.tick;
- switch (record.cmd) {
- case AltosLib.AO_LOG_FLIGHT:
- eeprom.seen |= seen_flight;
- state.ground_pres = record.ground_pres();
- state.flight_pres = state.ground_pres;
- state.flight = record.data16(0);
- eeprom.boost_tick = record.tick;
- break;
- case AltosLib.AO_LOG_SENSOR:
- baro.set(record.pres(), record.temp());
- state.pres = baro.pa;
- state.temp = baro.cc;
- state.sense_m = record.sense_m();
- state.sense_a = record.sense_a();
- state.v_batt = record.v_batt();
- if (state.state < AltosLib.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;
- }
- if ((eeprom.seen & seen_sensor) == 0)
- eeprom.sensor_tick = record.tick - 1;
- eeprom.seen |= seen_sensor;
- eeprom.sensor_tick = record.tick;
- break;
- case AltosLib.AO_LOG_STATE:
- state.state = record.state();
- break;
- case AltosLib.AO_LOG_CONFIG_VERSION:
- break;
- case AltosLib.AO_LOG_MAIN_DEPLOY:
- break;
- case AltosLib.AO_LOG_APOGEE_DELAY:
- break;
- case AltosLib.AO_LOG_RADIO_CHANNEL:
- break;
- case AltosLib.AO_LOG_CALLSIGN:
- state.callsign = record.data;
- break;
- case AltosLib.AO_LOG_RADIO_CAL:
- break;
- case AltosLib.AO_LOG_MANUFACTURER:
- break;
- case AltosLib.AO_LOG_PRODUCT:
- break;
- case AltosLib.AO_LOG_SERIAL_NUMBER:
- state.serial = record.config_a;
- break;
- case AltosLib.AO_LOG_SOFTWARE_VERSION:
- break;
- case AltosLib.AO_LOG_BARO_RESERVED:
- baro.reserved = record.config_a;
- break;
- case AltosLib.AO_LOG_BARO_SENS:
- baro.sens =record.config_a;
- break;
- case AltosLib.AO_LOG_BARO_OFF:
- baro.off =record.config_a;
- break;
- case AltosLib.AO_LOG_BARO_TCS:
- baro.tcs =record.config_a;
- break;
- case AltosLib.AO_LOG_BARO_TCO:
- baro.tco =record.config_a;
- break;
- case AltosLib.AO_LOG_BARO_TREF:
- baro.tref =record.config_a;
- break;
- case AltosLib.AO_LOG_BARO_TEMPSENS:
- baro.tempsens =record.config_a;
- break;
- case AltosLib.AO_LOG_BARO_CRC:
- baro.crc =record.config_a;
- break;
- }
- state.seen |= eeprom.seen;
- }
-
- LinkedList<AltosRecord> make_list() {
- LinkedList<AltosRecord> list = new LinkedList<AltosRecord>();
- Iterator<AltosOrderedMiniRecord> iterator = records.iterator();
- AltosOrderedMiniRecord record = null;
- AltosRecordMini state = new AltosRecordMini();
- //boolean last_reported = false;
- EepromState eeprom = new EepromState();
-
- state.state = AltosLib.ao_flight_pad;
-
- /* Pull in static data from the flight records */
- if (flight_record != null)
- update_state(state, flight_record, eeprom);
-
- while (iterator.hasNext()) {
- record = iterator.next();
- if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
- AltosRecordMini r = state.clone();
- r.time = (r.tick - eeprom.boost_tick) / 100.0;
- list.add(r);
- }
- update_state(state, record, eeprom);
- }
- AltosRecordMini r = state.clone();
- 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<AltosOrderedMiniRecord> iterator = records.iterator();
- out.printf("# Comments\n");
- while (iterator.hasNext()) {
- AltosOrderedMiniRecord record = iterator.next();
- switch (record.cmd) {
- case AltosLib.AO_LOG_CONFIG_VERSION:
- out.printf("# Config version: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_MAIN_DEPLOY:
- out.printf("# Main deploy: %s\n", record.config_a);
- break;
- case AltosLib.AO_LOG_APOGEE_DELAY:
- out.printf("# Apogee delay: %s\n", record.config_a);
- break;
- case AltosLib.AO_LOG_RADIO_CHANNEL:
- out.printf("# Radio channel: %s\n", record.config_a);
- break;
- case AltosLib.AO_LOG_CALLSIGN:
- out.printf("# Callsign: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_ACCEL_CAL:
- out.printf ("# Accel cal: %d %d\n", record.config_a, record.config_b);
- break;
- case AltosLib.AO_LOG_RADIO_CAL:
- out.printf ("# Radio cal: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_MAX_FLIGHT_LOG:
- out.printf ("# Max flight log: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_MANUFACTURER:
- out.printf ("# Manufacturer: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_PRODUCT:
- out.printf ("# Product: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_SERIAL_NUMBER:
- out.printf ("# Serial number: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_SOFTWARE_VERSION:
- out.printf ("# Software version: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_BARO_RESERVED:
- out.printf ("# Baro reserved: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_BARO_SENS:
- out.printf ("# Baro sens: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_BARO_OFF:
- out.printf ("# Baro off: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_BARO_TCS:
- out.printf ("# Baro tcs: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_BARO_TCO:
- out.printf ("# Baro tco: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_BARO_TREF:
- out.printf ("# Baro tref: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_BARO_TEMPSENS:
- out.printf ("# Baro tempsens: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_BARO_CRC:
- out.printf ("# Baro crc: %d\n", record.config_a);
- break;
- }
- }
- }
-
- /*
- * 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
- */
- public AltosEepromMiniIterable (FileInputStream input) {
- records = new TreeSet<AltosOrderedMiniRecord>();
-
- AltosOrderedMiniRecord 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 = AltosLib.gets(input);
- if (line == null)
- break;
- AltosOrderedMiniRecord record = new AltosOrderedMiniRecord(line, index++, prev_tick, prev_tick_valid);
- if (record.cmd == AltosLib.AO_LOG_INVALID)
- continue;
- prev_tick = record.tick;
- if (record.cmd < AltosLib.AO_LOG_CONFIG_VERSION)
- prev_tick_valid = true;
- if (record.cmd == AltosLib.AO_LOG_FLIGHT) {
- flight_record = record;
- continue;
- }
-
- records.add(record);
-
- /* Bail after reading the 'landed' record; we're all done */
- if (record.cmd == AltosLib.AO_LOG_STATE &&
- record.state() == AltosLib.ao_flight_landed)
- break;
- }
- } catch (IOException io) {
- } catch (ParseException pe) {
- }
- try {
- input.close();
- } catch (IOException ie) {
- }
- }
-}
+++ /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 org.altusmetrum.altoslib_1;
-
-import java.text.*;
-
-public class AltosEepromRecord {
- public int cmd;
- public int tick;
- public int a;
- public int b;
- public String data;
- public boolean tick_valid;
-
- public static final int record_length = 8;
-
- public AltosEepromRecord (AltosEepromChunk chunk, int start) throws ParseException {
-
- cmd = chunk.data(start);
- tick_valid = true;
-
- tick_valid = !chunk.erased(start, record_length);
- if (tick_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 = AltosLib.AO_LOG_INVALID;
- }
-
- tick = chunk.data16(start + 2);
- a = chunk.data16(start + 4);
- b = chunk.data16(start + 6);
-
- data = null;
- }
-
- public AltosEepromRecord (String line) {
- tick_valid = false;
- tick = 0;
- a = 0;
- b = 0;
- data = null;
- if (line == null) {
- cmd = AltosLib.AO_LOG_INVALID;
- data = "";
- } else {
- try {
- String[] tokens = line.split("\\s+");
-
- if (tokens[0].length() == 1) {
- if (tokens.length != 4) {
- cmd = AltosLib.AO_LOG_INVALID;
- data = line;
- } else {
- cmd = tokens[0].codePointAt(0);
- tick = Integer.parseInt(tokens[1],16);
- tick_valid = true;
- a = Integer.parseInt(tokens[2],16);
- b = Integer.parseInt(tokens[3],16);
- }
- } else if (tokens[0].equals("Config") && tokens[1].equals("version:")) {
- cmd = AltosLib.AO_LOG_CONFIG_VERSION;
- data = tokens[2];
- } else if (tokens[0].equals("Main") && tokens[1].equals("deploy:")) {
- cmd = AltosLib.AO_LOG_MAIN_DEPLOY;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Apogee") && tokens[1].equals("delay:")) {
- cmd = AltosLib.AO_LOG_APOGEE_DELAY;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Radio") && tokens[1].equals("channel:")) {
- cmd = AltosLib.AO_LOG_RADIO_CHANNEL;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Callsign:")) {
- cmd = AltosLib.AO_LOG_CALLSIGN;
- data = tokens[1].replaceAll("\"","");
- } else if (tokens[0].equals("Accel") && tokens[1].equals("cal")) {
- cmd = AltosLib.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 = AltosLib.AO_LOG_RADIO_CAL;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Max") && tokens[1].equals("flight") && tokens[2].equals("log:")) {
- cmd = AltosLib.AO_LOG_MAX_FLIGHT_LOG;
- a = Integer.parseInt(tokens[3]);
- } else if (tokens[0].equals("manufacturer")) {
- cmd = AltosLib.AO_LOG_MANUFACTURER;
- data = tokens[1];
- } else if (tokens[0].equals("product")) {
- cmd = AltosLib.AO_LOG_PRODUCT;
- data = tokens[1];
- } else if (tokens[0].equals("serial-number")) {
- cmd = AltosLib.AO_LOG_SERIAL_NUMBER;
- a = Integer.parseInt(tokens[1]);
- } else if (tokens[0].equals("log-format")) {
- cmd = AltosLib.AO_LOG_LOG_FORMAT;
- a = Integer.parseInt(tokens[1]);
- } else if (tokens[0].equals("software-version")) {
- cmd = AltosLib.AO_LOG_SOFTWARE_VERSION;
- data = tokens[1];
- } else {
- cmd = AltosLib.AO_LOG_INVALID;
- data = line;
- }
- } catch (NumberFormatException ne) {
- cmd = AltosLib.AO_LOG_INVALID;
- data = line;
- }
- }
- }
-
- public AltosEepromRecord(int in_cmd, int in_tick, int in_a, int in_b) {
- tick_valid = true;
- cmd = in_cmd;
- tick = in_tick;
- a = in_a;
- b = in_b;
- }
-}
--- /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 org.altusmetrum.altoslib_2;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+
+public class AltosEepromTM extends AltosEeprom {
+ public int a;
+ public int b;
+
+ public static final int record_length = 8;
+
+ public void write(PrintStream out) {
+ out.printf("%c %4x %4x %4x\n", cmd, tick, a, b);
+ }
+
+ public int record_length() { return record_length; }
+
+ public String string() {
+ return String.format("%c %4x %4x %4x\n", cmd, tick, a, b);
+ }
+
+ 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_state(AltosLib.ao_flight_pad);
+ state.set_ground_accel(a);
+ state.set_flight(b);
+ state.set_boost_tick(tick);
+ break;
+ case AltosLib.AO_LOG_SENSOR:
+ state.set_accel(a);
+ state.set_pressure(AltosConvert.barometer_to_pressure(b));
+ break;
+ case AltosLib.AO_LOG_PRESSURE:
+ state.set_pressure(AltosConvert.barometer_to_pressure(b));
+ break;
+ case AltosLib.AO_LOG_TEMP_VOLT:
+ state.set_temperature(AltosConvert.thermometer_to_temperature(a));
+ state.set_battery_voltage(AltosConvert.cc_battery_to_voltage(b));
+ break;
+ case AltosLib.AO_LOG_DEPLOY:
+ state.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(a));
+ state.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(b));
+ break;
+ case AltosLib.AO_LOG_STATE:
+ state.set_state(a);
+ break;
+ case AltosLib.AO_LOG_GPS_TIME:
+ gps = state.make_temp_gps(false);
+
+ gps.hour = (a & 0xff);
+ gps.minute = (a >> 8);
+ gps.second = (b & 0xff);
+
+ int flags = (b >> 8);
+
+ 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;
+ break;
+ case AltosLib.AO_LOG_GPS_LAT:
+ gps = state.make_temp_gps(false);
+
+ int lat32 = a | (b << 16);
+ gps.lat = (double) lat32 / 1e7;
+ break;
+ case AltosLib.AO_LOG_GPS_LON:
+ gps = state.make_temp_gps(false);
+
+ int lon32 = a | (b << 16);
+ gps.lon = (double) lon32 / 1e7;
+ break;
+ case AltosLib.AO_LOG_GPS_ALT:
+ gps = state.make_temp_gps(false);
+ gps.alt = a;
+ break;
+ case AltosLib.AO_LOG_GPS_SAT:
+ gps = state.make_temp_gps(true);
+ int svid = a;
+ int c_n0 = b >> 8;
+ gps.add_sat(svid, c_n0);
+ break;
+ case AltosLib.AO_LOG_GPS_DATE:
+ gps = state.make_temp_gps(false);
+ gps.year = (a & 0xff) + 2000;
+ gps.month = a >> 8;
+ gps.day = b & 0xff;
+ break;
+ }
+ }
+
+ public AltosEepromTM (AltosEepromChunk chunk, int start) throws ParseException {
+
+ cmd = chunk.data(start);
+ valid = true;
+
+ 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 = AltosLib.AO_LOG_INVALID;
+ }
+
+ tick = chunk.data16(start + 2);
+ a = chunk.data16(start + 4);
+ b = chunk.data16(start + 6);
+ }
+
+ public AltosEepromTM (String line) {
+ valid = false;
+ tick = 0;
+ a = 0;
+ b = 0;
+ if (line == null) {
+ cmd = AltosLib.AO_LOG_INVALID;
+ } else {
+ try {
+ String[] tokens = line.split("\\s+");
+
+ if (tokens[0].length() == 1) {
+ if (tokens.length != 4) {
+ cmd = AltosLib.AO_LOG_INVALID;
+ } else {
+ cmd = tokens[0].codePointAt(0);
+ tick = Integer.parseInt(tokens[1],16);
+ valid = true;
+ a = Integer.parseInt(tokens[2],16);
+ b = Integer.parseInt(tokens[3],16);
+ }
+ } else {
+ cmd = AltosLib.AO_LOG_INVALID;
+ }
+ } catch (NumberFormatException ne) {
+ cmd = AltosLib.AO_LOG_INVALID;
+ }
+ }
+ }
+
+ public AltosEepromTM(int in_cmd, int in_tick, int in_a, int in_b) {
+ valid = true;
+ cmd = in_cmd;
+ tick = in_tick;
+ a = in_a;
+ b = in_b;
+ }
+
+ static public LinkedList<AltosEeprom> read(FileInputStream input) {
+ LinkedList<AltosEeprom> tms = new LinkedList<AltosEeprom>();
+
+ for (;;) {
+ try {
+ String line = AltosLib.gets(input);
+ if (line == null)
+ break;
+ AltosEepromTM tm = new AltosEepromTM(line);
+ tms.add(tm);
+ } catch (IOException ie) {
+ break;
+ }
+ }
+
+ return tms;
+ }
+
+}
+++ /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 org.altusmetrum.altoslib_1;
-
-import java.text.*;
-
-public class AltosEepromTeleScience {
- public int type;
- public int tick;
- public int tm_state;
- public int tm_tick;
- public int[] data;
- public boolean valid;
-
- public static final int AO_LOG_TELESCIENCE_START = 's';
- public static final int AO_LOG_TELESCIENCE_DATA = 'd';
-
- static final int max_data = 12;
- public static final int record_length = 32;
-
- public AltosEepromTeleScience (AltosEepromChunk chunk, int start) throws ParseException {
- type = 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 {
- type = AltosLib.AO_LOG_INVALID;
- }
-
- tick = chunk.data16(start+2);
- tm_tick = chunk.data16(start+4);
- tm_state = chunk.data(start+6);
- data = new int[max_data];
- for (int i = 0; i < max_data; i++)
- data[i] = chunk.data16(start + 8 + i * 2);
- }
-}
--- /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 org.altusmetrum.altoslib_2;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+
+public class AltosEepromTm extends AltosEeprom {
+ public int i;
+ public int a;
+ public int b;
+
+ public static final int record_length = 2;
+
+ public void write(PrintStream out) {
+ out.printf("%c %4x %4x %4x\n", cmd, tick, a, b);
+ }
+
+ public int record_length() { return record_length; }
+
+ public String string() {
+ return String.format("%c %4x %4x %4x\n", cmd, tick, a, b);
+ }
+
+ public void update_state(AltosState state) {
+ super.update_state(state);
+
+ switch (cmd) {
+ case AltosLib.AO_LOG_FLIGHT:
+ state.set_state(AltosLib.ao_flight_boost);
+ state.set_flight(b);
+ break;
+ case AltosLib.AO_LOG_PRESSURE:
+ if (tick == 0)
+ state.set_ground_pressure(AltosConvert.barometer_to_pressure(b));
+ else
+ state.set_pressure(AltosConvert.barometer_to_pressure(b));
+ break;
+ case AltosLib.AO_LOG_STATE:
+ state.set_state(a);
+ break;
+ }
+ }
+
+ public AltosEepromTm (AltosEepromChunk chunk, int start, AltosState state) throws ParseException {
+ int value = chunk.data16(start);
+
+ int i = (chunk.address + start) / record_length;
+
+ cmd = chunk.data(start);
+ valid = true;
+
+ valid = !chunk.erased(start, record_length);
+
+ switch (i) {
+ case 0:
+ cmd = AltosLib.AO_LOG_FLIGHT;
+ tick = 0;
+ a = 0;
+ b = value;
+ break;
+ case 1:
+ cmd = AltosLib.AO_LOG_PRESSURE;
+ tick = 0;
+ a = 0;
+ b = value;
+ break;
+ default:
+ if ((value & 0x8000) != 0) {
+ cmd = AltosLib.AO_LOG_STATE;
+ tick = state.tick;
+ a = value & 0x7fff;
+ b = 0;
+ } else {
+ if (state.ascent)
+ tick = state.tick + 10;
+ else
+ tick = state.tick + 100;
+ cmd = AltosLib.AO_LOG_PRESSURE;
+ a = 0;
+ b = value;
+ }
+ break;
+ }
+ }
+
+ public AltosEepromTm (String line) {
+ valid = false;
+ tick = 0;
+ a = 0;
+ b = 0;
+ if (line == null) {
+ cmd = AltosLib.AO_LOG_INVALID;
+ } else {
+ try {
+ String[] tokens = line.split("\\s+");
+
+ if (tokens[0].length() == 1) {
+ if (tokens.length != 4) {
+ cmd = AltosLib.AO_LOG_INVALID;
+ } else {
+ cmd = tokens[0].codePointAt(0);
+ tick = Integer.parseInt(tokens[1],16);
+ valid = true;
+ a = Integer.parseInt(tokens[2],16);
+ b = Integer.parseInt(tokens[3],16);
+ }
+ } else {
+ cmd = AltosLib.AO_LOG_INVALID;
+ }
+ } catch (NumberFormatException ne) {
+ cmd = AltosLib.AO_LOG_INVALID;
+ }
+ }
+ }
+
+ public AltosEepromTm(int in_cmd, int in_tick, int in_a, int in_b) {
+ valid = true;
+ cmd = in_cmd;
+ tick = in_tick;
+ a = in_a;
+ b = in_b;
+ }
+
+ static public LinkedList<AltosEeprom> read(FileInputStream input) {
+ LinkedList<AltosEeprom> tms = new LinkedList<AltosEeprom>();
+
+ for (;;) {
+ try {
+ String line = AltosLib.gets(input);
+ if (line == null)
+ break;
+ AltosEepromTm tm = new AltosEepromTm(line);
+ tms.add(tm);
+ } catch (IOException ie) {
+ break;
+ }
+ }
+
+ return tms;
+ }
+
+}
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.io.File;
import java.util.*;
public class AltosFile extends File {
- public AltosFile(int year, int month, int day, int serial, int flight, String extension) {
+ static String number(int n) {
+ if (n == AltosLib.MISSING)
+ return "unkn";
+ else
+ return String.format("%04d", n);
+ }
+
+ static String receiver(int receiver) {
+ if (receiver == AltosLib.MISSING)
+ return "";
+ return String.format("-via-%04d", receiver);
+ }
+
+ public AltosFile(int year, int month, int day, int serial, int flight, int receiver, String extension) {
super (AltosPreferences.logdir(),
- String.format("%04d-%02d-%02d-serial-%03d-flight-%03d.%s",
- year, month, day, serial, flight, extension));
+ String.format("%04d-%02d-%02d-serial-%s-flight-%s%s.%s",
+ year, month, day, number(serial), number(flight), receiver(receiver), extension));
+ }
+
+ public AltosFile(int year, int month, int day, int serial, int flight, String extension) {
+ this(year, month, day, serial, flight, AltosLib.MISSING, extension);
+ }
+
+ public AltosFile(int serial, int flight, int receiver, String extension) {
+ this(Calendar.getInstance().get(Calendar.YEAR),
+ Calendar.getInstance().get(Calendar.MONTH) + 1,
+ Calendar.getInstance().get(Calendar.DAY_OF_MONTH),
+ serial,
+ flight,
+ receiver,
+ extension);
}
public AltosFile(int serial, int flight, String extension) {
Calendar.getInstance().get(Calendar.DAY_OF_MONTH),
serial,
flight,
+ AltosLib.MISSING,
extension);
}
- public AltosFile(AltosRecord telem) {
- this(telem.serial, telem.flight, "telem");
+ public AltosFile(AltosState state) {
+ this(state.serial, state.flight, state.receiver_serial, "telem");
}
}
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.io.*;
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
public interface AltosFlashListener {
public void position(String label, int percent);
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.text.*;
import java.io.*;
public void init() { }
- public AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException { return null; }
+ public AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException { return null; }
public void close(boolean interrupted) { }
public boolean has_monitor_battery() { return false; }
- public double monitor_battery() { return AltosRecord.MISSING; }
+ public double monitor_battery() { return AltosLib.MISSING; }
}
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
public class AltosFrequency {
public double frequency;
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.text.*;
+import java.util.concurrent.*;
-public class AltosGPS {
+public class AltosGPS implements Cloneable {
- public final static int MISSING = AltosRecord.MISSING;
+ public final static int MISSING = AltosLib.MISSING;
public int nsat;
public boolean locked;
public boolean connected;
public double lat; /* degrees (+N -S) */
public double lon; /* degrees (+E -W) */
- public int alt; /* m */
+ public double alt; /* m */
public int year;
public int month;
public int day;
}
public void ClearGPSTime() {
- year = month = day = 0;
- hour = minute = second = 0;
+ year = month = day = AltosLib.MISSING;
+ hour = minute = second = AltosLib.MISSING;
}
public AltosGPS(AltosTelemetryMap map) throws ParseException {
- String state = map.get_string(AltosTelemetry.AO_TELEM_GPS_STATE,
- AltosTelemetry.AO_TELEM_GPS_STATE_ERROR);
+ String state = map.get_string(AltosTelemetryLegacy.AO_TELEM_GPS_STATE,
+ AltosTelemetryLegacy.AO_TELEM_GPS_STATE_ERROR);
- nsat = map.get_int(AltosTelemetry.AO_TELEM_GPS_NUM_SAT, 0);
- if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_LOCKED)) {
+ nsat = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_NUM_SAT, 0);
+ if (state.equals(AltosTelemetryLegacy.AO_TELEM_GPS_STATE_LOCKED)) {
connected = true;
locked = true;
- lat = map.get_double(AltosTelemetry.AO_TELEM_GPS_LATITUDE, MISSING, 1.0e-7);
- lon = map.get_double(AltosTelemetry.AO_TELEM_GPS_LONGITUDE, MISSING, 1.0e-7);
- alt = map.get_int(AltosTelemetry.AO_TELEM_GPS_ALTITUDE, MISSING);
- year = map.get_int(AltosTelemetry.AO_TELEM_GPS_YEAR, MISSING);
+ lat = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_LATITUDE, MISSING, 1.0e-7);
+ lon = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_LONGITUDE, MISSING, 1.0e-7);
+ alt = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_ALTITUDE, MISSING);
+ year = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_YEAR, MISSING);
if (year != MISSING)
year += 2000;
- month = map.get_int(AltosTelemetry.AO_TELEM_GPS_MONTH, MISSING);
- day = map.get_int(AltosTelemetry.AO_TELEM_GPS_DAY, MISSING);
-
- hour = map.get_int(AltosTelemetry.AO_TELEM_GPS_HOUR, 0);
- minute = map.get_int(AltosTelemetry.AO_TELEM_GPS_MINUTE, 0);
- second = map.get_int(AltosTelemetry.AO_TELEM_GPS_SECOND, 0);
-
- ground_speed = map.get_double(AltosTelemetry.AO_TELEM_GPS_HORIZONTAL_SPEED,
- AltosRecord.MISSING, 1/100.0);
- course = map.get_int(AltosTelemetry.AO_TELEM_GPS_COURSE,
- AltosRecord.MISSING);
- hdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_HDOP, MISSING, 1.0);
- vdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_VDOP, MISSING, 1.0);
- h_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_HERROR, MISSING);
- v_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_VERROR, MISSING);
- } else if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_UNLOCKED)) {
+ month = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_MONTH, MISSING);
+ day = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_DAY, MISSING);
+
+ hour = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_HOUR, 0);
+ minute = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_MINUTE, 0);
+ second = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_SECOND, 0);
+
+ ground_speed = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_HORIZONTAL_SPEED,
+ AltosLib.MISSING, 1/100.0);
+ course = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_COURSE,
+ AltosLib.MISSING);
+ hdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_HDOP, MISSING, 1.0);
+ vdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_VDOP, MISSING, 1.0);
+ h_error = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_HERROR, MISSING);
+ v_error = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_VERROR, MISSING);
+ } else if (state.equals(AltosTelemetryLegacy.AO_TELEM_GPS_STATE_UNLOCKED)) {
connected = true;
locked = false;
} else {
}
}
+ public boolean parse_string (String line, boolean says_done) {
+ String[] bits = line.split("\\s+");
+ if (bits.length == 0)
+ return false;
+ if (line.startsWith("Date:")) {
+ if (bits.length < 2)
+ return false;
+ String[] d = bits[1].split("/");
+ if (d.length < 3)
+ return false;
+ year = Integer.parseInt(d[0]) + 2000;
+ month = Integer.parseInt(d[1]);
+ day = Integer.parseInt(d[2]);
+ } else if (line.startsWith("Time:")) {
+ if (bits.length < 2)
+ return false;
+ String[] d = bits[1].split(":");
+ if (d.length < 3)
+ return false;
+ hour = Integer.parseInt(d[0]);
+ minute = Integer.parseInt(d[1]);
+ second = Integer.parseInt(d[2]);
+ } else if (line.startsWith("Lat/Lon:")) {
+ if (bits.length < 3)
+ return false;
+ lat = Integer.parseInt(bits[1]) * 1.0e-7;
+ lon = Integer.parseInt(bits[2]) * 1.0e-7;
+ } else if (line.startsWith("Alt:")) {
+ if (bits.length < 2)
+ return false;
+ alt = Integer.parseInt(bits[1]);
+ } else if (line.startsWith("Flags:")) {
+ if (bits.length < 2)
+ return false;
+ int status = Integer.decode(bits[1]);
+ connected = (status & AltosLib.AO_GPS_RUNNING) != 0;
+ locked = (status & AltosLib.AO_GPS_VALID) != 0;
+ if (!says_done)
+ return false;
+ } else if (line.startsWith("Sats:")) {
+ if (bits.length < 2)
+ return false;
+ nsat = Integer.parseInt(bits[1]);
+ cc_gps_sat = new AltosGPSSat[nsat];
+ for (int i = 0; i < nsat; i++) {
+ int svid = Integer.parseInt(bits[2+i*2]);
+ int cc_n0 = Integer.parseInt(bits[3+i*2]);
+ cc_gps_sat[i] = new AltosGPSSat(svid, cc_n0);
+ }
+ } else if (line.startsWith("done")) {
+ return false;
+ } else
+ return false;
+ return true;
+ }
+
public AltosGPS(String[] words, int i, int version) throws ParseException {
AltosParse.word(words[i++], "GPS");
nsat = AltosParse.parse_int(words[i++]);
}
public AltosGPS() {
+ lat = AltosLib.MISSING;
+ lon = AltosLib.MISSING;
+ alt = AltosLib.MISSING;
ClearGPSTime();
cc_gps_sat = null;
}
+ public AltosGPS clone() {
+ AltosGPS g = new AltosGPS();
+
+ g.nsat = nsat;
+ g.locked = locked;
+ g.connected = connected;
+ g.lat = lat; /* degrees (+N -S) */
+ g.lon = lon; /* degrees (+E -W) */
+ g.alt = alt; /* m */
+ g.year = year;
+ g.month = month;
+ g.day = day;
+ g.hour = hour;
+ g.minute = minute;
+ g.second = second;
+
+ g.ground_speed = ground_speed; /* m/s */
+ g.course = course; /* degrees */
+ g.climb_rate = climb_rate; /* m/s */
+ g.hdop = hdop; /* unitless? */
+ g.h_error = h_error; /* m */
+ g.v_error = v_error; /* m */
+
+ if (cc_gps_sat != null) {
+ g.cc_gps_sat = new AltosGPSSat[cc_gps_sat.length];
+ for (int i = 0; i < cc_gps_sat.length; i++) {
+ g.cc_gps_sat[i] = new AltosGPSSat(cc_gps_sat[i].svid,
+ cc_gps_sat[i].c_n0);
+ }
+ }
+ return g;
+ }
+
public AltosGPS(AltosGPS old) {
if (old != null) {
nsat = old.nsat;
}
}
} else {
+ lat = AltosLib.MISSING;
+ lon = AltosLib.MISSING;
+ alt = AltosLib.MISSING;
ClearGPSTime();
cc_gps_sat = null;
}
}
+
+ static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) {
+ try {
+ AltosGPS gps = new AltosGPS(link, config_data);
+
+ if (gps != null) {
+ state.set_gps(gps, state.gps_sequence++);
+ return;
+ }
+ } catch (TimeoutException te) {
+ } catch (InterruptedException ie) {
+ }
+ state.set_gps(null, 0);
+ }
+
+ public AltosGPS (AltosLink link, AltosConfigData config_data) throws TimeoutException, InterruptedException {
+ boolean says_done = config_data.compare_version("1.0") >= 0;
+ link.printf("g\n");
+ for (;;) {
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null)
+ throw new TimeoutException();
+ if (!parse_string(line, says_done))
+ break;
+ }
+ }
}
+++ /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 org.altusmetrum.altoslib_1;
-
-import java.util.concurrent.*;
-
-class AltosGPSQuery extends AltosGPS {
- public AltosGPSQuery (AltosLink link, AltosConfigData config_data)
- throws TimeoutException, InterruptedException {
- boolean says_done = config_data.compare_version("1.0") >= 0;
- link.printf("g\n");
- for (;;) {
- String line = link.get_reply_no_dialog(5000);
- if (line == null)
- throw new TimeoutException();
- String[] bits = line.split("\\s+");
- if (bits.length == 0)
- continue;
- if (line.startsWith("Date:")) {
- if (bits.length < 2)
- continue;
- String[] d = bits[1].split(":");
- if (d.length < 3)
- continue;
- year = Integer.parseInt(d[0]) + 2000;
- month = Integer.parseInt(d[1]);
- day = Integer.parseInt(d[2]);
- continue;
- }
- if (line.startsWith("Time:")) {
- if (bits.length < 2)
- continue;
- String[] d = bits[1].split("/");
- if (d.length < 3)
- continue;
- hour = Integer.parseInt(d[0]);
- minute = Integer.parseInt(d[1]);
- second = Integer.parseInt(d[2]);
- continue;
- }
- if (line.startsWith("Lat/Lon:")) {
- if (bits.length < 3)
- continue;
- lat = Integer.parseInt(bits[1]) * 1.0e-7;
- lon = Integer.parseInt(bits[2]) * 1.0e-7;
- continue;
- }
- if (line.startsWith("Alt:")) {
- if (bits.length < 2)
- continue;
- alt = Integer.parseInt(bits[1]);
- continue;
- }
- if (line.startsWith("Flags:")) {
- if (bits.length < 2)
- continue;
- int status = Integer.decode(bits[1]);
- connected = (status & AltosLib.AO_GPS_RUNNING) != 0;
- locked = (status & AltosLib.AO_GPS_VALID) != 0;
- if (!says_done)
- break;
- continue;
- }
- if (line.startsWith("Sats:")) {
- if (bits.length < 2)
- continue;
- nsat = Integer.parseInt(bits[1]);
- cc_gps_sat = new AltosGPSSat[nsat];
- for (int i = 0; i < nsat; i++) {
- int svid = Integer.parseInt(bits[2+i*2]);
- int cc_n0 = Integer.parseInt(bits[3+i*2]);
- cc_gps_sat[i] = new AltosGPSSat(svid, cc_n0);
- }
- }
- if (line.startsWith("done"))
- break;
- if (line.startsWith("Syntax error"))
- break;
- }
- }
-}
-
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
public class AltosGPSSat {
public int svid;
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.lang.Math;
-public class AltosGreatCircle {
+public class AltosGreatCircle implements Cloneable {
public double distance;
public double bearing;
public double range;
elevation = Math.atan2(height_diff, distance) * 180 / Math.PI;
}
+ public AltosGreatCircle clone() {
+ AltosGreatCircle n = new AltosGreatCircle();
+
+ n.distance = distance;
+ n.bearing = bearing;
+ n.range = range;
+ n.elevation = elevation;
+ return n;
+ }
+
public AltosGreatCircle (double start_lat, double start_lon,
double end_lat, double end_lon) {
this(start_lat, start_lon, 0, end_lat, end_lon, 0);
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
public class AltosHeight extends AltosUnits {
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.io.*;
import java.util.LinkedList;
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
-public class AltosIMU {
+import java.util.concurrent.*;
+
+public class AltosIMU implements Cloneable {
public int accel_x;
public int accel_y;
public int accel_z;
public int gyro_x;
public int gyro_y;
public int gyro_z;
+
+ public boolean parse_string(String line) {
+ if (!line.startsWith("Accel:"))
+ return false;
+
+ String[] items = line.split("\\s+");
+
+ if (items.length >= 8) {
+ accel_x = Integer.parseInt(items[1]);
+ accel_y = Integer.parseInt(items[2]);
+ accel_z = Integer.parseInt(items[3]);
+ gyro_x = Integer.parseInt(items[5]);
+ gyro_y = Integer.parseInt(items[6]);
+ gyro_z = Integer.parseInt(items[7]);
+ }
+ return true;
+ }
+
+ public AltosIMU clone() {
+ AltosIMU n = new AltosIMU();
+
+ n.accel_x = accel_x;
+ n.accel_y = accel_y;
+ n.accel_z = accel_z;
+
+ n.gyro_x = gyro_x;
+ n.gyro_y = gyro_y;
+ n.gyro_z = gyro_z;
+ return n;
+ }
+
+ static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) {
+ try {
+ AltosIMU imu = new AltosIMU(link);
+
+ if (imu != null)
+ state.set_imu(imu);
+ } catch (TimeoutException te) {
+ } catch (InterruptedException ie) {
+ }
+ }
+
+ public AltosIMU() {
+ accel_x = AltosLib.MISSING;
+ accel_y = AltosLib.MISSING;
+ accel_z = AltosLib.MISSING;
+
+ gyro_x = AltosLib.MISSING;
+ gyro_y = AltosLib.MISSING;
+ gyro_z = AltosLib.MISSING;
+ }
+
+ public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
+ this();
+ link.printf("I\n");
+ for (;;) {
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null) {
+ throw new TimeoutException();
+ }
+ if (parse_string(line))
+ break;
+ }
+ }
}
-
\ 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 org.altusmetrum.altoslib_1;
-
-import java.util.concurrent.TimeoutException;
-
-class AltosIMUQuery extends AltosIMU {
-
- public AltosIMUQuery (AltosLink link) throws InterruptedException, TimeoutException {
- link.printf("I\n");
- for (;;) {
- String line = link.get_reply_no_dialog(5000);
- if (line == null) {
- throw new TimeoutException();
- }
- if (!line.startsWith("Accel:"))
- continue;
- String[] items = line.split("\\s+");
- if (items.length >= 8) {
- accel_x = Integer.parseInt(items[1]);
- accel_y = Integer.parseInt(items[2]);
- accel_z = Integer.parseInt(items[3]);
- gyro_x = Integer.parseInt(items[5]);
- gyro_y = Integer.parseInt(items[6]);
- gyro_z = Integer.parseInt(items[7]);
- }
- break;
- }
- }
-}
-
--- /dev/null
+/*
+ * Copyright © 2013 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 org.altusmetrum.altoslib_2;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.concurrent.*;
+
+public abstract class AltosIdle {
+ AltosLink link;
+ AltosConfigData config_data;
+
+ public void printf(String format, Object ... arguments) {
+ link.printf(format, arguments);
+ }
+
+ public abstract void update_state(AltosState state) throws InterruptedException, TimeoutException;
+
+ public AltosIdle(AltosLink link, AltosConfigData config_data) {
+ this.link = link;
+ this.config_data = config_data;
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2013 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 org.altusmetrum.altoslib_2;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.concurrent.*;
+
+class AltosIdler {
+ String prefix;
+ int[] idlers;
+
+ static final int idle_gps = 0;
+ static final int idle_imu = 1;
+ static final int idle_mag = 2;
+ static final int idle_ms5607 = 3;
+ static final int idle_mma655x = 4;
+
+
+ static final int idle_sensor_tm = 10;
+ static final int idle_sensor_metrum = 11;
+ static final int idle_sensor_mega = 12;
+ static final int idle_sensor_emini = 13;
+ static final int idle_sensor_tmini = 14;
+
+ public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException, TimeoutException {
+ for (int idler : idlers) {
+ AltosIdle idle = null;
+ switch (idler) {
+ case idle_gps:
+ AltosGPS.update_state(state, link, config_data);
+ break;
+ case idle_imu:
+ AltosIMU.update_state(state, link, config_data);
+ break;
+ case idle_mag:
+ AltosMag.update_state(state, link, config_data);
+ break;
+ case idle_ms5607:
+ AltosMs5607.update_state(state, link, config_data);
+ break;
+ case idle_mma655x:
+ AltosMma655x.update_state(state, link, config_data);
+ break;
+ case idle_sensor_tm:
+ AltosSensorTM.update_state(state, link, config_data);
+ break;
+ case idle_sensor_metrum:
+ AltosSensorMetrum.update_state(state, link, config_data);
+ break;
+ case idle_sensor_mega:
+ AltosSensorMega.update_state(state, link, config_data);
+ break;
+ case idle_sensor_emini:
+ AltosSensorEMini.update_state(state, link, config_data);
+ break;
+ case idle_sensor_tmini:
+ AltosSensorTMini.update_state(state, link, config_data);
+ }
+ if (idle != null)
+ idle.update_state(state);
+ }
+ }
+
+ public boolean matches(AltosConfigData config_data) {
+ return config_data.product.startsWith(prefix);
+ }
+
+ public AltosIdler(String prefix, int ... idlers) {
+ this.prefix = prefix;
+ this.idlers = idlers;
+ }
+}
+
+
+public class AltosIdleFetch implements AltosStateUpdate {
+
+ static final AltosIdler[] idlers = {
+
+ new AltosIdler("EasyMini",
+ AltosIdler.idle_ms5607,
+ AltosIdler.idle_sensor_emini),
+
+ new AltosIdler("TeleMini-v1",
+ AltosIdler.idle_sensor_tm),
+
+ new AltosIdler("TeleMini-v2",
+ AltosIdler.idle_ms5607,
+ AltosIdler.idle_sensor_tmini),
+
+ new AltosIdler("TeleMetrum-v1",
+ AltosIdler.idle_gps,
+ AltosIdler.idle_sensor_tm),
+
+ new AltosIdler("TeleMetrum-v2",
+ AltosIdler.idle_gps,
+ AltosIdler.idle_ms5607, AltosIdler.idle_mma655x,
+ AltosIdler.idle_sensor_metrum),
+
+ new AltosIdler("TeleMega",
+ AltosIdler.idle_gps,
+ AltosIdler.idle_ms5607, AltosIdler.idle_mma655x,
+ AltosIdler.idle_imu, AltosIdler.idle_mag,
+ AltosIdler.idle_sensor_mega),
+ };
+
+ AltosLink link;
+
+ double frequency;
+ String callsign;
+
+ public void update_state(AltosState state) {
+ try {
+ AltosConfigData config_data = new AltosConfigData(link);
+ state.set_state(AltosLib.ao_flight_startup);
+ state.set_serial(config_data.serial);
+ state.set_callsign(config_data.callsign);
+ state.set_ground_accel(config_data.accel_cal_plus);
+ state.set_accel_g(config_data.accel_cal_plus, config_data.accel_cal_minus);
+ for (AltosIdler idler : idlers) {
+ if (idler.matches(config_data)) {
+ idler.update_state(state, link, config_data);
+ break;
+ }
+ }
+ state.set_received_time(System.currentTimeMillis());
+ } catch (InterruptedException ie) {
+ } catch (TimeoutException te) {
+ }
+
+ }
+
+ public AltosIdleFetch(AltosLink link) {
+ this.link = link;
+ }
+}
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.io.*;
import java.util.concurrent.*;
public class AltosIdleMonitor extends Thread {
AltosLink link;
AltosIdleMonitorListener listener;
- AltosState state;
+
+ AltosIdleFetch fetch;
+
boolean remote;
double frequency;
String callsign;
- AltosState previous_state;
+
AltosListenerState listener_state;
AltosConfigData config_data;
AltosGPS gps;
return rssi;
}
- boolean has_sensor_tm(AltosConfigData config_data) {
- return config_data.product.startsWith("TeleMetrum") || config_data.product.startsWith("TeleMini");
- }
-
- boolean has_sensor_mm(AltosConfigData config_data) {
- return config_data.product.startsWith("TeleMega");
- }
-
- boolean has_gps(AltosConfigData config_data) {
- return config_data.product.startsWith("TeleMetrum") || config_data.product.startsWith("TeleMega");
+ void start_link() throws InterruptedException, TimeoutException {
+ if (remote) {
+ link.set_radio_frequency(frequency);
+ link.set_callsign(callsign);
+ link.start_remote();
+ } else
+ link.flush_input();
}
- AltosRecord sensor_mm(AltosConfigData config_data) throws InterruptedException, TimeoutException {
- AltosRecordMM record_mm = new AltosRecordMM();
- AltosSensorMM sensor = new AltosSensorMM(link);
- AltosMs5607 ms5607 = new AltosMs5607Query(link);
- AltosIMU imu = new AltosIMUQuery(link);
-
- record_mm.accel_plus_g = config_data.accel_cal_plus;
- record_mm.accel_minus_g = config_data.accel_cal_minus;
-
- record_mm.ground_accel = sensor.accel;
- record_mm.accel = sensor.accel;
- record_mm.ground_pres = ms5607.pa;
- record_mm.pres = ms5607.pa;
- record_mm.temp = ms5607.cc;
-
- record_mm.v_batt = sensor.v_batt;
- record_mm.v_pyro = sensor.v_pyro;
- record_mm.sense = sensor.sense;
-
- record_mm.imu = imu;
-
- return record_mm;
+ void stop_link() throws InterruptedException, TimeoutException {
+ if (remote)
+ link.stop_remote();
}
- void update_state() throws InterruptedException, TimeoutException {
- AltosRecord record = null;
+ void update_state(AltosState state) throws InterruptedException, TimeoutException {
+ boolean worked = false;
try {
- if (remote) {
- link.set_radio_frequency(frequency);
- link.set_callsign(callsign);
- link.start_remote();
- } else
- link.flush_input();
- config_data = new AltosConfigData(link);
-
- if (has_sensor_tm(config_data))
- record = new AltosSensorTM(link, config_data);
- else if (has_sensor_mm(config_data))
- record = sensor_mm(config_data);
- else
- record = new AltosRecordNone();
-
- if (has_gps(config_data))
- gps = new AltosGPSQuery(link, config_data);
-
- record.version = 0;
- record.callsign = config_data.callsign;
- record.serial = config_data.serial;
- record.flight = config_data.log_available() > 0 ? 255 : 0;
- record.status = 0;
- record.state = AltosLib.ao_flight_idle;
- record.gps = gps;
- record.gps_sequence++;
- state = new AltosState (record, state);
+ start_link();
+ fetch.update_state(state);
+ worked = true;
} finally {
- if (remote) {
- link.stop_remote();
- if (record != null) {
- record.rssi = link.rssi();
- listener_state.battery = link.monitor_battery();
- }
- } else {
- if (record != null)
- record.rssi = 0;
+ stop_link();
+ if (worked) {
+ if (remote)
+ state.set_rssi(link.rssi(), 0);
+ listener_state.battery = link.monitor_battery();
}
}
-
}
public void set_frequency(double in_frequency) {
link.abort_reply();
}
- public void post_state() {
- listener.update(state, listener_state);
- }
-
public void abort() {
if (isAlive()) {
interrupt();
}
public void run() {
+ AltosState state = new AltosState();
try {
- for (;;) {
+ while (!link.has_error) {
try {
- update_state();
- post_state();
+ link.config_data();
+ update_state(state);
+ listener.update(state, listener_state);
} catch (TimeoutException te) {
}
Thread.sleep(1000);
}
} catch (InterruptedException ie) {
- link.close();
}
+ link.close();
}
public AltosIdleMonitor(AltosIdleMonitorListener in_listener, AltosLink in_link, boolean in_remote)
listener = in_listener;
link = in_link;
remote = in_remote;
- state = null;
listener_state = new AltosListenerState();
+ fetch = new AltosIdleFetch(link);
}
}
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
public interface AltosIdleMonitorListener {
public void update(AltosState state, AltosListenerState listener_state);
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.io.*;
import java.util.concurrent.*;
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.util.*;
import java.io.*;
public static final int AO_LOG_TEMP_VOLT = 'T';
public static final int AO_LOG_DEPLOY = 'D';
public static final int AO_LOG_STATE = 'S';
+ public static final int AO_LOG_GPS_POS = 'P';
public static final int AO_LOG_GPS_TIME = 'G';
public static final int AO_LOG_GPS_LAT = 'N';
public static final int AO_LOG_GPS_LON = 'W';
public static final int AO_LOG_SOFTWARE_VERSION = 9999;
+ public final static int MISSING = 0x7fffffff;
+
/* Added to flag invalid records */
public static final int AO_LOG_INVALID = -1;
public static final int AO_LOG_FORMAT_TELEMETRY = 3;
public static final int AO_LOG_FORMAT_TELESCIENCE = 4;
public static final int AO_LOG_FORMAT_TELEMEGA = 5;
- public static final int AO_LOG_FORMAT_MINI = 6;
+ public static final int AO_LOG_FORMAT_EASYMINI = 6;
+ public static final int AO_LOG_FORMAT_TELEMETRUM = 7;
+ public static final int AO_LOG_FORMAT_TELEMINI = 8;
public static final int AO_LOG_FORMAT_NONE = 127;
public static boolean isspace(int c) {
public static File replace_extension(File input, String extension) {
return new File(replace_extension(input.getPath(), extension));
}
+
+ public static String product_name(int product_id) {
+ switch (product_id) {
+ case product_altusmetrum: return "AltusMetrum";
+ case product_telemetrum: return "TeleMetrum";
+ case product_teledongle: return "TeleDongle";
+ case product_teleterra: return "TeleTerra";
+ case product_telebt: return "TeleBT";
+ case product_telelaunch: return "TeleLaunch";
+ case product_telelco: return "TeleLco";
+ case product_telescience: return "Telescience";
+ case product_telepyro: return "TelePyro";
+ case product_telemega: return "TeleMega";
+ case product_megadongle: return "MegaDongle";
+ case product_telegps: return "TeleGPS";
+ case product_easymini: return "EasyMini";
+ case product_telemini: return "TeleMini";
+ default: return "unknown";
+ }
+ }
}
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
public class AltosLine {
public String line;
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.io.*;
import java.util.concurrent.*;
public static boolean debug = false;
public static void set_debug(boolean in_debug) { debug = in_debug; }
+
+ public boolean has_error;
+
LinkedList<String> pending_output = new LinkedList<String>();
public LinkedList<LinkedBlockingQueue<AltosLine>> monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();;
public LinkedBlockingQueue<AltosLine> reply_queue = new LinkedBlockingQueue<AltosLine>();
- public void add_monitor(LinkedBlockingQueue<AltosLine> q) {
+ public
synchronized void add_monitor(LinkedBlockingQueue<AltosLine> q) {
set_monitor(true);
monitors.add(q);
}
- public void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
+ public
synchronized void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
monitors.remove(q);
if (monitors.isEmpty())
set_monitor(false);
if (c == ERROR) {
if (debug)
System.out.printf("ERROR\n");
+ has_error = true;
add_telem (new AltosLine());
add_reply (new AltosLine());
break;
public String callsign;
AltosConfigData config_data;
+ private Object config_data_lock = new Object();
+
private int telemetry_len() {
return AltosLib.telemetry_len(telemetry);
}
}
public AltosConfigData config_data() throws InterruptedException, TimeoutException {
- if (config_data == null)
- config_data = new AltosConfigData(this);
- return config_data;
+ synchronized(config_data_lock) {
+ if (config_data == null)
+ config_data = new AltosConfigData(this);
+ return config_data;
+ }
}
public void set_callsign(String callsign) {
}
public double monitor_battery() {
- int monitor_batt = AltosRecord.MISSING;
+ int monitor_batt = AltosLib.MISSING;
if (config_data.has_monitor_battery()) {
try {
} catch (TimeoutException te) {
}
}
- if (monitor_batt == AltosRecord.MISSING)
- return AltosRecord.MISSING;
+ if (monitor_batt == AltosLib.MISSING)
+ return AltosLib.MISSING;
return AltosConvert.cc_battery_to_voltage(monitor_batt);
}
public AltosLink() {
callsign = "";
+ has_error = false;
}
}
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
public class AltosListenerState {
public int crc_errors;
public AltosListenerState() {
crc_errors = 0;
- battery = AltosRecord.MISSING;
+ battery = AltosLib.MISSING;
}
}
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.io.*;
-import java.text.ParseException;
-import java.util.concurrent.LinkedBlockingQueue;
+import java.text.*;
+import java.util.concurrent.*;
/*
* This creates a thread to capture telemetry data and write it to
LinkedBlockingQueue<String> pending_queue;
int serial;
int flight;
+ int receiver_serial;
FileWriter log_file;
Thread log_thread;
AltosFile file;
+ AltosLink link;
private void close_log_file() {
if (log_file != null) {
return file;
}
- boolean open (AltosRecord telem) throws IOException {
- AltosFile a = new AltosFile(telem);
+ boolean open (AltosState state) throws IOException {
+ AltosFile a = new AltosFile(state);
log_file = new FileWriter(a, true);
if (log_file != null) {
public void run () {
try {
- AltosRecord previous = null;
+ AltosState state = new AltosState();
+ AltosConfigData receiver_config = link.config_data();
+ state.set_receiver_serial(receiver_config.serial);
for (;;) {
AltosLine line = input_queue.take();
if (line.line == null)
continue;
try {
- AltosRecord telem = AltosTelemetry.parse(line.line, previous);
- if ((telem.seen & AltosRecord.seen_flight) != 0 &&
- (telem.serial != serial || telem.flight != flight || log_file == null))
+ AltosTelemetry telem = AltosTelemetry.parse(line.line);
+ state = state.clone();
+ telem.update_state(state);
+ if (state.serial != serial || state.flight != flight || log_file == null)
{
close_log_file();
- serial = telem.serial;
- flight = telem.flight;
- open(telem);
+ serial = state.serial;
+ flight = state.flight;
+ if (state.serial != AltosLib.MISSING && state.flight != AltosLib.MISSING)
+ open(state);
}
- previous = telem;
} catch (ParseException pe) {
} catch (AltosCRCException ce) {
}
pending_queue.put(line.line);
}
} catch (InterruptedException ie) {
+ } catch (TimeoutException te) {
} catch (IOException ie) {
}
close();
link.add_monitor(input_queue);
serial = -1;
flight = -1;
+ this.link = link;
log_file = null;
log_thread = new Thread(this);
log_thread.start();
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
-public class AltosMag {
+import java.util.concurrent.*;
+
+public class AltosMag implements Cloneable {
public int x;
public int y;
public int z;
+
+ public boolean parse_string(String line) {
+ if (!line.startsWith("X:"))
+ return false;
+
+ String[] items = line.split("\\s+");
+
+ if (items.length >= 6) {
+ x = Integer.parseInt(items[1]);
+ y = Integer.parseInt(items[3]);
+ z = Integer.parseInt(items[5]);
+ }
+ return true;
+ }
+
+ public AltosMag clone() {
+ AltosMag n = new AltosMag();
+
+ n.x = x;
+ n.y = y;
+ n.z = z;
+ return n;
+ }
+
+ public AltosMag() {
+ x = AltosLib.MISSING;
+ y = AltosLib.MISSING;
+ z = AltosLib.MISSING;
+ }
+
+ static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) {
+ try {
+ AltosMag mag = new AltosMag(link);
+
+ if (mag != null)
+ state.set_mag(mag);
+ } catch (TimeoutException te) {
+ } catch (InterruptedException ie) {
+ }
+ }
+
+ public AltosMag(AltosLink link) throws InterruptedException, TimeoutException {
+ this();
+ link.printf("M\n");
+ for (;;) {
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null) {
+ throw new TimeoutException();
+ }
+ if (parse_string(line))
+ break;
+ }
+ }
}
\ 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 org.altusmetrum.altoslib_2;
+
+import java.util.concurrent.*;
+
+public class AltosMma655x implements Cloneable {
+
+ int accel;
+
+ public boolean parse_line(String line) {
+ String[] items = line.split("\\s+");
+ if (line.startsWith("MMA655X value:")) {
+ if (items.length >= 3)
+ accel = Integer.parseInt(items[1]);
+ } else
+ return false;
+ return true;
+ }
+
+ public AltosMma655x() {
+ accel = AltosLib.MISSING;
+ }
+
+ public AltosMma655x clone() {
+ AltosMma655x n = new AltosMma655x();
+
+ n.accel = accel;
+ return n;
+ }
+
+ static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) {
+ try {
+ AltosMma655x mma655x = new AltosMma655x(link);
+
+ if (mma655x != null)
+ state.set_accel(mma655x.accel);
+ } catch (TimeoutException te) {
+ } catch (InterruptedException ie) {
+ }
+ }
+
+ public AltosMma655x(AltosLink link) throws InterruptedException, TimeoutException {
+ this();
+ link.printf("A\n");
+ for (;;) {
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null)
+ throw new TimeoutException();
+ if (!parse_line(line))
+ break;
+ }
+ }
+}
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
+
+import java.util.concurrent.*;
public class AltosMs5607 {
public int reserved;
}
public boolean parse_line(String line) {
+ System.out.printf ("parse %s\n", line);
String[] items = line.split("\\s+");
if (line.startsWith("Pressure:")) {
- if (items.length >= 2)
+ if (items.length >= 2) {
raw_pres = Integer.parseInt(items[1]);
+ System.out.printf ("raw_pres %d\n", raw_pres);
+ }
} else if (line.startsWith("Temperature:")) {
if (items.length >= 2)
raw_temp = Integer.parseInt(items[1]);
if (items.length >= 3)
reserved = Integer.parseInt(items[2]);
} else if (line.startsWith("ms5607 sens:")) {
- if (items.length >= 3)
+ System.out.printf ("found sens length %d\n", items.length);
+ if (items.length >= 3) {
sens = Integer.parseInt(items[2]);
+ System.out.printf ("sens %d\n", sens);
+ }
} else if (line.startsWith("ms5607 off:")) {
if (items.length >= 3)
off = Integer.parseInt(items[2]);
} else if (line.startsWith("ms5607 crc:")) {
if (items.length >= 3)
crc = Integer.parseInt(items[2]);
- } else if (line.startsWith("Altitude"))
+ } else if (line.startsWith("Altitude:")) {
return false;
+ }
return true;
}
+ static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) {
+ try {
+ AltosMs5607 ms5607 = new AltosMs5607(link);
+
+ if (ms5607 != null) {
+ state.set_ms5607(ms5607);
+ return;
+ }
+ } catch (TimeoutException te) {
+ } catch (InterruptedException ie) {
+ }
+ }
+
public AltosMs5607() {
- raw_pres = AltosRecord.MISSING;
- raw_temp = AltosRecord.MISSING;
- pa = AltosRecord.MISSING;
- cc = AltosRecord.MISSING;
+ raw_pres = AltosLib.MISSING;
+ raw_temp = AltosLib.MISSING;
+ pa = AltosLib.MISSING;
+ cc = AltosLib.MISSING;
+ }
+
+ public AltosMs5607 (AltosLink link) throws InterruptedException, TimeoutException {
+ this();
+ link.printf("c s\nB\n");
+ for (;;) {
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null) {
+ throw new TimeoutException();
+ }
+ if (!parse_line(line)) {
+ System.out.printf ("stop parsing at %s\n", line);
+ break;
+ }
+ }
+ System.out.printf ("sens %d off %d tcs %d tco %d tref %d tempsens %d crc %d pres %d temp %d\n",
+ sens, off, tcs, tco, tref, tempsens, crc, raw_pres, raw_temp);
+ convert();
+ System.out.printf ("pa %d cc %d\n", pa, cc);
}
}
+++ /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 org.altusmetrum.altoslib_1;
-
-import java.util.concurrent.TimeoutException;
-
-class AltosMs5607Query extends AltosMs5607 {
- public AltosMs5607Query (AltosLink link) throws InterruptedException, TimeoutException {
- link.printf("v\nB\n");
- for (;;) {
- String line = link.get_reply_no_dialog(5000);
- if (line == null) {
- throw new TimeoutException();
- }
- if (!parse_line(line))
- break;
- }
- convert();
- }
-}
-
+++ /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 org.altusmetrum.altoslib_1;
-
-import java.text.ParseException;
-
-/*
- * 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 int compareTo(AltosOrderedMegaRecord o) {
- int tick_diff = tick - o.tick;
- if (tick_diff != 0)
- return tick_diff;
- return index - o.index;
- }
-}
+++ /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 org.altusmetrum.altoslib_1;
-
-import java.text.ParseException;
-
-/*
- * AltosRecords with an index field so they can be sorted by tick while preserving
- * the original ordering for elements with matching ticks
- */
-class AltosOrderedMiniRecord extends AltosEepromMini implements Comparable<AltosOrderedMiniRecord> {
-
- public int index;
-
- public AltosOrderedMiniRecord(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 int compareTo(AltosOrderedMiniRecord o) {
- int tick_diff = tick - o.tick;
- if (tick_diff != 0)
- return tick_diff;
- return index - o.index;
- }
-}
+++ /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 org.altusmetrum.altoslib_1;
-
-import java.text.ParseException;
-
-/*
- * AltosRecords with an index field so they can be sorted by tick while preserving
- * the original ordering for elements with matching ticks
- */
-class AltosOrderedRecord extends AltosEepromRecord implements Comparable<AltosOrderedRecord> {
-
- public int index;
-
- public AltosOrderedRecord(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 AltosOrderedRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) {
- super(in_cmd, in_tick, in_a, in_b);
- index = in_index;
- }
-
- public String toString() {
- return String.format("%d.%d %04x %04x %04x",
- cmd, index, tick, a, b);
- }
-
- public int compareTo(AltosOrderedRecord o) {
- int tick_diff = tick - o.tick;
- if (tick_diff != 0)
- return tick_diff;
- return index - o.index;
- }
-}
-
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.text.*;
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.io.*;
import java.util.*;
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.io.File;
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.util.*;
import java.text.*;
+++ /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 org.altusmetrum.altoslib_1;
-
-public class AltosRecord implements Comparable <AltosRecord>, Cloneable {
-
- public static final int seen_flight = 1;
- public static final int seen_sensor = 2;
- public static final int seen_temp_volt = 4;
- public static final int seen_deploy = 8;
- public static final int seen_gps_time = 16;
- public static final int seen_gps_lat = 32;
- public static final int seen_gps_lon = 64;
- public static final int seen_companion = 128;
-
- public int seen;
-
- public final static int MISSING = 0x7fffffff;
-
- /* Every AltosRecord implementation provides these fields */
-
- public int version;
- public String callsign;
- public int serial;
- public int flight;
- public int rssi;
- public int status;
- public int state;
- public int tick;
-
- public AltosGPS gps;
- public int gps_sequence;
-
- public double time; /* seconds since boost */
-
- public int device_type;
- public int config_major;
- public int config_minor;
- public int apogee_delay;
- public int main_deploy;
- public int flight_log_max;
- public String firmware_version;
-
- public AltosRecordCompanion companion;
-
- /* Telemetry sources have these values recorded from the flight computer */
- public double kalman_height;
- public double kalman_speed;
- public double kalman_acceleration;
-
- /*
- * Abstract methods that convert record data
- * to standard units:
- *
- * pressure: Pa
- * voltage: V
- * acceleration: m/s²
- * speed: m/s
- * height: m
- * temperature: °C
- */
-
- public double pressure() { return MISSING; }
- public double ground_pressure() { return MISSING; }
- public double acceleration() { return MISSING; }
-
- public double altitude() {
- double p = pressure();
-
- if (p == MISSING)
- return MISSING;
- return AltosConvert.pressure_to_altitude(p);
- }
-
- public double ground_altitude() {
- double p = ground_pressure();
-
- if (p == MISSING)
- return MISSING;
- return AltosConvert.pressure_to_altitude(p);
- }
-
- public double height() {
- double g = ground_altitude();
- double a = altitude();
-
- if (g == MISSING)
- return MISSING;
- if (a == MISSING)
- return MISSING;
- return a - g;
- }
-
- public double battery_voltage() { return MISSING; }
-
- public double main_voltage() { return MISSING; }
-
- public double drogue_voltage() { return MISSING; }
-
- public double temperature() { return MISSING; }
-
- public AltosIMU imu() { return null; }
-
- public AltosMag mag() { return null; }
-
- public String state() {
- return AltosLib.state_name(state);
- }
-
- public int compareTo(AltosRecord o) {
- return tick - o.tick;
- }
-
- public AltosRecord clone() {
- AltosRecord n = new AltosRecord();
- n.copy(this);
- return n;
- }
-
- public void copy(AltosRecord old) {
- seen = old.seen;
- version = old.version;
- callsign = old.callsign;
- serial = old.serial;
- flight = old.flight;
- rssi = old.rssi;
- status = old.status;
- state = old.state;
- tick = old.tick;
- gps = new AltosGPS(old.gps);
- gps_sequence = old.gps_sequence;
- companion = old.companion;
- kalman_acceleration = old.kalman_acceleration;
- kalman_speed = old.kalman_speed;
- kalman_height = old.kalman_height;
- }
-
- public AltosRecord() {
- seen = 0;
- version = 0;
- callsign = "N0CALL";
- serial = MISSING;
- flight = MISSING;
- rssi = 0;
- status = 0;
- state = AltosLib.ao_flight_startup;
- tick = 0;
- gps = null;
- gps_sequence = 0;
- companion = null;
-
- kalman_acceleration = MISSING;
- kalman_speed = MISSING;
- kalman_height = MISSING;
- }
-}
+++ /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 org.altusmetrum.altoslib_1;
-
-public class AltosRecordCompanion {
- public final static int board_id_telescience = 0x0a;
- public final static int MAX_CHANNELS = 12;
-
- public int tick;
- public int board_id;
- public int update_period;
- public int channels;
- public int[] companion_data;
-
- public AltosRecordCompanion(int in_channels) {
- channels = in_channels;
- if (channels < 0)
- channels = 0;
- if (channels > MAX_CHANNELS)
- channels = MAX_CHANNELS;
- companion_data = new int[channels];
- }
-}
+++ /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 org.altusmetrum.altoslib_1;
-
-import java.io.*;
-import java.util.*;
-
-public abstract class AltosRecordIterable implements Iterable<AltosRecord> {
- public abstract Iterator<AltosRecord> iterator();
- public void write_comments(PrintStream out) { }
- public boolean has_accel() { return false; }
- public boolean has_gps() { return false; }
- public boolean has_ignite() { return false; };
-}
+++ /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 org.altusmetrum.altoslib_1;
-
-public class AltosRecordMM extends AltosRecord {
-
- /* Sensor values */
- public int accel;
- public int pres;
- public int temp;
-
- public int v_batt;
- public int v_pyro;
- public int sense[];
-
- public int ground_accel;
- public int ground_pres;
- public int accel_plus_g;
- public int accel_minus_g;
-
- public int flight_accel;
- public int flight_vel;
- public int flight_pres;
-
- public final static int num_sense = 6;
-
- public AltosIMU imu;
- public AltosMag mag;
-
- static double adc(int raw) {
- return raw / 4095.0;
- }
-
- public double pressure() {
- if (pres != MISSING)
- return pres;
- return MISSING;
- }
-
- public double ground_pressure() {
- if (ground_pres != MISSING)
- return ground_pres;
- return MISSING;
- }
-
- public double battery_voltage() {
- if (v_batt != MISSING)
- return 3.3 * adc(v_batt) * (15.0 + 27.0) / 27.0;
- return MISSING;
- }
-
- static double pyro(int raw) {
- if (raw != MISSING)
- return 3.3 * adc(raw) * (100.0 + 27.0) / 27.0;
- return MISSING;
- }
-
- public double main_voltage() {
- return pyro(sense[5]);
- }
-
- public double drogue_voltage() {
- return pyro(sense[4]);
- }
-
- public double temperature() {
- if (temp != MISSING)
- return temp / 100.0;
- return MISSING;
- }
-
- public AltosIMU imu() { return imu; }
-
- public AltosMag mag() { return mag; }
-
- double accel_counts_per_mss() {
- double counts_per_g = Math.abs(accel_minus_g - accel_plus_g) / 2;
-
- return counts_per_g / 9.80665;
- }
-
- public double acceleration() {
- if (ground_accel == MISSING || accel == MISSING)
- return MISSING;
-
- if (accel_minus_g == MISSING || accel_plus_g == MISSING)
- return MISSING;
-
- return (ground_accel - accel) / accel_counts_per_mss();
- }
-
- public void copy (AltosRecordMM old) {
- super.copy(old);
-
- accel = old.accel;
- pres = old.pres;
- temp = old.temp;
-
- v_batt = old.v_batt;
- v_pyro = old.v_pyro;
- sense = new int[num_sense];
-
- for (int i = 0; i < num_sense; i++)
- sense[i] = old.sense[i];
-
- ground_accel = old.ground_accel;
- ground_pres = old.ground_pres;
- accel_plus_g = old.accel_plus_g;
- accel_minus_g = old.accel_minus_g;
-
- flight_accel = old.flight_accel;
- flight_vel = old.flight_vel;
- flight_pres = old.flight_pres;
-
- imu = old.imu;
- mag = old.mag;
- }
-
-
-
- public AltosRecordMM clone() {
- return new AltosRecordMM(this);
- }
-
- void make_missing() {
-
- accel = MISSING;
- pres = MISSING;
- temp = MISSING;
-
- v_batt = MISSING;
- v_pyro = MISSING;
- sense = new int[num_sense];
- for (int i = 0; i < num_sense; i++)
- sense[i] = MISSING;
-
- ground_accel = MISSING;
- ground_pres = MISSING;
- accel_plus_g = MISSING;
- accel_minus_g = MISSING;
-
- flight_accel = 0;
- flight_vel = 0;
- flight_pres = 0;
-
- imu = new AltosIMU();
- mag = new AltosMag();
- }
-
- public AltosRecordMM(AltosRecord old) {
- super.copy(old);
- make_missing();
- }
-
- public AltosRecordMM(AltosRecordMM old) {
- copy(old);
- }
-
- public AltosRecordMM() {
- super();
- make_missing();
- }
-}
+++ /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 org.altusmetrum.altoslib_1;
-
-public class AltosRecordMini extends AltosRecord {
-
- /* Sensor values */
- public int pres;
- public int temp;
-
- public int sense_a;
- public int sense_m;
- public int v_batt;
-
- public int ground_pres;
-
- public int flight_accel;
- public int flight_vel;
- public int flight_pres;
-
- static double adc(int raw) {
- return raw / 4095.0;
- }
-
- public double pressure() {
- if (pres != MISSING)
- return pres;
- return MISSING;
- }
-
- public double temperature() {
- if (temp != MISSING)
- return temp;
- return MISSING;
- }
-
- public double ground_pressure() {
- if (ground_pres != MISSING)
- return ground_pres;
- return MISSING;
- }
-
- public double battery_voltage() {
- if (v_batt != MISSING)
- return 3.3 * adc(v_batt) * (15.0 + 27.0) / 27.0;
- return MISSING;
- }
-
- static double pyro(int raw) {
- if (raw != MISSING)
- return 3.3 * adc(raw) * (100.0 + 27.0) / 27.0;
- return MISSING;
- }
-
- public double main_voltage() {
- return pyro(sense_m);
- }
-
- public double apogee_voltage() {
- return pyro(sense_a);
- }
-
- public void copy (AltosRecordMini old) {
- super.copy(old);
-
- pres = old.pres;
- temp = old.temp;
-
- sense_a = old.sense_a;
- sense_m = old.sense_m;
- v_batt = old.v_batt;
-
- ground_pres = old.ground_pres;
-
- flight_accel = old.flight_accel;
- flight_vel = old.flight_vel;
- flight_pres = old.flight_pres;
- }
-
-
-
- public AltosRecordMini clone() {
- return new AltosRecordMini(this);
- }
-
- void make_missing() {
-
- pres = MISSING;
-
- sense_a = MISSING;
- sense_m = MISSING;
- v_batt = MISSING;
-
- ground_pres = MISSING;
-
- flight_accel = 0;
- flight_vel = 0;
- flight_pres = 0;
- }
-
- public AltosRecordMini(AltosRecord old) {
- super.copy(old);
- make_missing();
- }
-
- public AltosRecordMini(AltosRecordMini old) {
- copy(old);
- }
-
- public AltosRecordMini() {
- super();
- make_missing();
- }
-}
+++ /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 org.altusmetrum.altoslib_1;
-
-public class AltosRecordNone extends AltosRecord {
-
- public double pressure() { return MISSING; }
- public double ground_pressure() { return MISSING; }
- public double temperature() { return MISSING; }
- public double acceleration() { return MISSING; }
-
- public AltosRecordNone(AltosRecord old) {
- super.copy(old);
- }
-
- public AltosRecordNone clone() {
- return new AltosRecordNone(this);
- }
-
- public AltosRecordNone() {
- super();
- }
-}
+++ /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 org.altusmetrum.altoslib_1;
-
-public class AltosRecordTM extends AltosRecord {
-
- /* Sensor values */
- public int accel;
- public int pres;
- public int temp;
- public int batt;
- public int drogue;
- public int main;
-
- public int ground_accel;
- public int ground_pres;
- public int accel_plus_g;
- public int accel_minus_g;
-
- public int flight_accel;
- public int flight_vel;
- public int flight_pres;
-
- /*
- * Values for our MP3H6115A pressure sensor
- *
- * From the data sheet:
- *
- * Pressure range: 15-115 kPa
- * Voltage at 115kPa: 2.82
- * Output scale: 27mV/kPa
- *
- *
- * 27 mV/kPa * 2047 / 3300 counts/mV = 16.75 counts/kPa
- * 2.82V * 2047 / 3.3 counts/V = 1749 counts/115 kPa
- */
-
- static final double counts_per_kPa = 27 * 2047 / 3300;
- static final double counts_at_101_3kPa = 1674.0;
-
- static double
- barometer_to_pressure(double count)
- {
- return ((count / 16.0) / 2047.0 + 0.095) / 0.009 * 1000.0;
- }
-
- public double pressure() {
- if (pres == MISSING)
- return MISSING;
- return barometer_to_pressure(pres);
- }
-
- public double ground_pressure() {
- if (ground_pres == MISSING)
- return MISSING;
- return barometer_to_pressure(ground_pres);
- }
-
- public double battery_voltage() {
- if (batt == MISSING)
- return MISSING;
- return AltosConvert.cc_battery_to_voltage(batt);
- }
-
- public double main_voltage() {
- if (main == MISSING)
- return MISSING;
- return AltosConvert.cc_ignitor_to_voltage(main);
- }
-
- public double drogue_voltage() {
- if (drogue == MISSING)
- return MISSING;
- return AltosConvert.cc_ignitor_to_voltage(drogue);
- }
-
- /* Value for the CC1111 built-in temperature sensor
- * Output voltage at 0°C = 0.755V
- * Coefficient = 0.00247V/°C
- * Reference voltage = 1.25V
- *
- * temp = ((value / 32767) * 1.25 - 0.755) / 0.00247
- * = (value - 19791.268) / 32768 * 1.25 / 0.00247
- */
-
- static double
- thermometer_to_temperature(double thermo)
- {
- return (thermo - 19791.268) / 32728.0 * 1.25 / 0.00247;
- }
-
- public double temperature() {
- if (temp == MISSING)
- return MISSING;
- return thermometer_to_temperature(temp);
- }
-
- double accel_counts_per_mss() {
- double counts_per_g = Math.abs(accel_minus_g - accel_plus_g) / 2;
-
- return counts_per_g / 9.80665;
- }
-
- public double acceleration() {
- if (ground_accel == MISSING || accel == MISSING)
- return MISSING;
- return (ground_accel - accel) / accel_counts_per_mss();
- }
-
- public void copy(AltosRecordTM old) {
- super.copy(old);
-
- version = old.version;
- callsign = old.callsign;
- serial = old.serial;
- flight = old.flight;
- rssi = old.rssi;
- status = old.status;
- state = old.state;
- tick = old.tick;
- accel = old.accel;
- pres = old.pres;
- temp = old.temp;
- batt = old.batt;
- drogue = old.drogue;
- main = old.main;
- flight_accel = old.flight_accel;
- ground_accel = old.ground_accel;
- flight_vel = old.flight_vel;
- flight_pres = old.flight_pres;
- ground_pres = old.ground_pres;
- accel_plus_g = old.accel_plus_g;
- accel_minus_g = old.accel_minus_g;
- }
-
- public AltosRecordTM clone() {
- return new AltosRecordTM(this);
- }
-
- void make_missing() {
- accel = MISSING;
- pres = MISSING;
- temp = MISSING;
- batt = MISSING;
- drogue = MISSING;
- main = MISSING;
-
- flight_accel = MISSING;
- flight_vel = MISSING;
- flight_pres = MISSING;
-
- ground_accel = MISSING;
- ground_pres = MISSING;
- accel_plus_g = MISSING;
- accel_minus_g = MISSING;
- }
-
- public AltosRecordTM(AltosRecord old) {
- super.copy(old);
- make_missing();
- }
-
- public AltosRecordTM(AltosRecordTM old) {
- copy(old);
- }
-
- public AltosRecordTM() {
- super();
- make_missing();
- }
-}
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.io.*;
import java.util.*;
*/
public class AltosReplayReader extends AltosFlightReader {
- Iterator<AltosRecord> iterator;
+ Iterator<AltosState> iterator;
File file;
- public AltosRecord read() {
+ public AltosState read() {
if (iterator.hasNext())
return iterator.next();
return null;
/* Make it run in realtime after the rocket leaves the pad */
if (state.state > AltosLib.ao_flight_pad)
Thread.sleep((int) (Math.min(state.time_change,10) * 1000));
+ state.set_received_time(System.currentTimeMillis());
}
public File backing_file() { return file; }
- public AltosReplayReader(Iterator<AltosRecord> in_iterator, File in_file) {
+ public AltosReplayReader(Iterator<AltosState> in_iterator, File in_file) {
iterator = in_iterator;
file = in_file;
name = file.getName();
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.io.*;
--- /dev/null
+/*
+ * Copyright © 2013 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 org.altusmetrum.altoslib_2;
+
+import java.io.*;
+
+public class AltosSelfFlash {
+ File file;
+ FileInputStream input;
+ AltosHexfile image;
+ AltosLink link;
+ boolean aborted;
+ AltosFlashListener listener;
+ byte[] read_block, write_block;
+
+ void action(String s, int percent) {
+ if (listener != null && !aborted)
+ listener.position(s, percent);
+ }
+
+ void action(int part, int total) {
+ int percent = 100 * part / total;
+ action(String.format("%d/%d (%d%%)",
+ part, total, percent),
+ percent);
+ }
+
+ void read_block(long addr) {
+ link.printf("R %x\n", addr);
+
+ }
+
+ void read_memory(long addr, int len) {
+ }
+
+ void write_memory(long addr, byte[] data, int start, int len) {
+
+ }
+
+ void reboot() {
+ }
+
+ public void flash() {
+ try {
+ int remain = image.data.length;
+ long flash_addr = image.address;
+ int image_start = 0;
+
+ action("start", 0);
+ action(0, image.data.length);
+ while (remain > 0 && !aborted) {
+ int this_time = remain;
+ if (this_time > 0x100)
+ this_time = 0x100;
+
+ if (link != null) {
+ /* write the data */
+ write_memory(flash_addr, image.data, image_start, this_time);
+
+ byte[] check = read_memory(flash_addr, this_time);
+ for (int i = 0; i < this_time; i++)
+ if (check[i] != image.data[image_start + i])
+ throw new IOException(String.format("Flash write failed at 0x%x (%02x != %02x)",
+ image.address + image_start + i,
+ check[i], image.data[image_start + i]));
+ } else {
+ Thread.sleep(100);
+ }
+
+ remain -= this_time;
+ flash_addr += this_time;
+ image_start += this_time;
+
+ action(image.data.length - remain, image.data.length);
+ }
+ if (!aborted) {
+ action("done", 100);
+ if (link != null) {
+ reboot();
+ }
+ }
+ if (link != null)
+ link.close();
+ } catch (IOException ie) {
+ action(ie.getMessage(), -1);
+ abort();
+ } catch (InterruptedException ie) {
+ abort();
+ }
+ }
+
+ public void close() {
+ if (link != null)
+ link.close();
+ }
+
+ synchronized public void abort() {
+ aborted = true;
+ close();
+ }
+
+ public boolean check_rom_config() {
+ if (link == null)
+ return true;
+ if (rom_config == null)
+ rom_config = debug.romconfig();
+ return rom_config != null && rom_config.valid();
+ }
+
+ public void set_romconfig (AltosRomconfig romconfig) {
+ rom_config = romconfig;
+ }
+
+ public AltosRomconfig romconfig() {
+ if (!check_rom_config())
+ return null;
+ return rom_config;
+ }
+
+ public AltosFlash(File file, AltosLink link, AltosFlashListener listener)
+ throws IOException, FileNotFoundException, InterruptedException {
+ this.file = file;
+ this.link = link;
+ this.listener = listener;
+ this.read_block = new byte[256];
+ this.write_block = new byte[256];
+ input = new FileInputStream(file);
+ image = new AltosHexfile(input);
+ if (link != null) {
+ debug.close();
+ throw new IOException("Debug port not connected");
+ }
+ }
+}
\ 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 org.altusmetrum.altoslib_2;
+
+import java.util.concurrent.TimeoutException;
+
+public class AltosSensorEMini {
+ public int tick;
+ public int apogee;
+ public int main;
+ public int batt;
+
+ static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) {
+ try {
+ AltosSensorEMini sensor_emini = new AltosSensorEMini(link);
+
+ if (sensor_emini == null)
+ return;
+ state.set_battery_voltage(AltosConvert.easy_mini_voltage(sensor_emini.batt));
+ state.set_apogee_voltage(AltosConvert.easy_mini_voltage(sensor_emini.apogee));
+ state.set_main_voltage(AltosConvert.easy_mini_voltage(sensor_emini.main));
+
+ } catch (TimeoutException te) {
+ } catch (InterruptedException ie) {
+ }
+ }
+
+ public AltosSensorEMini(AltosLink link) throws InterruptedException, TimeoutException {
+ String[] items = link.adc();
+ for (int i = 0; i < items.length;) {
+ if (items[i].equals("tick:")) {
+ tick = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("apogee:")) {
+ apogee = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("main:")) {
+ main = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("batt:")) {
+ batt = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ i++;
+ }
+ }
+}
+
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.util.concurrent.TimeoutException;
--- /dev/null
+/*
+ * Copyright © 2013 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 org.altusmetrum.altoslib_2;
+
+import java.util.concurrent.TimeoutException;
+
+class AltosSensorMega {
+ int tick;
+ int[] sense;
+ int v_batt;
+ int v_pbatt;
+ int temp;
+
+ public AltosSensorMega() {
+ sense = new int[6];
+ }
+
+ public AltosSensorMega(AltosLink link) throws InterruptedException, TimeoutException {
+ this();
+ String[] items = link.adc();
+ for (int i = 0; i < items.length;) {
+ if (items[i].equals("tick:")) {
+ tick = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("A:")) {
+ sense[0] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("B:")) {
+ sense[1] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("C:")) {
+ sense[2] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("D:")) {
+ sense[3] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("drogue:")) {
+ sense[4] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("main:")) {
+ sense[5] = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("batt:")) {
+ v_batt = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("pbatt:")) {
+ v_pbatt = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("temp:")) {
+ temp = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ i++;
+ }
+ }
+
+ static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) {
+ try {
+ AltosSensorMega sensor_mega = new AltosSensorMega(link);
+
+ state.set_battery_voltage(AltosConvert.mega_battery_voltage(sensor_mega.v_batt));
+ state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sensor_mega.sense[4]));
+ state.set_main_voltage(AltosConvert.mega_pyro_voltage(sensor_mega.sense[5]));
+
+ double[] ignitor_voltage = new double[4];
+ for (int i = 0; i < 4; i++)
+ ignitor_voltage[i] = AltosConvert.mega_pyro_voltage(sensor_mega.sense[i]);
+ state.set_ignitor_voltage(ignitor_voltage);
+
+ } catch (TimeoutException te) {
+ } catch (InterruptedException ie) {
+ }
+ }
+}
+
--- /dev/null
+/*
+ * Copyright © 2013 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 org.altusmetrum.altoslib_2;
+
+import java.util.concurrent.TimeoutException;
+
+class AltosSensorMetrum {
+ int tick;
+ int sense_a;
+ int sense_m;
+ int v_batt;
+
+ public AltosSensorMetrum(AltosLink link) throws InterruptedException, TimeoutException {
+ String[] items = link.adc();
+ for (int i = 0; i < items.length;) {
+ if (items[i].equals("tick:")) {
+ tick = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("drogue:")) {
+ sense_a = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("main:")) {
+ sense_m = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("batt:")) {
+ v_batt = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ i++;
+ }
+ }
+
+ static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) {
+ try {
+ AltosSensorMetrum sensor_metrum = new AltosSensorMetrum(link);
+ state.set_battery_voltage(AltosConvert.mega_battery_voltage(sensor_metrum.v_batt));
+ state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sensor_metrum.sense_a));
+ state.set_main_voltage(AltosConvert.mega_pyro_voltage(sensor_metrum.sense_m));
+ } catch (TimeoutException te) {
+ } catch (InterruptedException ie) {
+ }
+ }
+}
+
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.util.concurrent.TimeoutException;
-class AltosSensorTM extends AltosRecordTM {
+public class AltosSensorTM {
+ public int tick;
+ public int accel;
+ public int pres;
+ public int temp;
+ public int batt;
+ public int drogue;
+ public int main;
- public AltosSensorTM(AltosLink link, AltosConfigData config_data) throws InterruptedException, TimeoutException {
- super();
+ static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) {
+ try {
+ AltosSensorTM sensor_tm = new AltosSensorTM(link);
+
+ if (sensor_tm == null)
+ return;
+ state.set_accel(sensor_tm.accel);
+ state.set_pressure(AltosConvert.barometer_to_pressure(sensor_tm.pres));
+ state.set_temperature(AltosConvert.thermometer_to_temperature(sensor_tm.temp));
+ state.set_battery_voltage(AltosConvert.cc_battery_to_voltage(sensor_tm.batt));
+ state.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(sensor_tm.drogue));
+ state.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(sensor_tm.main));
+
+ } catch (TimeoutException te) {
+ } catch (InterruptedException ie) {
+ }
+ }
+
+ public AltosSensorTM(AltosLink link) throws InterruptedException, TimeoutException {
String[] items = link.adc();
for (int i = 0; i < items.length;) {
if (items[i].equals("tick:")) {
}
i++;
}
- ground_accel = config_data.accel_cal_plus;
- ground_pres = pres;
- accel_plus_g = config_data.accel_cal_plus;
- accel_minus_g = config_data.accel_cal_minus;
}
}
--- /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 org.altusmetrum.altoslib_2;
+
+import java.util.concurrent.TimeoutException;
+
+public class AltosSensorTMini {
+ public int tick;
+ public int apogee;
+ public int main;
+ public int batt;
+
+ static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) {
+ try {
+ AltosSensorTMini sensor_tmini = new AltosSensorTMini(link);
+
+ if (sensor_tmini == null)
+ return;
+ state.set_battery_voltage(AltosConvert.easy_mini_voltage(sensor_tmini.batt));
+ state.set_apogee_voltage(AltosConvert.easy_mini_voltage(sensor_tmini.apogee));
+ state.set_main_voltage(AltosConvert.easy_mini_voltage(sensor_tmini.main));
+
+ } catch (TimeoutException te) {
+ } catch (InterruptedException ie) {
+ }
+ }
+
+ public AltosSensorTMini(AltosLink link) throws InterruptedException, TimeoutException {
+ String[] items = link.adc();
+ for (int i = 0; i < items.length;) {
+ if (items[i].equals("tick:")) {
+ tick = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("apogee:")) {
+ apogee = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("main:")) {
+ main = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ if (items[i].equals("batt:")) {
+ batt = Integer.parseInt(items[i+1]);
+ i += 2;
+ continue;
+ }
+ i++;
+ }
+ }
+}
+
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
public class AltosSpeed extends AltosUnits {
* Track flight state from telemetry or eeprom data stream
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
-public class AltosState {
- public AltosRecord data;
+public class AltosState implements Cloneable {
+
+ public static final int set_position = 1;
+ public static final int set_gps = 2;
+ public static final int set_data = 4;
+
+ public int set;
+
+ static final double ascent_filter_len = 0.5;
+ static final double descent_filter_len = 0.5;
/* derived data */
- public long report_time;
+ public long received_time;
public double time;
+ public double prev_time;
public double time_change;
public int tick;
+ private int prev_tick;
+ public int boost_tick;
+
+ class AltosValue {
+ private double value;
+ private double prev_value;
+ private double max_value;
+ private double set_time;
+ private double prev_set_time;
+
+ void set(double new_value, double time) {
+ if (new_value != AltosLib.MISSING) {
+ value = new_value;
+ if (max_value == AltosLib.MISSING || value > max_value) {
+ max_value = value;
+ }
+ set_time = time;
+ }
+ }
+
+ void set_filtered(double new_value, double time) {
+ if (prev_value != AltosLib.MISSING)
+ new_value = (prev_value * 15.0 + new_value) / 16.0;
+ set(new_value, time);
+ }
+
+ double value() {
+ return value;
+ }
+
+ double max() {
+ return max_value;
+ }
+
+ double prev() {
+ return prev_value;
+ }
+
+ double change() {
+ if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING)
+ return value - prev_value;
+ return AltosLib.MISSING;
+ }
+
+ double rate() {
+ double c = change();
+ double t = set_time - prev_set_time;
+
+ if (c != AltosLib.MISSING && t != 0)
+ return c / t;
+ return AltosLib.MISSING;
+ }
+
+ double integrate() {
+ if (value == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ if (prev_value == AltosLib.MISSING)
+ return AltosLib.MISSING;
+
+ return (value + prev_value) / 2 * (set_time - prev_set_time);
+ }
+
+ double time() {
+ return set_time;
+ }
+
+ void set_derivative(AltosValue in) {
+ double n = in.rate();
+
+ if (n == AltosLib.MISSING)
+ return;
+
+ double p = prev_value;
+ double pt = prev_set_time;
+
+ if (p == AltosLib.MISSING) {
+ p = 0;
+ pt = in.time() - 0.01;
+ }
+
+ /* Clip changes to reduce noise */
+ double ddt = in.time() - pt;
+ double ddv = (n - p) / ddt;
+
+ final double max = 100000;
+
+ /* 100gs */
+ if (Math.abs(ddv) > max) {
+ if (n > p)
+ n = p + ddt * max;
+ else
+ n = p - ddt * max;
+ }
+
+ double filter_len;
+
+ if (ascent)
+ filter_len = ascent_filter_len;
+ else
+ filter_len = descent_filter_len;
+
+ double f = 1/Math.exp(ddt/ filter_len);
+ n = p * f + n * (1-f);
+
+ set(n, in.time());
+ }
+
+ void set_integral(AltosValue in) {
+ double change = in.integrate();
+
+ if (change != AltosLib.MISSING) {
+ double prev = prev_value;
+ if (prev == AltosLib.MISSING)
+ prev = 0;
+ set(prev + change, in.time());
+ }
+ }
+
+ void copy(AltosValue old) {
+ value = old.value;
+ set_time = old.set_time;
+ prev_value = old.value;
+ prev_set_time = old.set_time;
+ max_value = old.max_value;
+ }
+
+ void finish_update() {
+ prev_value = value;
+ prev_set_time = set_time;
+ }
+
+ AltosValue() {
+ value = AltosLib.MISSING;
+ prev_value = AltosLib.MISSING;
+ max_value = AltosLib.MISSING;
+ }
+ }
+
+ class AltosCValue {
+ AltosValue measured;
+ AltosValue computed;
+
+ double value() {
+ double v = measured.value();
+ if (v != AltosLib.MISSING)
+ return v;
+ return computed.value();
+ }
+
+ boolean is_measured() {
+ return measured.value() != AltosLib.MISSING;
+ }
+
+ double max() {
+ double m = measured.max();
+
+ if (m != AltosLib.MISSING)
+ return m;
+ return computed.max();
+ }
+
+ double prev_value() {
+ if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING)
+ return measured.prev_value;
+ return computed.prev_value;
+ }
+
+ AltosValue altos_value() {
+ if (measured.value() != AltosLib.MISSING)
+ return measured;
+ return computed;
+ }
+
+ double change() {
+ double c = measured.change();
+ if (c == AltosLib.MISSING)
+ c = computed.change();
+ return c;
+ }
+
+ double rate() {
+ double r = measured.rate();
+ if (r == AltosLib.MISSING)
+ r = computed.rate();
+ return r;
+ }
+
+ void set_measured(double new_value, double time) {
+ measured.set(new_value, time);
+ }
+
+ void set_computed(double new_value, double time) {
+ computed.set(new_value, time);
+ }
+
+ void set_derivative(AltosValue in) {
+ computed.set_derivative(in);
+ }
+
+ void set_derivative(AltosCValue in) {
+ set_derivative(in.altos_value());
+ }
+
+ void set_integral(AltosValue in) {
+ computed.set_integral(in);
+ }
+
+ void set_integral(AltosCValue in) {
+ set_integral(in.altos_value());
+ }
+
+ void copy(AltosCValue old) {
+ measured.copy(old.measured);
+ computed.copy(old.computed);
+ }
+
+ void finish_update() {
+ measured.finish_update();
+ computed.finish_update();
+ }
+
+ AltosCValue() {
+ measured = new AltosValue();
+ computed = new AltosValue();
+ }
+ }
public int state;
+ public int flight;
+ public int serial;
+ public int receiver_serial;
public boolean landed;
public boolean ascent; /* going up? */
- public boolean boost; /* under power */
-
- public double ground_altitude;
- public double altitude;
- public double height;
- public double pressure;
- public double acceleration;
- public double battery;
+ public boolean boost; /* under power */
+ public int rssi;
+ public int status;
+ public int device_type;
+ public int config_major;
+ public int config_minor;
+ public int apogee_delay;
+ public int main_deploy;
+ public int flight_log_max;
+
+ private double pressure_to_altitude(double p) {
+ if (p == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return AltosConvert.pressure_to_altitude(p);
+ }
+
+ private AltosCValue ground_altitude;
+
+ public double ground_altitude() {
+ return ground_altitude.value();
+ }
+
+ public void set_ground_altitude(double a) {
+ ground_altitude.set_measured(a, time);
+ }
+
+ class AltosGroundPressure extends AltosCValue {
+ void set_filtered(double p, double time) {
+ computed.set_filtered(p, time);
+ if (!is_measured())
+ ground_altitude.set_computed(pressure_to_altitude(computed.value()), time);
+ }
+
+ void set_measured(double p, double time) {
+ super.set_measured(p, time);
+ ground_altitude.set_computed(pressure_to_altitude(p), time);
+ }
+ }
+
+ private AltosGroundPressure ground_pressure;
+
+ public double ground_pressure() {
+ return ground_pressure.value();
+ }
+
+ public void set_ground_pressure (double pressure) {
+ ground_pressure.set_measured(pressure, time);
+ }
+
+ class AltosAltitude extends AltosCValue {
+
+ private void set_speed(AltosValue v) {
+ if (!acceleration.is_measured() || !ascent)
+ speed.set_derivative(this);
+ }
+
+ void set_computed(double a, double time) {
+ super.set_computed(a,time);
+ set_speed(computed);
+ set |= set_position;
+ }
+
+ void set_measured(double a, double time) {
+ super.set_measured(a,time);
+ set_speed(measured);
+ set |= set_position;
+ }
+ }
+
+ private AltosAltitude altitude;
+
+ public double altitude() {
+ double a = altitude.value();
+ if (a != AltosLib.MISSING)
+ return a;
+ if (gps != null)
+ return gps.alt;
+ return AltosLib.MISSING;
+ }
+
+ public double max_altitude() {
+ double a = altitude.max();
+ if (a != AltosLib.MISSING)
+ return a;
+ return AltosLib.MISSING;
+ }
+
+ public void set_altitude(double new_altitude) {
+ altitude.set_measured(new_altitude, time);
+ }
+
+ class AltosPressure extends AltosValue {
+ void set(double p, double time) {
+ super.set(p, time);
+ if (state == AltosLib.ao_flight_pad)
+ ground_pressure.set_filtered(p, time);
+ double a = pressure_to_altitude(p);
+ altitude.set_computed(a, time);
+ }
+ }
+
+ private AltosPressure pressure;
+
+ public double pressure() {
+ return pressure.value();
+ }
+
+ public void set_pressure(double p) {
+ pressure.set(p, time);
+ }
+
+ public double height() {
+ double k = kalman_height.value();
+ if (k != AltosLib.MISSING)
+ return k;
+
+ double a = altitude();
+ double g = ground_altitude();
+ if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+ return a - g;
+ return AltosLib.MISSING;
+ }
+
+ public double max_height() {
+ double k = kalman_height.max();
+ if (k != AltosLib.MISSING)
+ return k;
+
+ double a = altitude.max();
+ double g = ground_altitude();
+ if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+ return a - g;
+ return AltosLib.MISSING;
+ }
+
+ class AltosSpeed extends AltosCValue {
+
+ void set_accel() {
+ acceleration.set_derivative(this);
+ }
+
+ void set_derivative(AltosCValue in) {
+ super.set_derivative(in);
+ set_accel();
+ }
+
+ void set_computed(double new_value, double time) {
+ super.set_computed(new_value, time);
+ set_accel();
+ }
+
+ void set_measured(double new_value, double time) {
+ super.set_measured(new_value, time);
+ set_accel();
+ }
+ }
+
+ private AltosSpeed speed;
+
+ public double speed() {
+ double v = kalman_speed.value();
+ if (v != AltosLib.MISSING)
+ return v;
+ return speed.value();
+ }
+
+ public double max_speed() {
+ double v = kalman_speed.max();
+ if (v != AltosLib.MISSING)
+ return v;
+ return speed.max();
+ }
+
+ class AltosAccel extends AltosCValue {
+ void set_measured(double a, double time) {
+ super.set_measured(a, time);
+ if (ascent)
+ speed.set_integral(this.measured);
+ }
+ }
+
+ AltosAccel acceleration;
+
+ public double acceleration() {
+ return acceleration.value();
+ }
+
+ public double max_acceleration() {
+ return acceleration.max();
+ }
+
+ public AltosValue kalman_height, kalman_speed, kalman_acceleration;
+
+ public void set_kalman(double height, double speed, double acceleration) {
+ kalman_height.set(height, time);
+ kalman_speed.set(speed, time);
+ kalman_acceleration.set(acceleration, time);
+ }
+
+ public double battery_voltage;
+ public double pyro_voltage;
public double temperature;
- public double main_sense;
- public double drogue_sense;
- public double accel_speed;
- public double baro_speed;
+ public double apogee_voltage;
+ public double main_voltage;
- public double max_height;
- public double max_acceleration;
- public double max_accel_speed;
- public double max_baro_speed;
+ public double ignitor_voltage[];
public AltosGPS gps;
+ public AltosGPS temp_gps;
+ public int temp_gps_sat_tick;
+ public boolean gps_pending;
public int gps_sequence;
public AltosIMU imu;
public static final int MIN_PAD_SAMPLES = 10;
public int npad;
- public int ngps;
public int gps_waiting;
public boolean gps_ready;
+ public int ngps;
+
public AltosGreatCircle from_pad;
public double elevation; /* from pad */
public double range; /* total distance */
public int speak_tick;
public double speak_altitude;
- public double speed() {
- if (ascent)
- return accel_speed;
- else
- return baro_speed;
+ public String callsign;
+ public String firmware_version;
+
+ public double accel_plus_g;
+ public double accel_minus_g;
+ public double accel;
+ public double ground_accel;
+ public double ground_accel_avg;
+
+ public int log_format;
+
+ public AltosMs5607 baro;
+
+ public AltosCompanion companion;
+
+ public void set_npad(int npad) {
+ this.npad = npad;
+ gps_waiting = MIN_PAD_SAMPLES - npad;
+ if (this.gps_waiting < 0)
+ gps_waiting = 0;
+ gps_ready = gps_waiting == 0;
}
- public double max_speed() {
- if (max_accel_speed != 0)
- return max_accel_speed;
- return max_baro_speed;
- }
-
- public void init (AltosRecord cur, AltosState prev_state) {
- data = cur;
-
- /* Discard previous state if it was for a different board */
- if (prev_state != null && prev_state.data.serial != data.serial)
- prev_state = null;
- ground_altitude = data.ground_altitude();
-
- altitude = data.altitude();
- if (altitude == AltosRecord.MISSING && data.gps != null)
- altitude = data.gps.alt;
-
- height = AltosRecord.MISSING;
- if (data.kalman_height != AltosRecord.MISSING)
- height = data.kalman_height;
- else {
- if (altitude != AltosRecord.MISSING && ground_altitude != AltosRecord.MISSING) {
- double cur_height = altitude - ground_altitude;
- if (prev_state == null || prev_state.height == AltosRecord.MISSING)
- height = cur_height;
- else
- height = (prev_state.height * 15 + cur_height) / 16.0;
- }
+ public void init() {
+ set = 0;
+
+ received_time = System.currentTimeMillis();
+ time = AltosLib.MISSING;
+ time_change = AltosLib.MISSING;
+ prev_time = AltosLib.MISSING;
+ tick = AltosLib.MISSING;
+ prev_tick = AltosLib.MISSING;
+ boost_tick = AltosLib.MISSING;
+ state = AltosLib.ao_flight_invalid;
+ flight = AltosLib.MISSING;
+ landed = false;
+ boost = false;
+ rssi = AltosLib.MISSING;
+ status = 0;
+ device_type = AltosLib.MISSING;
+ config_major = AltosLib.MISSING;
+ config_minor = AltosLib.MISSING;
+ apogee_delay = AltosLib.MISSING;
+ main_deploy = AltosLib.MISSING;
+ flight_log_max = AltosLib.MISSING;
+
+ ground_altitude = new AltosCValue();
+ ground_pressure = new AltosGroundPressure();
+ altitude = new AltosAltitude();
+ pressure = new AltosPressure();
+ speed = new AltosSpeed();
+ acceleration = new AltosAccel();
+
+ temperature = AltosLib.MISSING;
+ battery_voltage = AltosLib.MISSING;
+ pyro_voltage = AltosLib.MISSING;
+ apogee_voltage = AltosLib.MISSING;
+ main_voltage = AltosLib.MISSING;
+ ignitor_voltage = null;
+
+ kalman_height = new AltosValue();
+ kalman_speed = new AltosValue();
+ kalman_acceleration = new AltosValue();
+
+ gps = null;
+ temp_gps = null;
+ temp_gps_sat_tick = 0;
+ gps_sequence = 0;
+ gps_pending = false;
+
+ imu = null;
+ mag = null;
+
+ set_npad(0);
+ ngps = 0;
+
+ from_pad = null;
+ elevation = AltosLib.MISSING;
+ range = AltosLib.MISSING;
+ gps_height = AltosLib.MISSING;
+
+ pad_lat = AltosLib.MISSING;
+ pad_lon = AltosLib.MISSING;
+ pad_alt = AltosLib.MISSING;
+
+ speak_tick = AltosLib.MISSING;
+ speak_altitude = AltosLib.MISSING;
+
+ callsign = null;
+
+ accel_plus_g = AltosLib.MISSING;
+ accel_minus_g = AltosLib.MISSING;
+ accel = AltosLib.MISSING;
+
+ ground_accel = AltosLib.MISSING;
+ ground_accel_avg = AltosLib.MISSING;
+
+ log_format = AltosLib.MISSING;
+ serial = AltosLib.MISSING;
+ receiver_serial = AltosLib.MISSING;
+
+ baro = null;
+ companion = null;
+ }
+
+ void finish_update() {
+ prev_tick = tick;
+
+ ground_altitude.finish_update();
+ altitude.finish_update();
+ pressure.finish_update();
+ speed.finish_update();
+ acceleration.finish_update();
+
+ kalman_height.finish_update();
+ kalman_speed.finish_update();
+ kalman_acceleration.finish_update();
+ }
+
+ void copy(AltosState old) {
+
+ if (old == null) {
+ init();
+ return;
}
- report_time = System.currentTimeMillis();
+ received_time = old.received_time;
+ time = old.time;
+ time_change = old.time_change;
+ prev_time = old.time;
+
+ tick = old.tick;
+ prev_tick = old.tick;
+ boost_tick = old.boost_tick;
+
+ state = old.state;
+ flight = old.flight;
+ landed = old.landed;
+ ascent = old.ascent;
+ boost = old.boost;
+ rssi = old.rssi;
+ status = old.status;
+ device_type = old.device_type;
+ config_major = old.config_major;
+ config_minor = old.config_minor;
+ apogee_delay = old.apogee_delay;
+ main_deploy = old.main_deploy;
+ flight_log_max = old.flight_log_max;
+
+ set = 0;
+
+ ground_pressure.copy(old.ground_pressure);
+ ground_altitude.copy(old.ground_altitude);
+ altitude.copy(old.altitude);
+ pressure.copy(old.pressure);
+ speed.copy(old.speed);
+ acceleration.copy(old.acceleration);
+
+ battery_voltage = old.battery_voltage;
+ pyro_voltage = old.pyro_voltage;
+ temperature = old.temperature;
+ apogee_voltage = old.apogee_voltage;
+ main_voltage = old.main_voltage;
+ ignitor_voltage = old.ignitor_voltage;
+
+ kalman_height.copy(old.kalman_height);
+ kalman_speed.copy(old.kalman_speed);
+ kalman_acceleration.copy(old.kalman_acceleration);
- if (data.kalman_acceleration != AltosRecord.MISSING)
- acceleration = data.kalman_acceleration;
+ if (old.gps != null)
+ gps = old.gps.clone();
else
- acceleration = data.acceleration();
- temperature = data.temperature();
- drogue_sense = data.drogue_voltage();
- main_sense = data.main_voltage();
- battery = data.battery_voltage();
- pressure = data.pressure();
- tick = data.tick;
- state = data.state;
-
- if (prev_state != null) {
-
- /* Preserve any existing gps data */
- npad = prev_state.npad;
- ngps = prev_state.ngps;
- gps = prev_state.gps;
- gps_sequence = prev_state.gps_sequence;
- pad_lat = prev_state.pad_lat;
- pad_lon = prev_state.pad_lon;
- pad_alt = prev_state.pad_alt;
- max_height = prev_state.max_height;
- max_acceleration = prev_state.max_acceleration;
- max_accel_speed = prev_state.max_accel_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)
- tick += 65536;
-
- time_change = (tick - prev_state.tick) / 100.0;
-
- if (data.kalman_speed != AltosRecord.MISSING) {
- baro_speed = accel_speed = data.kalman_speed;
- } else {
- /* compute barometric speed */
-
- double height_change = height - prev_state.height;
-
- double prev_baro_speed = prev_state.baro_speed;
- if (prev_baro_speed == AltosRecord.MISSING)
- prev_baro_speed = 0;
-
- if (time_change > 0)
- baro_speed = (prev_baro_speed * 3 + (height_change / time_change)) / 4.0;
- else
- baro_speed = prev_state.baro_speed;
+ gps = null;
+ if (old.temp_gps != null)
+ temp_gps = old.temp_gps.clone();
+ else
+ temp_gps = null;
+ temp_gps_sat_tick = old.temp_gps_sat_tick;
+ gps_sequence = old.gps_sequence;
+ gps_pending = old.gps_pending;
- double prev_accel_speed = prev_state.accel_speed;
+ if (old.imu != null)
+ imu = old.imu.clone();
+ else
+ imu = null;
- if (prev_accel_speed == AltosRecord.MISSING)
- prev_accel_speed = 0;
+ if (old.mag != null)
+ mag = old.mag.clone();
+ else
+ mag = null;
- if (acceleration == AltosRecord.MISSING) {
- /* Fill in mising acceleration value */
- accel_speed = baro_speed;
+ npad = old.npad;
+ gps_waiting = old.gps_waiting;
+ gps_ready = old.gps_ready;
+ ngps = old.ngps;
- if (time_change > 0 && accel_speed != AltosRecord.MISSING)
- acceleration = (accel_speed - prev_accel_speed) / time_change;
- else
- acceleration = prev_state.acceleration;
- } else {
- /* compute accelerometer speed */
- accel_speed = prev_accel_speed + acceleration * time_change;
+ if (old.from_pad != null)
+ from_pad = old.from_pad.clone();
+ else
+ from_pad = null;
+
+ elevation = old.elevation;
+ range = old.range;
+
+ gps_height = old.gps_height;
+ pad_lat = old.pad_lat;
+ pad_lon = old.pad_lon;
+ pad_alt = old.pad_alt;
+
+ speak_tick = old.speak_tick;
+ speak_altitude = old.speak_altitude;
+
+ callsign = old.callsign;
+
+ accel_plus_g = old.accel_plus_g;
+ accel_minus_g = old.accel_minus_g;
+ accel = old.accel;
+ ground_accel = old.ground_accel;
+ ground_accel_avg = old.ground_accel_avg;
+
+ log_format = old.log_format;
+ serial = old.serial;
+ receiver_serial = old.receiver_serial;
+
+ baro = old.baro;
+ companion = old.companion;
+ }
+
+ void update_time() {
+ }
+
+ void update_gps() {
+ elevation = 0;
+ range = -1;
+ gps_height = 0;
+
+ if (gps == null)
+ return;
+
+ if (gps.locked && gps.nsat >= 4) {
+ /* Track consecutive 'good' gps reports, waiting for 10 of them */
+ if (state == AltosLib.ao_flight_pad) {
+ set_npad(npad+1);
+ if (pad_lat != AltosLib.MISSING) {
+ pad_lat = (pad_lat * 31 + gps.lat) / 32;
+ pad_lon = (pad_lon * 31 + gps.lon) / 32;
+ pad_alt = (pad_alt * 31 + gps.alt) / 32;
}
}
- } else {
- npad = 0;
- ngps = 0;
- gps = null;
- gps_sequence = 0;
- baro_speed = AltosRecord.MISSING;
- accel_speed = AltosRecord.MISSING;
- pad_alt = AltosRecord.MISSING;
- max_baro_speed = 0;
- max_accel_speed = 0;
- max_height = 0;
- max_acceleration = 0;
- time_change = 0;
+ if (pad_lat == AltosLib.MISSING) {
+ pad_lat = gps.lat;
+ pad_lon = gps.lon;
+ pad_alt = gps.alt;
+ }
}
+ if (gps.lat != 0 && gps.lon != 0 &&
+ pad_lat != AltosLib.MISSING &&
+ pad_lon != AltosLib.MISSING)
+ {
+ double h = height();
- time = tick / 100.0;
-
- if (data.gps != null && data.gps_sequence != gps_sequence && (state < AltosLib.ao_flight_boost)) {
+ if (h == AltosLib.MISSING)
+ h = 0;
+ from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
+ elevation = from_pad.elevation;
+ range = from_pad.range;
+ gps_height = gps.alt - pad_alt;
+ }
+ }
- /* Track consecutive 'good' gps reports, waiting for 10 of them */
- if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
- npad++;
- else
- npad = 0;
-
- /* Average GPS data while on the pad */
- if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
- if (ngps > 1 && state == AltosLib.ao_flight_pad) {
- /* filter pad position */
- pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
- pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
- pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
- } else {
- pad_lat = data.gps.lat;
- pad_lon = data.gps.lon;
- pad_alt = data.gps.alt;
+ public void set_tick(int new_tick) {
+ if (new_tick != AltosLib.MISSING) {
+ if (prev_tick != AltosLib.MISSING) {
+ while (new_tick < prev_tick - 1000) {
+ new_tick += 65536;
}
- ngps++;
}
- } else {
- if (ngps == 0 && ground_altitude != AltosRecord.MISSING)
- pad_alt = ground_altitude;
+ tick = new_tick;
+ time = tick / 100.0;
+ time_change = time - prev_time;
}
+ }
- gps_sequence = data.gps_sequence;
+ public void set_boost_tick(int boost_tick) {
+ if (boost_tick != AltosLib.MISSING)
+ this.boost_tick = boost_tick;
+ }
- gps_waiting = MIN_PAD_SAMPLES - npad;
- if (gps_waiting < 0)
- gps_waiting = 0;
+ public String state_name() {
+ return AltosLib.state_name(state);
+ }
- gps_ready = gps_waiting == 0;
+ public void set_state(int state) {
+ if (state != AltosLib.ao_flight_invalid) {
+ this.state = state;
+ ascent = (AltosLib.ao_flight_boost <= state &&
+ state <= AltosLib.ao_flight_coast);
+ boost = (AltosLib.ao_flight_boost == state);
+ }
- ascent = (AltosLib.ao_flight_boost <= state &&
- state <= AltosLib.ao_flight_coast);
- boost = (AltosLib.ao_flight_boost == state);
+ }
- /* Only look at accelerometer data under boost */
- if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
- max_acceleration = acceleration;
- if (boost && accel_speed != AltosRecord.MISSING && accel_speed > max_accel_speed)
- max_accel_speed = accel_speed;
- if (boost && baro_speed != AltosRecord.MISSING && baro_speed > max_baro_speed)
- max_baro_speed = baro_speed;
+ public void set_device_type(int device_type) {
+ this.device_type = device_type;
+ }
- if (height != AltosRecord.MISSING && height > max_height)
- max_height = height;
- elevation = 0;
- range = -1;
- gps_height = 0;
- if (data.gps != null) {
- gps = data.gps;
- if (ngps > 0 && gps.locked) {
- double h = height;
-
- if (h == AltosRecord.MISSING) h = 0;
- from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
- elevation = from_pad.elevation;
- range = from_pad.range;
- gps_height = gps.alt - pad_alt;
+ public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) {
+ config_major = major;
+ config_minor = minor;
+ this.apogee_delay = apogee_delay;
+ this.main_deploy = main_deploy;
+ this.flight_log_max = flight_log_max;
+ }
+
+ public void set_callsign(String callsign) {
+ this.callsign = callsign;
+ }
+
+ public void set_firmware_version(String version) {
+ firmware_version = version;
+ }
+
+ public void set_flight(int flight) {
+
+ /* When the flight changes, reset the state */
+ if (flight != AltosLib.MISSING && flight != 0) {
+ if (this.flight != AltosLib.MISSING &&
+ this.flight != flight) {
+ init();
}
+ this.flight = flight;
}
}
- public AltosState(AltosRecord cur) {
- init(cur, null);
+ public void set_serial(int serial) {
+ /* When the serial changes, reset the state */
+ if (serial != AltosLib.MISSING) {
+ if (this.serial != AltosLib.MISSING &&
+ this.serial != serial) {
+ init();
+ }
+ this.serial = serial;
+ }
+ }
+
+ public void set_receiver_serial(int serial) {
+ if (serial != AltosLib.MISSING)
+ receiver_serial = serial;
+ }
+
+ public int rssi() {
+ if (rssi == AltosLib.MISSING)
+ return 0;
+ return rssi;
+ }
+
+ public void set_rssi(int rssi, int status) {
+ if (rssi != AltosLib.MISSING) {
+ this.rssi = rssi;
+ this.status = status;
+ }
+ }
+
+ public void set_received_time(long ms) {
+ received_time = ms;
+ }
+
+ public void set_gps(AltosGPS gps, int sequence) {
+ if (gps != null) {
+ this.gps = gps.clone();
+ gps_sequence = sequence;
+ update_gps();
+ set |= set_gps;
+ }
+ }
+
+ public void set_imu(AltosIMU imu) {
+ if (imu != null)
+ imu = imu.clone();
+ this.imu = imu;
+ }
+
+ public void set_mag(AltosMag mag) {
+ this.mag = mag.clone();
+ }
+
+ public AltosMs5607 make_baro() {
+ if (baro == null)
+ baro = new AltosMs5607();
+ return baro;
+ }
+
+ public void set_ms5607(AltosMs5607 ms5607) {
+ baro = ms5607;
+
+ if (baro != null) {
+ set_pressure(baro.pa);
+ set_temperature(baro.cc / 100.0);
+ }
+ }
+
+ public void set_ms5607(int pres, int temp) {
+ if (baro != null) {
+ baro.set(pres, temp);
+
+ set_pressure(baro.pa);
+ set_temperature(baro.cc / 100.0);
+ }
+ }
+
+ public void make_companion (int nchannels) {
+ if (companion == null)
+ companion = new AltosCompanion(nchannels);
+ }
+
+ public void set_companion(AltosCompanion companion) {
+ this.companion = companion;
+ }
+
+ void update_accel() {
+ double ground = ground_accel;
+
+ if (ground == AltosLib.MISSING)
+ ground = ground_accel_avg;
+ if (accel == AltosLib.MISSING)
+ return;
+ if (ground == AltosLib.MISSING)
+ return;
+ if (accel_plus_g == AltosLib.MISSING)
+ return;
+ if (accel_minus_g == AltosLib.MISSING)
+ return;
+
+ double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0;
+ double counts_per_mss = counts_per_g / 9.80665;
+ acceleration.set_measured((ground - accel) / counts_per_mss, time);
+ }
+
+ public void set_accel_g(double accel_plus_g, double accel_minus_g) {
+ if (accel_plus_g != AltosLib.MISSING) {
+ this.accel_plus_g = accel_plus_g;
+ this.accel_minus_g = accel_minus_g;
+ update_accel();
+ }
+ }
+
+ public void set_ground_accel(double ground_accel) {
+ if (ground_accel != AltosLib.MISSING) {
+ this.ground_accel = ground_accel;
+ update_accel();
+ }
+ }
+
+ public void set_accel(double accel) {
+ if (accel != AltosLib.MISSING) {
+ this.accel = accel;
+ if (state == AltosLib.ao_flight_pad) {
+ if (ground_accel_avg == AltosLib.MISSING)
+ ground_accel_avg = accel;
+ else
+ ground_accel_avg = (ground_accel_avg * 7 + accel) / 8;
+ }
+ }
+ update_accel();
+ }
+
+ public void set_temperature(double temperature) {
+ if (temperature != AltosLib.MISSING) {
+ this.temperature = temperature;
+ set |= set_data;
+ }
+ }
+
+ public void set_battery_voltage(double battery_voltage) {
+ if (battery_voltage != AltosLib.MISSING) {
+ this.battery_voltage = battery_voltage;
+ set |= set_data;
+ }
+ }
+
+ public void set_pyro_voltage(double pyro_voltage) {
+ if (pyro_voltage != AltosLib.MISSING) {
+ this.pyro_voltage = pyro_voltage;
+ set |= set_data;
+ }
+ }
+
+ public void set_apogee_voltage(double apogee_voltage) {
+ if (apogee_voltage != AltosLib.MISSING) {
+ this.apogee_voltage = apogee_voltage;
+ set |= set_data;
+ }
+ }
+
+ public void set_main_voltage(double main_voltage) {
+ if (main_voltage != AltosLib.MISSING) {
+ this.main_voltage = main_voltage;
+ set |= set_data;
+ }
+ }
+
+ public void set_ignitor_voltage(double[] voltage) {
+ this.ignitor_voltage = voltage;
+ }
+
+ public double time_since_boost() {
+ if (tick == AltosLib.MISSING)
+ return 0.0;
+
+ if (boost_tick != AltosLib.MISSING) {
+ return (tick - boost_tick) / 100.0;
+ }
+ return tick / 100.0;
+ }
+
+ public boolean valid() {
+ return tick != AltosLib.MISSING && serial != AltosLib.MISSING;
+ }
+
+ public AltosGPS make_temp_gps(boolean sats) {
+ if (temp_gps == null) {
+ temp_gps = new AltosGPS(gps);
+ }
+ gps_pending = true;
+ if (sats) {
+ if (tick != temp_gps_sat_tick)
+ temp_gps.cc_gps_sat = null;
+ temp_gps_sat_tick = tick;
+ }
+ return temp_gps;
+ }
+
+ public void set_temp_gps() {
+ set_gps(temp_gps, gps_sequence + 1);
+ gps_pending = false;
+ temp_gps = null;
+ }
+
+ public AltosState clone() {
+ AltosState s = new AltosState();
+ s.copy(this);
+ return s;
}
- public AltosState (AltosRecord cur, AltosState prev) {
- init(cur, prev);
+ public AltosState () {
+ init();
}
}
--- /dev/null
+/*
+ * Copyright © 2013 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 org.altusmetrum.altoslib_2;
+
+import java.io.*;
+import java.util.*;
+
+public abstract class AltosStateIterable implements Iterable<AltosState> {
+
+ public void write_comments (PrintStream out) {
+ }
+
+ public abstract void write(PrintStream out);
+}
--- /dev/null
+/*
+ * Copyright © 2013 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 org.altusmetrum.altoslib_2;
+
+public interface AltosStateUpdate {
+ public void update_state(AltosState state);
+}
\ No newline at end of file
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.text.*;
* Telemetry data contents
*/
+public abstract class AltosTelemetry implements AltosStateUpdate {
-/*
- * The packet format is a simple hex dump of the raw telemetry frame.
- * It starts with 'TELEM', then contains hex digits with a checksum as the last
- * byte on the line.
- *
- * Version 4 is a replacement with consistent syntax. Each telemetry line
- * contains a sequence of space-separated names and values, the values are
- * either integers or strings. The names are all unique. All values are
- * optional
- *
- * VERSION 4 c KD7SQG n 236 f 18 r -25 s pad t 513 r_a 15756 r_b 26444 r_t 20944
- * r_v 26640 r_d 512 r_m 208 c_a 15775 c_b 26439 c_p 15749 c_m 16281 a_a 15764
- * a_s 0 a_b 26439 g_s u g_n 0 s_n 0
- *
- * VERSION 4 c KD7SQG n 19 f 0 r -23 s pad t 513 r_b 26372 r_t 21292 r_v 26788
- * r_d 136 r_m 140 c_b 26370 k_h 0 k_s 0 k_a 0
- *
- * General header fields
- *
- * Name Value
- *
- * VERSION Telemetry version number (4 or more). Must be first.
- * c Callsign (string, no spaces allowed)
- * n Flight unit serial number (integer)
- * f Flight number (integer)
- * r Packet RSSI value (integer)
- * s Flight computer state (string, no spaces allowed)
- * t Flight computer clock (integer in centiseconds)
- *
- * Version 3 is Version 2 with fixed RSSI numbers -- the radio reports
- * in 1/2dB increments while this protocol provides only integers. So,
- * the syntax didn't change just the interpretation of the RSSI
- * values.
- *
- * Version 2 of the telemetry data stream is a bit of a mess, with no
- * consistent formatting. In particular, the GPS data is formatted for
- * viewing instead of parsing. However, the key feature is that every
- * telemetry line contains all of the information necessary to
- * describe the current rocket state, including the calibration values
- * for accelerometer and barometer.
- *
- * GPS unlocked:
- *
- * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -68 STATUS ff STATE pad 1001 \
- * a: 16032 p: 21232 t: 20284 v: 25160 d: 204 m: 204 fa: 16038 ga: 16032 fv: 0 \
- * fp: 21232 gp: 21230 a+: 16049 a-: 16304 GPS 0 sat unlocked SAT 1 15 30
- *
- * GPS locked:
- *
- * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -71 STATUS ff STATE pad 2504 \
- * a: 16028 p: 21220 t: 20360 v: 25004 d: 208 m: 200 fa: 16031 ga: 16032 fv: 330 \
- * fp: 21231 gp: 21230 a+: 16049 a-: 16304 \
- * GPS 9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W 1790m \
- * 0.00m/s(H) 0° 0.00m/s(V) 1.0(hdop) 0(herr) 0(verr) \
- * SAT 10 29 30 24 28 5 25 21 20 15 33 1 23 30 24 18 26 10 29 2 26
- *
- */
+ /* All telemetry packets have these fields */
+ public int tick;
+ public int serial;
+ public int rssi;
+ public int status;
+
+ /* Mark when we received the packet */
+ long received_time;
+
+ static boolean cksum(int[] bytes) {
+ int sum = 0x5a;
+ for (int i = 1; i < bytes.length - 1; i++)
+ sum += bytes[i];
+ sum &= 0xff;
+ return sum == bytes[bytes.length - 1];
+ }
+
+ public void update_state(AltosState state) {
+ if (state.state == AltosLib.ao_flight_invalid)
+ state.set_state(AltosLib.ao_flight_startup);
+ state.set_serial(serial);
+ state.set_tick(tick);
+ state.set_rssi(rssi, status);
+ state.set_received_time(received_time);
+ }
+
+ final static int PKT_APPEND_STATUS_1_CRC_OK = (1 << 7);
+ final static int PKT_APPEND_STATUS_1_LQI_MASK = (0x7f);
+ final static int PKT_APPEND_STATUS_1_LQI_SHIFT = 0;
+
+ final static int packet_type_TM_sensor = 0x01;
+ final static int packet_type_Tm_sensor = 0x02;
+ final static int packet_type_Tn_sensor = 0x03;
+ final static int packet_type_configuration = 0x04;
+ final static int packet_type_location = 0x05;
+ final static int packet_type_satellite = 0x06;
+ final static int packet_type_companion = 0x07;
+ final static int packet_type_mega_sensor = 0x08;
+ final static int packet_type_mega_data = 0x09;
+ final static int packet_type_metrum_sensor = 0x0a;
+ final static int packet_type_metrum_data = 0x0b;
+ final static int packet_type_mini = 0x10;
+
+ static AltosTelemetry parse_hex(String hex) throws ParseException, AltosCRCException {
+ AltosTelemetry telem = null;
+
+ int[] bytes;
+ try {
+ bytes = AltosLib.hexbytes(hex);
+ } catch (NumberFormatException ne) {
+ throw new ParseException(ne.getMessage(), 0);
+ }
+
+ /* one for length, one for checksum */
+ if (bytes[0] != bytes.length - 2)
+ throw new ParseException(String.format("invalid length %d != %d\n",
+ bytes[0],
+ bytes.length - 2), 0);
+ if (!cksum(bytes))
+ throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
+
+ int rssi = AltosLib.int8(bytes, bytes.length - 3) / 2 - 74;
+ int status = AltosLib.uint8(bytes, bytes.length - 2);
+
+ if ((status & PKT_APPEND_STATUS_1_CRC_OK) == 0)
+ throw new AltosCRCException(rssi);
+
+ /* length, data ..., rssi, status, checksum -- 4 bytes extra */
+ switch (bytes.length) {
+ case AltosLib.ao_telemetry_standard_len + 4:
+ telem = AltosTelemetryStandard.parse_hex(bytes);
+ break;
+ case AltosLib.ao_telemetry_0_9_len + 4:
+ telem = new AltosTelemetryLegacy(bytes);
+ break;
+ case AltosLib.ao_telemetry_0_8_len + 4:
+ telem = new AltosTelemetryLegacy(bytes);
+ break;
+ default:
+ throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
+ }
+ if (telem != null) {
+ telem.received_time = System.currentTimeMillis();
+ telem.rssi = rssi;
+ telem.status = status;
+ }
+ return telem;
+ }
+
+ public static AltosTelemetry parse(String line) throws ParseException, AltosCRCException {
+ String[] word = line.split("\\s+");
+ int i =0;
+
+ if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
+ i += 2;
+ AltosParse.word(word[i++], "RSSI");
+ throw new AltosCRCException(AltosParse.parse_int(word[i++]));
+ }
+
+ AltosTelemetry telem;
-public abstract class AltosTelemetry extends AltosRecord {
-
- /*
- * General header fields
- *
- * Name Value
- *
- * VERSION Telemetry version number (4 or more). Must be first.
- * c Callsign (string, no spaces allowed)
- * n Flight unit serial number (integer)
- * f Flight number (integer)
- * r Packet RSSI value (integer)
- * s Flight computer state (string, no spaces allowed)
- * t Flight computer clock (integer in centiseconds)
- */
-
- final static String AO_TELEM_VERSION = "VERSION";
- final static String AO_TELEM_CALL = "c";
- final static String AO_TELEM_SERIAL = "n";
- final static String AO_TELEM_FLIGHT = "f";
- final static String AO_TELEM_RSSI = "r";
- final static String AO_TELEM_STATE = "s";
- final static String AO_TELEM_TICK = "t";
-
- /*
- * Raw sensor values
- *
- * Name Value
- * r_a Accelerometer reading (integer)
- * r_b Barometer reading (integer)
- * r_t Thermometer reading (integer)
- * r_v Battery reading (integer)
- * r_d Drogue continuity (integer)
- * r_m Main continuity (integer)
- */
-
- final static String AO_TELEM_RAW_ACCEL = "r_a";
- final static String AO_TELEM_RAW_BARO = "r_b";
- final static String AO_TELEM_RAW_THERMO = "r_t";
- final static String AO_TELEM_RAW_BATT = "r_v";
- final static String AO_TELEM_RAW_DROGUE = "r_d";
- final static String AO_TELEM_RAW_MAIN = "r_m";
-
- /*
- * Sensor calibration values
- *
- * Name Value
- * c_a Ground accelerometer reading (integer)
- * c_b Ground barometer reading (integer)
- * c_p Accelerometer reading for +1g
- * c_m Accelerometer reading for -1g
- */
-
- final static String AO_TELEM_CAL_ACCEL_GROUND = "c_a";
- final static String AO_TELEM_CAL_BARO_GROUND = "c_b";
- final static String AO_TELEM_CAL_ACCEL_PLUS = "c_p";
- final static String AO_TELEM_CAL_ACCEL_MINUS = "c_m";
-
- /*
- * Kalman state values
- *
- * Name Value
- * k_h Height above pad (integer, meters)
- * k_s Vertical speeed (integer, m/s * 16)
- * k_a Vertical acceleration (integer, m/s² * 16)
- */
-
- final static String AO_TELEM_KALMAN_HEIGHT = "k_h";
- final static String AO_TELEM_KALMAN_SPEED = "k_s";
- final static String AO_TELEM_KALMAN_ACCEL = "k_a";
-
- /*
- * Ad-hoc flight values
- *
- * Name Value
- * a_a Acceleration (integer, sensor units)
- * a_s Speed (integer, integrated acceleration value)
- * a_b Barometer reading (integer, sensor units)
- */
-
- final static String AO_TELEM_ADHOC_ACCEL = "a_a";
- final static String AO_TELEM_ADHOC_SPEED = "a_s";
- final static String AO_TELEM_ADHOC_BARO = "a_b";
-
- /*
- * GPS values
- *
- * Name Value
- * g_s GPS state (string):
- * l locked
- * u unlocked
- * e error (missing or broken)
- * g_n Number of sats used in solution
- * g_ns Latitude (degrees * 10e7)
- * g_ew Longitude (degrees * 10e7)
- * g_a Altitude (integer meters)
- * g_Y GPS year (integer)
- * g_M GPS month (integer - 1-12)
- * g_D GPS day (integer - 1-31)
- * g_h GPS hour (integer - 0-23)
- * g_m GPS minute (integer - 0-59)
- * g_s GPS second (integer - 0-59)
- * g_v GPS vertical speed (integer, cm/sec)
- * g_s GPS horizontal speed (integer, cm/sec)
- * g_c GPS course (integer, 0-359)
- * g_hd GPS hdop (integer * 10)
- * g_vd GPS vdop (integer * 10)
- * g_he GPS h error (integer)
- * g_ve GPS v error (integer)
- */
-
- final static String AO_TELEM_GPS_STATE = "g";
- final static String AO_TELEM_GPS_STATE_LOCKED = "l";
- final static String AO_TELEM_GPS_STATE_UNLOCKED = "u";
- final static String AO_TELEM_GPS_STATE_ERROR = "e";
- final static String AO_TELEM_GPS_NUM_SAT = "g_n";
- final static String AO_TELEM_GPS_LATITUDE = "g_ns";
- final static String AO_TELEM_GPS_LONGITUDE = "g_ew";
- final static String AO_TELEM_GPS_ALTITUDE = "g_a";
- final static String AO_TELEM_GPS_YEAR = "g_Y";
- final static String AO_TELEM_GPS_MONTH = "g_M";
- final static String AO_TELEM_GPS_DAY = "g_D";
- final static String AO_TELEM_GPS_HOUR = "g_h";
- final static String AO_TELEM_GPS_MINUTE = "g_m";
- final static String AO_TELEM_GPS_SECOND = "g_s";
- final static String AO_TELEM_GPS_VERTICAL_SPEED = "g_v";
- final static String AO_TELEM_GPS_HORIZONTAL_SPEED = "g_g";
- final static String AO_TELEM_GPS_COURSE = "g_c";
- final static String AO_TELEM_GPS_HDOP = "g_hd";
- final static String AO_TELEM_GPS_VDOP = "g_vd";
- final static String AO_TELEM_GPS_HERROR = "g_he";
- final static String AO_TELEM_GPS_VERROR = "g_ve";
-
- /*
- * GPS satellite values
- *
- * Name Value
- * s_n Number of satellites reported (integer)
- * s_v0 Space vehicle ID (integer) for report 0
- * s_c0 C/N0 number (integer) for report 0
- * s_v1 Space vehicle ID (integer) for report 1
- * s_c1 C/N0 number (integer) for report 1
- * ...
- */
-
- final static String AO_TELEM_SAT_NUM = "s_n";
- final static String AO_TELEM_SAT_SVID = "s_v";
- final static String AO_TELEM_SAT_C_N_0 = "s_c";
-
- static public AltosRecord parse(String line, AltosRecord previous) throws ParseException, AltosCRCException {
- AltosTelemetryRecord r = AltosTelemetryRecord.parse(line);
-
- return r.update_state(previous);
+ if (word[i].equals("TELEM")) {
+ telem = parse_hex(word[i+1]);
+ } else {
+ telem = new AltosTelemetryLegacy(line);
+ }
+ return telem;
}
}
--- /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 org.altusmetrum.altoslib_2;
+
+
+public class AltosTelemetryConfiguration extends AltosTelemetryStandard {
+ int device_type;
+ int flight;
+ int config_major;
+ int config_minor;
+ int apogee_delay;
+ int main_deploy;
+ int flight_log_max;
+ String callsign;
+ String version;
+
+ public AltosTelemetryConfiguration(int[] bytes) {
+ super(bytes);
+
+ device_type = uint8(5);
+ flight = uint16(6);
+ config_major = uint8(8);
+ config_minor = uint8(9);
+ apogee_delay = uint16(10);
+ main_deploy = uint16(12);
+ flight_log_max = uint16(14);
+ callsign = string(16, 8);
+ version = string(24, 8);
+ }
+
+ public void update_state(AltosState state) {
+ super.update_state(state);
+ state.set_device_type(device_type);
+ state.set_flight(flight);
+ state.set_config(config_major, config_minor, apogee_delay, main_deploy, flight_log_max);
+
+ state.set_callsign(callsign);
+ state.set_firmware_version(version);
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2013 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 org.altusmetrum.altoslib_2;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+
+class AltosTelemetryIterator implements Iterator<AltosState> {
+ AltosState state;
+ Iterator<AltosTelemetry> telems;
+ AltosTelemetry next;
+ boolean seen;
+
+ public boolean hasNext() {
+ return !seen || telems.hasNext();
+ }
+
+ public AltosState next() {
+ if (seen) {
+ AltosState n = state.clone();
+ AltosTelemetry t = telems.next();
+
+ t.update_state(n);
+ state = n;
+ }
+ seen = true;
+ return state;
+ }
+
+ public void remove () {
+ }
+
+ public AltosTelemetryIterator(AltosState start, Iterator<AltosTelemetry> telems) {
+ this.state = start;
+ this.telems = telems;
+ this.seen = false;
+ }
+}
+
+public class AltosTelemetryFile extends AltosStateIterable {
+
+ AltosTelemetryIterable telems;
+ AltosState start;
+
+ public void write_comments(PrintStream out) {
+ }
+
+ public void write(PrintStream out) {
+
+ }
+
+ public AltosTelemetryFile(FileInputStream input) {
+ telems = new AltosTelemetryIterable(input);
+ start = new AltosState();
+
+ /* Find boost tick */
+ AltosState state = start.clone();
+
+ for (AltosTelemetry telem : telems) {
+ telem.update_state(state);
+ state.finish_update();
+ if (state.state != AltosLib.ao_flight_invalid && state.state >= AltosLib.ao_flight_boost) {
+ start.set_boost_tick(state.tick);
+ break;
+ }
+ }
+ }
+
+ public Iterator<AltosState> iterator() {
+ AltosState state = start.clone();
+ Iterator<AltosTelemetry> i = telems.iterator();
+
+ while (i.hasNext() && !state.valid()) {
+ AltosTelemetry t = i.next();
+ t.update_state(state);
+ state.finish_update();
+ }
+ return new AltosTelemetryIterator(state, i);
+ }
+}
\ No newline at end of file
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.io.*;
import java.util.*;
import java.text.*;
-public class AltosTelemetryIterable extends AltosRecordIterable {
- TreeSet<AltosRecord> records;
+class AltosTelemetryOrdered implements Comparable<AltosTelemetryOrdered> {
+ AltosTelemetry telem;
+ int index;
+ int tick;
- public Iterator<AltosRecord> iterator () {
- return records.iterator();
+ public int compareTo(AltosTelemetryOrdered o) {
+ int tick_diff = tick - o.tick;
+
+ if (tick_diff != 0)
+ return tick_diff;
+ return index - o.index;
}
- boolean has_gps = false;
- boolean has_accel = false;
- boolean has_ignite = false;
- public boolean has_gps() { return has_gps; }
- public boolean has_accel() { return has_accel; }
- public boolean has_ignite() { return has_ignite; };
+ AltosTelemetryOrdered (AltosTelemetry telem, int index, int tick) {
+ this.telem = telem;
+ this.index = index;
+ this.tick = tick;
+ }
+}
- public AltosTelemetryIterable (FileInputStream input) {
- boolean saw_boost = false;
- int current_tick = 0;
- int boost_tick = 0;
+class AltosTelemetryOrderedIterator implements Iterator<AltosTelemetry> {
+ Iterator<AltosTelemetryOrdered> iterator;
+
+ public AltosTelemetryOrderedIterator(TreeSet<AltosTelemetryOrdered> telems) {
+ iterator = telems.iterator();
+ }
+
+ public boolean hasNext() {
+ return iterator.hasNext();
+ }
- AltosRecord previous = null;
- records = new TreeSet<AltosRecord> ();
+ public AltosTelemetry next() {
+ return iterator.next().telem;
+ }
+
+ public void remove () {
+ }
+}
+
+public class AltosTelemetryIterable implements Iterable<AltosTelemetry> {
+ TreeSet<AltosTelemetryOrdered> telems;
+ int tick;
+ int index;
+
+ public void add (AltosTelemetry telem) {
+ int t = telem.tick;
+ if (!telems.isEmpty()) {
+ while (t < tick - 32767)
+ t += 65536;
+ }
+ tick = t;
+ telems.add(new AltosTelemetryOrdered(telem, index++, tick));
+ }
+
+ public Iterator<AltosTelemetry> iterator () {
+ return new AltosTelemetryOrderedIterator(telems);
+ }
+
+ public AltosTelemetryIterable (FileInputStream input) {
+ telems = new TreeSet<AltosTelemetryOrdered> ();
+ tick = 0;
+ index = 0;
try {
for (;;) {
break;
}
try {
- AltosRecord record = AltosTelemetry.parse(line, previous);
- if (record == null)
+ AltosTelemetry telem = AltosTelemetry.parse(line);
+ if (telem == null)
break;
- if (records.isEmpty()) {
- current_tick = record.tick;
- } else {
- int tick = record.tick;
- while (tick < current_tick - 0x1000)
- tick += 0x10000;
- current_tick = tick;
- record.tick = current_tick;
- }
- if (!saw_boost && record.state >= AltosLib.ao_flight_boost)
- {
- saw_boost = true;
- boost_tick = record.tick;
- }
- if (record.acceleration() != AltosRecord.MISSING)
- has_accel = true;
- if (record.gps != null)
- has_gps = true;
- if (record.main_voltage() != AltosRecord.MISSING)
- has_ignite = true;
- if (previous != null && previous.tick != record.tick)
- records.add(previous);
- previous = record;
+ add(telem);
} catch (ParseException pe) {
System.out.printf("parse exception %s\n", pe.getMessage());
} catch (AltosCRCException ce) {
} catch (IOException io) {
System.out.printf("io exception\n");
}
-
- if (previous != null)
- records.add(previous);
-
- /* Adjust all tick counts to match expected eeprom values,
- * which starts with a 16-bit tick count 16 samples before boost
- */
-
- int tick_adjust = (boost_tick - 16) & 0xffff0000;
- for (AltosRecord r : this)
- r.tick -= tick_adjust;
- boost_tick -= tick_adjust;
-
- /* adjust all tick counts to be relative to boost time */
- for (AltosRecord r : this)
- r.time = (r.tick - boost_tick) / 100.0;
-
- try {
- input.close();
- } catch (IOException ie) {
- }
}
}
--- /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 org.altusmetrum.altoslib_2;
+
+import java.text.*;
+
+/*
+ * Telemetry data contents
+ */
+
+
+/*
+ * The packet format is a simple hex dump of the raw telemetry frame.
+ * It starts with 'TELEM', then contains hex digits with a checksum as the last
+ * byte on the line.
+ *
+ * Version 4 is a replacement with consistent syntax. Each telemetry line
+ * contains a sequence of space-separated names and values, the values are
+ * either integers or strings. The names are all unique. All values are
+ * optional
+ *
+ * VERSION 4 c KD7SQG n 236 f 18 r -25 s pad t 513 r_a 15756 r_b 26444 r_t 20944
+ * r_v 26640 r_d 512 r_m 208 c_a 15775 c_b 26439 c_p 15749 c_m 16281 a_a 15764
+ * a_s 0 a_b 26439 g_s u g_n 0 s_n 0
+ *
+ * VERSION 4 c KD7SQG n 19 f 0 r -23 s pad t 513 r_b 26372 r_t 21292 r_v 26788
+ * r_d 136 r_m 140 c_b 26370 k_h 0 k_s 0 k_a 0
+ *
+ * General header fields
+ *
+ * Name Value
+ *
+ * VERSION Telemetry version number (4 or more). Must be first.
+ * c Callsign (string, no spaces allowed)
+ * n Flight unit serial number (integer)
+ * f Flight number (integer)
+ * r Packet RSSI value (integer)
+ * s Flight computer state (string, no spaces allowed)
+ * t Flight computer clock (integer in centiseconds)
+ *
+ * Version 3 is Version 2 with fixed RSSI numbers -- the radio reports
+ * in 1/2dB increments while this protocol provides only integers. So,
+ * the syntax didn't change just the interpretation of the RSSI
+ * values.
+ *
+ * Version 2 of the telemetry data stream is a bit of a mess, with no
+ * consistent formatting. In particular, the GPS data is formatted for
+ * viewing instead of parsing. However, the key feature is that every
+ * telemetry line contains all of the information necessary to
+ * describe the current rocket state, including the calibration values
+ * for accelerometer and barometer.
+ *
+ * GPS unlocked:
+ *
+ * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -68 STATUS ff STATE pad 1001 \
+ * a: 16032 p: 21232 t: 20284 v: 25160 d: 204 m: 204 fa: 16038 ga: 16032 fv: 0 \
+ * fp: 21232 gp: 21230 a+: 16049 a-: 16304 GPS 0 sat unlocked SAT 1 15 30
+ *
+ * GPS locked:
+ *
+ * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -71 STATUS ff STATE pad 2504 \
+ * a: 16028 p: 21220 t: 20360 v: 25004 d: 208 m: 200 fa: 16031 ga: 16032 fv: 330 \
+ * fp: 21231 gp: 21230 a+: 16049 a-: 16304 \
+ * GPS 9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W 1790m \
+ * 0.00m/s(H) 0° 0.00m/s(V) 1.0(hdop) 0(herr) 0(verr) \
+ * SAT 10 29 30 24 28 5 25 21 20 15 33 1 23 30 24 18 26 10 29 2 26
+ *
+ */
+
+public class AltosTelemetryLegacy extends AltosTelemetry {
+ /*
+ * General header fields
+ *
+ * Name Value
+ *
+ * VERSION Telemetry version number (4 or more). Must be first.
+ * c Callsign (string, no spaces allowed)
+ * n Flight unit serial number (integer)
+ * f Flight number (integer)
+ * r Packet RSSI value (integer)
+ * s Flight computer state (string, no spaces allowed)
+ * t Flight computer clock (integer in centiseconds)
+ */
+
+ final static String AO_TELEM_VERSION = "VERSION";
+ final static String AO_TELEM_CALL = "c";
+ final static String AO_TELEM_SERIAL = "n";
+ final static String AO_TELEM_FLIGHT = "f";
+ final static String AO_TELEM_RSSI = "r";
+ final static String AO_TELEM_STATE = "s";
+ final static String AO_TELEM_TICK = "t";
+
+ /*
+ * Raw sensor values
+ *
+ * Name Value
+ * r_a Accelerometer reading (integer)
+ * r_b Barometer reading (integer)
+ * r_t Thermometer reading (integer)
+ * r_v Battery reading (integer)
+ * r_d Drogue continuity (integer)
+ * r_m Main continuity (integer)
+ */
+
+ final static String AO_TELEM_RAW_ACCEL = "r_a";
+ final static String AO_TELEM_RAW_BARO = "r_b";
+ final static String AO_TELEM_RAW_THERMO = "r_t";
+ final static String AO_TELEM_RAW_BATT = "r_v";
+ final static String AO_TELEM_RAW_DROGUE = "r_d";
+ final static String AO_TELEM_RAW_MAIN = "r_m";
+
+ /*
+ * Sensor calibration values
+ *
+ * Name Value
+ * c_a Ground accelerometer reading (integer)
+ * c_b Ground barometer reading (integer)
+ * c_p Accelerometer reading for +1g
+ * c_m Accelerometer reading for -1g
+ */
+
+ final static String AO_TELEM_CAL_ACCEL_GROUND = "c_a";
+ final static String AO_TELEM_CAL_BARO_GROUND = "c_b";
+ final static String AO_TELEM_CAL_ACCEL_PLUS = "c_p";
+ final static String AO_TELEM_CAL_ACCEL_MINUS = "c_m";
+
+ /*
+ * Kalman state values
+ *
+ * Name Value
+ * k_h Height above pad (integer, meters)
+ * k_s Vertical speeed (integer, m/s * 16)
+ * k_a Vertical acceleration (integer, m/s² * 16)
+ */
+
+ final static String AO_TELEM_KALMAN_HEIGHT = "k_h";
+ final static String AO_TELEM_KALMAN_SPEED = "k_s";
+ final static String AO_TELEM_KALMAN_ACCEL = "k_a";
+
+ /*
+ * Ad-hoc flight values
+ *
+ * Name Value
+ * a_a Acceleration (integer, sensor units)
+ * a_s Speed (integer, integrated acceleration value)
+ * a_b Barometer reading (integer, sensor units)
+ */
+
+ final static String AO_TELEM_ADHOC_ACCEL = "a_a";
+ final static String AO_TELEM_ADHOC_SPEED = "a_s";
+ final static String AO_TELEM_ADHOC_BARO = "a_b";
+
+ /*
+ * GPS values
+ *
+ * Name Value
+ * g_s GPS state (string):
+ * l locked
+ * u unlocked
+ * e error (missing or broken)
+ * g_n Number of sats used in solution
+ * g_ns Latitude (degrees * 10e7)
+ * g_ew Longitude (degrees * 10e7)
+ * g_a Altitude (integer meters)
+ * g_Y GPS year (integer)
+ * g_M GPS month (integer - 1-12)
+ * g_D GPS day (integer - 1-31)
+ * g_h GPS hour (integer - 0-23)
+ * g_m GPS minute (integer - 0-59)
+ * g_s GPS second (integer - 0-59)
+ * g_v GPS vertical speed (integer, cm/sec)
+ * g_s GPS horizontal speed (integer, cm/sec)
+ * g_c GPS course (integer, 0-359)
+ * g_hd GPS hdop (integer * 10)
+ * g_vd GPS vdop (integer * 10)
+ * g_he GPS h error (integer)
+ * g_ve GPS v error (integer)
+ */
+
+ final static String AO_TELEM_GPS_STATE = "g";
+ final static String AO_TELEM_GPS_STATE_LOCKED = "l";
+ final static String AO_TELEM_GPS_STATE_UNLOCKED = "u";
+ final static String AO_TELEM_GPS_STATE_ERROR = "e";
+ final static String AO_TELEM_GPS_NUM_SAT = "g_n";
+ final static String AO_TELEM_GPS_LATITUDE = "g_ns";
+ final static String AO_TELEM_GPS_LONGITUDE = "g_ew";
+ final static String AO_TELEM_GPS_ALTITUDE = "g_a";
+ final static String AO_TELEM_GPS_YEAR = "g_Y";
+ final static String AO_TELEM_GPS_MONTH = "g_M";
+ final static String AO_TELEM_GPS_DAY = "g_D";
+ final static String AO_TELEM_GPS_HOUR = "g_h";
+ final static String AO_TELEM_GPS_MINUTE = "g_m";
+ final static String AO_TELEM_GPS_SECOND = "g_s";
+ final static String AO_TELEM_GPS_VERTICAL_SPEED = "g_v";
+ final static String AO_TELEM_GPS_HORIZONTAL_SPEED = "g_g";
+ final static String AO_TELEM_GPS_COURSE = "g_c";
+ final static String AO_TELEM_GPS_HDOP = "g_hd";
+ final static String AO_TELEM_GPS_VDOP = "g_vd";
+ final static String AO_TELEM_GPS_HERROR = "g_he";
+ final static String AO_TELEM_GPS_VERROR = "g_ve";
+
+ /*
+ * GPS satellite values
+ *
+ * Name Value
+ * s_n Number of satellites reported (integer)
+ * s_v0 Space vehicle ID (integer) for report 0
+ * s_c0 C/N0 number (integer) for report 0
+ * s_v1 Space vehicle ID (integer) for report 1
+ * s_c1 C/N0 number (integer) for report 1
+ * ...
+ */
+
+ final static String AO_TELEM_SAT_NUM = "s_n";
+ final static String AO_TELEM_SAT_SVID = "s_v";
+ final static String AO_TELEM_SAT_C_N_0 = "s_c";
+
+ public int version;
+ public String callsign;
+ public int flight;
+ public int state;
+
+ public AltosGPS gps;
+ public int gps_sequence;
+
+ /* Telemetry sources have these values recorded from the flight computer */
+ public double kalman_height;
+ public double kalman_speed;
+ public double kalman_acceleration;
+
+ /* Sensor values */
+ public int accel;
+ public int pres;
+ public int temp;
+ public int batt;
+ public int apogee;
+ public int main;
+
+ public int ground_accel;
+ public int ground_pres;
+ public int accel_plus_g;
+ public int accel_minus_g;
+
+ public int flight_accel;
+ public int flight_vel;
+ public int flight_pres;
+
+ private void parse_v4(String[] words, int i) throws ParseException {
+ AltosTelemetryMap map = new AltosTelemetryMap(words, i);
+
+ callsign = map.get_string(AO_TELEM_CALL, "N0CALL");
+ serial = map.get_int(AO_TELEM_SERIAL, AltosLib.MISSING);
+ flight = map.get_int(AO_TELEM_FLIGHT, AltosLib.MISSING);
+ rssi = map.get_int(AO_TELEM_RSSI, AltosLib.MISSING);
+ state = AltosLib.state(map.get_string(AO_TELEM_STATE, "invalid"));
+ tick = map.get_int(AO_TELEM_TICK, 0);
+
+ /* raw sensor values */
+ accel = map.get_int(AO_TELEM_RAW_ACCEL, AltosLib.MISSING);
+ pres = map.get_int(AO_TELEM_RAW_BARO, AltosLib.MISSING);
+ temp = map.get_int(AO_TELEM_RAW_THERMO, AltosLib.MISSING);
+ batt = map.get_int(AO_TELEM_RAW_BATT, AltosLib.MISSING);
+ apogee = map.get_int(AO_TELEM_RAW_DROGUE, AltosLib.MISSING);
+ main = map.get_int(AO_TELEM_RAW_MAIN, AltosLib.MISSING);
+
+ /* sensor calibration information */
+ ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, AltosLib.MISSING);
+ ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, AltosLib.MISSING);
+ accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, AltosLib.MISSING);
+ accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, AltosLib.MISSING);
+
+ /* flight computer values */
+ kalman_acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, AltosLib.MISSING, 1/16.0);
+ kalman_speed = map.get_double(AO_TELEM_KALMAN_SPEED, AltosLib.MISSING, 1/16.0);
+ kalman_height = map.get_int(AO_TELEM_KALMAN_HEIGHT, AltosLib.MISSING);
+
+ flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, AltosLib.MISSING);
+ flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, AltosLib.MISSING);
+ flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, AltosLib.MISSING);
+
+ if (map.has(AO_TELEM_GPS_STATE))
+ gps = new AltosGPS(map);
+ else
+ gps = null;
+ }
+
+ private void parse_legacy(String[] words, int i) throws ParseException {
+
+ AltosParse.word (words[i++], "CALL");
+ callsign = words[i++];
+
+ AltosParse.word (words[i++], "SERIAL");
+ serial = AltosParse.parse_int(words[i++]);
+
+ if (version >= 2) {
+ AltosParse.word (words[i++], "FLIGHT");
+ flight = AltosParse.parse_int(words[i++]);
+ } else
+ flight = 0;
+
+ AltosParse.word(words[i++], "RSSI");
+ rssi = AltosParse.parse_int(words[i++]);
+
+ /* Older telemetry data had mis-computed RSSI value */
+ if (version <= 2)
+ rssi = (rssi + 74) / 2 - 74;
+
+ AltosParse.word(words[i++], "STATUS");
+ status = AltosParse.parse_hex(words[i++]);
+
+ AltosParse.word(words[i++], "STATE");
+ state = AltosLib.state(words[i++]);
+
+ tick = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "a:");
+ accel = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "p:");
+ pres = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "t:");
+ temp = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "v:");
+ batt = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "d:");
+ apogee = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "m:");
+ main = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "fa:");
+ flight_accel = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "ga:");
+ ground_accel = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "fv:");
+ flight_vel = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "fp:");
+ flight_pres = AltosParse.parse_int(words[i++]);
+
+ /* Old TeleDongle code with kalman-reporting TeleMetrum code */
+ if ((flight_vel & 0xffff0000) == 0x80000000) {
+ kalman_speed = ((short) flight_vel) / 16.0;
+ kalman_acceleration = flight_accel / 16.0;
+ kalman_height = flight_pres;
+ flight_vel = AltosLib.MISSING;
+ flight_pres = AltosLib.MISSING;
+ flight_accel = AltosLib.MISSING;
+ } else {
+ kalman_speed = AltosLib.MISSING;
+ kalman_acceleration = AltosLib.MISSING;
+ kalman_height = AltosLib.MISSING;
+ }
+
+ AltosParse.word(words[i++], "gp:");
+ ground_pres = AltosParse.parse_int(words[i++]);
+
+ if (version >= 1) {
+ AltosParse.word(words[i++], "a+:");
+ accel_plus_g = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "a-:");
+ accel_minus_g = AltosParse.parse_int(words[i++]);
+ } else {
+ accel_plus_g = ground_accel;
+ accel_minus_g = ground_accel + 530;
+ }
+
+ gps = new AltosGPS(words, i, version);
+ gps_sequence++;
+ }
+
+ public AltosTelemetryLegacy(String line) throws ParseException, AltosCRCException {
+ String[] words = line.split("\\s+");
+ int i = 0;
+
+ if (words[i].equals("CRC") && words[i+1].equals("INVALID")) {
+ i += 2;
+ AltosParse.word(words[i++], "RSSI");
+ rssi = AltosParse.parse_int(words[i++]);
+ throw new AltosCRCException(rssi);
+ }
+ if (words[i].equals("CALL")) {
+ version = 0;
+ } else {
+ AltosParse.word (words[i++], "VERSION");
+ version = AltosParse.parse_int(words[i++]);
+ }
+
+ if (version < 4)
+ parse_legacy(words, i);
+ else
+ parse_v4(words, i);
+ }
+
+ /*
+ * Given a hex dump of a legacy telemetry line, construct an AltosRecordTM from that
+ */
+
+ int[] bytes;
+ int adjust;
+
+ /*
+ private int int8(int i) {
+ return AltosLib.int8(bytes, i + 1 + adjust);
+ }
+ */
+ private int uint8(int i) {
+ return AltosLib.uint8(bytes, i + 1 + adjust);
+ }
+ private int int16(int i) {
+ return AltosLib.int16(bytes, i + 1 + adjust);
+ }
+ private int uint16(int i) {
+ return AltosLib.uint16(bytes, i + 1 + adjust);
+ }
+ private int uint32(int i) {
+ return AltosLib.uint32(bytes, i + 1 + adjust);
+ }
+ private String string(int i, int l) {
+ return AltosLib.string(bytes, i + 1 + adjust, l);
+ }
+
+ static final int AO_GPS_NUM_SAT_MASK = (0xf << 0);
+ static final int AO_GPS_NUM_SAT_SHIFT = (0);
+
+ static final int AO_GPS_VALID = (1 << 4);
+ static final int AO_GPS_RUNNING = (1 << 5);
+ static final int AO_GPS_DATE_VALID = (1 << 6);
+ static final int AO_GPS_COURSE_VALID = (1 << 7);
+
+ public AltosTelemetryLegacy(int[] in_bytes) {
+ bytes = in_bytes;
+ version = 4;
+ adjust = 0;
+
+ if (bytes.length == AltosLib.ao_telemetry_0_8_len + 4) {
+ serial = uint8(0);
+ adjust = -1;
+ } else
+ serial = uint16(0);
+
+ callsign = string(62, 8);
+ flight = uint16(2);
+ state = uint8(4);
+ tick = uint16(21);
+ accel = int16(23);
+ pres = int16(25);
+ temp = int16(27);
+ batt = int16(29);
+ apogee = int16(31);
+ main = int16(33);
+
+ ground_accel = int16(7);
+ ground_pres = int16(15);
+ accel_plus_g = int16(17);
+ accel_minus_g = int16(19);
+
+ if (uint16(11) == 0x8000) {
+ kalman_acceleration = int16(5);
+ kalman_speed = int16(9);
+ kalman_height = int16(13);
+ flight_accel = AltosLib.MISSING;
+ flight_vel = AltosLib.MISSING;
+ flight_pres = AltosLib.MISSING;
+ } else {
+ flight_accel = int16(5);
+ flight_vel = uint32(9);
+ flight_pres = int16(13);
+ kalman_acceleration = AltosLib.MISSING;
+ kalman_speed = AltosLib.MISSING;
+ kalman_height = AltosLib.MISSING;
+ }
+
+ gps = null;
+
+ int gps_flags = uint8(41);
+
+ if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) {
+ gps = new AltosGPS();
+ gps_sequence++;
+
+ gps.nsat = (gps_flags & AO_GPS_NUM_SAT_MASK);
+ gps.locked = (gps_flags & AO_GPS_VALID) != 0;
+ gps.connected = true;
+ gps.lat = uint32(42) / 1.0e7;
+ gps.lon = uint32(46) / 1.0e7;
+ gps.alt = int16(50);
+ gps.ground_speed = uint16(52) / 100.0;
+ gps.course = uint8(54) * 2;
+ gps.hdop = uint8(55) / 5.0;
+ gps.h_error = uint16(58);
+ gps.v_error = uint16(60);
+
+ int n_tracking_reported = uint8(70);
+ if (n_tracking_reported > 12)
+ n_tracking_reported = 12;
+ int n_tracking_actual = 0;
+ for (int i = 0; i < n_tracking_reported; i++) {
+ if (uint8(71 + i*2) != 0)
+ n_tracking_actual++;
+ }
+ if (n_tracking_actual > 0) {
+ gps.cc_gps_sat = new AltosGPSSat[n_tracking_actual];
+
+ n_tracking_actual = 0;
+ for (int i = 0; i < n_tracking_reported; i++) {
+ int svid = uint8(71 + i*2);
+ int c_n0 = uint8(72 + i*2);
+ if (svid != 0)
+ gps.cc_gps_sat[n_tracking_actual++] = new AltosGPSSat(svid, c_n0);
+ }
+ }
+ }
+ }
+
+ public void update_state(AltosState state) {
+ state.set_tick(tick);
+ state.set_state(this.state);
+ state.set_flight(flight);
+ state.set_serial(serial);
+ state.set_rssi(rssi, status);
+
+ state.set_pressure(AltosConvert.barometer_to_pressure(pres));
+ state.set_accel_g(accel_plus_g, accel_minus_g);
+ state.set_accel(accel);
+ if (kalman_height != AltosLib.MISSING)
+ state.set_kalman(kalman_height, kalman_speed, kalman_acceleration);
+ state.set_temperature(AltosConvert.thermometer_to_temperature(temp));
+ state.set_battery_voltage(AltosConvert.cc_battery_to_voltage(batt));
+ state.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(apogee));
+ state.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(main));
+ if (gps != null)
+ state.set_gps(gps, gps_sequence);
+ }
+}
--- /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 org.altusmetrum.altoslib_2;
+
+
+public class AltosTelemetryLocation extends AltosTelemetryStandard {
+ int flags;
+ int altitude;
+ int latitude;
+ int longitude;
+ int year;
+ int month;
+ int day;
+ int hour;
+ int minute;
+ int second;
+ int pdop;
+ int hdop;
+ int vdop;
+ int mode;
+ int ground_speed;
+ int climb_rate;
+ int course;
+
+ public AltosTelemetryLocation(int[] bytes) {
+ super(bytes);
+
+ flags = uint8(5);
+ altitude = int16(6);
+ latitude = uint32(8);
+ longitude = uint32(12);
+ year = uint8(16);
+ month = uint8(17);
+ day = uint8(18);
+ hour = uint8(19);
+ minute = uint8(20);
+ second = uint8(21);
+ pdop = uint8(22);
+ hdop = uint8(23);
+ vdop = uint8(24);
+ mode = uint8(25);
+ ground_speed = uint16(26);
+ climb_rate = int16(28);
+ course = uint8(30);
+ }
+
+ public void update_state(AltosState state) {
+ super.update_state(state);
+ AltosGPS gps = state.make_temp_gps(false);
+
+ gps.nsat = flags & 0xf;
+ gps.locked = (flags & (1 << 4)) != 0;
+ gps.connected = (flags & (1 << 5)) != 0;
+
+ if (gps.locked) {
+ gps.lat = latitude * 1.0e-7;
+ gps.lon = longitude * 1.0e-7;
+ gps.alt = altitude;
+ gps.year = 2000 + year;
+ gps.month = month;
+ gps.day = day;
+ gps.hour = hour;
+ gps.minute = minute;
+ gps.second = second;
+ gps.ground_speed = ground_speed * 1.0e-2;
+ gps.course = course * 2;
+ gps.climb_rate = climb_rate * 1.0e-2;
+ gps.hdop = hdop;
+ gps.vdop = vdop;
+ }
+ state.set_temp_gps();
+ }
+}
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.text.*;
import java.util.HashMap;
--- /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 org.altusmetrum.altoslib_2;
+
+public class AltosTelemetryMegaData extends AltosTelemetryStandard {
+ int state;
+
+ int v_batt;
+ int v_pyro;
+ int sense[];
+
+ int ground_pres;
+ int ground_accel;
+ int accel_plus_g;
+ int accel_minus_g;
+
+ int acceleration;
+ int speed;
+ int height;
+
+ public AltosTelemetryMegaData(int[] bytes) {
+ super(bytes);
+
+ state = int8(5);
+
+ v_batt = int16(6);
+ v_pyro = int16(8);
+
+ sense = new int[6];
+
+ for (int i = 0; i < 6; i++) {
+ sense[i] = int8(10 + i) << 4;
+ sense[i] |= sense[i] >> 8;
+ }
+
+ ground_pres = int32(16);
+ ground_accel = int16(20);
+ accel_plus_g = int16(22);
+ accel_minus_g = int16(24);
+
+ acceleration = int16(26);
+ speed = int16(28);
+ height = int16(30);
+ }
+
+ public void update_state(AltosState state) {
+ super.update_state(state);
+
+ state.set_state(this.state);
+
+ state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt));
+ state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pyro));
+
+ state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense[4]));
+ state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense[5]));
+
+ double voltages[] = new double[4];
+ for (int i = 0; i < 4; i++)
+ voltages[i] = AltosConvert.mega_pyro_voltage(sense[i]);
+
+ state.set_ignitor_voltage(voltages);
+
+ state.set_ground_accel(ground_accel);
+ state.set_ground_pressure(ground_pres);
+ state.set_accel_g(accel_plus_g, accel_minus_g);
+
+ state.set_kalman(height, speed/16.0, acceleration / 16.0);
+ }
+}
+
--- /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 org.altusmetrum.altoslib_2;
+
+public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
+ int accel;
+ int pres;
+ int temp;
+
+ int accel_x;
+ int accel_y;
+ int accel_z;
+
+ int gyro_x;
+ int gyro_y;
+ int gyro_z;
+
+ int mag_x;
+ int mag_y;
+ int mag_z;
+
+ public AltosTelemetryMegaSensor(int[] bytes) {
+ super(bytes);
+
+ accel = int16(6);
+ pres = int32(8);
+ temp = int16(12);
+
+ accel_x = int16(14);
+ accel_y = int16(16);
+ accel_z = int16(18);
+
+ gyro_x = int16(20);
+ gyro_y = int16(22);
+ gyro_z = int16(24);
+
+ mag_x = int16(26);
+ mag_y = int16(28);
+ mag_z = int16(30);
+ }
+
+ public void update_state(AltosState state) {
+ super.update_state(state);
+
+ state.set_accel(accel);
+ state.set_pressure(pres);
+ state.set_temperature(temp / 100.0);
+
+ AltosIMU imu = new AltosIMU();
+
+ imu.accel_x = accel_x;
+ imu.accel_y = accel_y;
+ imu.accel_z = accel_z;
+
+ imu.gyro_x = gyro_x;
+ imu.gyro_y = gyro_y;
+ imu.gyro_z = gyro_z;
+
+ state.imu = imu;
+
+ AltosMag mag = new AltosMag();
+
+ mag.x = mag_x;
+ mag.y = mag_y;
+ mag.z = mag_z;
+
+ state.mag = mag;
+ }
+}
--- /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 org.altusmetrum.altoslib_2;
+
+
+public class AltosTelemetryMetrumData extends AltosTelemetryStandard {
+
+ int ground_pres;
+ int ground_accel;
+ int accel_plus_g;
+ int accel_minus_g;
+
+ public AltosTelemetryMetrumData(int[] bytes) {
+ super(bytes);
+
+ ground_pres = int32(8);
+ ground_accel = int16(12);
+ accel_plus_g = int16(14);
+ accel_minus_g = int16(16);
+ }
+
+ public void update_state(AltosState state) {
+ state.set_ground_accel(ground_accel);
+ state.set_accel_g(accel_plus_g, accel_minus_g);
+ state.set_ground_pressure(ground_pres);
+ }
+}
--- /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 org.altusmetrum.altoslib_2;
+
+
+public class AltosTelemetryMetrumSensor extends AltosTelemetryStandard {
+ int state;
+
+ int accel;
+ int pres;
+ int temp;
+
+ int acceleration;
+ int speed;
+ int height;
+
+ int v_batt;
+ int sense_a;
+ int sense_m;
+
+ public AltosTelemetryMetrumSensor(int[] bytes) {
+ super(bytes);
+
+ state = int8(5);
+ accel = int16(6);
+ pres = int32(8);
+ temp = int16(12);
+
+ acceleration = int16(14);
+ speed = int16(16);
+ height = int16(18);
+
+ v_batt = int16(20);
+ sense_a = int16(22);
+ sense_m = int16(24);
+ }
+
+ public void update_state(AltosState state) {
+ super.update_state(state);
+
+ state.set_state(this.state);
+
+ state.set_accel(accel);
+ state.set_pressure(pres);
+ state.set_temperature(temp/100.0);
+
+ state.set_kalman(height, speed/16.0, acceleration/16.0);
+
+ state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt));
+
+ state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense_a));
+ state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense_m));
+ }
+}
--- /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 org.altusmetrum.altoslib_2;
+
+
+public class AltosTelemetryMini extends AltosTelemetryStandard {
+ int state;
+
+ int v_batt;
+ int sense_a;
+ int sense_m;
+
+ int pres;
+ int temp;
+
+ int acceleration;
+ int speed;
+ int height;
+
+ int ground_pres;
+
+ public AltosTelemetryMini(int[] bytes) {
+ super(bytes);
+
+ state = int8(5);
+
+ v_batt = int16(6);
+ sense_a = int16(8);
+ sense_m = int16(10);
+
+ pres = int32(12);
+ temp = int16(16);
+
+ acceleration = int16(18);
+ speed = int16(20);
+ height = int16(22);
+
+ ground_pres = int32(24);
+ }
+
+ public void update_state(AltosState state) {
+ super.update_state(state);
+
+ state.set_state(this.state);
+
+ state.set_battery_voltage(AltosConvert.tele_mini_voltage(v_batt));
+ state.set_apogee_voltage(AltosConvert.tele_mini_voltage(sense_a));
+ state.set_main_voltage(AltosConvert.tele_mini_voltage(sense_m));
+
+ state.set_ground_pressure(ground_pres);
+
+ state.set_pressure(pres);
+ state.set_temperature(temp/100.0);
+
+ state.set_kalman(height, speed/16.0, acceleration/16.0);
+ }
+}
--- /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 org.altusmetrum.altoslib_2;
+
+public class AltosTelemetryRaw extends AltosTelemetryStandard {
+ public AltosTelemetryRaw(int[] bytes) {
+ super(bytes);
+ }
+
+ public void update_state(AltosState state) {
+ super.update_state(state);
+ }
+}
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
import java.text.*;
import java.io.*;
public class AltosTelemetryReader extends AltosFlightReader {
AltosLink link;
AltosLog log;
- AltosRecord previous;
double frequency;
int telemetry;
+ AltosState state = null;
LinkedBlockingQueue<AltosLine> telem;
- public AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException {
+ public AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException {
AltosLine l = telem.take();
if (l.line == null)
throw new IOException("IO error");
- AltosRecord next = AltosTelemetry.parse(l.line, previous);
- previous = next;
- return next;
+ AltosTelemetry telem = AltosTelemetry.parse(l.line);
+ if (state == null)
+ state = new AltosState();
+ else
+ state = state.clone();
+ telem.update_state(state);
+ return state;
}
public void flush() {
}
public void reset() {
- previous = null;
flush();
}
try {
log = new AltosLog(link);
name = link.name;
- previous = null;
telem = new LinkedBlockingQueue<AltosLine>();
frequency = AltosPreferences.frequency(link.serial);
set_frequency(frequency);
+++ /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 org.altusmetrum.altoslib_1;
-import java.text.*;
-
-public abstract class AltosTelemetryRecord {
-
- long received_time;
- abstract public AltosRecord update_state(AltosRecord previous);
-
- static boolean cksum(int[] bytes) {
- int sum = 0x5a;
- for (int i = 1; i < bytes.length - 1; i++)
- sum += bytes[i];
- sum &= 0xff;
- return sum == bytes[bytes.length - 1];
- }
-
- final static int PKT_APPEND_STATUS_1_CRC_OK = (1 << 7);
- final static int PKT_APPEND_STATUS_1_LQI_MASK = (0x7f);
- final static int PKT_APPEND_STATUS_1_LQI_SHIFT = 0;
-
- final static int packet_type_TM_sensor = 0x01;
- final static int packet_type_Tm_sensor = 0x02;
- final static int packet_type_Tn_sensor = 0x03;
- final static int packet_type_configuration = 0x04;
- final static int packet_type_location = 0x05;
- final static int packet_type_satellite = 0x06;
- final static int packet_type_companion = 0x07;
- final static int packet_type_MM_sensor = 0x08;
- final static int packet_type_MM_data = 0x09;
-
- static AltosTelemetryRecord parse_hex(String hex) throws ParseException, AltosCRCException {
- AltosTelemetryRecord r;
-
- int[] bytes;
- try {
- bytes = AltosLib.hexbytes(hex);
- } catch (NumberFormatException ne) {
- throw new ParseException(ne.getMessage(), 0);
- }
-
- /* one for length, one for checksum */
- if (bytes[0] != bytes.length - 2)
- throw new ParseException(String.format("invalid length %d != %d\n",
- bytes[0],
- bytes.length - 2), 0);
- if (!cksum(bytes))
- throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
-
- int rssi = AltosLib.int8(bytes, bytes.length - 3) / 2 - 74;
- int status = AltosLib.uint8(bytes, bytes.length - 2);
-
- if ((status & PKT_APPEND_STATUS_1_CRC_OK) == 0)
- throw new AltosCRCException(rssi);
-
- /* length, data ..., rssi, status, checksum -- 4 bytes extra */
- switch (bytes.length) {
- case AltosLib.ao_telemetry_standard_len + 4:
- int type = AltosLib.uint8(bytes, 4 + 1);
- switch (type) {
- case packet_type_TM_sensor:
- case packet_type_Tm_sensor:
- case packet_type_Tn_sensor:
- r = new AltosTelemetryRecordSensor(bytes, rssi);
- break;
- case packet_type_configuration:
- r = new AltosTelemetryRecordConfiguration(bytes, rssi);
- break;
- case packet_type_location:
- r = new AltosTelemetryRecordLocation(bytes, rssi);
- break;
- case packet_type_satellite:
- r = new AltosTelemetryRecordSatellite(bytes, rssi);
- break;
- case packet_type_companion:
- r = new AltosTelemetryRecordCompanion(bytes, rssi);
- break;
- case packet_type_MM_sensor:
- r = new AltosTelemetryRecordMegaSensor(bytes, rssi);
- break;
- case packet_type_MM_data:
- r = new AltosTelemetryRecordMegaData(bytes, rssi);
- break;
- default:
- r = new AltosTelemetryRecordRaw(bytes, rssi);
- break;
- }
- break;
- case AltosLib.ao_telemetry_0_9_len + 4:
- r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
- break;
- case AltosLib.ao_telemetry_0_8_len + 4:
- r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
- break;
- default:
- throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
- }
- r.received_time = System.currentTimeMillis();
- return r;
- }
-
- public static AltosTelemetryRecord parse(String line) throws ParseException, AltosCRCException {
- AltosTelemetryRecord r;
-
- String[] word = line.split("\\s+");
- int i =0;
- if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
- i += 2;
- AltosParse.word(word[i++], "RSSI");
- throw new AltosCRCException(AltosParse.parse_int(word[i++]));
- }
-
- if (word[i].equals("TELEM"))
- r = parse_hex(word[i+1]);
- else
- r = new AltosTelemetryRecordLegacy(line);
- return r;
- }
-}
+++ /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 org.altusmetrum.altoslib_1;
-
-public class AltosTelemetryRecordCompanion extends AltosTelemetryRecordRaw {
-
- AltosRecordCompanion companion;
-
- public AltosTelemetryRecordCompanion(int[] in_bytes, int rssi) {
- super(in_bytes, rssi);
-
- int off = 0;
- if (uint8(6) == 0)
- off = 1;
- int channels = uint8(7+off);
-
- if (off != 0 && channels >= 12)
- channels = 11;
-
- companion = new AltosRecordCompanion(channels);
- companion.tick = tick;
- companion.board_id = uint8(5);
- companion.update_period = uint8(6+off);
- for (int i = 0; i < companion.companion_data.length; i++)
- companion.companion_data[i] = uint16(8 + off + i * 2);
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord next = super.update_state(previous);
-
- next.companion = companion;
- next.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt;
-
- companion.tick = tick;
- return next;
- }
-}
+++ /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 org.altusmetrum.altoslib_1;
-
-
-public class AltosTelemetryRecordConfiguration extends AltosTelemetryRecordRaw {
- int device_type;
- int flight;
- int config_major;
- int config_minor;
- int apogee_delay;
- int main_deploy;
- int flight_log_max;
- String callsign;
- String version;
-
- public AltosTelemetryRecordConfiguration(int[] in_bytes, int rssi) {
- super(in_bytes, rssi);
-
- device_type = uint8(5);
- flight = uint16(6);
- config_major = uint8(8);
- config_minor = uint8(9);
- apogee_delay = uint16(10);
- main_deploy = uint16(12);
- flight_log_max = uint16(14);
- callsign = string(16, 8);
- version = string(24, 8);
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord next = super.update_state(previous);
-
- next.device_type = device_type;
- next.flight = flight;
- next.config_major = config_major;
- next.config_minor = config_minor;
- next.apogee_delay = apogee_delay;
- next.main_deploy = main_deploy;
- next.flight_log_max = flight_log_max;
-
- next.callsign = callsign;
- next.firmware_version = version;
-
- next.seen |= AltosRecord.seen_deploy | AltosRecord.seen_flight;
-
- return next;
- }
-}
+++ /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 org.altusmetrum.altoslib_1;
-
-import java.text.*;
-
-public class AltosTelemetryRecordGeneral {
-
- static AltosTelemetryRecord parse(String line) throws ParseException, AltosCRCException {
- AltosTelemetryRecord r;
-
- String[] word = line.split("\\s+");
- int i =0;
- if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
- i += 2;
- AltosParse.word(word[i++], "RSSI");
- throw new AltosCRCException(AltosParse.parse_int(word[i++]));
- }
-
- if (word[i].equals("TELEM"))
- r = AltosTelemetryRecordRaw.parse(word[i+1]);
- else
- r = new AltosTelemetryRecordLegacy(line);
- return r;
- }
-}
+++ /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 org.altusmetrum.altoslib_1;
-
-import java.text.*;
-
-/*
- * Telemetry data contents
- */
-
-
-/*
- * The packet format is a simple hex dump of the raw telemetry frame.
- * It starts with 'TELEM', then contains hex digits with a checksum as the last
- * byte on the line.
- *
- * Version 4 is a replacement with consistent syntax. Each telemetry line
- * contains a sequence of space-separated names and values, the values are
- * either integers or strings. The names are all unique. All values are
- * optional
- *
- * VERSION 4 c KD7SQG n 236 f 18 r -25 s pad t 513 r_a 15756 r_b 26444 r_t 20944
- * r_v 26640 r_d 512 r_m 208 c_a 15775 c_b 26439 c_p 15749 c_m 16281 a_a 15764
- * a_s 0 a_b 26439 g_s u g_n 0 s_n 0
- *
- * VERSION 4 c KD7SQG n 19 f 0 r -23 s pad t 513 r_b 26372 r_t 21292 r_v 26788
- * r_d 136 r_m 140 c_b 26370 k_h 0 k_s 0 k_a 0
- *
- * General header fields
- *
- * Name Value
- *
- * VERSION Telemetry version number (4 or more). Must be first.
- * c Callsign (string, no spaces allowed)
- * n Flight unit serial number (integer)
- * f Flight number (integer)
- * r Packet RSSI value (integer)
- * s Flight computer state (string, no spaces allowed)
- * t Flight computer clock (integer in centiseconds)
- *
- * Version 3 is Version 2 with fixed RSSI numbers -- the radio reports
- * in 1/2dB increments while this protocol provides only integers. So,
- * the syntax didn't change just the interpretation of the RSSI
- * values.
- *
- * Version 2 of the telemetry data stream is a bit of a mess, with no
- * consistent formatting. In particular, the GPS data is formatted for
- * viewing instead of parsing. However, the key feature is that every
- * telemetry line contains all of the information necessary to
- * describe the current rocket state, including the calibration values
- * for accelerometer and barometer.
- *
- * GPS unlocked:
- *
- * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -68 STATUS ff STATE pad 1001 \
- * a: 16032 p: 21232 t: 20284 v: 25160 d: 204 m: 204 fa: 16038 ga: 16032 fv: 0 \
- * fp: 21232 gp: 21230 a+: 16049 a-: 16304 GPS 0 sat unlocked SAT 1 15 30
- *
- * GPS locked:
- *
- * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -71 STATUS ff STATE pad 2504 \
- * a: 16028 p: 21220 t: 20360 v: 25004 d: 208 m: 200 fa: 16031 ga: 16032 fv: 330 \
- * fp: 21231 gp: 21230 a+: 16049 a-: 16304 \
- * GPS 9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W 1790m \
- * 0.00m/s(H) 0° 0.00m/s(V) 1.0(hdop) 0(herr) 0(verr) \
- * SAT 10 29 30 24 28 5 25 21 20 15 33 1 23 30 24 18 26 10 29 2 26
- *
- */
-
-public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord {
- /*
- * General header fields
- *
- * Name Value
- *
- * VERSION Telemetry version number (4 or more). Must be first.
- * c Callsign (string, no spaces allowed)
- * n Flight unit serial number (integer)
- * f Flight number (integer)
- * r Packet RSSI value (integer)
- * s Flight computer state (string, no spaces allowed)
- * t Flight computer clock (integer in centiseconds)
- */
-
- final static String AO_TELEM_VERSION = "VERSION";
- final static String AO_TELEM_CALL = "c";
- final static String AO_TELEM_SERIAL = "n";
- final static String AO_TELEM_FLIGHT = "f";
- final static String AO_TELEM_RSSI = "r";
- final static String AO_TELEM_STATE = "s";
- final static String AO_TELEM_TICK = "t";
-
- /*
- * Raw sensor values
- *
- * Name Value
- * r_a Accelerometer reading (integer)
- * r_b Barometer reading (integer)
- * r_t Thermometer reading (integer)
- * r_v Battery reading (integer)
- * r_d Drogue continuity (integer)
- * r_m Main continuity (integer)
- */
-
- final static String AO_TELEM_RAW_ACCEL = "r_a";
- final static String AO_TELEM_RAW_BARO = "r_b";
- final static String AO_TELEM_RAW_THERMO = "r_t";
- final static String AO_TELEM_RAW_BATT = "r_v";
- final static String AO_TELEM_RAW_DROGUE = "r_d";
- final static String AO_TELEM_RAW_MAIN = "r_m";
-
- /*
- * Sensor calibration values
- *
- * Name Value
- * c_a Ground accelerometer reading (integer)
- * c_b Ground barometer reading (integer)
- * c_p Accelerometer reading for +1g
- * c_m Accelerometer reading for -1g
- */
-
- final static String AO_TELEM_CAL_ACCEL_GROUND = "c_a";
- final static String AO_TELEM_CAL_BARO_GROUND = "c_b";
- final static String AO_TELEM_CAL_ACCEL_PLUS = "c_p";
- final static String AO_TELEM_CAL_ACCEL_MINUS = "c_m";
-
- /*
- * Kalman state values
- *
- * Name Value
- * k_h Height above pad (integer, meters)
- * k_s Vertical speeed (integer, m/s * 16)
- * k_a Vertical acceleration (integer, m/s² * 16)
- */
-
- final static String AO_TELEM_KALMAN_HEIGHT = "k_h";
- final static String AO_TELEM_KALMAN_SPEED = "k_s";
- final static String AO_TELEM_KALMAN_ACCEL = "k_a";
-
- /*
- * Ad-hoc flight values
- *
- * Name Value
- * a_a Acceleration (integer, sensor units)
- * a_s Speed (integer, integrated acceleration value)
- * a_b Barometer reading (integer, sensor units)
- */
-
- final static String AO_TELEM_ADHOC_ACCEL = "a_a";
- final static String AO_TELEM_ADHOC_SPEED = "a_s";
- final static String AO_TELEM_ADHOC_BARO = "a_b";
-
- /*
- * GPS values
- *
- * Name Value
- * g_s GPS state (string):
- * l locked
- * u unlocked
- * e error (missing or broken)
- * g_n Number of sats used in solution
- * g_ns Latitude (degrees * 10e7)
- * g_ew Longitude (degrees * 10e7)
- * g_a Altitude (integer meters)
- * g_Y GPS year (integer)
- * g_M GPS month (integer - 1-12)
- * g_D GPS day (integer - 1-31)
- * g_h GPS hour (integer - 0-23)
- * g_m GPS minute (integer - 0-59)
- * g_s GPS second (integer - 0-59)
- * g_v GPS vertical speed (integer, cm/sec)
- * g_s GPS horizontal speed (integer, cm/sec)
- * g_c GPS course (integer, 0-359)
- * g_hd GPS hdop (integer * 10)
- * g_vd GPS vdop (integer * 10)
- * g_he GPS h error (integer)
- * g_ve GPS v error (integer)
- */
-
- final static String AO_TELEM_GPS_STATE = "g";
- final static String AO_TELEM_GPS_STATE_LOCKED = "l";
- final static String AO_TELEM_GPS_STATE_UNLOCKED = "u";
- final static String AO_TELEM_GPS_STATE_ERROR = "e";
- final static String AO_TELEM_GPS_NUM_SAT = "g_n";
- final static String AO_TELEM_GPS_LATITUDE = "g_ns";
- final static String AO_TELEM_GPS_LONGITUDE = "g_ew";
- final static String AO_TELEM_GPS_ALTITUDE = "g_a";
- final static String AO_TELEM_GPS_YEAR = "g_Y";
- final static String AO_TELEM_GPS_MONTH = "g_M";
- final static String AO_TELEM_GPS_DAY = "g_D";
- final static String AO_TELEM_GPS_HOUR = "g_h";
- final static String AO_TELEM_GPS_MINUTE = "g_m";
- final static String AO_TELEM_GPS_SECOND = "g_s";
- final static String AO_TELEM_GPS_VERTICAL_SPEED = "g_v";
- final static String AO_TELEM_GPS_HORIZONTAL_SPEED = "g_g";
- final static String AO_TELEM_GPS_COURSE = "g_c";
- final static String AO_TELEM_GPS_HDOP = "g_hd";
- final static String AO_TELEM_GPS_VDOP = "g_vd";
- final static String AO_TELEM_GPS_HERROR = "g_he";
- final static String AO_TELEM_GPS_VERROR = "g_ve";
-
- /*
- * GPS satellite values
- *
- * Name Value
- * s_n Number of satellites reported (integer)
- * s_v0 Space vehicle ID (integer) for report 0
- * s_c0 C/N0 number (integer) for report 0
- * s_v1 Space vehicle ID (integer) for report 1
- * s_c1 C/N0 number (integer) for report 1
- * ...
- */
-
- final static String AO_TELEM_SAT_NUM = "s_n";
- final static String AO_TELEM_SAT_SVID = "s_v";
- final static String AO_TELEM_SAT_C_N_0 = "s_c";
-
- AltosRecordTM record;
-
- private void parse_v4(String[] words, int i) throws ParseException {
- AltosTelemetryMap map = new AltosTelemetryMap(words, i);
-
- record.callsign = map.get_string(AO_TELEM_CALL, "N0CALL");
- record.serial = map.get_int(AO_TELEM_SERIAL, AltosRecord.MISSING);
- record.flight = map.get_int(AO_TELEM_FLIGHT, AltosRecord.MISSING);
- record.rssi = map.get_int(AO_TELEM_RSSI, AltosRecord.MISSING);
- record.state = AltosLib.state(map.get_string(AO_TELEM_STATE, "invalid"));
- record.tick = map.get_int(AO_TELEM_TICK, 0);
-
- /* raw sensor values */
- record.accel = map.get_int(AO_TELEM_RAW_ACCEL, AltosRecord.MISSING);
- record.pres = map.get_int(AO_TELEM_RAW_BARO, AltosRecord.MISSING);
- record.temp = map.get_int(AO_TELEM_RAW_THERMO, AltosRecord.MISSING);
- record.batt = map.get_int(AO_TELEM_RAW_BATT, AltosRecord.MISSING);
- record.drogue = map.get_int(AO_TELEM_RAW_DROGUE, AltosRecord.MISSING);
- record.main = map.get_int(AO_TELEM_RAW_MAIN, AltosRecord.MISSING);
-
- /* sensor calibration information */
- record.ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, AltosRecord.MISSING);
- record.ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, AltosRecord.MISSING);
- record.accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, AltosRecord.MISSING);
- record.accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, AltosRecord.MISSING);
-
- /* flight computer values */
- record.kalman_acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, AltosRecord.MISSING, 1/16.0);
- record.kalman_speed = map.get_double(AO_TELEM_KALMAN_SPEED, AltosRecord.MISSING, 1/16.0);
- record.kalman_height = map.get_int(AO_TELEM_KALMAN_HEIGHT, AltosRecord.MISSING);
-
- record.flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, AltosRecord.MISSING);
- record.flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, AltosRecord.MISSING);
- record.flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, AltosRecord.MISSING);
-
- if (map.has(AO_TELEM_GPS_STATE)) {
- record.gps = new AltosGPS(map);
- record.gps_sequence++;
- }
- else
- record.gps = null;
- }
-
- private void parse_legacy(String[] words, int i) throws ParseException {
-
- AltosParse.word (words[i++], "CALL");
- record.callsign = words[i++];
-
- AltosParse.word (words[i++], "SERIAL");
- record.serial = AltosParse.parse_int(words[i++]);
-
- if (record.version >= 2) {
- AltosParse.word (words[i++], "FLIGHT");
- record.flight = AltosParse.parse_int(words[i++]);
- } else
- record.flight = 0;
-
- AltosParse.word(words[i++], "RSSI");
- record.rssi = AltosParse.parse_int(words[i++]);
-
- /* Older telemetry data had mis-computed RSSI value */
- if (record.version <= 2)
- record.rssi = (record.rssi + 74) / 2 - 74;
-
- AltosParse.word(words[i++], "STATUS");
- record.status = AltosParse.parse_hex(words[i++]);
-
- AltosParse.word(words[i++], "STATE");
- record.state = AltosLib.state(words[i++]);
-
- record.tick = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "a:");
- record.accel = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "p:");
- record.pres = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "t:");
- record.temp = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "v:");
- record.batt = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "d:");
- record.drogue = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "m:");
- record.main = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "fa:");
- record.flight_accel = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "ga:");
- record.ground_accel = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "fv:");
- record.flight_vel = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "fp:");
- record.flight_pres = AltosParse.parse_int(words[i++]);
-
- /* Old TeleDongle code with kalman-reporting TeleMetrum code */
- if ((record.flight_vel & 0xffff0000) == 0x80000000) {
- record.kalman_speed = ((short) record.flight_vel) / 16.0;
- record.kalman_acceleration = record.flight_accel / 16.0;
- record.kalman_height = record.flight_pres;
- record.flight_vel = AltosRecord.MISSING;
- record.flight_pres = AltosRecord.MISSING;
- record.flight_accel = AltosRecord.MISSING;
- }
-
- AltosParse.word(words[i++], "gp:");
- record.ground_pres = AltosParse.parse_int(words[i++]);
-
- if (record.version >= 1) {
- AltosParse.word(words[i++], "a+:");
- record.accel_plus_g = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "a-:");
- record.accel_minus_g = AltosParse.parse_int(words[i++]);
- } else {
- record.accel_plus_g = record.ground_accel;
- record.accel_minus_g = record.ground_accel + 530;
- }
-
- record.gps = new AltosGPS(words, i, record.version);
- record.gps_sequence++;
- }
-
- public AltosTelemetryRecordLegacy(String line) throws ParseException, AltosCRCException {
- String[] words = line.split("\\s+");
- int i = 0;
-
- record = new AltosRecordTM();
-
- if (words[i].equals("CRC") && words[i+1].equals("INVALID")) {
- i += 2;
- AltosParse.word(words[i++], "RSSI");
- record.rssi = AltosParse.parse_int(words[i++]);
- throw new AltosCRCException(record.rssi);
- }
- if (words[i].equals("CALL")) {
- record.version = 0;
- } else {
- AltosParse.word (words[i++], "VERSION");
- record.version = AltosParse.parse_int(words[i++]);
- }
-
- if (record.version < 4)
- parse_legacy(words, i);
- else
- parse_v4(words, i);
- }
-
- /*
- * Given a hex dump of a legacy telemetry line, construct an AltosRecordTM from that
- */
-
- int[] bytes;
- int adjust;
-
- /*
- private int int8(int i) {
- return AltosLib.int8(bytes, i + 1 + adjust);
- }
- */
- private int uint8(int i) {
- return AltosLib.uint8(bytes, i + 1 + adjust);
- }
- private int int16(int i) {
- return AltosLib.int16(bytes, i + 1 + adjust);
- }
- private int uint16(int i) {
- return AltosLib.uint16(bytes, i + 1 + adjust);
- }
- private int uint32(int i) {
- return AltosLib.uint32(bytes, i + 1 + adjust);
- }
- private String string(int i, int l) {
- return AltosLib.string(bytes, i + 1 + adjust, l);
- }
-
- static final int AO_GPS_NUM_SAT_MASK = (0xf << 0);
- static final int AO_GPS_NUM_SAT_SHIFT = (0);
-
- static final int AO_GPS_VALID = (1 << 4);
- static final int AO_GPS_RUNNING = (1 << 5);
- static final int AO_GPS_DATE_VALID = (1 << 6);
- static final int AO_GPS_COURSE_VALID = (1 << 7);
-
- public AltosTelemetryRecordLegacy(int[] in_bytes, int in_rssi, int in_status) {
- record = new AltosRecordTM();
-
- bytes = in_bytes;
- record.version = 4;
- adjust = 0;
-
- if (bytes.length == AltosLib.ao_telemetry_0_8_len + 4) {
- record.serial = uint8(0);
- adjust = -1;
- } else
- record.serial = uint16(0);
-
- record.seen = AltosRecord.seen_flight | AltosRecord.seen_sensor | AltosRecord.seen_temp_volt | AltosRecord.seen_deploy;
-
- record.callsign = string(62, 8);
- record.flight = uint16(2);
- record.rssi = in_rssi;
- record.status = in_status;
- record.state = uint8(4);
- record.tick = uint16(21);
- record.accel = int16(23);
- record.pres = int16(25);
- record.temp = int16(27);
- record.batt = int16(29);
- record.drogue = int16(31);
- record.main = int16(33);
-
- record.ground_accel = int16(7);
- record.ground_pres = int16(15);
- record.accel_plus_g = int16(17);
- record.accel_minus_g = int16(19);
-
- if (uint16(11) == 0x8000) {
- record.kalman_acceleration = int16(5);
- record.kalman_speed = int16(9);
- record.kalman_height = int16(13);
- record.flight_accel = AltosRecord.MISSING;
- record.flight_vel = AltosRecord.MISSING;
- record.flight_pres = AltosRecord.MISSING;
- } else {
- record.flight_accel = int16(5);
- record.flight_vel = uint32(9);
- record.flight_pres = int16(13);
- record.kalman_acceleration = AltosRecord.MISSING;
- record.kalman_speed = AltosRecord.MISSING;
- record.kalman_height = AltosRecord.MISSING;
- }
-
- record.gps = null;
-
- int gps_flags = uint8(41);
-
- if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) {
- record.gps = new AltosGPS();
- record.gps_sequence++;
-
- record.seen |= AltosRecord.seen_gps_time | AltosRecord.seen_gps_lat | AltosRecord.seen_gps_lon;
- record.gps.nsat = (gps_flags & AO_GPS_NUM_SAT_MASK);
- record.gps.locked = (gps_flags & AO_GPS_VALID) != 0;
- record.gps.connected = true;
- record.gps.lat = uint32(42) / 1.0e7;
- record.gps.lon = uint32(46) / 1.0e7;
- record.gps.alt = int16(50);
- record.gps.ground_speed = uint16(52) / 100.0;
- record.gps.course = uint8(54) * 2;
- record.gps.hdop = uint8(55) / 5.0;
- record.gps.h_error = uint16(58);
- record.gps.v_error = uint16(60);
-
- int n_tracking_reported = uint8(70);
- if (n_tracking_reported > 12)
- n_tracking_reported = 12;
- int n_tracking_actual = 0;
- for (int i = 0; i < n_tracking_reported; i++) {
- if (uint8(71 + i*2) != 0)
- n_tracking_actual++;
- }
- if (n_tracking_actual > 0) {
- record.gps.cc_gps_sat = new AltosGPSSat[n_tracking_actual];
-
- n_tracking_actual = 0;
- for (int i = 0; i < n_tracking_reported; i++) {
- int svid = uint8(71 + i*2);
- int c_n0 = uint8(72 + i*2);
- if (svid != 0)
- record.gps.cc_gps_sat[n_tracking_actual++] = new AltosGPSSat(svid, c_n0);
- }
- }
- }
-
- record.time = 0.0;
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- return record;
- }
-}
+++ /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 org.altusmetrum.altoslib_1;
-
-
-public class AltosTelemetryRecordLocation extends AltosTelemetryRecordRaw {
- int flags;
- int altitude;
- int latitude;
- int longitude;
- int year;
- int month;
- int day;
- int hour;
- int minute;
- int second;
- int pdop;
- int hdop;
- int vdop;
- int mode;
- int ground_speed;
- int climb_rate;
- int course;
-
- public AltosTelemetryRecordLocation(int[] in_bytes, int rssi) {
- super(in_bytes, rssi);
-
- flags = uint8(5);
- altitude = int16(6);
- latitude = uint32(8);
- longitude = uint32(12);
- year = uint8(16);
- month = uint8(17);
- day = uint8(18);
- hour = uint8(19);
- minute = uint8(20);
- second = uint8(21);
- pdop = uint8(22);
- hdop = uint8(23);
- vdop = uint8(24);
- mode = uint8(25);
- ground_speed = uint16(26);
- climb_rate = int16(28);
- course = uint8(30);
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord next = super.update_state(previous);
-
- if (next.gps == null)
- next.gps = new AltosGPS();
-
- next.gps.nsat = flags & 0xf;
- next.gps.locked = (flags & (1 << 4)) != 0;
- next.gps.connected = (flags & (1 << 5)) != 0;
-
- if (next.gps.locked) {
- next.gps.lat = latitude * 1.0e-7;
- next.gps.lon = longitude * 1.0e-7;
- next.gps.alt = altitude;
- next.gps.year = 2000 + year;
- next.gps.month = month;
- next.gps.day = day;
- next.gps.hour = hour;
- next.gps.minute = minute;
- next.gps.second = second;
- next.gps.ground_speed = ground_speed * 1.0e-2;
- next.gps.course = course * 2;
- next.gps.climb_rate = climb_rate * 1.0e-2;
- next.gps.hdop = hdop;
- next.gps.vdop = vdop;
- next.seen |= AltosRecord.seen_gps_time | AltosRecord.seen_gps_lat | AltosRecord.seen_gps_lon;
- next.gps_sequence++;
- }
-
- return next;
- }
-}
+++ /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 org.altusmetrum.altoslib_1;
-
-
-public class AltosTelemetryRecordMegaData extends AltosTelemetryRecordRaw {
-
- int state;
-
- int v_batt;
- int v_pyro;
- int sense[];
-
- int ground_pres;
- int ground_accel;
- int accel_plus_g;
- int accel_minus_g;
-
- int acceleration;
- int speed;
- int height;
-
- public AltosTelemetryRecordMegaData(int[] in_bytes, int rssi) {
- super(in_bytes, rssi);
-
- state = int8(5);
-
- v_batt = int16(6);
- v_pyro = int16(8);
-
- sense = new int[6];
-
- for (int i = 0; i < 6; i++) {
- sense[i] = int8(10 + i) << 4;
- sense[i] |= sense[i] >> 8;
- }
-
- ground_pres = int32(16);
- ground_accel = int16(20);
- accel_plus_g = int16(22);
- accel_minus_g = int16(24);
-
- acceleration = int16(26);
- speed = int16(28);
- height = int16(30);
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord n = super.update_state(previous);
-
- AltosRecordMM next;
- if (!(n instanceof AltosRecordMM)) {
- next = new AltosRecordMM(n);
- } else {
- next = (AltosRecordMM) n;
- }
-
- next.state = state;
-
- next.v_batt = v_batt;
- next.v_pyro = v_pyro;
-
- for (int i = 0; i < 6; i++)
- next.sense[i] = sense[i];
-
- next.ground_accel = ground_accel;
- next.ground_pres = ground_pres;
- next.accel_plus_g = accel_plus_g;
- next.accel_minus_g = accel_minus_g;
-
- next.kalman_acceleration = acceleration / 16.0;
- next.kalman_speed = speed / 16.0;
- next.kalman_height = height;
-
- next.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt;
-
- return next;
- }
-}
+++ /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 org.altusmetrum.altoslib_1;
-
-
-public class AltosTelemetryRecordMegaSensor extends AltosTelemetryRecordRaw {
- int accel;
- int pres;
- int temp;
-
- int accel_x;
- int accel_y;
- int accel_z;
-
- int gyro_x;
- int gyro_y;
- int gyro_z;
-
- int mag_x;
- int mag_y;
- int mag_z;
-
- public AltosTelemetryRecordMegaSensor(int[] in_bytes, int rssi) {
- super(in_bytes, rssi);
-
- accel = int16(6);
- pres = int32(8);
- temp = int16(12);
-
- accel_x = int16(14);
- accel_y = int16(16);
- accel_z = int16(18);
-
- gyro_x = int16(20);
- gyro_y = int16(22);
- gyro_z = int16(24);
-
- mag_x = int16(26);
- mag_y = int16(28);
- mag_z = int16(30);
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord n = super.update_state(previous);
-
- AltosRecordMM next;
- if (!(n instanceof AltosRecordMM)) {
- next = new AltosRecordMM(n);
- } else {
- next = (AltosRecordMM) n;
- }
-
- next.accel = accel;
- next.pres = pres;
- next.temp = temp;
-
- next.imu.accel_x = accel_x;
- next.imu.accel_y = accel_y;
- next.imu.accel_z = accel_z;
-
- next.imu.gyro_x = gyro_x;
- next.imu.gyro_y = gyro_y;
- next.imu.gyro_z = gyro_z;
-
- next.mag.x = mag_x;
- next.mag.y = mag_y;
- next.mag.z = mag_z;
-
- next.seen |= AltosRecord.seen_sensor;
-
- return next;
- }
-}
+++ /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 org.altusmetrum.altoslib_1;
-
-public class AltosTelemetryRecordRaw extends AltosTelemetryRecord {
- int[] bytes;
- int serial;
- int tick;
- int type;
- int rssi;
-
- long received_time;
-
- public int int8(int off) {
- return AltosLib.int8(bytes, off + 1);
- }
-
- public int uint8(int off) {
- return AltosLib.uint8(bytes, off + 1);
- }
-
- public int int16(int off) {
- return AltosLib.int16(bytes, off + 1);
- }
-
- public int uint16(int off) {
- return AltosLib.uint16(bytes, off + 1);
- }
-
- public int uint32(int off) {
- return AltosLib.uint32(bytes, off + 1);
- }
-
- public int int32(int off) {
- return AltosLib.int32(bytes, off + 1);
- }
-
- public String string(int off, int l) {
- return AltosLib.string(bytes, off + 1, l);
- }
-
- public AltosTelemetryRecordRaw(int[] in_bytes, int in_rssi) {
- bytes = in_bytes;
- serial = uint16(0);
- tick = uint16(2);
- type = uint8(4);
- rssi = in_rssi;
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord next;
-
- if (previous != null && previous.serial == serial)
- next = previous.clone();
- else
- next = new AltosRecordNone();
- next.serial = serial;
- next.tick = tick;
- next.rssi = rssi;
- return next;
- }
-
- public long received_time() {
- return received_time;
- }
-}
+++ /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 org.altusmetrum.altoslib_1;
-
-public class AltosTelemetryRecordSatellite extends AltosTelemetryRecordRaw {
- int channels;
- AltosGPSSat[] sats;
-
- public AltosTelemetryRecordSatellite(int[] in_bytes, int rssi) {
- super(in_bytes, rssi);
-
- channels = uint8(5);
- if (channels > 12)
- channels = 12;
- if (channels == 0)
- sats = null;
- else {
- sats = new AltosGPSSat[channels];
- for (int i = 0; i < channels; i++) {
- int svid = uint8(6 + i * 2 + 0);
- int c_n_1 = uint8(6 + i * 2 + 1);
- sats[i] = new AltosGPSSat(svid, c_n_1);
- }
- }
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord next = super.update_state(previous);
-
- if (next.gps == null)
- next.gps = new AltosGPS();
-
- next.gps.cc_gps_sat = sats;
-
- return next;
- }
-}
+++ /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 org.altusmetrum.altoslib_1;
-
-
-public class AltosTelemetryRecordSensor extends AltosTelemetryRecordRaw {
- int state;
- int accel;
- int pres;
- int temp;
- int v_batt;
- int sense_d;
- int sense_m;
-
- int acceleration;
- int speed;
- int height;
-
- int ground_accel;
- int ground_pres;
- int accel_plus_g;
- int accel_minus_g;
-
- public AltosTelemetryRecordSensor(int[] in_bytes, int rssi) {
- super(in_bytes, rssi);
- state = uint8(5);
-
- accel = int16(6);
- pres = int16(8);
- temp = int16(10);
- v_batt = int16(12);
- sense_d = int16(14);
- sense_m = int16(16);
-
- acceleration = int16(18);
- speed = int16(20);
- height = int16(22);
-
- ground_pres = int16(24);
- ground_accel = int16(26);
- accel_plus_g = int16(28);
- accel_minus_g = int16(30);
- }
-
- public AltosRecord update_state(AltosRecord prev) {
- AltosRecord n = super.update_state(prev);
-
- AltosRecordTM next;
- if (!(n instanceof AltosRecordTM))
- next = new AltosRecordTM(n);
- else
- next = (AltosRecordTM) n;
-
- next.state = state;
- if (type == packet_type_TM_sensor)
- next.accel = accel;
- else
- next.accel = AltosRecord.MISSING;
- next.pres = pres;
- next.temp = temp;
- next.batt = v_batt;
- if (type == packet_type_TM_sensor || type == packet_type_Tm_sensor) {
- next.drogue = sense_d;
- next.main = sense_m;
- } else {
- next.drogue = AltosRecord.MISSING;
- next.main = AltosRecord.MISSING;
- }
-
- next.kalman_acceleration = acceleration / 16.0;
- next.kalman_speed = speed / 16.0;
- next.kalman_height = height;
-
- next.ground_pres = ground_pres;
- if (type == packet_type_TM_sensor) {
- next.ground_accel = ground_accel;
- next.accel_plus_g = accel_plus_g;
- next.accel_minus_g = accel_minus_g;
- } else {
- next.ground_accel = AltosRecord.MISSING;
- next.accel_plus_g = AltosRecord.MISSING;
- next.accel_minus_g = AltosRecord.MISSING;
- }
-
- next.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt;
-
- return next;
- }
-}
--- /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 org.altusmetrum.altoslib_2;
+
+public class AltosTelemetrySatellite extends AltosTelemetryStandard {
+ int channels;
+ AltosGPSSat[] sats;
+
+ public AltosTelemetrySatellite(int[] bytes) {
+ super(bytes);
+
+ channels = uint8(5);
+ if (channels > 12)
+ channels = 12;
+ if (channels == 0)
+ sats = null;
+ else {
+ sats = new AltosGPSSat[channels];
+ for (int i = 0; i < channels; i++) {
+ int svid = uint8(6 + i * 2 + 0);
+ int c_n_1 = uint8(6 + i * 2 + 1);
+ sats[i] = new AltosGPSSat(svid, c_n_1);
+ }
+ }
+ }
+
+ public void update_state(AltosState state) {
+ super.update_state(state);
+
+ AltosGPS gps = state.make_temp_gps(true);
+
+ gps.cc_gps_sat = sats;
+ state.set_temp_gps();
+ }
+}
--- /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 org.altusmetrum.altoslib_2;
+
+
+public class AltosTelemetrySensor extends AltosTelemetryStandard {
+ int state;
+ int accel;
+ int pres;
+ int temp;
+ int v_batt;
+ int sense_d;
+ int sense_m;
+
+ int acceleration;
+ int speed;
+ int height;
+
+ int ground_accel;
+ int ground_pres;
+ int accel_plus_g;
+ int accel_minus_g;
+
+ public AltosTelemetrySensor(int[] bytes) {
+ super(bytes);
+ state = uint8(5);
+
+ accel = int16(6);
+ pres = int16(8);
+ temp = int16(10);
+ v_batt = int16(12);
+ sense_d = int16(14);
+ sense_m = int16(16);
+
+ acceleration = int16(18);
+ speed = int16(20);
+ height = int16(22);
+
+ ground_pres = int16(24);
+ ground_accel = int16(26);
+ accel_plus_g = int16(28);
+ accel_minus_g = int16(30);
+ }
+
+ public void update_state(AltosState state) {
+ super.update_state(state);
+
+ state.set_state(this.state);
+ if (type == packet_type_TM_sensor) {
+ state.set_ground_accel(ground_accel);
+ state.set_accel_g(accel_plus_g, accel_minus_g);
+ state.set_accel(accel);
+ }
+ state.set_ground_pressure(AltosConvert.barometer_to_pressure(ground_pres));
+ state.set_pressure(AltosConvert.barometer_to_pressure(pres));
+ state.set_temperature(AltosConvert.thermometer_to_temperature(temp));
+ state.set_battery_voltage(AltosConvert.cc_battery_to_voltage(v_batt));
+ if (type == packet_type_TM_sensor || type == packet_type_Tm_sensor) {
+ state.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(sense_d));
+ state.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(sense_m));
+ }
+
+ state.set_kalman(height, speed/16.0, acceleration / 16.0);
+ }
+}
--- /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 org.altusmetrum.altoslib_2;
+
+public abstract class AltosTelemetryStandard extends AltosTelemetry {
+ int[] bytes;
+ int type;
+
+ public int int8(int off) {
+ return AltosLib.int8(bytes, off + 1);
+ }
+
+ public int uint8(int off) {
+ return AltosLib.uint8(bytes, off + 1);
+ }
+
+ public int int16(int off) {
+ return AltosLib.int16(bytes, off + 1);
+ }
+
+ public int uint16(int off) {
+ return AltosLib.uint16(bytes, off + 1);
+ }
+
+ public int uint32(int off) {
+ return AltosLib.uint32(bytes, off + 1);
+ }
+
+ public int int32(int off) {
+ return AltosLib.int32(bytes, off + 1);
+ }
+
+ public String string(int off, int l) {
+ return AltosLib.string(bytes, off + 1, l);
+ }
+
+ public static AltosTelemetry parse_hex(int[] bytes) {
+ int type = AltosLib.uint8(bytes, 4 + 1);
+
+ AltosTelemetry telem;
+ switch (type) {
+ case packet_type_TM_sensor:
+ case packet_type_Tm_sensor:
+ case packet_type_Tn_sensor:
+ telem = new AltosTelemetrySensor(bytes);
+ break;
+ case packet_type_configuration:
+ telem = new AltosTelemetryConfiguration(bytes);
+ break;
+ case packet_type_location:
+ telem = new AltosTelemetryLocation(bytes);
+ break;
+ case packet_type_satellite:
+ telem = new AltosTelemetrySatellite(bytes);
+ break;
+/*
+ case packet_type_companion:
+ telem = new AltosTelemetryCompanion(bytes);
+ break;
+*/
+ case packet_type_mega_sensor:
+ telem = new AltosTelemetryMegaSensor(bytes);
+ break;
+ case packet_type_mega_data:
+ telem = new AltosTelemetryMegaData(bytes);
+ break;
+ case packet_type_metrum_sensor:
+ telem = new AltosTelemetryMetrumSensor(bytes);
+ break;
+ case packet_type_metrum_data:
+ telem = new AltosTelemetryMetrumData(bytes);
+ break;
+ case packet_type_mini:
+ telem = new AltosTelemetryMini(bytes);
+ break;
+ default:
+ telem = new AltosTelemetryRaw(bytes);
+ break;
+ }
+ return telem;
+ }
+
+ public AltosTelemetryStandard(int[] bytes) {
+ this.bytes = bytes;
+
+ serial = uint16(0);
+ tick = uint16(2);
+ type = uint8(4);
+ }
+
+ public void update_state(AltosState state) {
+ super.update_state(state);
+ }
+}
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
public class AltosTemperature extends AltosUnits {
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
public abstract class AltosUnits {
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
public interface AltosUnitsListener {
public void units_changed(boolean imperial_units);
SRC=.
altoslibdir = $(datadir)/java
+record_files = \
+ AltosEepromRecord.java \
+ AltosEepromTeleScience.java \
+ AltosRecordCompanion.java \
+ AltosRecordIterable.java \
+ AltosOrderedRecord.java \
+ AltosOrderedMegaRecord.java \
+ AltosOrderedMiniRecord.java \
+ AltosRecord.java \
+ AltosRecordNone.java \
+ AltosRecordTM.java \
+ AltosRecordMM.java \
+ AltosRecordMini.java
+
altoslib_JAVA = \
AltosLib.java \
+ AltosCompanion.java \
AltosConfigData.java \
AltosConfigValues.java \
AltosConvert.java \
AltosCRCException.java \
AltosDebug.java \
+ AltosEeprom.java \
AltosEepromChunk.java \
+ AltosEepromFile.java \
+ AltosEepromTM.java \
+ AltosEepromTm.java \
+ AltosEepromHeader.java \
AltosEepromIterable.java \
AltosEepromLog.java \
AltosEepromMega.java \
- AltosEepromMegaIterable.java \
- AltosEepromRecord.java \
- AltosEepromTeleScience.java \
+ AltosEepromMetrum2.java \
AltosEepromMini.java \
- AltosEepromMiniIterable.java \
AltosFile.java \
AltosFlash.java \
AltosFlashListener.java \
AltosFlightReader.java \
AltosFrequency.java \
AltosGPS.java \
- AltosGPSQuery.java \
AltosGPSSat.java \
AltosGreatCircle.java \
AltosHexfile.java \
+ AltosIdle.java \
+ AltosIdleFetch.java \
AltosIdleMonitor.java \
AltosIdleMonitorListener.java \
AltosIgnite.java \
AltosIMU.java \
- AltosIMUQuery.java \
AltosLine.java \
AltosLink.java \
AltosListenerState.java \
AltosLog.java \
+ AltosMag.java \
+ AltosMma655x.java \
AltosMs5607.java \
- AltosMs5607Query.java \
- AltosOrderedRecord.java \
- AltosOrderedMegaRecord.java \
- AltosOrderedMiniRecord.java \
AltosParse.java \
AltosPreferences.java \
AltosPreferencesBackend.java \
- AltosRecordCompanion.java \
- AltosRecordIterable.java \
- AltosRecord.java \
- AltosRecordNone.java \
- AltosRecordTM.java \
- AltosRecordMM.java \
- AltosRecordMini.java \
AltosReplayReader.java \
AltosRomconfig.java \
AltosSensorMM.java \
+ AltosSensorEMini.java \
AltosSensorTM.java \
+ AltosSensorTMini.java \
+ AltosSensorMega.java \
+ AltosSensorMetrum.java \
AltosState.java \
+ AltosStateIterable.java \
+ AltosStateUpdate.java \
AltosTelemetry.java \
+ AltosTelemetryConfiguration.java \
+ AltosTelemetryFile.java \
AltosTelemetryIterable.java \
+ AltosTelemetryLegacy.java \
+ AltosTelemetryLocation.java \
AltosTelemetryMap.java \
+ AltosTelemetryMegaSensor.java \
+ AltosTelemetryMegaData.java \
+ AltosTelemetryMini.java \
+ AltosTelemetryMetrumSensor.java \
+ AltosTelemetryMetrumData.java \
AltosTelemetryReader.java \
- AltosTelemetryRecordCompanion.java \
- AltosTelemetryRecordConfiguration.java \
- AltosTelemetryRecordGeneral.java \
- AltosTelemetryRecord.java \
- AltosTelemetryRecordLegacy.java \
- AltosTelemetryRecordLocation.java \
- AltosTelemetryRecordRaw.java \
- AltosTelemetryRecordSatellite.java \
- AltosTelemetryRecordSensor.java \
- AltosTelemetryRecordMegaSensor.java \
- AltosTelemetryRecordMegaData.java \
+ AltosTelemetryRaw.java \
+ AltosTelemetrySensor.java \
+ AltosTelemetrySatellite.java \
+ AltosTelemetryStandard.java \
AltosUnitsListener.java \
AltosMs5607.java \
AltosIMU.java \
import java.awt.*;
import libaltosJNI.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class Altos extends AltosUILib {
import java.awt.*;
import javax.swing.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosAscent extends JComponent implements AltosFlightDisplay {
GridBagLayout layout;
void reset() {
value.setText("");
max_value.setText("");
- max = AltosRecord.MISSING;
+ max = AltosLib.MISSING;
}
void set_font() {
}
void show(AltosUnits units, double v) {
- if (v == AltosRecord.MISSING) {
+ if (v == AltosLib.MISSING) {
value.setText("Missing");
max_value.setText("Missing");
} else {
value.setText(units.show(8, v));
- if (v > max || max == AltosRecord.MISSING) {
+ if (v > max || max == AltosLib.MISSING) {
max_value.setText(units.show(8, v));
max = v;
}
class Height extends AscentValueHold {
void show (AltosState state, AltosListenerState listener_state) {
- show(AltosConvert.height, state.height);
+ show(AltosConvert.height, state.height());
}
public Height (GridBagLayout layout, int y) {
super (layout, y, "Height");
class Speed extends AscentValueHold {
void show (AltosState state, AltosListenerState listener_state) {
- double speed = state.accel_speed;
- if (!state.ascent)
- speed = state.baro_speed;
- show(AltosConvert.speed, speed);
+ show(AltosConvert.speed, state.speed());
}
public Speed (GridBagLayout layout, int y) {
super (layout, y, "Speed");
class Accel extends AscentValueHold {
void show (AltosState state, AltosListenerState listener_state) {
- show(AltosConvert.accel, state.acceleration);
+ show(AltosConvert.accel, state.acceleration());
}
public Accel (GridBagLayout layout, int y) {
super (layout, y, "Acceleration");
class Apogee extends AscentStatus {
void show (AltosState state, AltosListenerState listener_state) {
- show("%4.2f V", state.drogue_sense);
- lights.set(state.drogue_sense > 3.2);
+ show("%4.2f V", state.apogee_voltage);
+ lights.set(state.apogee_voltage > 3.7);
}
public Apogee (GridBagLayout layout, int y) {
super(layout, y, "Apogee Igniter Voltage");
class Main extends AscentStatus {
void show (AltosState state, AltosListenerState listener_state) {
- show("%4.2f V", state.main_sense);
- lights.set(state.main_sense > 3.2);
+ show("%4.2f V", state.main_voltage);
+ lights.set(state.main_voltage > 3.7);
}
public Main (GridBagLayout layout, int y) {
super(layout, y, "Main Igniter Voltage");
class Lat extends AscentValue {
void show (AltosState state, AltosListenerState listener_state) {
- if (state.gps != null)
+ if (state.gps != null && state.gps.connected && state.gps.lat != AltosLib.MISSING)
show(pos(state.gps.lat,"N", "S"));
else
show("???");
class Lon extends AscentValue {
void show (AltosState state, AltosListenerState listener_state) {
- if (state.gps != null)
+ if (state.gps != null && state.gps.connected && state.gps.lon != AltosLib.MISSING)
show(pos(state.gps.lon,"E", "W"));
else
show("???");
lon.hide();
}
height.show(state, listener_state);
- if (state.main_sense != AltosRecord.MISSING)
+ if (state.main_voltage != AltosLib.MISSING)
main.show(state, listener_state);
else
main.hide();
- if (state.drogue_sense != AltosRecord.MISSING)
+ if (state.apogee_voltage != AltosLib.MISSING)
apogee.show(state, listener_state);
else
apogee.hide();
package altosui;
import java.util.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class AltosBTKnown implements Iterable<AltosBTDevice> {
import java.io.*;
import java.util.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosCSV implements AltosWriter {
File name;
boolean header_written;
boolean seen_boost;
int boost_tick;
- LinkedList<AltosRecord> pad_records;
+ LinkedList<AltosState> pad_states;
AltosState state;
static final int ALTOS_CSV_VERSION = 5;
out.printf("version,serial,flight,call,time,clock,rssi,lqi");
}
- void write_general(AltosRecord record) {
+ void write_general(AltosState state) {
out.printf("%s, %d, %d, %s, %8.2f, %8.2f, %4d, %3d",
- ALTOS_CSV_VERSION, record.serial, record.flight, record.callsign,
- (double) record.time, (double) record.tick / 100.0,
- record.rssi,
- record.status & 0x7f);
+ ALTOS_CSV_VERSION, state.serial, state.flight, state.callsign,
+ (double) state.time, (double) state.tick / 100.0,
+ state.rssi,
+ state.status & 0x7f);
}
void write_flight_header() {
out.printf("state,state_name");
}
- void write_flight(AltosRecord record) {
- out.printf("%d,%8s", record.state, record.state());
+ void write_flight(AltosState state) {
+ out.printf("%d,%8s", state.state, state.state_name());
}
void write_basic_header() {
out.printf("acceleration,pressure,altitude,height,accel_speed,baro_speed,temperature,battery_voltage,drogue_voltage,main_voltage");
}
- void write_basic(AltosRecord record) {
+ void write_basic(AltosState state) {
out.printf("%8.2f,%10.2f,%8.2f,%8.2f,%8.2f,%8.2f,%5.1f,%5.2f,%5.2f,%5.2f",
- record.acceleration(),
- record.pressure(),
- record.altitude(),
- record.height(),
- state.accel_speed,
- state.baro_speed,
- record.temperature(),
- record.battery_voltage(),
- record.drogue_voltage(),
- record.main_voltage());
+ state.acceleration(),
+ state.pressure(),
+ state.altitude(),
+ state.height(),
+ state.speed(),
+ state.speed(),
+ state.temperature,
+ state.battery_voltage,
+ state.apogee_voltage,
+ state.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();
+ void write_advanced(AltosState state) {
+ AltosIMU imu = state.imu;
+ AltosMag mag = state.mag;
if (imu == null)
imu = new AltosIMU();
out.printf("connected,locked,nsat,latitude,longitude,altitude,year,month,day,hour,minute,second,pad_dist,pad_range,pad_az,pad_el,hdop");
}
- void write_gps(AltosRecord record) {
- AltosGPS gps = record.gps;
+ void write_gps(AltosState state) {
+ AltosGPS gps = state.gps;
if (gps == null)
gps = new AltosGPS();
if (from_pad == null)
from_pad = new AltosGreatCircle();
- out.printf("%2d,%2d,%3d,%12.7f,%12.7f,%6d,%5d,%3d,%3d,%3d,%3d,%3d,%9.0f,%9.0f,%4.0f,%4.0f,%6.1f",
+ out.printf("%2d,%2d,%3d,%12.7f,%12.7f,%8.1f,%5d,%3d,%3d,%3d,%3d,%3d,%9.0f,%9.0f,%4.0f,%4.0f,%6.1f",
gps.connected?1:0,
gps.locked?1:0,
gps.nsat,
}
}
- void write_gps_sat(AltosRecord record) {
- AltosGPS gps = record.gps;
+ void write_gps_sat(AltosState state) {
+ AltosGPS gps = state.gps;
for(int i = 1; i <= 32; i++) {
int c_n0 = 0;
if (gps != null && gps.cc_gps_sat != null) {
out.printf(",companion_%02d", i);
}
- void write_companion(AltosRecord record) {
- AltosRecordCompanion companion = record.companion;
+ void write_companion(AltosState state) {
+ AltosCompanion companion = state.companion;
int channels_written = 0;
if (companion == null) {
out.printf ("\n");
}
- void write_one(AltosRecord record) {
- state = new AltosState(record, state);
- write_general(record); out.printf(",");
- write_flight(record); out.printf(",");
- write_basic(record); out.printf(",");
- if (record.imu() != null || record.mag() != null)
- write_advanced(record);
- if (record.gps != null) {
+ void write_one(AltosState state) {
+ write_general(state); out.printf(",");
+ write_flight(state); out.printf(",");
+ write_basic(state); out.printf(",");
+ if (state.imu != null || state.mag != null)
+ write_advanced(state);
+ if (state.gps != null) {
out.printf(",");
- write_gps(record); out.printf(",");
- write_gps_sat(record);
+ write_gps(state); out.printf(",");
+ write_gps_sat(state);
}
- if (record.companion != null) {
+ if (state.companion != null) {
out.printf(",");
- write_companion(record);
+ write_companion(state);
}
out.printf ("\n");
}
void flush_pad() {
- while (!pad_records.isEmpty()) {
- write_one (pad_records.remove());
+ while (!pad_states.isEmpty()) {
+ write_one (pad_states.remove());
}
}
- public void write(AltosRecord record) {
- if (record.state == Altos.ao_flight_startup)
+ public void write(AltosState state) {
+ if (state.state == Altos.ao_flight_startup)
return;
if (!header_written) {
- write_header(record.imu() != null || record.mag() != null,
- record.gps != null, record.companion != null);
+ write_header(state.imu != null || state.mag != null,
+ state.gps != null, state.companion != null);
header_written = true;
}
if (!seen_boost) {
- if (record.state >= Altos.ao_flight_boost) {
+ if (state.state >= Altos.ao_flight_boost) {
seen_boost = true;
- boost_tick = record.tick;
+ boost_tick = state.tick;
flush_pad();
}
}
if (seen_boost)
- write_one(record);
+ write_one(state);
else
- pad_records.add(record);
+ pad_states.add(state);
}
public PrintStream out() {
}
public void close() {
- if (!pad_records.isEmpty()) {
- boost_tick = pad_records.element().tick;
+ if (!pad_states.isEmpty()) {
+ boost_tick = pad_states.element().tick;
flush_pad();
}
out.close();
}
- public void write(AltosRecordIterable iterable) {
- iterable.write_comments(out());
- for (AltosRecord r : iterable)
- write(r);
+ public void write(AltosStateIterable states) {
+ states.write_comments(out());
+ for (AltosState state : states)
+ write(state);
}
public AltosCSV(PrintStream in_out, File in_name) {
name = in_name;
out = in_out;
- pad_records = new LinkedList<AltosRecord>();
+ pad_states = new LinkedList<AltosState>();
}
public AltosCSV(File in_name) throws FileNotFoundException {
import java.awt.event.*;
import javax.swing.*;
import java.io.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class AltosCSVUI
JFileChooser csv_chooser;
JPanel accessory;
JComboBox combo_box;
- AltosRecordIterable iterable;
+ Iterable<AltosState> states;
AltosWriter writer;
static String[] combo_box_items = { "Comma Separated Values (.CSV)", "Googleearth Data (.KML)" };
set_default_file();
}
- public AltosCSVUI(JFrame frame, AltosRecordIterable in_iterable, File source_file) {
- iterable = in_iterable;
+ public AltosCSVUI(JFrame frame, AltosStateIterable states, File source_file) {
+ this.states = states;
csv_chooser = new JFileChooser(source_file);
accessory = new JPanel();
writer = new AltosCSV(file);
else
writer = new AltosKML(file);
- writer.write(iterable);
+ writer.write(states);
writer.close();
} catch (FileNotFoundException ee) {
JOptionPane.showMessageDialog(frame,
import java.awt.*;
import javax.swing.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosCompanionInfo extends JTable {
private AltosFlightInfoTableModel model;
model.clear();
}
- AltosRecordCompanion companion;
+ AltosCompanion companion;
public String board_name() {
if (companion == null)
return "None";
switch (companion.board_id) {
- case AltosRecordCompanion.board_id_telescience:
+ case AltosCompanion.board_id_telescience:
return "TeleScience";
default:
return String.format("%02x\n", companion.board_id);
public void show(AltosState state, AltosListenerState listener_state) {
if (state == null)
return;
- if (state.data.companion != null)
- companion = state.data.companion;
+ if (state.companion != null)
+ companion = state.companion;
info_reset();
info_add_row(0, "Companion board", "%s", board_name());
if (companion != null) {
import java.io.*;
import java.util.concurrent.*;
import java.text.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class AltosConfig implements ActionListener {
import java.awt.event.*;
import javax.swing.*;
import java.util.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
class AltosEditFreqUI extends AltosUIDialog implements ActionListener {
import java.awt.event.*;
import javax.swing.*;
import javax.swing.event.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class AltosConfigPyroUI
import javax.swing.*;
import java.io.*;
import java.util.concurrent.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class AltosConfigTD implements ActionListener {
import java.awt.event.*;
import javax.swing.*;
import javax.swing.event.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class AltosConfigTDUI
import java.awt.event.*;
import javax.swing.*;
import javax.swing.event.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class AltosConfigUI
import javax.swing.*;
import javax.swing.filechooser.FileNameExtensionFilter;
import java.io.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class AltosDataChooser extends JFileChooser {
return file;
}
- public AltosRecordIterable runDialog() {
+ public AltosStateIterable runDialog() {
int ret;
ret = showOpenDialog(frame);
try {
if (filename.endsWith("eeprom")) {
FileInputStream in = new FileInputStream(file);
- return new AltosEepromIterable(in);
+ return new AltosEepromFile(in);
} 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 if (filename.endsWith("mini")) {
- FileInputStream in = new FileInputStream(file);
- return new AltosEepromMiniIterable(in);
+ return new AltosTelemetryFile(in);
} else {
throw new FileNotFoundException();
}
import java.awt.*;
import javax.swing.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosDescent extends JComponent implements AltosFlightDisplay {
GridBagLayout layout;
class Height extends DescentValue {
void show (AltosState state, AltosListenerState listener_state) {
- show(AltosConvert.height, state.height);
+ show(AltosConvert.height, state.height());
}
public Height (GridBagLayout layout, int x, int y) {
super (layout, x, y, "Height");
class Speed extends DescentValue {
void show (AltosState state, AltosListenerState listener_state) {
- double speed = state.accel_speed;
- if (!state.ascent)
- speed = state.baro_speed;
- show(AltosConvert.speed, speed);
+ show(AltosConvert.speed, state.speed());
}
public Speed (GridBagLayout layout, int x, int y) {
super (layout, x, y, "Speed");
class Lat extends DescentValue {
void show (AltosState state, AltosListenerState listener_state) {
- if (state.gps != null && state.gps.connected)
+ if (state.gps != null && state.gps.connected && state.gps.lat != AltosLib.MISSING)
show(pos(state.gps.lat,"N", "S"));
else
show("???");
class Lon extends DescentValue {
void show (AltosState state, AltosListenerState listener_state) {
- if (state.gps != null && state.gps.connected)
+ if (state.gps != null && state.gps.connected && state.gps.lon != AltosLib.MISSING)
show(pos(state.gps.lon,"W", "E"));
else
show("???");
class Apogee extends DescentStatus {
void show (AltosState state, AltosListenerState listener_state) {
- show("%4.2f V", state.drogue_sense);
- lights.set(state.drogue_sense > 3.2);
+ show("%4.2f V", state.apogee_voltage);
+ lights.set(state.apogee_voltage > 3.7);
}
public Apogee (GridBagLayout layout, int y) {
super(layout, y, "Apogee Igniter Voltage");
class Main extends DescentStatus {
void show (AltosState state, AltosListenerState listener_state) {
- show("%4.2f V", state.main_sense);
- lights.set(state.main_sense > 3.2);
+ show("%4.2f V", state.main_voltage);
+ lights.set(state.main_voltage > 3.7);
}
public Main (GridBagLayout layout, int y) {
super(layout, y, "Main Igniter Voltage");
lat.hide();
lon.hide();
}
- if (state.main_sense != AltosRecord.MISSING)
+ if (state.main_voltage != AltosLib.MISSING)
main.show(state, listener_state);
else
main.hide();
- if (state.drogue_sense != AltosRecord.MISSING)
+ if (state.apogee_voltage != AltosLib.MISSING)
apogee.show(state, listener_state);
else
apogee.hide();
import javax.swing.*;
import java.io.*;
import java.text.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosDisplayThread extends Thread {
state.range >= 0)
{
voice.speak("Height %s, bearing %s %d, elevation %d, range %s.\n",
- AltosConvert.height.say(state.height),
+ AltosConvert.height.say(state.height()),
state.from_pad.bearing_words(
AltosGreatCircle.BEARING_VOICE),
(int) (state.from_pad.bearing + 0.5),
(int) (state.elevation + 0.5),
AltosConvert.distance.say(state.range));
} else if (state.state > Altos.ao_flight_pad) {
- voice.speak(AltosConvert.height.say_units(state.height));
+ voice.speak(AltosConvert.height.say_units(state.height()));
} else {
reported_landing = 0;
}
*/
if (state.state >= Altos.ao_flight_drogue &&
(last ||
- System.currentTimeMillis() - state.report_time >= 15000 ||
+ System.currentTimeMillis() - state.received_time >= 15000 ||
state.state == Altos.ao_flight_landed))
{
- if (Math.abs(state.baro_speed) < 20 && state.height < 100)
+ if (Math.abs(state.speed()) < 20 && state.height() < 100)
voice.speak("rocket landed safely");
else
voice.speak("rocket may have crashed");
synchronized boolean tell() {
boolean ret = false;
if (old_state == null || old_state.state != state.state) {
- voice.speak(state.data.state());
+ voice.speak(state.state_name());
if ((old_state == null || old_state.state <= Altos.ao_flight_boost) &&
state.state > Altos.ao_flight_boost) {
voice.speak("max speed: %s.",
- AltosConvert.speed.say_units(state.max_accel_speed + 0.5));
+ AltosConvert.speed.say_units(state.max_speed() + 0.5));
ret = true;
} else if ((old_state == null || old_state.state < Altos.ao_flight_drogue) &&
state.state >= Altos.ao_flight_drogue) {
voice.speak("max height: %s.",
- AltosConvert.height.say_units(state.max_height + 0.5));
+ AltosConvert.height.say_units(state.max_height() + 0.5));
ret = true;
}
}
try {
for (;;) {
try {
- AltosRecord record = reader.read();
- if (record == null)
+ state = reader.read();
+ if (state == null)
break;
- old_state = state;
- state = new AltosState(record, state);
reader.update(state);
show_safely();
told = tell();
import javax.swing.*;
import java.io.*;
import java.util.concurrent.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosEepromDelete implements Runnable {
AltosEepromList flights;
import java.util.*;
import java.text.*;
import java.util.concurrent.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosEepromDownload implements Runnable {
Thread eeprom_thread;
AltosEepromMonitor monitor;
- int flight;
- int serial;
- int year, month, day;
boolean want_file;
FileWriter eeprom_file;
LinkedList<String> eeprom_pending;
ActionListener listener;
boolean success;
ParseException parse_exception;
- String extension;
+ AltosState state;
private void FlushPending() throws IOException {
for (String s : flights.config_data) {
private void CheckFile(boolean force) throws IOException {
if (eeprom_file != null)
return;
- if (force || (flight != 0 && want_file)) {
+ if (force || (state.flight != 0 && want_file)) {
AltosFile eeprom_name;
-
- if (extension == null)
- extension = "data";
- if (year != 0 && month != 0 && day != 0)
- eeprom_name = new AltosFile(year, month, day, serial, flight, extension);
- else
- eeprom_name = new AltosFile(serial, flight, extension);
+ AltosGPS gps = state.gps;
+
+ if (gps != null &&
+ gps.year != AltosLib.MISSING &&
+ gps.month != AltosLib.MISSING &&
+ gps.day != AltosLib.MISSING)
+ {
+ eeprom_name = new AltosFile(gps.year, gps.month, gps.day,
+ state.serial, state.flight, "eeprom");
+ } else
+ eeprom_name = new AltosFile(state.serial, state.flight, "eeprom");
eeprom_file = new FileWriter(eeprom_name);
if (eeprom_file != null) {
}
}
- void Log(AltosEepromRecord r) throws IOException {
+ boolean done;
+ boolean start;
+
+ void LogEeprom(AltosEeprom r) throws IOException {
if (r.cmd != Altos.AO_LOG_INVALID) {
- String log_line = String.format("%c %4x %4x %4x\n",
- r.cmd, r.tick, r.a, r.b);
+ String line = r.string();
if (eeprom_file != null)
- eeprom_file.write(log_line);
+ eeprom_file.write(line);
else
- eeprom_pending.add(log_line);
+ eeprom_pending.add(line);
}
}
- void set_serial(int in_serial) {
- serial = in_serial;
- monitor.set_serial(serial);
- }
-
- void set_flight(int in_flight) {
- flight = in_flight;
- monitor.set_flight(flight);
- }
-
- boolean done;
- int state;
-
- void CaptureFull(AltosEepromChunk eechunk) throws IOException {
- boolean any_valid = false;
-
- extension = "eeprom";
- set_serial(flights.config_data.serial);
- for (int i = 0; i < AltosEepromChunk.chunk_size && !done; i += AltosEepromRecord.record_length) {
- try {
- AltosEepromRecord r = new AltosEepromRecord(eechunk, i);
- if (r.cmd == Altos.AO_LOG_FLIGHT)
- set_flight(r.b);
-
- /* Monitor state transitions to update display */
- if (r.cmd == Altos.AO_LOG_STATE && r.a <= Altos.ao_flight_landed) {
- state = r.a;
- if (state > Altos.ao_flight_pad)
- want_file = true;
- }
-
- if (r.cmd == Altos.AO_LOG_GPS_DATE) {
- year = 2000 + (r.a & 0xff);
- month = (r.a >> 8) & 0xff;
- day = (r.b & 0xff);
- want_file = true;
- }
- if (r.cmd == Altos.AO_LOG_STATE && r.a == Altos.ao_flight_landed)
- done = true;
- if (r.cmd != AltosLib.AO_LOG_INVALID)
- any_valid = true;
- Log(r);
- } catch (ParseException pe) {
- if (parse_exception == null)
- parse_exception = pe;
- }
- }
-
- if (!any_valid)
- done = true;
-
- CheckFile(false);
- }
-
- boolean start;
- int tiny_tick;
-
- void CaptureTiny (AltosEepromChunk eechunk) throws IOException {
+ void CaptureEeprom(AltosEepromChunk eechunk, int log_format) throws IOException {
boolean any_valid = false;
+ boolean got_flight = false;
- extension = "eeprom";
- set_serial(flights.config_data.serial);
- for (int i = 0; i < eechunk.data.length && !done; i += 2) {
- int v = eechunk.data16(i);
- AltosEepromRecord r;
-
- if (i == 0 && start) {
- tiny_tick = 0;
- start = false;
- set_flight(v);
- r = new AltosEepromRecord(Altos.AO_LOG_FLIGHT, tiny_tick, 0, v);
- any_valid = true;
- } else {
- int s = v ^ 0x8000;
-
- if (Altos.ao_flight_startup <= s && s <= Altos.ao_flight_invalid) {
- state = s;
- r = new AltosEepromRecord(Altos.AO_LOG_STATE, tiny_tick, state, 0);
- if (state == Altos.ao_flight_landed)
- done = true;
- state = s;
- any_valid = true;
- } else {
- if (v != 0xffff)
- any_valid = true;
-
- r = new AltosEepromRecord(Altos.AO_LOG_PRESSURE, tiny_tick, 0, v);
-
- /*
- * The flight software records ascent data every 100ms, and descent
- * data every 1s.
- */
- if (state < Altos.ao_flight_drogue)
- tiny_tick += 10;
- else
- tiny_tick += 100;
- }
- }
- Log(r);
- }
- CheckFile(false);
- if (!any_valid)
- done = true;
- }
+ int record_length = 8;
- void LogTeleScience(AltosEepromTeleScience r) throws IOException {
- if (r.type != Altos.AO_LOG_INVALID) {
- String log_line = String.format("%c %4x %4x %d %5d %5d %5d %5d %5d %5d %5d %5d %5d %5d %5d %5d\n",
- r.type, r.tick, r.tm_tick, r.tm_state,
- r.data[0], r.data[1], r.data[2], r.data[3],
- r.data[4], r.data[5], r.data[6], r.data[7],
- r.data[8], r.data[9], r.data[10], r.data[11]);
- if (eeprom_file != null)
- eeprom_file.write(log_line);
- else
- eeprom_pending.add(log_line);
- }
- }
-
- boolean telescience_start;
-
- void CaptureTeleScience (AltosEepromChunk eechunk) throws IOException {
- boolean any_valid = false;
-
- extension = "science";
- for (int i = 0; i < AltosEepromChunk.chunk_size && !done; i += AltosEepromTeleScience.record_length) {
- try {
- AltosEepromTeleScience r = new AltosEepromTeleScience(eechunk, i);
- if (r.type == AltosEepromTeleScience.AO_LOG_TELESCIENCE_START) {
- if (telescience_start) {
- done = true;
- break;
- }
- set_serial(r.data[0]);
- set_flight(r.data[1]);
- telescience_start = true;
- } else {
- if (!telescience_start)
- break;
- }
- state = r.tm_state;
- want_file =true;
- any_valid = true;
- LogTeleScience(r);
- } catch (ParseException pe) {
- if (parse_exception == null)
- parse_exception = pe;
- }
- }
+ state.set_serial(flights.config_data.serial);
+ monitor.set_serial(flights.config_data.serial);
- CheckFile(false);
- if (!any_valid)
- done = true;
- }
+ for (int i = 0; i < AltosEepromChunk.chunk_size && !done; i += record_length) {
+ AltosEeprom r = eechunk.eeprom(i, log_format, state);
- 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);
- }
- }
+ if (r == null)
+ continue;
- void CaptureMega(AltosEepromChunk eechunk) throws IOException {
- boolean any_valid = false;
+ record_length = r.record_length();
- extension = "mega";
- set_serial(flights.config_data.serial);
- for (int i = 0; i < AltosEepromChunk.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;
- }
+ r.update_state(state);
- if (r.cmd == Altos.AO_LOG_GPS_TIME) {
- year = 2000 + r.data8(14);
- month = r.data8(15);
- day = r.data8(16);
- want_file = true;
- }
+ if (!got_flight && state.flight != AltosLib.MISSING)
+ monitor.set_flight(state.flight);
- if (r.cmd == Altos.AO_LOG_STATE && r.data16(0) == Altos.ao_flight_landed)
+ /* Monitor state transitions to update display */
+ if (state.state != AltosLib.ao_flight_invalid &&
+ state.state <= AltosLib.ao_flight_landed)
+ {
+ if (state.state > Altos.ao_flight_pad)
+ want_file = true;
+ if (state.state == AltosLib.ao_flight_landed)
done = true;
- if (r.cmd != AltosLib.AO_LOG_INVALID)
- any_valid = true;
- LogMega(r);
- } catch (ParseException pe) {
- if (parse_exception == null)
- parse_exception = pe;
}
- }
- if (!any_valid)
- done = true;
- CheckFile(false);
- }
-
- void LogMini(AltosEepromMini 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\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]);
- if (eeprom_file != null)
- eeprom_file.write(log_line);
- else
- eeprom_pending.add(log_line);
- }
- }
-
- void CaptureMini(AltosEepromChunk eechunk) throws IOException {
- boolean any_valid = false;
+ if (state.gps != null)
+ want_file = true;
- extension = "mini";
- set_serial(flights.config_data.serial);
- for (int i = 0; i < AltosEepromChunk.chunk_size && !done; i += AltosEepromMini.record_length) {
- try {
- AltosEepromMini r = new AltosEepromMini(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_STATE && r.data16(0) == Altos.ao_flight_landed)
- done = true;
+ if (r.valid) {
any_valid = true;
- LogMini(r);
- } catch (ParseException pe) {
- if (parse_exception == null)
- parse_exception = pe;
+ LogEeprom(r);
}
}
if (!any_valid)
CheckFile(false);
}
- void CaptureTelemetry(AltosEepromChunk eechunk) throws IOException {
-
- }
-
void CaptureLog(AltosEepromLog log) throws IOException, InterruptedException, TimeoutException {
int block, state_block = 0;
int log_format = flights.config_data.log_format;
- state = 0;
+ state = new AltosState();
+
done = false;
start = true;
throw new IOException("no serial number found");
/* Reset per-capture variables */
- flight = 0;
- year = 0;
- month = 0;
- day = 0;
want_file = false;
eeprom_file = null;
eeprom_pending = new LinkedList<String>();
/* Set serial number in the monitor dialog window */
/* Now scan the eeprom, reading blocks of data and converting to .eeprom file form */
- state = 0; state_block = log.start_block;
+ state_block = log.start_block;
for (block = log.start_block; !done && block < log.end_block; block++) {
- monitor.set_value(AltosLib.state_name(state), state, block - state_block, block - log.start_block);
+ monitor.set_value(state.state_name(),
+ state.state,
+ block - state_block,
+ block - log.start_block);
AltosEepromChunk eechunk = new AltosEepromChunk(serial_line, block, block == log.start_block);
}
}
- switch (log_format) {
- case AltosLib.AO_LOG_FORMAT_FULL:
- extension = "eeprom";
- CaptureFull(eechunk);
- break;
- case AltosLib.AO_LOG_FORMAT_TINY:
- extension = "eeprom";
- CaptureTiny(eechunk);
- break;
- case AltosLib.AO_LOG_FORMAT_TELEMETRY:
- extension = "telem";
- CaptureTelemetry(eechunk);
- break;
- case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
- extension = "science";
- CaptureTeleScience(eechunk);
- break;
- case AltosLib.AO_LOG_FORMAT_TELEMEGA:
- extension = "mega";
- CaptureMega(eechunk);
- break;
- case AltosLib.AO_LOG_FORMAT_MINI:
- extension = "mini";
- CaptureMini(eechunk);
- break;
- }
+ CaptureEeprom (eechunk, log_format);
}
CheckFile(true);
if (eeprom_file != null) {
serial_line.device.toShortString(),
JOptionPane.ERROR_MESSAGE);
} catch (InterruptedException ie) {
- System.out.printf("download interrupted\n");
+ show_message(String.format("Connection to \"%s\" interrupted",
+ serial_line.device.toShortString()),
+ "Connection Interrupted",
+ JOptionPane.ERROR_MESSAGE);
} catch (TimeoutException te) {
show_message(String.format("Connection to \"%s\" failed",
serial_line.device.toShortString()),
import java.util.*;
import java.text.*;
import java.util.concurrent.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
/*
* Temporary structure to hold the list of stored flights;
import javax.swing.*;
import java.io.*;
import java.util.concurrent.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class AltosEepromManage implements ActionListener {
import javax.swing.border.*;
import java.awt.*;
import java.awt.event.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
class AltosEepromItem implements ActionListener {
import javax.swing.filechooser.FileNameExtensionFilter;
import java.io.*;
import java.util.concurrent.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class AltosFlashUI
package altosui;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public interface AltosFlightDisplay {
void reset();
package altosui;
import java.io.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosFlightStats {
double max_height;
double max_speed;
double max_acceleration;
- double[] state_accel_speed = new double[Altos.ao_flight_invalid + 1];
- double[] state_baro_speed = new double[Altos.ao_flight_invalid + 1];
+ double[] state_speed = new double[Altos.ao_flight_invalid + 1];
double[] state_accel = new double[Altos.ao_flight_invalid + 1];
int[] state_count = new int[Altos.ao_flight_invalid + 1];
double[] state_start = new double[Altos.ao_flight_invalid + 1];
boolean has_other_adc;
boolean has_rssi;
- double landed_time(AltosRecordIterable iterable) {
- AltosState state = null;
- for (AltosRecord record : iterable) {
- state = new AltosState(record, state);
+ double landed_time(AltosStateIterable states) {
+ AltosState state = null;
+ for (AltosState s : states) {
+ state = s;
if (state.state == Altos.ao_flight_landed)
break;
}
- double landed_height = state.height;
+ if (state == null)
+ return 0;
+
+ double landed_height = state.height();
state = null;
double landed_time = -1000;
- for (AltosRecord record : iterable) {
- state = new AltosState(record, state);
+ for (AltosState s : states) {
+ state = s;
- if (state.height > landed_height + 10) {
+ if (state.height() > landed_height + 10) {
above = true;
} else {
- if (above && state.height < landed_height + 2) {
+ if (above && state.height() < landed_height + 2) {
above = false;
landed_time = state.time;
}
return landed_time;
}
- double boost_time(AltosRecordIterable iterable) {
- double boost_time = -1000;
-
- AltosState state = null;
+ double boost_time(AltosStateIterable states) {
+ double boost_time = AltosLib.MISSING;
+ AltosState state = null;
- for (AltosRecord record : iterable) {
- state = new AltosState(record, state);
-
- if (state.acceleration < 1)
+ for (AltosState s : states) {
+ state = s;
+ if (state.acceleration() < 1)
boost_time = state.time;
if (state.state >= Altos.ao_flight_boost)
break;
}
- if (boost_time == -1000)
+ if (state == null)
+ return 0;
+
+ if (boost_time == AltosLib.MISSING)
boost_time = state.time;
return boost_time;
}
- public AltosFlightStats(AltosRecordIterable iterable) throws InterruptedException, IOException {
- AltosState state = null;
- AltosState new_state = null;
- double boost_time = boost_time(iterable);
+ public AltosFlightStats(AltosStateIterable states) throws InterruptedException, IOException {
+ double boost_time = boost_time(states);
double end_time = 0;
- double landed_time = landed_time(iterable);
+ double landed_time = landed_time(states);
- year = month = day = -1;
- hour = minute = second = -1;
- serial = flight = -1;
- lat = lon = -1;
+ year = month = day = AltosLib.MISSING;
+ hour = minute = second = AltosLib.MISSING;
+ serial = flight = AltosLib.MISSING;
+ lat = lon = AltosLib.MISSING;
has_gps = false;
has_other_adc = false;
has_rssi = false;
- for (AltosRecord record : iterable) {
- if (serial < 0)
- serial = record.serial;
- if ((record.seen & AltosRecord.seen_flight) != 0 && flight < 0)
- flight = record.flight;
- if ((record.seen & AltosRecord.seen_temp_volt) != 0)
+ for (AltosState state : states) {
+ if (serial == AltosLib.MISSING && state.serial != AltosLib.MISSING)
+ serial = state.serial;
+ if (flight == AltosLib.MISSING && state.flight != AltosLib.MISSING)
+ flight = state.flight;
+ if (state.battery_voltage != AltosLib.MISSING)
has_other_adc = true;
- if (record.rssi != 0)
+ if (state.rssi != AltosLib.MISSING)
has_rssi = true;
- new_state = new AltosState(record, state);
- end_time = new_state.time;
- state = new_state;
+ end_time = state.time;
if (state.time >= boost_time && state.state < Altos.ao_flight_boost)
state.state = Altos.ao_flight_boost;
if (state.time >= landed_time && state.state < Altos.ao_flight_landed)
state.state = Altos.ao_flight_landed;
+ if (state.gps != null && state.gps.locked) {
+ year = state.gps.year;
+ month = state.gps.month;
+ day = state.gps.day;
+ hour = state.gps.hour;
+ minute = state.gps.minute;
+ second = state.gps.second;
+ }
if (0 <= state.state && state.state < Altos.ao_flight_invalid) {
- if (state.state >= Altos.ao_flight_boost) {
- if (state.gps != null && state.gps.locked &&
- year < 0) {
- year = state.gps.year;
- month = state.gps.month;
- day = state.gps.day;
- hour = state.gps.hour;
- minute = state.gps.minute;
- second = state.gps.second;
- }
- }
- state_accel[state.state] += state.acceleration;
- state_accel_speed[state.state] += state.accel_speed;
- state_baro_speed[state.state] += state.baro_speed;
+ state_accel[state.state] += state.acceleration();
+ state_speed[state.state] += state.speed();
state_count[state.state]++;
if (state_start[state.state] == 0.0)
state_start[state.state] = state.time;
if (state_end[state.state] < state.time)
state_end[state.state] = state.time;
- max_height = state.max_height;
- if (state.max_accel_speed != 0)
- max_speed = state.max_accel_speed;
- else
- max_speed = state.max_baro_speed;
- max_acceleration = state.max_acceleration;
+ max_height = state.max_height();
+ max_speed = state.max_speed();
+ max_acceleration = state.max_acceleration();
}
if (state.gps != null && state.gps.locked && state.gps.nsat >= 4) {
if (state.state <= Altos.ao_flight_pad) {
}
for (int s = Altos.ao_flight_startup; s <= Altos.ao_flight_landed; s++) {
if (state_count[s] > 0) {
- state_accel_speed[s] /= state_count[s];
- state_baro_speed[s] /= state_count[s];
+ state_speed[s] /= state_count[s];
state_accel[s] /= state_count[s];
}
if (state_start[s] == 0)
import java.awt.*;
import javax.swing.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosFlightStatsTable extends JComponent {
GridBagLayout layout;
int y = 0;
new FlightStat(layout, y++, "Serial", String.format("%d", stats.serial));
new FlightStat(layout, y++, "Flight", String.format("%d", stats.flight));
- if (stats.year > 0 && stats.hour > 0)
+ if (stats.year != AltosLib.MISSING && stats.hour != AltosLib.MISSING)
new FlightStat(layout, y++, "Date/Time",
String.format("%04d-%02d-%02d", stats.year, stats.month, stats.day),
String.format("%02d:%02d:%02d UTC", stats.hour, stats.minute, stats.second));
else {
- if (stats.year > 0)
+ if (stats.year != AltosLib.MISSING)
new FlightStat(layout, y++, "Date",
String.format("%04d-%02d-%02d", stats.year, stats.month, stats.day));
- if (stats.hour > 0)
+ if (stats.hour != AltosLib.MISSING)
new FlightStat(layout, y++, "Time",
String.format("%02d:%02d:%02d UTC", stats.hour, stats.minute, stats.second));
}
String.format("%5.0f m/s", stats.max_speed),
String.format("%5.0f mph", AltosConvert.meters_to_mph(stats.max_speed)),
String.format("Mach %4.1f", AltosConvert.meters_to_mach(stats.max_speed)));
- if (stats.max_acceleration != AltosRecord.MISSING) {
+ if (stats.max_acceleration != AltosLib.MISSING) {
new FlightStat(layout, y++, "Maximum boost acceleration",
String.format("%5.0f m/s²", stats.max_acceleration),
String.format("%5.0f ft/s²", AltosConvert.meters_to_feet(stats.max_acceleration)),
String.format("%5.0f G", AltosConvert.meters_to_g(stats.state_accel[Altos.ao_flight_boost])));
}
new FlightStat(layout, y++, "Drogue descent rate",
- String.format("%5.0f m/s", stats.state_baro_speed[Altos.ao_flight_drogue]),
- String.format("%5.0f ft/s", AltosConvert.meters_to_feet(stats.state_baro_speed[Altos.ao_flight_drogue])));
+ String.format("%5.0f m/s", stats.state_speed[Altos.ao_flight_drogue]),
+ String.format("%5.0f ft/s", AltosConvert.meters_to_feet(stats.state_speed[Altos.ao_flight_drogue])));
new FlightStat(layout, y++, "Main descent rate",
- String.format("%5.0f m/s", stats.state_baro_speed[Altos.ao_flight_main]),
- String.format("%5.0f ft/s", AltosConvert.meters_to_feet(stats.state_baro_speed[Altos.ao_flight_main])));
+ String.format("%5.0f m/s", stats.state_speed[Altos.ao_flight_main]),
+ String.format("%5.0f ft/s", AltosConvert.meters_to_feet(stats.state_speed[Altos.ao_flight_main])));
new FlightStat(layout, y++, "Ascent time",
String.format("%6.1f s %s", stats.state_end[AltosLib.ao_flight_boost] - stats.state_start[AltosLib.ao_flight_boost],
AltosLib.state_name(Altos.ao_flight_boost)),
import java.awt.*;
import javax.swing.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosFlightStatus extends JComponent implements AltosFlightDisplay {
GridBagLayout layout;
class Call extends FlightValue {
void show(AltosState state, AltosListenerState listener_state) {
- value.setText(state.data.callsign);
+ value.setText(state.callsign);
}
public Call (GridBagLayout layout, int x) {
super (layout, x, "Callsign");
class Serial extends FlightValue {
void show(AltosState state, AltosListenerState listener_state) {
- if (state.data.serial == AltosRecord.MISSING)
+ if (state.serial == AltosLib.MISSING)
value.setText("none");
else
- value.setText(String.format("%d", state.data.serial));
+ value.setText(String.format("%d", state.serial));
}
public Serial (GridBagLayout layout, int x) {
super (layout, x, "Serial");
class Flight extends FlightValue {
void show(AltosState state, AltosListenerState listener_state) {
- if (state.data.flight == AltosRecord.MISSING)
+ if (state.flight == AltosLib.MISSING)
value.setText("none");
else
- value.setText(String.format("%d", state.data.flight));
+ value.setText(String.format("%d", state.flight));
}
public Flight (GridBagLayout layout, int x) {
super (layout, x, "Flight");
class FlightState extends FlightValue {
void show(AltosState state, AltosListenerState listener_state) {
- value.setText(state.data.state());
+ value.setText(state.state_name());
}
public FlightState (GridBagLayout layout, int x) {
super (layout, x, "State");
class RSSI extends FlightValue {
void show(AltosState state, AltosListenerState listener_state) {
- value.setText(String.format("%d", state.data.rssi));
+ value.setText(String.format("%d", state.rssi()));
}
public RSSI (GridBagLayout layout, int x) {
super (layout, x, "RSSI");
class LastPacket extends FlightValue {
void show(AltosState state, AltosListenerState listener_state) {
- long secs = (System.currentTimeMillis() - state.report_time + 500) / 1000;
+ long secs = (System.currentTimeMillis() - state.received_time + 500) / 1000;
value.setText(String.format("%d", secs));
}
public LastPacket(GridBagLayout layout, int x) {
import java.text.*;
import java.util.prefs.*;
import java.util.concurrent.LinkedBlockingQueue;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosFlightStatusTableModel extends AbstractTableModel {
private String[] columnNames = {
package altosui;
import java.awt.event.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosFlightStatusUpdate implements ActionListener {
import java.awt.event.*;
import javax.swing.*;
import java.util.concurrent.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class AltosFlightUI extends AltosUIFrame implements AltosFlightDisplay, AltosFontListener {
status_update.saved_state = state;
if (state == null)
- state = new AltosState(new AltosRecord());
+ state = new AltosState();
pad.show(state, listener_state);
flightStatus.show(state, listener_state);
flightInfo.show(state, listener_state);
- if (state.data.companion != null) {
+ if (state.companion != null) {
if (!has_companion) {
pane.add("Companion", companion);
has_companion= true;
package altosui;
import javax.swing.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class AltosFreqList extends JComboBox {
import java.awt.*;
import javax.swing.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
import org.jfree.ui.*;
package altosui;
import org.altusmetrum.altosuilib_1.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosGraphDataPoint implements AltosUIDataPoint {
public static final int data_pressure = 15;
public double x() throws AltosUIDataMissing {
- if (state.data.time < -2)
+ double time = state.time_since_boost();
+ if (time < -2)
throw new AltosUIDataMissing(-1);
- return state.data.time;
+ return time;
}
public double y(int index) throws AltosUIDataMissing {
- double y = AltosRecord.MISSING;
+ double y = AltosLib.MISSING;
switch (index) {
case data_height:
- y = state.height;
+ y = state.height();
break;
case data_speed:
y = state.speed();
break;
case data_accel:
- y = state.acceleration;
+ y = state.acceleration();
break;
case data_temp:
y = state.temperature;
break;
case data_battery_voltage:
- y = state.battery;
+ y = state.battery_voltage;
break;
case data_drogue_voltage:
- y = state.drogue_sense;
+ y = state.apogee_voltage;
break;
case data_main_voltage:
- y = state.main_sense;
+ y = state.main_voltage;
break;
case data_rssi:
- y = state.data.rssi;
+ y = state.rssi;
break;
case data_gps_height:
y = state.gps_height;
y = state.from_pad.distance;
break;
case data_pressure:
- y = state.pressure;
+ y = state.pressure();
break;
}
- if (y == AltosRecord.MISSING)
+ if (y == AltosLib.MISSING)
throw new AltosUIDataMissing(index);
return y;
}
public int id(int index) {
if (index == data_state) {
- int s = state.data.state;
+ int s = state.state;
if (s < Altos.ao_flight_boost || s > Altos.ao_flight_landed)
return -1;
return s;
public String id_name(int index) {
if (index == data_state)
- return state.data.state();
+ return state.state_name();
return "";
}
import java.lang.*;
import java.io.*;
import java.util.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
class AltosGraphIterator implements Iterator<AltosUIDataPoint> {
AltosGraphDataSet dataSet;
- Iterator<AltosRecord> iterator;
-
- AltosState state;
+ Iterator<AltosState> iterator;
public boolean hasNext() {
return iterator.hasNext();
}
public AltosUIDataPoint next() {
- state = new AltosState(iterator.next(), state);
+ AltosState state = iterator.next();
- if ((state.data.seen & AltosRecord.seen_flight) != 0) {
- if (dataSet.callsign == null && state.data.callsign != null)
- dataSet.callsign = state.data.callsign;
+ if (state.flight != AltosLib.MISSING) {
+ if (dataSet.callsign == null && state.callsign != null)
+ dataSet.callsign = state.callsign;
- if (dataSet.serial == 0 && state.data.serial != 0)
- dataSet.serial = state.data.serial;
+ if (dataSet.serial == 0 && state.serial != 0)
+ dataSet.serial = state.serial;
- if (dataSet.flight == 0 && state.data.flight != 0)
- dataSet.flight = state.data.flight;
+ if (dataSet.flight == 0 && state.flight != 0)
+ dataSet.flight = state.flight;
}
return new AltosGraphDataPoint(state);
}
- public AltosGraphIterator (Iterator<AltosRecord> iterator, AltosGraphDataSet dataSet) {
+ public AltosGraphIterator (Iterator<AltosState> iterator, AltosGraphDataSet dataSet) {
this.iterator = iterator;
- this.state = null;
this.dataSet = dataSet;
}
AltosGraphDataSet dataSet;
public Iterator<AltosUIDataPoint> iterator() {
- return new AltosGraphIterator(dataSet.records.iterator(), dataSet);
+ return new AltosGraphIterator(dataSet.states.iterator(), dataSet);
}
public AltosGraphIterable(AltosGraphDataSet dataSet) {
String callsign;
int serial;
int flight;
- AltosRecordIterable records;
+ AltosStateIterable states;
public String name() {
if (callsign != null)
return new AltosGraphIterable(this);
}
- public AltosGraphDataSet (AltosRecordIterable records) {
- this.records = records;
+ public AltosGraphDataSet (AltosStateIterable states) {
+ this.states = states;
this.callsign = null;
this.serial = 0;
this.flight = 0;
import java.awt.*;
import javax.swing.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
import org.jfree.chart.ChartPanel;
AltosFlightStatsTable statsTable;
boolean has_gps;
- void fill_map(AltosRecordIterable records) {
+ void fill_map(AltosStateIterable states) {
boolean any_gps = false;
- for (AltosRecord record : records) {
- state = new AltosState(record, state);
+ for (AltosState state : states) {
if (state.gps != null && state.gps.locked && state.gps.nsat >= 4) {
if (map == null)
map = new AltosSiteMap();
}
}
- AltosGraphUI(AltosRecordIterable records, File file) throws InterruptedException, IOException {
+ AltosGraphUI(AltosStateIterable states, File file) throws InterruptedException, IOException {
super(file.getName());
state = null;
enable = new AltosUIEnable();
- stats = new AltosFlightStats(records);
- graphDataSet = new AltosGraphDataSet(records);
+ stats = new AltosFlightStats(states);
+ graphDataSet = new AltosGraphDataSet(states);
graph = new AltosGraph(enable, stats, graphDataSet);
pane.add("Flight Statistics", statsTable);
has_gps = false;
- fill_map(records);
+ fill_map(states);
if (has_gps)
pane.add("Map", map);
import javax.swing.event.*;
import java.io.*;
import java.util.concurrent.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class AltosIdleMonitorUI extends AltosUIFrame implements AltosFlightDisplay, AltosFontListener, AltosIdleMonitorListener, DocumentListener {
public void show(AltosState state, AltosListenerState listener_state) {
status_update.saved_state = state;
- try {
+// try {
pad.show(state, listener_state);
flightStatus.show(state, listener_state);
flightInfo.show(state, listener_state);
- } catch (Exception e) {
- System.out.print("Show exception" + e);
- }
+// } catch (Exception e) {
+// System.out.print("Show exception " + e);
+// }
}
public void update(final AltosState state, final AltosListenerState listener_state) {
import java.io.*;
import java.text.*;
import java.util.concurrent.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class AltosIgniteUI
import java.awt.*;
import javax.swing.*;
import javax.swing.table.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosInfoTable extends JTable {
private AltosFlightInfoTableModel model;
public void show(AltosState state, AltosListenerState listener_state) {
info_reset();
if (state != null) {
- if (state.altitude != AltosRecord.MISSING)
- info_add_row(0, "Altitude", "%6.0f m", state.altitude);
- if (state.ground_altitude != AltosRecord.MISSING)
- info_add_row(0, "Pad altitude", "%6.0f m", state.ground_altitude);
- if (state.height != AltosRecord.MISSING)
- info_add_row(0, "Height", "%6.0f m", state.height);
- if (state.height != AltosRecord.MISSING)
- info_add_row(0, "Max height", "%6.0f m", state.max_height);
- if (state.acceleration != AltosRecord.MISSING)
- info_add_row(0, "Acceleration", "%8.1f m/s²", state.acceleration);
- if (state.acceleration != AltosRecord.MISSING)
- info_add_row(0, "Max acceleration", "%8.1f m/s²", state.max_acceleration);
- if (state.speed() != AltosRecord.MISSING)
+ if (state.device_type != AltosLib.MISSING)
+ info_add_row(0, "Device", "%s", AltosLib.product_name(state.device_type));
+ if (state.altitude() != AltosLib.MISSING)
+ info_add_row(0, "Altitude", "%6.0f m", state.altitude());
+ if (state.ground_altitude() != AltosLib.MISSING)
+ info_add_row(0, "Pad altitude", "%6.0f m", state.ground_altitude());
+ if (state.height() != AltosLib.MISSING)
+ info_add_row(0, "Height", "%6.0f m", state.height());
+ if (state.max_height() != AltosLib.MISSING)
+ info_add_row(0, "Max height", "%6.0f m", state.max_height());
+ if (state.acceleration() != AltosLib.MISSING)
+ info_add_row(0, "Acceleration", "%8.1f m/s²", state.acceleration());
+ if (state.max_acceleration() != AltosLib.MISSING)
+ info_add_row(0, "Max acceleration", "%8.1f m/s²", state.max_acceleration());
+ if (state.speed() != AltosLib.MISSING)
info_add_row(0, "Speed", "%8.1f m/s", state.speed());
- if (state.speed() != AltosRecord.MISSING)
- info_add_row(0, "Max Speed", "%8.1f m/s", state.max_accel_speed);
- if (state.temperature != AltosRecord.MISSING)
+ if (state.max_speed() != AltosLib.MISSING)
+ info_add_row(0, "Max Speed", "%8.1f m/s", state.max_speed());
+ if (state.temperature != AltosLib.MISSING)
info_add_row(0, "Temperature", "%9.2f °C", state.temperature);
- if (state.battery != AltosRecord.MISSING)
- info_add_row(0, "Battery", "%9.2f V", state.battery);
- if (state.drogue_sense != AltosRecord.MISSING)
- info_add_row(0, "Drogue", "%9.2f V", state.drogue_sense);
- if (state.main_sense != AltosRecord.MISSING)
- info_add_row(0, "Main", "%9.2f V", state.main_sense);
+ if (state.battery_voltage != AltosLib.MISSING)
+ info_add_row(0, "Battery", "%9.2f V", state.battery_voltage);
+ if (state.apogee_voltage != AltosLib.MISSING)
+ info_add_row(0, "Drogue", "%9.2f V", state.apogee_voltage);
+ if (state.main_voltage != AltosLib.MISSING)
+ info_add_row(0, "Main", "%9.2f V", state.main_voltage);
}
if (listener_state != null) {
info_add_row(0, "CRC Errors", "%6d", listener_state.crc_errors);
- if (listener_state.battery != AltosRecord.MISSING)
+ if (listener_state.battery != AltosLib.MISSING)
info_add_row(0, "Receiver Battery", "%9.2f", listener_state.battery);
}
else
info_add_row(1, "GPS state", "wait (%d)",
state.gps_waiting);
- if (state.data.gps.locked)
+ if (state.gps.locked)
info_add_row(1, "GPS", " locked");
- else if (state.data.gps.connected)
+ else if (state.gps.connected)
info_add_row(1, "GPS", " unlocked");
else
info_add_row(1, "GPS", " missing");
- info_add_row(1, "Satellites", "%6d", state.data.gps.nsat);
- info_add_deg(1, "Latitude", state.gps.lat, 'N', 'S');
- info_add_deg(1, "Longitude", state.gps.lon, 'E', 'W');
- info_add_row(1, "GPS altitude", "%6d", state.gps.alt);
- info_add_row(1, "GPS height", "%6.0f", state.gps_height);
+ info_add_row(1, "Satellites", "%6d", state.gps.nsat);
+ if (state.gps.lat != AltosLib.MISSING)
+ info_add_deg(1, "Latitude", state.gps.lat, 'N', 'S');
+ if (state.gps.lon != AltosLib.MISSING)
+ info_add_deg(1, "Longitude", state.gps.lon, 'E', 'W');
+ if (state.gps.alt != AltosLib.MISSING)
+ info_add_row(1, "GPS altitude", "%8.1f", state.gps.alt);
+ if (state.gps_height != AltosLib.MISSING)
+ info_add_row(1, "GPS height", "%8.1f", state.gps_height);
/* The SkyTraq GPS doesn't report these values */
/*
info_add_deg(1, "Pad longitude", state.pad_lon, 'E', 'W');
info_add_row(1, "Pad GPS alt", "%6.0f m", state.pad_alt);
}
- info_add_row(1, "GPS date", "%04d-%02d-%02d",
- state.gps.year,
- state.gps.month,
- state.gps.day);
- info_add_row(1, "GPS time", " %02d:%02d:%02d",
- state.gps.hour,
- state.gps.minute,
- state.gps.second);
+ if (state.gps.year != AltosLib.MISSING)
+ info_add_row(1, "GPS date", "%04d-%02d-%02d",
+ state.gps.year,
+ state.gps.month,
+ state.gps.day);
+ if (state.gps.hour != AltosLib.MISSING)
+ info_add_row(1, "GPS time", " %02d:%02d:%02d",
+ state.gps.hour,
+ state.gps.minute,
+ state.gps.second);
//int nsat_vis = 0;
int c;
package altosui;
import java.io.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosKML implements AltosWriter {
File name;
PrintStream out;
- int state = -1;
- AltosRecord prev = null;
+ int flight_state = -1;
+ AltosState prev = null;
double gps_start_altitude;
static final String[] kml_state_colors = {
"</Document>\n" +
"</kml>\n";
- void start (AltosRecord record) {
+ void start (AltosState record) {
out.printf(kml_header_start, record.flight, record.serial);
out.printf("Date: %04d-%02d-%02d\n",
record.gps.year, record.gps.month, record.gps.day);
boolean started = false;
- void state_start(AltosRecord record) {
- String state_name = Altos.state_name(record.state);
- out.printf(kml_style_start, state_name, kml_state_colors[record.state]);
+ void state_start(AltosState state) {
+ String state_name = Altos.state_name(state.state);
+ out.printf(kml_style_start, state_name, kml_state_colors[state.state]);
out.printf("\tState: %s\n", state_name);
out.printf("%s", kml_style_end);
out.printf(kml_placemark_start, state_name, state_name);
}
- void state_end(AltosRecord record) {
+ void state_end(AltosState state) {
out.printf("%s", kml_placemark_end);
}
- void coord(AltosRecord record) {
- AltosGPS gps = record.gps;
+ void coord(AltosState state) {
+ AltosGPS gps = state.gps;
double altitude;
- if (record.height() != AltosRecord.MISSING)
- altitude = record.height() + gps_start_altitude;
+ if (state.height() != AltosLib.MISSING)
+ altitude = state.height() + gps_start_altitude;
else
altitude = gps.alt;
out.printf(kml_coord_fmt,
gps.lon, gps.lat,
altitude, (double) gps.alt,
- record.time, gps.nsat);
+ state.time, gps.nsat);
}
void end() {
}
}
- public void write(AltosRecord record) {
- AltosGPS gps = record.gps;
+ public void write(AltosState state) {
+ AltosGPS gps = state.gps;
if (gps == null)
return;
- if ((record.seen & (AltosRecord.seen_gps_lat)) == 0)
+ if (gps.lat == AltosLib.MISSING)
return;
- if ((record.seen & (AltosRecord.seen_gps_lon)) == 0)
+ if (gps.lon == AltosLib.MISSING)
return;
if (!started) {
- start(record);
+ start(state);
started = true;
gps_start_altitude = gps.alt;
}
- if (prev != null && prev.gps_sequence == record.gps_sequence)
+ if (prev != null && prev.gps_sequence == state.gps_sequence)
return;
- if (record.state != state) {
- state = record.state;
+ if (state.state != flight_state) {
+ flight_state = state.state;
if (prev != null) {
- coord(record);
+ coord(state);
state_end(prev);
}
- state_start(record);
+ state_start(state);
}
- coord(record);
- prev = record;
+ coord(state);
+ prev = state;
}
- public void write(AltosRecordIterable iterable) {
- for (AltosRecord record : iterable)
- write(record);
+ public void write(AltosStateIterable states) {
+ for (AltosState state : states) {
+ if ((state.set & AltosState.set_gps) != 0)
+ write(state);
+ }
}
public AltosKML(File in_name) throws FileNotFoundException {
import java.awt.event.*;
import javax.swing.*;
import java.io.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosLanded extends JComponent implements AltosFlightDisplay, ActionListener {
GridBagLayout layout;
class Lat extends LandedValue {
void show (AltosState state, AltosListenerState listener_state) {
- if (state.gps != null && state.gps.connected)
+ show();
+ if (state.gps != null && state.gps.connected && state.gps.lat != AltosLib.MISSING)
show(pos(state.gps.lat,"N", "S"));
else
show("???");
class Lon extends LandedValue {
void show (AltosState state, AltosListenerState listener_state) {
show();
- if (state.gps != null && state.gps.connected)
+ if (state.gps != null && state.gps.connected && state.gps.lon != AltosLib.MISSING)
show(pos(state.gps.lon,"E", "W"));
else
show("???");
class Height extends LandedValue {
void show (AltosState state, AltosListenerState listener_state) {
- show(AltosConvert.height, state.max_height);
+ show(AltosConvert.height, state.max_height());
}
public Height (GridBagLayout layout, int y) {
super (layout, y, "Maximum Height");
class Accel extends LandedValue {
void show (AltosState state, AltosListenerState listener_state) {
- show(AltosConvert.accel, state.max_acceleration);
+ show(AltosConvert.accel, state.max_acceleration());
}
public Accel (GridBagLayout layout, int y) {
super (layout, y, "Maximum Acceleration");
if (file != null) {
String filename = file.getName();
try {
- AltosRecordIterable records = null;
+ AltosStateIterable states = null;
if (filename.endsWith("eeprom")) {
FileInputStream in = new FileInputStream(file);
- records = new AltosEepromIterable(in);
+ states = new AltosEepromFile(in);
} else if (filename.endsWith("telem")) {
FileInputStream in = new FileInputStream(file);
- records = new AltosTelemetryIterable(in);
- } else if (filename.endsWith("mega")) {
- FileInputStream in = new FileInputStream(file);
- records = new AltosEepromMegaIterable(in);
- } else if (filename.endsWith("mini")) {
- FileInputStream in = new FileInputStream(file);
- records = new AltosEepromMiniIterable(in);
+ states = new AltosTelemetryFile(in);
} else {
throw new FileNotFoundException(filename);
}
try {
- new AltosGraphUI(records, file);
+ new AltosGraphUI(states, file);
} catch (InterruptedException ie) {
} catch (IOException ie) {
}
import java.awt.*;
import javax.swing.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosPad extends JComponent implements AltosFlightDisplay {
GridBagLayout layout;
class Battery extends LaunchStatus {
void show (AltosState state, AltosListenerState listener_state) {
- if (state == null || state.battery == AltosRecord.MISSING)
+ if (state == null || state.battery_voltage == AltosLib.MISSING)
hide();
else {
- show("%4.2f V", state.battery);
- lights.set(state.battery > 3.7);
+ show("%4.2f V", state.battery_voltage);
+ lights.set(state.battery_voltage > 3.7);
}
}
public Battery (GridBagLayout layout, int y) {
class Apogee extends LaunchStatus {
void show (AltosState state, AltosListenerState listener_state) {
- if (state == null || state.drogue_sense == AltosRecord.MISSING)
+ if (state == null || state.apogee_voltage == AltosLib.MISSING)
hide();
else {
- show("%4.2f V", state.drogue_sense);
- lights.set(state.drogue_sense > 3.2);
+ show("%4.2f V", state.apogee_voltage);
+ lights.set(state.apogee_voltage > 3.7);
}
}
public Apogee (GridBagLayout layout, int y) {
class Main extends LaunchStatus {
void show (AltosState state, AltosListenerState listener_state) {
- if (state == null || state.main_sense == AltosRecord.MISSING)
+ if (state == null || state.main_voltage == AltosLib.MISSING)
hide();
else {
- show("%4.2f V", state.main_sense);
- lights.set(state.main_sense > 3.2);
+ show("%4.2f V", state.main_voltage);
+ lights.set(state.main_voltage > 3.7);
}
}
public Main (GridBagLayout layout, int y) {
class LoggingReady extends LaunchStatus {
void show (AltosState state, AltosListenerState listener_state) {
- if (state == null || state.data.flight == AltosRecord.MISSING) {
+ if (state == null || state.flight == AltosLib.MISSING) {
hide();
} else {
- if (state.data.flight != 0) {
- if (state.data.state <= Altos.ao_flight_pad)
+ if (state.flight != 0) {
+ if (state.state <= Altos.ao_flight_pad)
show("Ready to record");
- else if (state.data.state < Altos.ao_flight_landed)
+ else if (state.state < Altos.ao_flight_landed)
show("Recording data");
else
show("Recorded data");
} else
show("Storage full");
- lights.set(state.data.flight != 0);
+ lights.set(state.flight != 0);
}
}
public LoggingReady (GridBagLayout layout, int y) {
class ReceiverBattery extends LaunchStatus {
void show (AltosState state, AltosListenerState listener_state) {
- if (listener_state == null || listener_state.battery == AltosRecord.MISSING)
+ if (listener_state == null || listener_state.battery == AltosLib.MISSING)
hide();
else {
show("%4.2f V", listener_state.battery);
class PadLat extends LaunchValue {
void show (AltosState state, AltosListenerState listener_state) {
- if (state == null || state.gps == null) {
- hide();
- } else {
- if (state.state < AltosLib.ao_flight_pad) {
- show(pos(state.gps.lat,"N", "S"));
- set_label("Latitude");
- } else {
- show(pos(state.pad_lat,"N", "S"));
- set_label("Pad Latitude");
+ double lat = AltosLib.MISSING;
+ String label = null;
+
+ if (state != null) {
+ if (state.state < AltosLib.ao_flight_pad && state.gps != null && state.gps.lat != AltosLib.MISSING) {
+ lat = state.gps.lat;
+ label = "Latitude";
+ } else {
+ lat = state.pad_lat;
+ label = "Pad Latitude";
}
}
+ if (lat != AltosLib.MISSING) {
+ show(pos(lat,"N", "S"));
+ set_label(label);
+ } else
+ hide();
}
public PadLat (GridBagLayout layout, int y) {
super (layout, y, "Pad Latitude");
class PadLon extends LaunchValue {
void show (AltosState state, AltosListenerState listener_state) {
- if (state == null || state.gps == null) {
- hide();
- } else {
- if (state.state < AltosLib.ao_flight_pad) {
- show(pos(state.gps.lon,"E", "W"));
- set_label("Longitude");
- } else {
- show(pos(state.pad_lon,"E", "W"));
- set_label("Pad Longitude");
+ double lon = AltosLib.MISSING;
+ String label = null;
+
+ if (state != null) {
+ if (state.state < AltosLib.ao_flight_pad && state.gps != null && state.gps.lon != AltosLib.MISSING) {
+ lon = state.gps.lon;
+ label = "Longitude";
+ } else {
+ lon = state.pad_lon;
+ label = "Pad Longitude";
}
}
+ if (lon != AltosLib.MISSING) {
+ show(pos(lon,"E", "W"));
+ set_label(label);
+ } else
+ hide();
}
public PadLon (GridBagLayout layout, int y) {
super (layout, y, "Pad Longitude");
class PadAlt extends LaunchValue {
void show (AltosState state, AltosListenerState listener_state) {
- if (state == null)
- hide();
- else {
- if (state.state < AltosLib.ao_flight_pad && state.gps != null) {
- show("%4.0f m", state.gps.alt);
- set_label("Altitude");
+ double alt = AltosLib.MISSING;
+ String label = null;
+
+ if (state != null) {
+ if (state.state < AltosLib.ao_flight_pad && state.gps != null && state.gps.alt != AltosLib.MISSING) {
+ alt = state.gps.alt;
+ label = "Altitude";
} else {
- if (state.pad_alt == AltosRecord.MISSING)
- hide();
- else {
- show("%4.0f m", state.pad_alt);
- set_label("Pad Altitude");
- }
+ alt = state.pad_alt;
+ label = "Pad Altitude";
}
}
+ if (alt != AltosLib.MISSING) {
+ show("%4.0f m", state.gps.alt);
+ set_label(label);
+ } else
+ hide();
}
public PadAlt (GridBagLayout layout, int y) {
super (layout, y, "Pad Altitude");
import java.awt.*;
import java.awt.event.*;
import javax.swing.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class AltosRomconfigUI
import java.util.*;
import java.text.*;
import java.util.concurrent.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
class AltosScanResult {
try {
for (;;) {
try {
- AltosRecord record = reader.read();
- if (record == null)
+ AltosState state = reader.read();
+ if (state == null)
continue;
- if ((record.seen & AltosRecord.seen_flight) != 0) {
- final AltosScanResult result = new AltosScanResult(record.callsign,
- record.serial,
- record.flight,
+ if (state.flight != AltosLib.MISSING) {
+ final AltosScanResult result = new AltosScanResult(state.callsign,
+ state.serial,
+ state.flight,
frequencies[frequency_index],
telemetry);
Runnable r = new Runnable() {
import java.util.*;
import java.awt.*;
import javax.swing.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
import libaltosJNI.*;
import java.lang.Math;
import java.awt.geom.Point2D;
import java.util.concurrent.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class AltosSiteMap extends JScrollPane implements AltosFlightDisplay {
int last_state = -1;
public void show(double lat, double lon) {
- initMaps(lat, lon);
- scrollRocketToVisible(pt(lat, lon));
+ System.out.printf ("show %g %g\n", lat, lon);
+ return;
+// initMaps(lat, lon);
+// scrollRocketToVisible(pt(lat, lon));
}
public void show(final AltosState state, final AltosListenerState listener_state) {
// if insufficient gps data, nothing to update
- if (!state.gps.locked && state.gps.nsat < 4)
+ AltosGPS gps = state.gps;
+
+ if (gps == null)
+ return;
+
+ if (!gps.locked && gps.nsat < 4)
return;
if (!initialised) {
- if (state.pad_lat != 0 || state.pad_lon != 0) {
+ if (state.pad_lat != AltosLib.MISSING && state.pad_lon != AltosLib.MISSING) {
initMaps(state.pad_lat, state.pad_lon);
initialised = true;
- } else if (state.gps.lat != 0 || state.gps.lon != 0) {
- initMaps(state.gps.lat, state.gps.lon);
+ } else if (gps.lat != AltosLib.MISSING && gps.lon != AltosLib.MISSING) {
+ initMaps(gps.lat, gps.lon);
initialised = true;
} else {
return;
}
}
- final Point2D.Double pt = pt(state.gps.lat, state.gps.lon);
+ final Point2D.Double pt = pt(gps.lat, gps.lon);
if (last_pt == pt && last_state == state.state)
return;
import javax.swing.*;
import java.awt.geom.Point2D;
import java.awt.geom.Line2D;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosSiteMapTile extends JLayeredPane {
JLabel mapLabel;
import javax.swing.*;
import java.io.*;
import java.util.concurrent.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class AltosUI extends AltosUIFrame {
AltosDataChooser chooser = new AltosDataChooser(
AltosUI.this);
- AltosRecordIterable iterable = chooser.runDialog();
- if (iterable != null) {
- AltosFlightReader reader = new AltosReplayReader(iterable.iterator(),
+ Iterable<AltosState> states = chooser.runDialog();
+ if (states != null) {
+ AltosFlightReader reader = new AltosReplayReader(states.iterator(),
chooser.file());
new AltosFlightUI(voice, reader);
}
private void ExportData() {
AltosDataChooser chooser;
chooser = new AltosDataChooser(this);
- AltosRecordIterable record_reader = chooser.runDialog();
- if (record_reader == null)
+ AltosStateIterable states = chooser.runDialog();
+ if (states == null)
return;
- new AltosCSVUI(AltosUI.this, record_reader, chooser.file());
+ new AltosCSVUI(AltosUI.this, states, chooser.file());
}
/* Load a flight log CSV file and display a pretty graph.
private void GraphData() {
AltosDataChooser chooser;
chooser = new AltosDataChooser(this);
- AltosRecordIterable record_reader = chooser.runDialog();
- if (record_reader == null)
+ AltosStateIterable states = chooser.runDialog();
+ if (states == null)
return;
try {
- new AltosGraphUI(record_reader, chooser.file());
+ new AltosGraphUI(states, chooser.file());
} catch (InterruptedException ie) {
} catch (IOException ie) {
}
}
}
- static AltosRecordIterable open_logfile(File file) {
+ static AltosStateIterable open_logfile(File file) {
try {
FileInputStream in;
in = new FileInputStream(file);
- if (file.getName().endsWith("eeprom"))
- return new AltosEepromIterable(in);
- else if (file.getName().endsWith("mega"))
- return new AltosEepromMegaIterable(in);
- else if (file.getName().endsWith("mini"))
- return new AltosEepromMiniIterable(in);
+ if (file.getName().endsWith("telem"))
+ return new AltosTelemetryFile(in);
else
- return new AltosTelemetryIterable(in);
+ return new AltosEepromFile(in);
} catch (FileNotFoundException fe) {
System.out.printf("%s\n", fe.getMessage());
return null;
static final int process_graph = 3;
static final int process_replay = 4;
static final int process_summary = 5;
+ static final int process_cat = 6;
static boolean process_csv(File input) {
- AltosRecordIterable iterable = open_logfile(input);
- if (iterable == null)
+ AltosStateIterable states = open_logfile(input);
+ if (states == null)
return false;
File output = Altos.replace_extension(input,".csv");
AltosWriter writer = open_csv(output);
if (writer == null)
return false;
- writer.write(iterable);
+ writer.write(states);
writer.close();
}
return true;
}
static boolean process_kml(File input) {
- AltosRecordIterable iterable = open_logfile(input);
- if (iterable == null)
+ AltosStateIterable states = open_logfile(input);
+ if (states == null)
return false;
File output = Altos.replace_extension(input,".kml");
AltosWriter writer = open_kml(output);
if (writer == null)
return false;
- writer.write(iterable);
+ writer.write(states);
writer.close();
return true;
}
}
- static AltosRecordIterable record_iterable(File file) {
+ static AltosStateIterable record_iterable(File file) {
FileInputStream in;
try {
in = new FileInputStream(file);
System.out.printf("Failed to open file '%s'\n", file);
return null;
}
- AltosRecordIterable recs;
- //AltosReplayReader reader;
- if (file.getName().endsWith("eeprom")) {
- recs = new AltosEepromIterable(in);
- } else if (file.getName().endsWith("mega")) {
- recs = new AltosEepromMegaIterable(in);
- } else if (file.getName().endsWith("mini")) {
- recs = new AltosEepromMiniIterable(in);
- } else {
- recs = new AltosTelemetryIterable(in);
- }
- return recs;
+ if (file.getName().endsWith("telem"))
+ return new AltosTelemetryFile(in);
+ else
+ return new AltosEepromFile(in);
}
static AltosReplayReader replay_file(File file) {
- AltosRecordIterable recs = record_iterable(file);
- if (recs == null)
+ AltosStateIterable states = record_iterable(file);
+ if (states == null)
return null;
- return new AltosReplayReader(recs.iterator(), file);
+ return new AltosReplayReader(states.iterator(), file);
}
static boolean process_replay(File file) {
}
static boolean process_graph(File file) {
- AltosRecordIterable recs = record_iterable(file);
- if (recs == null)
+ AltosStateIterable states = record_iterable(file);
+ if (states == null)
return false;
try {
- new AltosGraphUI(recs, file);
+ new AltosGraphUI(states, file);
return true;
} catch (InterruptedException ie) {
} catch (IOException ie) {
}
static boolean process_summary(File file) {
- AltosRecordIterable iterable = record_iterable(file);
- if (iterable == null)
+ AltosStateIterable states = record_iterable(file);
+ if (states == null)
return false;
try {
- AltosFlightStats stats = new AltosFlightStats(iterable);
+ AltosFlightStats stats = new AltosFlightStats(states);
if (stats.serial > 0)
System.out.printf("Serial: %5d\n", stats.serial);
if (stats.flight > 0)
stats.max_speed,
AltosConvert.meters_to_feet(stats.max_speed),
AltosConvert.meters_to_mach(stats.max_speed));
- if (stats.max_acceleration != AltosRecord.MISSING) {
+ if (stats.max_acceleration != AltosLib.MISSING) {
System.out.printf("Max accel: %6.0f m/s² %6.0f ft/s² %6.2f g\n",
stats.max_acceleration,
AltosConvert.meters_to_feet(stats.max_acceleration),
AltosConvert.meters_to_g(stats.max_acceleration));
}
System.out.printf("Drogue rate: %6.0f m/s %6.0f ft/s\n",
- stats.state_baro_speed[Altos.ao_flight_drogue],
- AltosConvert.meters_to_feet(stats.state_baro_speed[Altos.ao_flight_drogue]));
+ stats.state_speed[Altos.ao_flight_drogue],
+ AltosConvert.meters_to_feet(stats.state_speed[Altos.ao_flight_drogue]));
System.out.printf("Main rate: %6.0f m/s %6.0f ft/s\n",
- stats.state_baro_speed[Altos.ao_flight_main],
- AltosConvert.meters_to_feet(stats.state_baro_speed[Altos.ao_flight_main]));
+ stats.state_speed[Altos.ao_flight_main],
+ AltosConvert.meters_to_feet(stats.state_speed[Altos.ao_flight_main]));
System.out.printf("Flight time: %6.0f s\n",
stats.state_end[Altos.ao_flight_main] -
stats.state_start[Altos.ao_flight_boost]);
return false;
}
+ static boolean process_cat(File file) {
+ try {
+ AltosStateIterable eef = record_iterable(file);
+
+ System.out.printf ("process cat\n");
+ for (AltosState state : eef) {
+ System.out.printf ("tick %d state %d height %g\n",
+ state.tick, state.state, state.height());
+ if ((state.set & AltosState.set_gps) != 0)
+ System.out.printf ("time %g lat %g lon %g alt %g\n",
+ state.time_since_boost(),
+ state.gps.lat,
+ state.gps.lon,
+ state.gps.alt);
+ }
+
+ } catch (Exception e) {
+ System.out.printf("Failed to open file '%s'\n", file);
+ return false;
+ }
+ return true;
+ }
+
public static void help(int code) {
System.out.printf("Usage: altosui [OPTION]... [FILE]...\n");
System.out.printf(" Options:\n");
process = process_graph;
else if (args[i].equals("--summary"))
process = process_summary;
+ else if (args[i].equals("--cat"))
+ process = process_cat;
else if (args[i].startsWith("--"))
help(1);
else {
if (!process_summary(file))
++errors;
break;
+ case process_cat:
+ if (!process_cat(file))
+ ++errors;
}
}
}
import java.io.File;
import java.util.prefs.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import javax.swing.filechooser.FileSystemView;
public class AltosUIPreferencesBackend implements AltosPreferencesBackend {
package altosui;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public interface AltosWriter {
- public void write(AltosRecord record);
+ public void write(AltosState state);
- public void write(AltosRecordIterable iterable);
+ public void write(AltosStateIterable states);
public void close();
}
import java.awt.*;
import javax.swing.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.jfree.ui.*;
import org.jfree.chart.*;
import java.io.*;
import java.util.concurrent.*;
import java.util.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.jfree.ui.*;
import org.jfree.chart.*;
import java.awt.*;
import javax.swing.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.jfree.ui.*;
import org.jfree.chart.*;
import java.awt.*;
import javax.swing.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.jfree.ui.*;
import org.jfree.chart.*;
import java.awt.*;
import libaltosJNI.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosUILib extends AltosLib {
import java.awt.*;
import javax.swing.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.jfree.ui.*;
import org.jfree.chart.*;
import java.util.*;
import java.awt.Component;
import javax.swing.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
public class AltosUIPreferences extends AltosPreferences {
import java.io.File;
import java.util.prefs.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import javax.swing.filechooser.FileSystemView;
public class AltosUIPreferencesBackend implements AltosPreferencesBackend {
import java.awt.*;
import javax.swing.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.jfree.ui.*;
import org.jfree.chart.*;
import org.jfree.data.xy.*;
import org.jfree.data.*;
+class AltosUITime extends AltosUnits {
+ public double value(double v) { return v; }
+ public String show_units() { return "s"; }
+ public String say_units() { return "seconds"; }
+
+ public int show_fraction(int width) {
+ if (width < 5)
+ return 0;
+ return width - 5;
+ }
+
+ public int say_fraction() { return 0; }
+}
+
public class AltosUISeries extends XYSeries implements AltosUIGrapher {
AltosUIAxis axis;
String label;
axis.set_units();
StandardXYToolTipGenerator ttg;
- String example = units.graph_format(4);
+ String time_example = (new AltosUITime()).graph_format(7);
+ String example = units.graph_format(7);
ttg = new StandardXYToolTipGenerator(String.format("{1}s: {2}%s ({0})",
units.show_units()),
- new java.text.DecimalFormat(example),
+ new java.text.DecimalFormat(time_example),
new java.text.DecimalFormat(example));
renderer.setBaseToolTipGenerator(ttg);
}
telem.mega_data.height);
break;
+ case AO_TELEMETRY_METRUM_SENSOR:
+ printf ("state %1d accel %5d pres %9d temp %6.2f acceleration %6.2f speed %6.2f height %5d v_batt %5d sense_a %5d sense_m %5d\n",
+ telem.metrum_sensor.state,
+ telem.metrum_sensor.accel,
+ telem.metrum_sensor.pres,
+ telem.metrum_sensor.temp / 100.0,
+ telem.metrum_sensor.acceleration / 16.0,
+ telem.metrum_sensor.speed / 16.0,
+ telem.metrum_sensor.height,
+ telem.metrum_sensor.v_batt,
+ telem.metrum_sensor.sense_a,
+ telem.metrum_sensor.sense_m);
+ break;
+ case AO_TELEMETRY_METRUM_DATA:
+ printf ("ground_pres %9d ground_accel %5d accel_plus %5d accel_minus %5d\n",
+ telem.metrum_data.ground_pres,
+ telem.metrum_data.ground_accel,
+ telem.metrum_data.accel_plus_g,
+ telem.metrum_data.accel_minus_g);
+ break;
+ case AO_TELEMETRY_MINI:
+ printf ("state %1d v_batt %5d sense_a %5d sense_m %5d pres %9d temp %6.2f acceleration %6.2f speed %6.2f height %5d ground_pres %9d\n",
+ telem.mini.state,
+ telem.mini.v_batt,
+ telem.mini.sense_a,
+ telem.mini.sense_m,
+ telem.mini.pres,
+ telem.mini.temp / 100.0,
+ telem.mini.acceleration / 16.0,
+ telem.mini.speed / 16.0,
+ telem.mini.height,
+ telem.mini.ground_pres);
+ break;
default:
printf("\n");
}
/* 32 */
};
+#define AO_TELEMETRY_METRUM_SENSOR 0x0A
+
+struct ao_telemetry_metrum_sensor {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+
+ uint8_t state; /* 5 flight state */
+ int16_t accel; /* 6 Z axis */
+
+ int32_t pres; /* 8 Pa * 10 */
+ int16_t temp; /* 12 °C * 100 */
+
+ int16_t acceleration; /* 14 m/s² * 16 */
+ int16_t speed; /* 16 m/s * 16 */
+ int16_t height; /* 18 m */
+
+ int16_t v_batt; /* 20 battery voltage */
+ int16_t sense_a; /* 22 apogee continuity sense */
+ int16_t sense_m; /* 24 main continuity sense */
+
+ uint8_t pad[6]; /* 26 */
+ /* 32 */
+};
+
+#define AO_TELEMETRY_METRUM_DATA 0x0B
+
+struct ao_telemetry_metrum_data {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+
+ int32_t ground_pres; /* 8 average pres on pad */
+ int16_t ground_accel; /* 12 average accel on pad */
+ int16_t accel_plus_g; /* 14 accel calibration at +1g */
+ int16_t accel_minus_g; /* 16 accel calibration at -1g */
+
+ uint8_t pad[14]; /* 18 */
+ /* 32 */
+};
+
+#define AO_TELEMETRY_MINI 0x10
+
+struct ao_telemetry_mini {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+
+ uint8_t state; /* 5 flight state */
+ int16_t v_batt; /* 6 battery voltage */
+ int16_t sense_a; /* 8 apogee continuity */
+ int16_t sense_m; /* 10 main continuity */
+
+ int32_t pres; /* 12 Pa * 10 */
+ int16_t temp; /* 16 °C * 100 */
+
+ int16_t acceleration; /* 18 m/s² * 16 */
+ int16_t speed; /* 20 m/s * 16 */
+ int16_t height; /* 22 m */
+
+ int32_t ground_pres; /* 24 average pres on pad */
+
+ int32_t pad28; /* 28 */
+ /* 32 */
+};
+
/* #define AO_SEND_ALL_BARO */
#define AO_TELEMETRY_BARO 0x80
struct ao_telemetry_companion companion;
struct ao_telemetry_mega_sensor mega_sensor;
struct ao_telemetry_mega_data mega_data;
+ struct ao_telemetry_metrum_sensor metrum_sensor;
+ struct ao_telemetry_metrum_data metrum_data;
+ struct ao_telemetry_mini mini;
struct ao_telemetry_baro baro;
};
dnl Java library versions
ALTOSUILIB_VERSION=1
-ALTOSLIB_VERSION=1
+ALTOSLIB_VERSION=2
AC_SUBST(ALTOSLIB_VERSION)
AC_DEFINE(ALTOSLIB_VERSION,$ALTOSLIB_VERSION,[Version of the AltosLib package])
fi
AC_SUBST(WARN_CFLAGS)
-AC_CHECK_PROG([HAVE_SDCC], [sdcc], yes, no)
+#
+# Configure SDCC
+#
+
+AC_ARG_WITH([sdcc],
+ [AS_HELP_STRING([--with-sdcc],
+ [Name of SDCC])],
+ [],
+ [with_sdcc=auto])
+
+if test "x$with_sdcc" != "xno"; then
+ if test "x$with_sdcc" = "xauto"; then
+ with_sdcc="sdcc"
+ AC_CHECK_PROG([HAVE_SDCC],[$with_sdcc], yes, no)
+ else
+ HAVE_SDCC=yes
+ fi
+else
+ HAVE_SDCC=no
+fi
+
if test "x$HAVE_SDCC" = "xno"; then
- AC_MSG_WARN([No sdcc found, cc1111 binaries will not be built])
+ AC_MSG_WARN([SDCC not found, cc1111 binaries will not be built])
+else
+ SDCC=$with_sdcc
fi
-AC_CHECK_PROG([HAVE_ARM_GCC],[arm-none-eabi-gcc], yes, no,[/usr/bin])
-if test "x$HAVE_ARM_GCC" = "xno"; then
- AC_MSG_WARN([No summon toolchain arm compiler found, STM32L binaries will not be built])
+AC_SUBST(SDCC)
+AC_SUBST(HAVE_SDCC)
+
+#
+# Configure ARM compiler for STM32L and LPC11U14
+#
+
+AC_ARG_WITH([arm-cc],
+ [AS_HELP_STRING([--with-arm-cc],
+ [Name of ARM C compiler])],
+ [],
+ [with_arm_cc=auto])
+
+if test "x$with_arm_cc" != "xno"; then
+ if test "x$with_arm_cc" = "xauto"; then
+ with_arm_cc="arm-none-eabi-gcc"
+ AC_CHECK_PROG([HAVE_ARM_CC],[$with_arm_cc], yes, no)
+ else
+ HAVE_ARM_CC=yes
+ fi
+else
+ HAVE_ARM_CC=no
fi
-AC_CHECK_PROG([HAVE_ARM_M0_GCC], [arm-none-eabi-gcc], yes, no,[/usr/bin])
-if test "x$HAVE_ARM_M0_GCC" = "xno"; then
- AC_MSG_WARN([No linaro toolchain arm cortex-m0 compiler found, LPC11U14 binaries will not be built])
+if test "x$HAVE_ARM_CC" = "xno"; then
+ AC_MSG_WARN([Arm compiler not found, ARM binaries will not be built])
+else
+ ARM_CC=$with_arm_cc
fi
+AC_SUBST(HAVE_ARM_CC)
+AC_SUBST(ARM_CC)
+
+if test "x$HAVE_ARM_CC" = "xyes"; then
+ save_CC="$CC"
+ save_CFLAGS="$CFLAGS"
+ CC="$ARM_CC"
+ CFLAGS="-mthumb -mcpu=cortex-m0"
+ AC_LANG_PUSH([C])
+
+ AC_MSG_CHECKING([if ]$ARM_CC[ supports cortex-m0])
+ AC_COMPILE_IFELSE([AC_LANG_PROGRAM([int i;])],
+ [HAVE_ARM_M0_CC=yes],
+ [HAVE_ARM_M0_CC=no])
+ AC_MSG_RESULT([$HAVE_ARM_M0])
+ CFLAGS="-mthumb -mcpu=cortex-m3"
+ AC_MSG_CHECKING([if ]$ARM_CC[ supports cortex-m3])
+ AC_COMPILE_IFELSE([AC_LANG_PROGRAM([int i;])],
+ [HAVE_ARM_M3_CC=yes],
+ [HAVE_ARM_M3_CC=no])
+ AC_MSG_RESULT([$HAVE_ARM_M3])
+ AC_LANG_POP([C])
+ CFLAGS="$save_CFLAGS"
+ CC="$save_CC"
+else
+ HAVE_ARM_M3_CC=no
+ HAVE_ARM_M0_CC=no
+fi
+AC_SUBST(HAVE_ARM_M3_CC)
+AC_SUBST(HAVE_ARM_M0_CC)
+
+if test "x$HAVE_ARM_M3_CC" = "xno"; then
+ AC_MSG_WARN([No cortex-m3 arm compiler found, STM32L binaries will not be built])
+fi
+
+if test "x$HAVE_ARM_M0_CC" = "xno"; then
+ AC_MSG_WARN([No cortex-m0 arm compiler found, LPC11U14 binaries will not be built])
+fi
+
+#
+# Configure AVR compiler
+#
+
+AC_ARG_WITH([avr-cc],
+ [AS_HELP_STRING([--with-avr-cc],
+ [Name of AVR C compiler])],
+ [],
+ [with_avr_cc=auto])
+
+if test "x$with_avr_cc" != "xno"; then
+ if test "x$with_avr_cc" = "xauto"; then
+ with_avr_cc="avr-gcc"
+ AC_CHECK_PROG([HAVE_AVR_CC],[$with_avr_cc], yes, no)
+ else
+ HAVE_AVR_CC=yes
+ fi
+else
+ HAVE_AVR_CC=no
+fi
+
+AC_ARG_WITH([avr-objcopy],
+ [AS_HELP_STRING([--with-avr-objcopy],
+ [Name of AVR objcopy])],
+ [],
+ [with_avr_objcopy=auto])
+
+if test "x$with_avr_objcopy" != "xno"; then
+ if test "x$with_avr_objcopy" = "xauto"; then
+ with_avr_objcopy="avr-objcopy"
+ AC_CHECK_PROG([HAVE_AVR_OBJCOPY],[$with_avr_objcopy], yes, no)
+ else
+ HAVE_AVR_OBJCOPY=yes
+ fi
+else
+ HAVE_AVR_OBJCOPY=no
+fi
+
+if test "x$HAVE_AVR_CC" = "xno" -o "x$HAVE_AVR_OBJCOPY" = "xno"; then
+ AC_MSG_WARN([AVR compiler and objcopy not found, atmel binaries will not be built])
+ HAVE_AVR_CC=no
+else
+ AVR_CC=$with_avr_cc
+ AVR_OBJCOPY=$with_avr_objcopy
+fi
+
+AC_SUBST(AVR_CC)
+AC_SUBST(AVR_OBJCOPY)
+AC_SUBST(HAVE_AVR_CC)
AC_CHECK_PROG([HAVE_NICKLE], [nickle], yes, no)
if test "x$HAVE_NICKLE" = "xno"; then
AC_OUTPUT([
Makefile
+src/Makedefs
altoslib/Makefile
altosuilib/Makefile
altosuilib/AltosUIVersion.java
echo " Package: ${PACKAGE_NAME} ${PACKAGE_VERSION}"
echo ""
echo " Configuration"
-echo " STM32L support..............: ${HAVE_ARM_GCC}"
-echo " LPC11U14 support............: ${HAVE_ARM_M0_GCC}"
+echo " Arm compiler................: ${ARM_CC}"
+echo " STM32L support..............: ${HAVE_ARM_M3_CC}"
+echo " LPC11U14 support............: ${HAVE_ARM_M0_CC}"
+echo " SDCC........................: ${SDCC}"
echo " CC1111 support..............: ${HAVE_SDCC}"
+echo " AVR compiler................: ${AVR_CC} ${AVR_OBJCOPY}"
+echo " AVR support.................: ${HAVE_AVR_CC}"
echo " Android support.............: ${HAVE_ANDROID_SDK}"
echo " STlink support..............: ${HAVE_STLINK}"
echo ""
import java.lang.*;
import java.io.*;
import java.util.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
class MicroIterator implements Iterator<MicroDataPoint> {
import java.io.*;
import java.util.concurrent.*;
import java.util.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class MicroDownload extends AltosUIDialog implements Runnable, ActionListener {
import java.awt.*;
import javax.swing.*;
import javax.swing.filechooser.FileNameExtensionFilter;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class MicroExport extends JFileChooser {
import java.io.*;
import java.util.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class MicroFile {
import javax.swing.*;
import javax.swing.filechooser.FileNameExtensionFilter;
import java.io.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class MicroFileChooser extends JFileChooser {
import java.awt.*;
import javax.swing.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
import org.jfree.ui.*;
import java.io.*;
import java.util.concurrent.*;
import java.util.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class MicroPeak extends MicroFrame implements ActionListener, ItemListener {
import java.awt.*;
import java.io.*;
import javax.swing.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class MicroRaw extends JTextArea {
import java.io.*;
import java.util.concurrent.*;
import java.util.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class MicroSave extends JFileChooser {
package org.altusmetrum.micropeak;
import java.io.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class MicroStats {
import java.awt.*;
import javax.swing.*;
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_2.*;
import org.altusmetrum.altosuilib_1.*;
public class MicroStatsTable extends JComponent implements AltosFontListener {
--- /dev/null
+ARM_CC=@ARM_CC@
+HAVE_ARM_M3_CC=@HAVE_ARM_M3_CC@
+HAVE_ARM_M0_CC=@HAVE_ARM_M0_CC@
+
+SDCC=@SDCC@
+HAVE_SDCC=@HAVE_SDCC@
+
+AVR_CC=@AVR_CC@
+AVR_OBJCOPY=@AVR_OBJCOPY@
+HAVE_AVR_CC=@HAVE_AVR_CC@
vpath matrix.5c kalman
include Version
+include Makedefs
SDCCDIRS=\
telemetrum-v1.2 telemetrum-v1.1 telemetrum-v1.0 \
telefire-v0.1 telefire-v0.2 \
telemini-v2.0
-AVRDIRS=\
- telescience-v0.1 telescience-pwm micropeak
-
-ARMDIRS=\
+ARMM3DIRS=\
telemega-v0.1 telemega-v0.1/flash-loader \
telemega-v0.3 telemega-v0.3/flash-loader \
megadongle-v0.1 megadongle-v0.1/flash-loader \
telegps-v0.3 telegps-v0.3/flash-loader \
stm-bringup stm-demo \
telelco-v0.2 telelco-v0.2/flash-loader \
- telescience-v0.2 telescience-v0.2/flash-loader \
- easymini-v0.1 easymini-v0.1/flash-loader
+ telescience-v0.2 telescience-v0.2/flash-loader
ARMM0DIRS=\
- easymini-v0.1
+ easymini-v1.0 easymini-v1.0/flash-loader
+
+AVRDIRS=\
+ telescience-v0.1 telescience-pwm micropeak nanopeak-v0.1
-ifneq ($(shell which sdcc),)
+ifeq ($(strip $(HAVE_SDCC)),yes)
SUBDIRS += $(SDCCDIRS)
endif
-ifneq ($(shell which avr-gcc),)
- SUBDIRS += $(AVRDIRS)
+ifeq ($(strip ($HAVE_ARM_M3_CC)),yes)
+ SUBDIRS += $(ARMM3DIRS)
endif
-ifneq ($(shell which /opt/cortex/bin/arm-none-eabi-gcc),)
- SUBDIRS += $(ARMDIRS)
+ifneq ($(strip ($HAVE_ARM_M0_CC)),yes)
+ SUBDIRS += $(ARMM0DIRS)
endif
-ifneq ($(shell which /usr/bin/arm-none-eabi-gcc),)
- SUBDIRS += $(ARMM0DIRS)
+ifeq ($(strip $(HAVE_AVR_CC)),yes)
+ SUBDIRS += $(AVRDIRS)
endif
-ALLDIRS=$(SDCCDIRS) $(AVRDIRS) $(ARMDIRS)
+ALLDIRS=$(SDCCDIRS) $(ARMM3DIRS) $(ARMM0DIRS) $(AVRDIRS)
all: all-local all-recursive
--- /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.
+ */
+
+#include <ao.h>
+#include <ao_async.h>
+
+#define AO_ASYNC_BAUD 38400l
+#define AO_ASYNC_DELAY (uint8_t) (1000000l / AO_ASYNC_BAUD)
+
+#define LED_PORT PORTB
+
+void
+ao_async_start(void)
+{
+ LED_PORT |= (1 << AO_LED_SERIAL);
+}
+
+void
+ao_async_stop(void)
+{
+ LED_PORT &= ~(1 << AO_LED_SERIAL);
+}
+
+void
+ao_async_byte(uint8_t byte)
+{
+ uint8_t b;
+ uint16_t w;
+
+ /* start data stop */
+ w = (0x000 << 0) | (byte << 1) | (0x001 << 9);
+
+ ao_arch_block_interrupts();
+ for (b = 0; b < 10; b++) {
+ uint8_t v = LED_PORT & ~(1 << AO_LED_SERIAL);
+ v |= (w & 1) << AO_LED_SERIAL;
+ LED_PORT = v;
+ w >>= 1;
+
+ /* Carefully timed to hit around 9600 baud */
+ asm volatile ("nop");
+ asm volatile ("nop");
+
+ asm volatile ("nop");
+ asm volatile ("nop");
+ asm volatile ("nop");
+ asm volatile ("nop");
+ asm volatile ("nop");
+
+ asm volatile ("nop");
+ asm volatile ("nop");
+ asm volatile ("nop");
+ asm volatile ("nop");
+ asm volatile ("nop");
+ }
+ ao_arch_release_interrupts();
+}
--- /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.
+ */
+
+#ifndef _AO_ASYNC_H_
+#define _AO_ASYNC_H_
+
+void
+ao_async_start(void);
+
+void
+ao_async_stop(void);
+
+void
+ao_async_byte(uint8_t byte);
+
+#endif /* _AO_ASYNC_H_ */
vpath matrix.5c ../kalman
vpath ao-make-product.5c ../util
+include ../avr/Makefile.defs
+
MCU=atmega32u4
DUDECPUTYPE=m32u4
#PROGRAMMER=stk500v2 -P usb
-PROGRAMMER=usbtiny
-LOADCMD=avrdude
LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w:
-CC=avr-gcc
-OBJCOPY=avr-objcopy
-
-ifndef VERSION
-include ../Version
-endif
INC = \
ao.h \
--- /dev/null
+ifndef TOPDIR
+TOPDIR=..
+endif
+
+ifndef VERSION
+include $(TOPDIR)/Version
+endif
+
+include $(TOPDIR)/Makedefs
+
+CC=$(AVR_CC)
+OBJCOPY=$(AVR_OBJCOPY)
+LDSCRIPTS=/usr/lib/avr/lib/ldscripts
+
+PROGRAMMER=usbtiny
+LOADCMD=avrdude
-CC=sdcc
+include ../Makedefs
+CC=$(SDCC)
CFLAGS=--model-small --debug --opt-code-speed -DCODESIZE=$(CODESIZE)
ao_rdf_set(1);
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
#endif
+#if HAS_LED
/* signal successful initialization by turning off the LED */
ao_led_off(AO_LED_RED);
+#endif
} else {
/* Set idle mode */
ao_flight_state = ao_flight_idle;
ao_packet_slave_start();
#endif
+#if HAS_LED
/* signal successful initialization by turning off the LED */
ao_led_off(AO_LED_RED);
+#endif
}
/* wakeup threads due to state change */
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
#define AO_LOG_FORMAT_TELEMETRY 3 /* 32 byte ao_telemetry records */
#define AO_LOG_FORMAT_TELESCIENCE 4 /* 32 byte typed telescience records */
#define AO_LOG_FORMAT_TELEMEGA 5 /* 32 byte typed telemega records */
-#define AO_LOG_FORMAT_MINI 6 /* 16-byte MS5607 baro only */
+#define AO_LOG_FORMAT_EASYMINI 6 /* 16-byte MS5607 baro only, 3.0V supply */
#define AO_LOG_FORMAT_TELEMETRUM 7 /* 16-byte typed telemetrum records */
+#define AO_LOG_FORMAT_TELEMINI 8 /* 16-byte MS5607 baro only, 3.3V supply */
#define AO_LOG_FORMAT_NONE 127 /* No log at all */
extern __code uint8_t ao_log_format;
uint16_t flight; /* 4 */
int16_t ground_accel; /* 6 */
uint32_t ground_pres; /* 8 */
- } flight; /* 12 */
+ uint32_t ground_temp; /* 12 */
+ } flight; /* 16 */
/* AO_LOG_STATE */
struct {
uint16_t state; /* 4 */
--- /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.
+ */
+
+#include <ao.h>
+#include <ao_micropeak.h>
+#include <ao_log_micro.h>
+#include <ao_async.h>
+
+static uint16_t ao_log_offset = STARTING_LOG_OFFSET;
+
+void
+ao_log_micro_save(void)
+{
+ uint16_t n_samples = (ao_log_offset - STARTING_LOG_OFFSET) / sizeof (uint16_t);
+ ao_eeprom_write(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
+ ao_eeprom_write(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
+ ao_eeprom_write(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
+}
+
+void
+ao_log_micro_restore(void)
+{
+ ao_eeprom_read(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
+ ao_eeprom_read(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
+}
+
+void
+ao_log_micro_data(void)
+{
+ uint16_t low_bits = pa;
+
+ if (ao_log_offset < MAX_LOG_OFFSET) {
+ ao_eeprom_write(ao_log_offset, &low_bits, sizeof (low_bits));
+ ao_log_offset += sizeof (low_bits);
+ }
+}
+
+#define POLY 0x8408
+
+static uint16_t
+ao_log_micro_crc(uint16_t crc, uint8_t byte)
+{
+ uint8_t i;
+
+ for (i = 0; i < 8; i++) {
+ if ((crc & 0x0001) ^ (byte & 0x0001))
+ crc = (crc >> 1) ^ POLY;
+ else
+ crc = crc >> 1;
+ byte >>= 1;
+ }
+ return crc;
+}
+
+static void
+ao_log_hex_nibble(uint8_t b)
+{
+ if (b < 10)
+ ao_async_byte('0' + b);
+ else
+ ao_async_byte('a' - 10 + b);
+}
+
+static void
+ao_log_hex(uint8_t b)
+{
+ ao_log_hex_nibble(b>>4);
+ ao_log_hex_nibble(b&0xf);
+}
+
+static void
+ao_log_newline(void)
+{
+ ao_async_byte('\r');
+ ao_async_byte('\n');
+}
+
+void
+ao_log_micro_dump(void)
+{
+ uint16_t n_samples;
+ uint16_t nbytes;
+ uint8_t byte;
+ uint16_t b;
+ uint16_t crc = 0xffff;
+
+ ao_eeprom_read(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
+ if (n_samples == 0xffff)
+ n_samples = 0;
+ nbytes = STARTING_LOG_OFFSET + sizeof (uint16_t) * n_samples;
+ ao_async_start();
+ ao_async_byte('M');
+ ao_async_byte('P');
+ for (b = 0; b < nbytes; b++) {
+ if ((b & 0xf) == 0)
+ ao_log_newline();
+ ao_eeprom_read(b, &byte, 1);
+ ao_log_hex(byte);
+ crc = ao_log_micro_crc(crc, byte);
+ }
+ ao_log_newline();
+ crc = ~crc;
+ ao_log_hex(crc >> 8);
+ ao_log_hex(crc);
+ ao_log_newline();
+ ao_async_stop();
+}
--- /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.
+ */
+
+#ifndef _AO_LOG_MICRO_H_
+#define _AO_LOG_MICRO_H_
+
+#define PA_GROUND_OFFSET 0
+#define PA_MIN_OFFSET 4
+#define N_SAMPLES_OFFSET 8
+#define STARTING_LOG_OFFSET 10
+#define MAX_LOG_OFFSET 512
+
+void
+ao_log_micro_save(void);
+
+void
+ao_log_micro_restore(void);
+
+void
+ao_log_micro_data(void);
+
+void
+ao_log_micro_dump(void);
+
+#endif /* _AO_LOG_MICRO_H_ */
static __xdata uint8_t ao_log_mutex;
static __xdata struct ao_log_mini log;
-__code uint8_t ao_log_format = AO_LOG_FORMAT_MINI;
+__code uint8_t ao_log_format = AO_LOG_FORMAT;
static uint8_t
ao_log_csum(__xdata uint8_t *b) __reentrant
--- /dev/null
+/*
+ * Copyright © 2013 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.
+ */
+
+#ifndef AO_FLIGHT_TEST
+#include <ao.h>
+#endif
+#include <ao_micropeak.h>
+#include <ao_log_micro.h>
+
+uint32_t pa;
+uint32_t pa_ground;
+uint32_t pa_min;
+
+static void
+ao_microsample(void)
+{
+ ao_pa_get();
+ ao_microkalman_predict();
+ ao_microkalman_correct();
+}
+
+#define NUM_PA_HIST 16
+
+#define SKIP_PA_HIST(i,j) (((i) + (j)) & (NUM_PA_HIST - 1))
+
+static uint32_t pa_hist[NUM_PA_HIST];
+
+void
+ao_microflight(void)
+{
+ int16_t sample_count;
+ uint16_t time;
+ uint32_t pa_interval_min, pa_interval_max;
+ int32_t pa_diff;
+ uint8_t h, i;
+ uint8_t accel_lock = 0;
+ uint32_t pa_sum = 0;
+
+ /* Wait for motion, averaging values to get ground pressure */
+
+ time = ao_time();
+ ao_pa_get();
+ ao_microkalman_init();
+ pa_ground = pa;
+ sample_count = 0;
+ h = 0;
+ for (;;) {
+ time += SAMPLE_SLEEP;
+ if (sample_count == 0)
+ ao_led_on(AO_LED_REPORT);
+ ao_delay_until(time);
+ ao_microsample();
+ if (sample_count == 0)
+ ao_led_off(AO_LED_REPORT);
+ pa_hist[h] = pa;
+ h = SKIP_PA_HIST(h,1);
+ pa_diff = pa_ground - ao_pa;
+
+ /* Check for a significant pressure change */
+ if (pa_diff > BOOST_DETECT)
+ break;
+
+ if (sample_count < GROUND_AVG * 2) {
+ if (sample_count < GROUND_AVG)
+ pa_sum += pa;
+ ++sample_count;
+ } else {
+ pa_ground = pa_sum >> GROUND_AVG_SHIFT;
+ pa_sum = 0;
+ sample_count = 0;
+ }
+ }
+
+ /* Go back and find the first sample a decent interval above the ground */
+ pa_min = pa_ground - LAND_DETECT;
+ for (i = SKIP_PA_HIST(h,2); i != h; i = SKIP_PA_HIST(i,2)) {
+ if (pa_hist[i] < pa_min)
+ break;
+ }
+
+ /* Log the remaining samples so we get a complete history since leaving the ground */
+ for (; i != h; i = SKIP_PA_HIST(i,2)) {
+ pa = pa_hist[i];
+ ao_log_micro_data();
+ }
+
+ /* Now sit around until the pressure is stable again and record the max */
+
+ sample_count = 0;
+ pa_min = ao_pa;
+ pa_interval_min = ao_pa;
+ pa_interval_max = ao_pa;
+ for (;;) {
+ time += SAMPLE_SLEEP;
+ ao_delay_until(time);
+ if ((sample_count & 3) == 0)
+ ao_led_on(AO_LED_REPORT);
+ ao_microsample();
+ if ((sample_count & 3) == 0)
+ ao_led_off(AO_LED_REPORT);
+ if (sample_count & 1)
+ ao_log_micro_data();
+
+ /* If accelerating upwards, don't look for min pressure */
+ if (ao_pa_accel < ACCEL_LOCK_PA)
+ accel_lock = ACCEL_LOCK_TIME;
+ else if (accel_lock)
+ --accel_lock;
+ else if (ao_pa < pa_min)
+ pa_min = ao_pa;
+
+ if (sample_count == (GROUND_AVG - 1)) {
+ pa_diff = pa_interval_max - pa_interval_min;
+
+ /* Check to see if the pressure is now stable */
+ if (pa_diff < LAND_DETECT)
+ break;
+ sample_count = 0;
+ pa_interval_min = ao_pa;
+ pa_interval_max = ao_pa;
+ } else {
+ if (ao_pa < pa_interval_min)
+ pa_interval_min = ao_pa;
+ if (ao_pa > pa_interval_max)
+ pa_interval_max = ao_pa;
+ ++sample_count;
+ }
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2013 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.
+ */
+
+#ifndef AO_FLIGHT_TEST
+#include <ao.h>
+#endif
+#include <ao_micropeak.h>
+
+#define FIX_BITS 16
+
+#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
+#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
+#define from_fix8(x) ((x) >> 8)
+#define from_fix(x) ((x) >> 16)
+#define fix8_to_fix16(x) ((x) << 8)
+#define fix16_to_fix8(x) ((x) >> 8)
+
+#include <ao_kalman.h>
+
+/* Basic time step (96ms) */
+#define AO_MK_STEP to_fix16(0.096)
+/* step ** 2 / 2 */
+#define AO_MK_STEP_2_2 to_fix16(0.004608)
+
+uint32_t ao_k_pa; /* 24.8 fixed point */
+int32_t ao_k_pa_speed; /* 16.16 fixed point */
+int32_t ao_k_pa_accel; /* 16.16 fixed point */
+
+uint32_t ao_pa; /* integer portion */
+int16_t ao_pa_speed; /* integer portion */
+int16_t ao_pa_accel; /* integer portion */
+
+void
+ao_microkalman_init(void)
+{
+ ao_pa = pa;
+ ao_k_pa = pa << 8;
+}
+
+void
+ao_microkalman_predict(void)
+{
+ ao_k_pa += fix16_to_fix8((int32_t) ao_pa_speed * AO_MK_STEP + (int32_t) ao_pa_accel * AO_MK_STEP_2_2);
+ ao_k_pa_speed += (int32_t) ao_pa_accel * AO_MK_STEP;
+}
+
+void
+ao_microkalman_correct(void)
+{
+ int16_t e; /* Height error in Pa */
+
+ e = pa - from_fix8(ao_k_pa);
+
+ ao_k_pa += fix16_to_fix8((int32_t) e * AO_MK_BARO_K0_10);
+ ao_k_pa_speed += (int32_t) e * AO_MK_BARO_K1_10;
+ ao_k_pa_accel += (int32_t) e * AO_MK_BARO_K2_10;
+ ao_pa = from_fix8(ao_k_pa);
+ ao_pa_speed = from_fix(ao_k_pa_speed);
+ ao_pa_accel = from_fix(ao_k_pa_accel);
+}
--- /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.
+ */
+
+#include <ao.h>
+
+#define mid(time) ao_led_for(AO_LED_REPORT, time)
+#define pause(time) ao_delay(time)
+
+static void
+ao_report_digit(uint8_t digit) __reentrant
+{
+ if (!digit) {
+ mid(AO_MS_TO_TICKS(1000));
+ pause(AO_MS_TO_TICKS(300));
+ } else {
+ while (digit--) {
+ mid(AO_MS_TO_TICKS(300));
+ pause(AO_MS_TO_TICKS(300));
+ }
+ }
+ pause(AO_MS_TO_TICKS(1000));
+}
+
+void
+ao_report_altitude(void)
+{
+ __pdata alt_t agl = ao_max_height;
+ static __xdata uint8_t digits[11];
+ __pdata uint8_t ndigits, i;
+
+ if (agl < 0)
+ agl = 0;
+ ndigits = 0;
+ do {
+ digits[ndigits++] = agl % 10;
+ agl /= 10;
+ } while (agl);
+
+ i = ndigits;
+ do
+ ao_report_digit(digits[--i]);
+ while (i != 0);
+}
{
__xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+ telemetry.generic.tick = packet->tick;
telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR;
telemetry.metrum_sensor.state = ao_flight_state;
+++ /dev/null
-ao_product.h
-*.elf
+++ /dev/null
-#
-# AltOS build
-#
-#
-
-include ../lpc/Makefile.defs
-
-INC = \
- ao.h \
- ao_arch.h \
- ao_arch_funcs.h \
- ao_pins.h \
- ao_product.h \
- lpc.h
-
-#
-# Common AltOS sources
-#
-ALTOS_SRC = \
- ao_interrupt.c \
- ao_boot_chain.c \
- ao_romconfig.c \
- ao_product.c \
- ao_mutex.c \
- ao_panic.c \
- ao_stdio.c \
- ao_storage.c \
- ao_report.c \
- ao_ignite.c \
- ao_flight.c \
- ao_kalman.c \
- ao_sample.c \
- ao_data.c \
- ao_convert_pa.c \
- ao_led_lpc.c \
- ao_task.c \
- ao_log.c \
- ao_log_mini.c \
- ao_cmd.c \
- ao_config.c \
- ao_timer_lpc.c \
- ao_exti_lpc.c \
- ao_usb_lpc.c \
- ao_spi_lpc.c \
- ao_adc_lpc.c \
- ao_beep_lpc.c \
- ao_m25.c \
- ao_ms5607.c
-
-PRODUCT=EasyMini-v0.1
-PRODUCT_DEF=-DEASYMINI_V_0_1
-IDPRODUCT=0x0026
-
-CFLAGS = $(PRODUCT_DEF) $(LPC_CFLAGS) -g -Os
-
-PROGNAME=easymini-v0.1
-PROG=$(PROGNAME)-$(VERSION).elf
-
-SRC=$(ALTOS_SRC) ao_easymini.c
-OBJ=$(SRC:.c=.o)
-
-all: $(PROG)
-
-LDFLAGS=-L../lpc -Wl,-Taltos.ld
-
-$(PROG): Makefile $(OBJ) altos.ld
- $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(SAT_CLIB) -lgcc
-
-ao_product.h: ao-make-product.5c ../Version
- $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
-
-$(OBJ): $(INC)
-
-load: $(PROG)
- lpc-load $(PROG)
-
-distclean: clean
-
-clean:
- rm -f *.o $(PROG)
- rm -f ao_product.h
-
-install:
-
-uninstall:
+++ /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.
- */
-
-#include <ao.h>
-#include <ao_exti.h>
-
-void
-main(void)
-{
- ao_clock_init();
- ao_task_init();
- ao_timer_init();
- ao_exti_init();
-
- ao_beep_init();
-
- ao_adc_init();
- ao_spi_init();
- ao_storage_init();
-
- ao_usb_init();
-
- ao_cmd_init();
- ao_flight_init();
- ao_ms5607_init();
- ao_log_init();
- ao_report_init();
- ao_igniter_init();
- ao_config_init();
-
- ao_start_scheduler();
-}
+++ /dev/null
-/*
- * Copyright © 2013 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.
- */
-
-#define HAS_BEEP 1
-#define HAS_LED 1
-
-#define AO_STACK_SIZE 384
-
-#define IS_FLASH_LOADER 0
-
-/* Crystal on the board */
-#define AO_LPC_CLKIN 12000000
-
-/* Main clock frequency. 48MHz for USB so we don't use the USB PLL */
-#define AO_LPC_CLKOUT 48000000
-
-/* System clock frequency */
-#define AO_LPC_SYSCLK 24000000
-
-#define LED_PORT 0
-#define LED_PIN_RED 7
-
-#define AO_LED_RED (1 << LED_PIN_RED)
-
-#define LEDS_AVAILABLE AO_LED_RED
-
-#define HAS_USB 1
-
-#define HAS_USB_CONNECT 0
-#define HAS_USB_VBUS 0
-#define HAS_USB_PULLUP 1
-#define AO_USB_PULLUP_PORT 0
-#define AO_USB_PULLUP_PIN 20
-
-#define PACKET_HAS_SLAVE 0
-
-/* USART */
-
-#define HAS_SERIAL 0
-#define USE_SERIAL_0_STDIN 1
-#define SERIAL_0_18_19 1
-#define SERIAL_0_14_15 0
-#define SERIAL_0_17_18 0
-#define SERIAL_0_26_27 0
-
-/* SPI */
-
-#define HAS_SPI_0 1
-#define SPI_SCK0_P0_6 1
-#define HAS_SPI_1 1
-#define SPI_SCK1_P1_15 1
-#define SPI_MISO1_P0_22 1
-#define SPI_MOSI1_P0_21 1
-
-/* M25 */
-
-#define M25_MAX_CHIPS 1
-#define AO_M25_SPI_CS_PORT 0
-#define AO_M25_SPI_CS_MASK (1 << 23)
-#define AO_M25_SPI_BUS 1
-
-/* MS5607 */
-
-#define HAS_MS5607 1
-#define HAS_MS5611 0
-#define AO_MS5607_PRIVATE_PINS 0
-#define AO_MS5607_CS_PORT 0
-#define AO_MS5607_CS_PIN 7
-#define AO_MS5607_CS_MASK (1 << AO_MS5607_CS_PIN)
-#define AO_MS5607_MISO_PORT 0
-#define AO_MS5607_MISO_PIN 8
-#define AO_MS5607_MISO_MASK (1 << AO_MS5607_MISO_PIN)
-#define AO_MS5607_SPI_INDEX 0
-
-#define HAS_ACCEL 0
-#define HAS_GPS 0
-#define HAS_RADIO 0
-#define HAS_FLIGHT 1
-#define HAS_EEPROM 1
-#define HAS_TELEMETRY 0
-#define HAS_APRS 0
-#define HAS_LOG 1
-#define USE_INTERNAL_FLASH 0
-#define HAS_IGNITE 1
-#define HAS_IGNITE_REPORT 1
-
-#define AO_DATA_RING 16
-
-/*
- * ADC
- */
-
-#define HAS_ADC 1
-
-#define AO_NUM_ADC 3
-
-#define AO_ADC_0 1
-#define AO_ADC_1 1
-#define AO_ADC_2 1
-
-struct ao_adc {
- int16_t sense_a;
- int16_t sense_m;
- int16_t v_batt;
-};
-
-/*
- * Igniter
- */
-
-#define AO_IGNITER_CLOSED 400
-#define AO_IGNITER_OPEN 60
-
-#define AO_IGNITER_DROGUE_PORT 0
-#define AO_IGNITER_DROGUE_PIN 2
-#define AO_IGNITER_SET_DROGUE(v) ao_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, AO_IGNITER_DROGUE, v)
-
-#define AO_IGNITER_MAIN_PORT 0
-#define AO_IGNITER_MAIN_PIN 3
-#define AO_IGNITER_SET_MAIN(v) ao_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, AO_IGNITER_MAIN, v)
-
-#define AO_SENSE_DROGUE(p) ((p)->adc.sense_a)
-#define AO_SENSE_MAIN(p) ((p)->adc.sense_m)
-
-#define AO_ADC_DUMP(p) \
- printf("tick: %5u apogee: %5d main: %5d batt: %5d\n", \
- (p)->tick, (p)->adc.sense_a, (p)->adc.sense_m, (p)->adc.v_batt)
+++ /dev/null
-#
-# AltOS flash loader build
-#
-#
-
-TOPDIR=../..
-HARDWARE=easymini-v0.1
-include $(TOPDIR)/lpc/Makefile-flash.defs
+++ /dev/null
-/*
- * Copyright © 2013 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.
- */
-
-#ifndef _AO_PINS_H_
-#define _AO_PINS_H_
-
-#include <ao_flash_lpc_pins.h>
-
-#define AO_BOOT_PIN 1
-#define AO_BOOT_APPLICATION_GPIO 0
-#define AO_BOOT_APPLICATION_PIN 19
-#define AO_BOOT_APPLICATION_VALUE 1
-#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP
-
-#define HAS_USB_PULLUP 1
-#define AO_USB_PULLUP_PORT 0
-#define AO_USB_PULLUP_PIN 20
-
-#endif /* _AO_PINS_H_ */
--- /dev/null
+ao_product.h
+*.elf
--- /dev/null
+#
+# AltOS build
+#
+#
+
+include ../lpc/Makefile.defs
+
+INC = \
+ ao.h \
+ ao_arch.h \
+ ao_arch_funcs.h \
+ ao_pins.h \
+ ao_product.h \
+ lpc.h
+
+#
+# Common AltOS sources
+#
+ALTOS_SRC = \
+ ao_interrupt.c \
+ ao_boot_chain.c \
+ ao_romconfig.c \
+ ao_product.c \
+ ao_mutex.c \
+ ao_panic.c \
+ ao_stdio.c \
+ ao_storage.c \
+ ao_report.c \
+ ao_ignite.c \
+ ao_flight.c \
+ ao_kalman.c \
+ ao_sample.c \
+ ao_data.c \
+ ao_convert_pa.c \
+ ao_task.c \
+ ao_log.c \
+ ao_log_mini.c \
+ ao_cmd.c \
+ ao_config.c \
+ ao_timer_lpc.c \
+ ao_exti_lpc.c \
+ ao_usb_lpc.c \
+ ao_spi_lpc.c \
+ ao_adc_lpc.c \
+ ao_beep_lpc.c \
+ ao_m25.c \
+ ao_ms5607.c
+
+PRODUCT=EasyMini-v1.0
+PRODUCT_DEF=-DEASYMINI_V_1_0
+IDPRODUCT=0x0026
+
+CFLAGS = $(PRODUCT_DEF) $(LPC_CFLAGS) -g -Os
+
+PROGNAME=easymini-v1.0
+PROG=$(PROGNAME)-$(VERSION).elf
+
+SRC=$(ALTOS_SRC) ao_easymini.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG)
+
+LDFLAGS=-L../lpc -Wl,-Taltos.ld
+
+$(PROG): Makefile $(OBJ) altos.ld
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(SAT_CLIB) -lgcc
+
+ao_product.h: ao-make-product.5c ../Version
+ $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+$(OBJ): $(INC)
+
+load: $(PROG)
+ lpc-load $(PROG)
+
+distclean: clean
+
+clean:
+ rm -f *.o $(PROG)
+ rm -f ao_product.h
+
+install:
+
+uninstall:
--- /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.
+ */
+
+#include <ao.h>
+#include <ao_exti.h>
+
+void
+main(void)
+{
+ ao_clock_init();
+ ao_task_init();
+ ao_timer_init();
+ ao_exti_init();
+
+ ao_beep_init();
+
+ ao_adc_init();
+ ao_spi_init();
+ ao_storage_init();
+
+ ao_usb_init();
+
+ ao_cmd_init();
+ ao_flight_init();
+ ao_ms5607_init();
+ ao_log_init();
+ ao_report_init();
+ ao_igniter_init();
+ ao_config_init();
+
+ ao_start_scheduler();
+}
--- /dev/null
+/*
+ * Copyright © 2013 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.
+ */
+
+#define HAS_BEEP 1
+#define HAS_LED 0
+
+#define AO_STACK_SIZE 384
+
+#define IS_FLASH_LOADER 0
+
+/* Crystal on the board */
+#define AO_LPC_CLKIN 12000000
+
+/* Main clock frequency. 48MHz for USB so we don't use the USB PLL */
+#define AO_LPC_CLKOUT 48000000
+
+/* System clock frequency */
+#define AO_LPC_SYSCLK 24000000
+
+#define HAS_USB 1
+
+#define HAS_USB_CONNECT 0
+#define HAS_USB_VBUS 0
+#define HAS_USB_PULLUP 1
+#define AO_USB_PULLUP_PORT 0
+#define AO_USB_PULLUP_PIN 20
+
+#define PACKET_HAS_SLAVE 0
+
+#define AO_LOG_FORMAT AO_LOG_FORMAT_EASYMINI
+
+/* USART */
+
+#define HAS_SERIAL 0
+#define USE_SERIAL_0_STDIN 1
+#define SERIAL_0_18_19 1
+#define SERIAL_0_14_15 0
+#define SERIAL_0_17_18 0
+#define SERIAL_0_26_27 0
+
+/* SPI */
+
+#define HAS_SPI_0 1
+#define SPI_SCK0_P0_6 1
+#define HAS_SPI_1 1
+#define SPI_SCK1_P1_15 1
+#define SPI_MISO1_P0_22 1
+#define SPI_MOSI1_P0_21 1
+
+/* M25 */
+
+#define M25_MAX_CHIPS 1
+#define AO_M25_SPI_CS_PORT 0
+#define AO_M25_SPI_CS_MASK (1 << 23)
+#define AO_M25_SPI_BUS 1
+
+/* MS5607 */
+
+#define HAS_MS5607 1
+#define HAS_MS5611 0
+#define AO_MS5607_PRIVATE_PINS 0
+#define AO_MS5607_CS_PORT 0
+#define AO_MS5607_CS_PIN 7
+#define AO_MS5607_CS_MASK (1 << AO_MS5607_CS_PIN)
+#define AO_MS5607_MISO_PORT 0
+#define AO_MS5607_MISO_PIN 8
+#define AO_MS5607_MISO_MASK (1 << AO_MS5607_MISO_PIN)
+#define AO_MS5607_SPI_INDEX 0
+
+#define HAS_ACCEL 0
+#define HAS_GPS 0
+#define HAS_RADIO 0
+#define HAS_FLIGHT 1
+#define HAS_EEPROM 1
+#define HAS_TELEMETRY 0
+#define HAS_APRS 0
+#define HAS_LOG 1
+#define USE_INTERNAL_FLASH 0
+#define HAS_IGNITE 1
+#define HAS_IGNITE_REPORT 1
+
+#define AO_DATA_RING 16
+
+/*
+ * ADC
+ */
+
+#define HAS_ADC 1
+
+#define AO_NUM_ADC 3
+
+#define AO_ADC_0 1
+#define AO_ADC_1 1
+#define AO_ADC_2 1
+
+struct ao_adc {
+ int16_t sense_a;
+ int16_t sense_m;
+ int16_t v_batt;
+};
+
+/*
+ * Igniter
+ */
+
+#define AO_IGNITER_CLOSED 400
+#define AO_IGNITER_OPEN 60
+
+#define AO_IGNITER_DROGUE_PORT 0
+#define AO_IGNITER_DROGUE_PIN 2
+#define AO_IGNITER_SET_DROGUE(v) ao_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, AO_IGNITER_DROGUE, v)
+
+#define AO_IGNITER_MAIN_PORT 0
+#define AO_IGNITER_MAIN_PIN 3
+#define AO_IGNITER_SET_MAIN(v) ao_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, AO_IGNITER_MAIN, v)
+
+#define AO_SENSE_DROGUE(p) ((p)->adc.sense_a)
+#define AO_SENSE_MAIN(p) ((p)->adc.sense_m)
+
+#define AO_ADC_DUMP(p) \
+ printf("tick: %5u apogee: %5d main: %5d batt: %5d\n", \
+ (p)->tick, (p)->adc.sense_a, (p)->adc.sense_m, (p)->adc.v_batt)
--- /dev/null
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=easymini-v1.0
+include $(TOPDIR)/lpc/Makefile-flash.defs
--- /dev/null
+/*
+ * Copyright © 2013 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.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+#include <ao_flash_lpc_pins.h>
+
+#define AO_BOOT_PIN 1
+#define AO_BOOT_APPLICATION_GPIO 0
+#define AO_BOOT_APPLICATION_PIN 19
+#define AO_BOOT_APPLICATION_VALUE 1
+#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP
+
+#define HAS_USB_PULLUP 1
+#define AO_USB_PULLUP_PORT 0
+#define AO_USB_PULLUP_PIN 20
+
+#endif /* _AO_PINS_H_ */
.elf.ihx:
objcopy -O ihex $*.elf $@
-CC=arm-none-eabi-gcc
-SAT=/opt/cortex
-SAT_CLIB=$(SAT)/lib/pdclib-cortex-m0.a
-SAT_CFLAGS=-I$(SAT)/include
ifndef VERSION
include $(TOPDIR)/Version
endif
+include $(TOPDIR)/Makedefs
+
+CC=$(ARM_CC)
+SAT=/opt/cortex
+SAT_CLIB=$(SAT)/lib/pdclib-cortex-m0.a
+SAT_CFLAGS=-I$(SAT)/include
AO_CFLAGS=-I. -I$(TOPDIR)/lpc -I$(TOPDIR)/core -I$(TOPDIR)/drivers -I$(TOPDIR)/product -I$(TOPDIR)
STM_CFLAGS=-std=gnu99 -mlittle-endian -mcpu=cortex-m0 -mthumb -ffreestanding -nostdlib $(AO_CFLAGS) $(SAT_CFLAGS)
vpath matrix.5c ../kalman
vpath ao-make-product.5c ../util
-CC=/usr/bin/arm-none-eabi-gcc
-SAT=/opt/cortex
-SAT_CLIB=$(SAT)/lib/pdclib-cortex-m0.a
-SAT_CFLAGS=-I$(SAT)/include
-
-#CC=/opt/arm-gcc-bits/bin/arm-none-eabi-gcc
+ifndef TOPDIR
+TOPDIR=..
+endif
ifndef VERSION
-include ../Version
+include $(TOPDIR)/Version
endif
+include $(TOPDIR)/Makedefs
+
+CC=$(ARM_CC)
+SAT=/opt/cortex
+SAT_CLIB=$(SAT)/lib/pdclib-cortex-m0.a
+SAT_CFLAGS=-I$(SAT)/include
-AO_CFLAGS=-I. -I../lpc -I../core -I../drivers -I..
+AO_CFLAGS=-I. -I$(TOPDIR)/lpc -I$(TOPDIR)/core -I$(TOPDIR)/drivers -I$(TOPDIR)
LPC_CFLAGS=-std=gnu99 -mlittle-endian -mcpu=cortex-m0 -mthumb -ffreestanding -nostdlib $(AO_CFLAGS) $(SAT_CFLAGS)
-LDFLAGS=-L../stm -Wl,-Taltos.ld
+LDFLAGS=$(LPC_CFLAGS) -L$(TOPDIR)/stm -Wl,-Taltos.ld
NICKLE=nickle
quiet ?= $($1)
.c.o:
- $(call quiet,CC) -c $(CFLAGS) -o $@ $<
+ $(call quiet,CC) -c $(CFLAGS) $<
-ao_serial_lpc.h: ../lpc/baud_rate ao_pins.h
- nickle ../lpc/baud_rate `awk '/AO_LPC_CLKOUT/{print $$3}' ao_pins.h` > $@
+ao_serial_lpc.h: $(TOPDIR)/lpc/baud_rate ao_pins.h
+ nickle $(TOPDIR)/lpc/baud_rate `awk '/AO_LPC_CLKOUT/{print $$3}' ao_pins.h` > $@
ao_serial_lpc.o: ao_serial_lpc.h
asm("mrs %0,control" : "=&r" (control));
control |= (1 << 1);
asm("msr control,%0" : : "r" (control));
+ asm("isb");
}
#endif /* _AO_ARCH_FUNCS_H_ */
# Tiny AltOS build
#
#
-vpath % ../attiny:../drivers:../core:..
+vpath % ../attiny:../drivers:../core:../product:..
vpath ao-make-product.5c ../util
vpath make-altitude-pa ../util
+include ../avr/Makefile.defs
+
MCU=attiny85
DUDECPUTYPE=t85
#PROGRAMMER=stk500v2 -P usb
-PROGRAMMER=usbtiny
-LOADCMD=avrdude
LOADSLOW=-i 32 -B 32
LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w:
-CC=avr-gcc
-OBJCOPY=avr-objcopy
-
-LDFLAGS=-L/usr/lib/ldscripts -Tavr25.x
-ifndef VERSION
-include ../Version
-endif
+LDFLAGS=-L$(LDSCRIPTS) -Tavr25.x
ALTOS_SRC = \
ao_micropeak.c \
ao_ms5607.c \
ao_exti.c \
ao_convert_pa.c \
- ao_report_tiny.c \
+ ao_report_micro.c \
ao_notask.c \
ao_eeprom_tiny.c \
ao_panic.c \
IDPRODUCT=0
PRODUCT=MicroPeak-v0.1
PRODUCT_DEF=-DMICROPEAK
-CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../core -I.. -I../drivers
+CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../core -I.. -I../drivers -I../product
CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O2 -mcall-prologues -DATTINY
NICKLE=nickle
+++ /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.
- */
-
-#include <ao.h>
-#include <ao_async.h>
-
-#define AO_ASYNC_BAUD 38400l
-#define AO_ASYNC_DELAY (uint8_t) (1000000l / AO_ASYNC_BAUD)
-
-#define LED_PORT PORTB
-
-void
-ao_async_start(void)
-{
- LED_PORT |= (1 << AO_LED_SERIAL);
-}
-
-void
-ao_async_stop(void)
-{
- LED_PORT &= ~(1 << AO_LED_SERIAL);
-}
-
-void
-ao_async_byte(uint8_t byte)
-{
- uint8_t b;
- uint16_t w;
-
- /* start data stop */
- w = (0x000 << 0) | (byte << 1) | (0x001 << 9);
-
- ao_arch_block_interrupts();
- for (b = 0; b < 10; b++) {
- uint8_t v = LED_PORT & ~(1 << AO_LED_SERIAL);
- v |= (w & 1) << AO_LED_SERIAL;
- LED_PORT = v;
- w >>= 1;
-
- /* Carefully timed to hit around 9600 baud */
- asm volatile ("nop");
- asm volatile ("nop");
-
- asm volatile ("nop");
- asm volatile ("nop");
- asm volatile ("nop");
- asm volatile ("nop");
- asm volatile ("nop");
-
- asm volatile ("nop");
- asm volatile ("nop");
- asm volatile ("nop");
- asm volatile ("nop");
- asm volatile ("nop");
- }
- ao_arch_release_interrupts();
-}
+++ /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.
- */
-
-#ifndef _AO_ASYNC_H_
-#define _AO_ASYNC_H_
-
-void
-ao_async_start(void);
-
-void
-ao_async_stop(void);
-
-void
-ao_async_byte(uint8_t byte);
-
-#endif /* _AO_ASYNC_H_ */
+++ /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.
- */
-
-#include <ao.h>
-#include <ao_micropeak.h>
-#include <ao_log_micro.h>
-#include <ao_async.h>
-
-static uint16_t ao_log_offset = STARTING_LOG_OFFSET;
-
-void
-ao_log_micro_save(void)
-{
- uint16_t n_samples = (ao_log_offset - STARTING_LOG_OFFSET) / sizeof (uint16_t);
- ao_eeprom_write(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
- ao_eeprom_write(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
- ao_eeprom_write(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
-}
-
-void
-ao_log_micro_restore(void)
-{
- ao_eeprom_read(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
- ao_eeprom_read(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
-}
-
-void
-ao_log_micro_data(void)
-{
- uint16_t low_bits = pa;
-
- if (ao_log_offset < MAX_LOG_OFFSET) {
- ao_eeprom_write(ao_log_offset, &low_bits, sizeof (low_bits));
- ao_log_offset += sizeof (low_bits);
- }
-}
-
-#define POLY 0x8408
-
-static uint16_t
-ao_log_micro_crc(uint16_t crc, uint8_t byte)
-{
- uint8_t i;
-
- for (i = 0; i < 8; i++) {
- if ((crc & 0x0001) ^ (byte & 0x0001))
- crc = (crc >> 1) ^ POLY;
- else
- crc = crc >> 1;
- byte >>= 1;
- }
- return crc;
-}
-
-static void
-ao_log_hex_nibble(uint8_t b)
-{
- if (b < 10)
- ao_async_byte('0' + b);
- else
- ao_async_byte('a' - 10 + b);
-}
-
-static void
-ao_log_hex(uint8_t b)
-{
- ao_log_hex_nibble(b>>4);
- ao_log_hex_nibble(b&0xf);
-}
-
-static void
-ao_log_newline(void)
-{
- ao_async_byte('\r');
- ao_async_byte('\n');
-}
-
-void
-ao_log_micro_dump(void)
-{
- uint16_t n_samples;
- uint16_t nbytes;
- uint8_t byte;
- uint16_t b;
- uint16_t crc = 0xffff;
-
- ao_eeprom_read(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
- if (n_samples == 0xffff)
- n_samples = 0;
- nbytes = STARTING_LOG_OFFSET + sizeof (uint16_t) * n_samples;
- ao_async_start();
- ao_async_byte('M');
- ao_async_byte('P');
- for (b = 0; b < nbytes; b++) {
- if ((b & 0xf) == 0)
- ao_log_newline();
- ao_eeprom_read(b, &byte, 1);
- ao_log_hex(byte);
- crc = ao_log_micro_crc(crc, byte);
- }
- ao_log_newline();
- crc = ~crc;
- ao_log_hex(crc >> 8);
- ao_log_hex(crc);
- ao_log_newline();
- ao_async_stop();
-}
+++ /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.
- */
-
-#ifndef _AO_LOG_MICRO_H_
-#define _AO_LOG_MICRO_H_
-
-#define PA_GROUND_OFFSET 0
-#define PA_MIN_OFFSET 4
-#define N_SAMPLES_OFFSET 8
-#define STARTING_LOG_OFFSET 10
-#define MAX_LOG_OFFSET 512
-
-void
-ao_log_micro_save(void);
-
-void
-ao_log_micro_restore(void);
-
-void
-ao_log_micro_data(void);
-
-void
-ao_log_micro_dump(void);
-
-#endif /* _AO_LOG_MICRO_H_ */
+++ /dev/null
-/*
- * Copyright © 2013 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.
- */
-
-#ifndef AO_FLIGHT_TEST
-#include <ao.h>
-#endif
-#include <ao_micropeak.h>
-#include <ao_log_micro.h>
-
-uint32_t pa;
-uint32_t pa_ground;
-uint32_t pa_min;
-
-static void
-ao_microsample(void)
-{
- ao_pa_get();
- ao_microkalman_predict();
- ao_microkalman_correct();
-}
-
-#define NUM_PA_HIST 16
-
-#define SKIP_PA_HIST(i,j) (((i) + (j)) & (NUM_PA_HIST - 1))
-
-static uint32_t pa_hist[NUM_PA_HIST];
-
-void
-ao_microflight(void)
-{
- int16_t sample_count;
- uint16_t time;
- uint32_t pa_interval_min, pa_interval_max;
- int32_t pa_diff;
- uint8_t h, i;
- uint8_t accel_lock = 0;
- uint32_t pa_sum = 0;
-
- /* Wait for motion, averaging values to get ground pressure */
-
- time = ao_time();
- ao_pa_get();
- ao_microkalman_init();
- pa_ground = pa;
- sample_count = 0;
- h = 0;
- for (;;) {
- time += SAMPLE_SLEEP;
- if (sample_count == 0)
- ao_led_on(AO_LED_REPORT);
- ao_delay_until(time);
- ao_microsample();
- if (sample_count == 0)
- ao_led_off(AO_LED_REPORT);
- pa_hist[h] = pa;
- h = SKIP_PA_HIST(h,1);
- pa_diff = pa_ground - ao_pa;
-
- /* Check for a significant pressure change */
- if (pa_diff > BOOST_DETECT)
- break;
-
- if (sample_count < GROUND_AVG * 2) {
- if (sample_count < GROUND_AVG)
- pa_sum += pa;
- ++sample_count;
- } else {
- pa_ground = pa_sum >> GROUND_AVG_SHIFT;
- pa_sum = 0;
- sample_count = 0;
- }
- }
-
- /* Go back and find the first sample a decent interval above the ground */
- pa_min = pa_ground - LAND_DETECT;
- for (i = SKIP_PA_HIST(h,2); i != h; i = SKIP_PA_HIST(i,2)) {
- if (pa_hist[i] < pa_min)
- break;
- }
-
- /* Log the remaining samples so we get a complete history since leaving the ground */
- for (; i != h; i = SKIP_PA_HIST(i,2)) {
- pa = pa_hist[i];
- ao_log_micro_data();
- }
-
- /* Now sit around until the pressure is stable again and record the max */
-
- sample_count = 0;
- pa_min = ao_pa;
- pa_interval_min = ao_pa;
- pa_interval_max = ao_pa;
- for (;;) {
- time += SAMPLE_SLEEP;
- ao_delay_until(time);
- if ((sample_count & 3) == 0)
- ao_led_on(AO_LED_REPORT);
- ao_microsample();
- if ((sample_count & 3) == 0)
- ao_led_off(AO_LED_REPORT);
- if (sample_count & 1)
- ao_log_micro_data();
-
- /* If accelerating upwards, don't look for min pressure */
- if (ao_pa_accel < ACCEL_LOCK_PA)
- accel_lock = ACCEL_LOCK_TIME;
- else if (accel_lock)
- --accel_lock;
- else if (ao_pa < pa_min)
- pa_min = ao_pa;
-
- if (sample_count == (GROUND_AVG - 1)) {
- pa_diff = pa_interval_max - pa_interval_min;
-
- /* Check to see if the pressure is now stable */
- if (pa_diff < LAND_DETECT)
- break;
- sample_count = 0;
- pa_interval_min = ao_pa;
- pa_interval_max = ao_pa;
- } else {
- if (ao_pa < pa_interval_min)
- pa_interval_min = ao_pa;
- if (ao_pa > pa_interval_max)
- pa_interval_max = ao_pa;
- ++sample_count;
- }
- }
-}
+++ /dev/null
-/*
- * Copyright © 2013 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.
- */
-
-#ifndef AO_FLIGHT_TEST
-#include <ao.h>
-#endif
-#include <ao_micropeak.h>
-
-#define FIX_BITS 16
-
-#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
-#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
-#define from_fix8(x) ((x) >> 8)
-#define from_fix(x) ((x) >> 16)
-#define fix8_to_fix16(x) ((x) << 8)
-#define fix16_to_fix8(x) ((x) >> 8)
-
-#include <ao_kalman.h>
-
-/* Basic time step (96ms) */
-#define AO_MK_STEP to_fix16(0.096)
-/* step ** 2 / 2 */
-#define AO_MK_STEP_2_2 to_fix16(0.004608)
-
-uint32_t ao_k_pa; /* 24.8 fixed point */
-int32_t ao_k_pa_speed; /* 16.16 fixed point */
-int32_t ao_k_pa_accel; /* 16.16 fixed point */
-
-uint32_t ao_pa; /* integer portion */
-int16_t ao_pa_speed; /* integer portion */
-int16_t ao_pa_accel; /* integer portion */
-
-void
-ao_microkalman_init(void)
-{
- ao_pa = pa;
- ao_k_pa = pa << 8;
-}
-
-void
-ao_microkalman_predict(void)
-{
- ao_k_pa += fix16_to_fix8((int32_t) ao_pa_speed * AO_MK_STEP + (int32_t) ao_pa_accel * AO_MK_STEP_2_2);
- ao_k_pa_speed += (int32_t) ao_pa_accel * AO_MK_STEP;
-}
-
-void
-ao_microkalman_correct(void)
-{
- int16_t e; /* Height error in Pa */
-
- e = pa - from_fix8(ao_k_pa);
-
- ao_k_pa += fix16_to_fix8((int32_t) e * AO_MK_BARO_K0_10);
- ao_k_pa_speed += (int32_t) e * AO_MK_BARO_K1_10;
- ao_k_pa_accel += (int32_t) e * AO_MK_BARO_K2_10;
- ao_pa = from_fix8(ao_k_pa);
- ao_pa_speed = from_fix(ao_k_pa_speed);
- ao_pa_accel = from_fix(ao_k_pa_accel);
-}
+++ /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.
- */
-
-#include <ao.h>
-#include <ao_micropeak.h>
-#include <ao_ms5607.h>
-#include <ao_log_micro.h>
-#include <ao_async.h>
-
-static struct ao_ms5607_sample sample;
-static struct ao_ms5607_value value;
-
-alt_t ground_alt, max_alt;
-alt_t ao_max_height;
-
-void
-ao_pa_get(void)
-{
- ao_ms5607_sample(&sample);
- ao_ms5607_convert(&sample, &value);
- pa = value.pres;
-}
-
-static void
-ao_compute_height(void)
-{
- ground_alt = ao_pa_to_altitude(pa_ground);
- max_alt = ao_pa_to_altitude(pa_min);
- ao_max_height = max_alt - ground_alt;
-}
-
-static void
-ao_pips(void)
-{
- uint8_t i;
- for (i = 0; i < 10; i++) {
- ao_led_toggle(AO_LED_REPORT);
- ao_delay(AO_MS_TO_TICKS(80));
- }
- ao_delay(AO_MS_TO_TICKS(200));
-}
-
-int
-main(void)
-{
- ao_led_init(LEDS_AVAILABLE);
- ao_timer_init();
-
- /* Init external hardware */
- ao_spi_init();
- ao_ms5607_init();
- ao_ms5607_setup();
-
- /* Give the person a second to get their finger out of the way */
- ao_delay(AO_MS_TO_TICKS(1000));
-
- ao_log_micro_restore();
- ao_compute_height();
- ao_report_altitude();
- ao_pips();
- ao_log_micro_dump();
-
- ao_delay(BOOST_DELAY);
-
- ao_microflight();
-
- ao_log_micro_save();
- ao_compute_height();
- ao_report_altitude();
- for (;;) {
- cli();
- set_sleep_mode(SLEEP_MODE_PWR_DOWN);
- sleep_mode();
- }
-}
+++ /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.
- */
-
-#ifndef _AO_MICROPEAK_H_
-#define _AO_MICROPEAK_H_
-
-#define SAMPLE_SLEEP AO_MS_TO_TICKS(96)
-
-/* 16 sample, or about two seconds worth */
-#define GROUND_AVG_SHIFT 4
-#define GROUND_AVG (1 << GROUND_AVG_SHIFT)
-
-/* Pressure change (in Pa) to detect boost */
-#define BOOST_DETECT 120 /* 10m at sea level, 12m at 2000m */
-
-/* Wait after power on before doing anything to give the user time to assemble the rocket */
-#define BOOST_DELAY AO_SEC_TO_TICKS(30)
-
-/* Pressure change (in Pa) to detect landing */
-#define LAND_DETECT 24 /* 2m at sea level, 2.4m at 2000m */
-
-/* Current sensor pressure value */
-extern uint32_t pa;
-
-/* Average pressure value on ground */
-extern uint32_t pa_ground;
-
-/* Minimum recorded filtered pressure value */
-extern uint32_t pa_min;
-
-/* Pressure values converted to altitudes */
-extern alt_t ground_alt, max_alt;
-
-/* max_alt - ground_alt */
-extern alt_t ao_max_height;
-
-void
-ao_pa_get(void);
-
-void
-ao_microflight(void);
-
-#define ACCEL_LOCK_PA -20
-#define ACCEL_LOCK_TIME 10
-
-extern uint32_t ao_k_pa; /* 24.8 fixed point */
-extern int32_t ao_k_pa_speed; /* 16.16 fixed point */
-extern int32_t ao_k_pa_accel; /* 16.16 fixed point */
-
-extern uint32_t ao_pa; /* integer portion */
-extern int16_t ao_pa_speed; /* integer portion */
-extern int16_t ao_pa_accel; /* integer portion */
-
-void
-ao_microkalman_init(void);
-
-void
-ao_microkalman_predict(void);
-
-void
-ao_microkalman_correct(void);
-
-#endif
-
+++ /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.
- */
-
-#include <ao.h>
-
-#define mid(time) ao_led_for(AO_LED_REPORT, time)
-#define pause(time) ao_delay(time)
-
-static void
-ao_report_digit(uint8_t digit) __reentrant
-{
- if (!digit) {
- mid(AO_MS_TO_TICKS(1000));
- pause(AO_MS_TO_TICKS(300));
- } else {
- while (digit--) {
- mid(AO_MS_TO_TICKS(300));
- pause(AO_MS_TO_TICKS(300));
- }
- }
- pause(AO_MS_TO_TICKS(1000));
-}
-
-void
-ao_report_altitude(void)
-{
- __pdata alt_t agl = ao_max_height;
- static __xdata uint8_t digits[11];
- __pdata uint8_t ndigits, i;
-
- if (agl < 0)
- agl = 0;
- ndigits = 0;
- do {
- digits[ndigits++] = agl % 10;
- agl /= 10;
- } while (agl);
-
- i = ndigits;
- do
- ao_report_digit(digits[--i]);
- while (i != 0);
-}
--- /dev/null
+ao_product.h
+nanopeak-*
--- /dev/null
+#
+# Tiny AltOS build
+#
+#
+vpath % ../attiny:../drivers:../core:../product:..
+vpath ao-make-product.5c ../util
+vpath make-altitude-pa ../util
+
+include ../avr/Makefile.defs
+
+MCU=attiny85
+DUDECPUTYPE=t85
+#PROGRAMMER=stk500v2 -P usb
+LOADSLOW=-i 32 -B 32
+LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w:
+
+LDFLAGS=-L$(LDSCRIPTS) -Tavr25.x
+
+ALTOS_SRC = \
+ ao_micropeak.c \
+ ao_spi_attiny.c \
+ ao_led.c \
+ ao_clock.c \
+ ao_ms5607.c \
+ ao_exti.c \
+ ao_convert_pa.c \
+ ao_report_micro.c \
+ ao_notask.c \
+ ao_eeprom_tiny.c \
+ ao_panic.c \
+ ao_log_micro.c \
+ ao_async.c \
+ ao_microflight.c \
+ ao_microkalman.c
+
+INC=\
+ ao.h \
+ ao_pins.h \
+ ao_arch.h \
+ ao_arch_funcs.h \
+ ao_exti.h \
+ ao_ms5607.h \
+ ao_log_micro.h \
+ ao_micropeak.h \
+ altitude-pa.h
+
+IDPRODUCT=0
+PRODUCT=NanoPeak-v0.1
+PRODUCT_DEF=-DNANOPEAK
+CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../core -I.. -I../drivers -I../product
+CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O2 -mcall-prologues -DATTINY
+
+NICKLE=nickle
+
+PROG=nanopeak-v0.1
+
+SRC=$(ALTOS_SRC)
+OBJ=$(SRC:.c=.o)
+
+V=0
+# The user has explicitly enabled quiet compilation.
+ifeq ($(V),0)
+quiet = @printf " $1 $2 $@\n"; $($1)
+endif
+# Otherwise, print the full command line.
+quiet ?= $($1)
+
+all: $(PROG) $(PROG).hex
+
+CHECK=sh ../util/check-avr-mem
+
+$(PROG): Makefile $(OBJ)
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ)
+ $(call quiet,CHECK) $(PROG) || ($(RM) -f $(PROG); exit 1)
+
+$(PROG).hex: $(PROG)
+ avr-size $(PROG)
+ $(OBJCOPY) -R .eeprom -O ihex $(PROG) $@
+
+
+load: $(PROG).hex
+ $(LOADCMD) $(LOADARG)$(PROG).hex
+
+load-slow: $(PROG).hex
+ $(LOADCMD) $(LOADSLOW) $(LOADARG)$(PROG).hex
+
+ao_product.h: ao-make-product.5c ../Version
+ $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+ao_product.o: ao_product.c ao_product.h
+
+%.o : %.c $(INC)
+ $(call quiet,CC) -c $(CFLAGS) $<
+
+distclean: clean
+
+clean:
+ rm -f *.o $(PROG) $(PROG).hex
+ rm -f ao_product.h
+
+../altitude-pa.h: make-altitude-pa
+ nickle $< > $@
+
+install:
+
+uninstall:
+
+$(OBJ): ao_product.h $(INC)
--- /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.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+#include <avr/pgmspace.h>
+
+#define AO_LED_ORANGE (1<<3)
+#define AO_LED_SERIAL 3
+#define AO_LED_PANIC AO_LED_ORANGE
+#define AO_LED_REPORT AO_LED_ORANGE
+#define LEDS_AVAILABLE (AO_LED_ORANGE)
+#define USE_SERIAL_1_STDIN 0
+#define HAS_USB 0
+#define PACKET_HAS_SLAVE 0
+#define HAS_SERIAL_1 0
+#define HAS_TASK 0
+#define HAS_MS5607 1
+#define HAS_MS5611 0
+#define HAS_EEPROM 0
+#define HAS_BEEP 0
+#define AVR_CLOCK 250000UL
+
+/* SPI */
+#define SPI_PORT PORTB
+#define SPI_PIN PINB
+#define SPI_DIR DDRB
+#define AO_MS5607_CS_PORT PORTB
+#define AO_MS5607_CS_PIN 4
+
+/* MS5607 */
+#define AO_MS5607_SPI_INDEX 0
+#define AO_MS5607_MISO_PORT PORTB
+#define AO_MS5607_MISO_PIN 0
+#define AO_MS5607_BARO_OVERSAMPLE 4096
+#define AO_MS5607_TEMP_OVERSAMPLE 1024
+
+/* I2C */
+#define I2C_PORT PORTB
+#define I2C_PIN PINB
+#define I2C_DIR DDRB
+#define I2C_PIN_SCL PINB2
+#define I2C_PIN_SDA PINB0
+
+#define AO_CONST_ATTRIB PROGMEM
+typedef int32_t alt_t;
+#define FETCH_ALT(o) ((alt_t) pgm_read_dword(&altitude_table[o]))
+
+#define AO_ALT_VALUE(x) ((x) * (alt_t) 10)
+
+#endif /* _AO_PINS_H_ */
# Otherwise, print the full command line.
quiet ?= $($1)
-all: ../$(PROG)
+all: $(PROG)
-../$(PROG): $(REL) Makefile
+$(PROG): $(REL) Makefile
$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
# Otherwise, print the full command line.
quiet ?= $($1)
-all: ../$(PROG)
+all: $(PROG)
-../$(PROG): $(REL) Makefile
+$(PROG): $(REL) Makefile
$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
# Otherwise, print the full command line.
quiet ?= $($1)
-all: ../$(PROG)
+all: $(PROG)
-../$(PROG): $(REL) Makefile
- $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+$(PROG): $(REL) Makefile
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
ao_product.h: ao-make-product.5c ../Version
# Otherwise, print the full command line.
quiet ?= $($1)
-all: ../$(PROG)
+all: $(PROG)
-../$(PROG): $(REL) Makefile
- $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+$(PROG): $(REL) Makefile
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
ao_product.h: ao-make-product.5c ../Version
# Otherwise, print the full command line.
quiet ?= $($1)
-all: ../$(PROG)
+all: $(PROG)
-../$(PROG): $(REL) Makefile
+$(PROG): $(REL) Makefile
$(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
#define HAS_VERSION 0
#define AO_BOOT_CHAIN 1
-#define AO_BOOT_PIN 1
#define IS_FLASH_LOADER 1
--- /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.
+ */
+
+#include <ao.h>
+#include <ao_micropeak.h>
+#include <ao_ms5607.h>
+#include <ao_log_micro.h>
+#include <ao_async.h>
+
+static struct ao_ms5607_sample sample;
+static struct ao_ms5607_value value;
+
+alt_t ground_alt, max_alt;
+alt_t ao_max_height;
+
+void
+ao_pa_get(void)
+{
+ ao_ms5607_sample(&sample);
+ ao_ms5607_convert(&sample, &value);
+ pa = value.pres;
+}
+
+static void
+ao_compute_height(void)
+{
+ ground_alt = ao_pa_to_altitude(pa_ground);
+ max_alt = ao_pa_to_altitude(pa_min);
+ ao_max_height = max_alt - ground_alt;
+}
+
+static void
+ao_pips(void)
+{
+ uint8_t i;
+ for (i = 0; i < 10; i++) {
+ ao_led_toggle(AO_LED_REPORT);
+ ao_delay(AO_MS_TO_TICKS(80));
+ }
+ ao_delay(AO_MS_TO_TICKS(200));
+}
+
+int
+main(void)
+{
+ ao_led_init(LEDS_AVAILABLE);
+ ao_timer_init();
+
+ /* Init external hardware */
+ ao_spi_init();
+ ao_ms5607_init();
+ ao_ms5607_setup();
+
+ /* Give the person a second to get their finger out of the way */
+ ao_delay(AO_MS_TO_TICKS(1000));
+
+ ao_log_micro_restore();
+ ao_compute_height();
+ ao_report_altitude();
+ ao_pips();
+ ao_log_micro_dump();
+
+ ao_delay(BOOST_DELAY);
+
+ ao_microflight();
+
+ ao_log_micro_save();
+ ao_compute_height();
+ ao_report_altitude();
+ for (;;) {
+ cli();
+ set_sleep_mode(SLEEP_MODE_PWR_DOWN);
+ sleep_mode();
+ }
+}
--- /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.
+ */
+
+#ifndef _AO_MICROPEAK_H_
+#define _AO_MICROPEAK_H_
+
+#define SAMPLE_SLEEP AO_MS_TO_TICKS(96)
+
+/* 16 sample, or about two seconds worth */
+#define GROUND_AVG_SHIFT 4
+#define GROUND_AVG (1 << GROUND_AVG_SHIFT)
+
+/* Pressure change (in Pa) to detect boost */
+#define BOOST_DETECT 120 /* 10m at sea level, 12m at 2000m */
+
+/* Wait after power on before doing anything to give the user time to assemble the rocket */
+#define BOOST_DELAY AO_SEC_TO_TICKS(60)
+
+/* Pressure change (in Pa) to detect landing */
+#define LAND_DETECT 24 /* 2m at sea level, 2.4m at 2000m */
+
+/* Current sensor pressure value */
+extern uint32_t pa;
+
+/* Average pressure value on ground */
+extern uint32_t pa_ground;
+
+/* Minimum recorded filtered pressure value */
+extern uint32_t pa_min;
+
+/* Pressure values converted to altitudes */
+extern alt_t ground_alt, max_alt;
+
+/* max_alt - ground_alt */
+extern alt_t ao_max_height;
+
+void
+ao_pa_get(void);
+
+void
+ao_microflight(void);
+
+#define ACCEL_LOCK_PA -20
+#define ACCEL_LOCK_TIME 10
+
+extern uint32_t ao_k_pa; /* 24.8 fixed point */
+extern int32_t ao_k_pa_speed; /* 16.16 fixed point */
+extern int32_t ao_k_pa_accel; /* 16.16 fixed point */
+
+extern uint32_t ao_pa; /* integer portion */
+extern int16_t ao_pa_speed; /* integer portion */
+extern int16_t ao_pa_accel; /* integer portion */
+
+void
+ao_microkalman_init(void);
+
+void
+ao_microkalman_predict(void);
+
+void
+ao_microkalman_correct(void);
+
+#endif
+
# Otherwise, print the full command line.
quiet ?= $($1)
-all: ../$(PROG)
+all: $(PROG)
-../$(PROG): $(REL) Makefile
- $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+$(PROG): $(REL) Makefile
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
ao_product.h: ao-make-product.5c ../Version
.elf.ihx:
objcopy -O ihex $*.elf $@
-CC=/opt/cortex/bin/arm-none-eabi-gcc
-SAT=/opt/cortex
-SAT_CLIB=$(SAT)/lib/pdclib-cortex-m3.a
-SAT_CFLAGS=-I$(SAT)/include
-
ifndef VERSION
include $(TOPDIR)/Version
endif
+include $(TOPDIR)/Makedefs
+
+CC=$(ARM_CC)
+SAT=/opt/cortex
+SAT_CLIB=$(SAT)/lib/pdclib-cortex-m3.a
+SAT_CFLAGS=-I$(SAT)/include
AO_CFLAGS=-I. -I$(TOPDIR)/stm -I$(TOPDIR)/core -I$(TOPDIR)/drivers -I$(TOPDIR)/product -I$(TOPDIR)
STM_CFLAGS=-std=gnu99 -mlittle-endian -mcpu=cortex-m3 -mthumb -ffreestanding -nostdlib $(AO_CFLAGS) $(SAT_CFLAGS)
.elf.ihx:
objcopy -O ihex $*.elf $@
-SAT=/opt/cortex
-CC=$(SAT)/bin/arm-none-eabi-gcc
-SAT_CLIB=$(SAT)/lib/pdclib-cortex-m3.a
-SAT_CFLAGS=-I$(SAT)/include
+ifndef TOPDIR
+TOPDIR=..
+endif
ifndef VERSION
-include ../Version
+include $(TOPDIR)/Version
endif
+include $(TOPDIR)/Makedefs
+
+CC=$(ARM_CC)
+SAT=/opt/cortex
+SAT_CLIB=$(SAT)/lib/pdclib-cortex-m3.a
+SAT_CFLAGS=-I$(SAT)/include
AO_CFLAGS=-I. -I../stm -I../core -I../drivers -I..
STM_CFLAGS=-std=gnu99 -mlittle-endian -mcpu=cortex-m3 -mthumb -ffreestanding -nostdlib $(AO_CFLAGS) $(SAT_CFLAGS)
/* Restore APSR */
asm("pop {r0}");
- asm("msr apsr,r0");
+ asm("msr apsr_nczvq,r0");
/* Restore general registers */
asm("pop {r0-r12,lr}\n");
asm("mrs %0,control" : "=&r" (control));
control |= (1 << 1);
asm("msr control,%0" : : "r" (control));
+ asm("isb");
}
#endif
all: $(PROG)
$(PROG): $(REL) Makefile
- $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
ao_product.h: ao-make-product.5c ../Version
all: $(PROG)
$(PROG): $(REL) Makefile
- $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
ao_product.h: ao-make-product.5c ../Version
# Otherwise, print the full command line.
quiet ?= $($1)
-all: ../$(PROG)
+all: $(PROG)
-../$(PROG): $(REL) Makefile
- $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+$(PROG): $(REL) Makefile
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
ao_product.h: ao-make-product.5c ../Version
# Otherwise, print the full command line.
quiet ?= $($1)
-all: ../$(PROG)
+all: $(PROG)
-../$(PROG): $(REL) Makefile
- $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+$(PROG): $(REL) Makefile
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
ao_product.h: ao-make-product.5c ../Version
ao_gps_init();
#if HAS_LOG
ao_gps_report_mega_init();
+ ao_log_init();
#endif
ao_telemetry_init();
ao_task_init();
ao_serial_init();
ao_led_init(LEDS_AVAILABLE);
- ao_led_on(AO_LED_GREEN);
+ ao_led_on(AO_LED_RED);
ao_timer_init();
ao_spi_init();
PROG = $(PROGNAME)-$(VERSION).ihx
PRODUCT=TeleMini-v$(TELEMINI_VER)
PRODUCT_DEF=-DTELEMINI_V_$(TELEMINI_DEF)
-IDPRODUCT=0x000a
+IDPRODUCT=0x0027
include ../cc1111/Makefile.cc1111
# Otherwise, print the full command line.
quiet ?= $($1)
-all: ../$(PROG)
+all: $(PROG)
-../$(PROG): $(REL) Makefile
- $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+$(PROG): $(REL) Makefile
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
ao_product.h: ao-make-product.5c ../Version
#define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(2000)
#define AO_SEND_MINI
+#define AO_LOG_FORMAT AO_LOG_FORMAT_TELEMINI
/*
* ADC
void
main(void)
{
- /*
- * Reduce the transient on the ignite pins at startup by
- * pulling the pins low as soon as possible at power up
- */
- ao_ignite_set_pins();
-
ao_clock_init();
+#if HAS_STACK_GUARD
+ ao_mpu_init();
+#endif
+ ao_task_init();
+
/* Turn on the red LED until the system is stable */
ao_led_init(LEDS_AVAILABLE);
ao_led_on(AO_LED_RED);
- ao_task_init();
-
ao_timer_init();
+
+ ao_spi_init();
+ ao_exti_init();
ao_adc_init();
+#if HAS_BEEP
ao_beep_init();
+#endif
ao_cmd_init();
- ao_spi_init();
- ao_exti_init();
+#if HAS_MS5607
ao_ms5607_init();
+#endif
ao_storage_init();
+
ao_flight_init();
ao_log_init();
ao_report_init();
+
ao_usb_init();
ao_telemetry_init();
ao_radio_init();
ao_packet_slave_init(TRUE);
+
ao_igniter_init();
+
ao_config_init();
ao_start_scheduler();
}
vpath % .:..:../core:../product:../drivers:../avr
vpath ao-make-product.5c ../util
+include ../avr/Makefile.defs
+
MCU=atmega32u4
DUDECPUTYPE=m32u4
#PROGRAMMER=stk500v2 -P usb
-PROGRAMMER=usbtiny
-LOADCMD=avrdude
LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w:
-CC=avr-gcc
-OBJCOPY=avr-objcopy
-
-ifndef VERSION
-include ../Version
-endif
INC = \
ao.h \
vpath % ..:../core:../product:../drivers:../avr
vpath ao-make-product.5c ../util
+include ../avr/Makefile.defs
+
MCU=atmega32u4
DUDECPUTYPE=m32u4
#PROGRAMMER=stk500v2 -P usb
-PROGRAMMER=usbtiny
-LOADCMD=avrdude
LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w:
-CC=avr-gcc
-OBJCOPY=avr-objcopy
-
-LDFLAGS=-L/usr/lib/ldscripts -Tavr5.x
-ifndef VERSION
-include ../Version
-endif
+LDFLAGS=-L$(LDSCRIPTS) -Tavr5.x
INC = \
ao.h \
vpath % ..:../core:../product:../drivers:../avr
vpath ao-make-product.5c ../util
+include ../avr/Makefile.defs
+
MCU=atmega32u4
DUDECPUTYPE=m32u4
#PROGRAMMER=stk500v2 -P usb
-PROGRAMMER=usbtiny
-LOADCMD=avrdude
LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w:
-CC=avr-gcc
-OBJCOPY=avr-objcopy
-
-LDFLAGS=-L/usr/lib/ldscripts -Tavr5.x
-ifndef VERSION
-include ../Version
-endif
+LDFLAGS=-L$(LDSCRIPTS) -Tavr5.x
INC = \
ao.h \
# Otherwise, print the full command line.
quiet ?= $($1)
-all: ../$(PROG)
+all: $(PROG)
-../$(PROG): $(REL) Makefile
- $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+$(PROG): $(REL) Makefile
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
ao_product.h: ao-make-product.5c ../Version
# Otherwise, print the full command line.
quiet ?= $($1)
-all: ../$(PROG)
+all: $(PROG)
-../$(PROG): $(REL) Makefile
- $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+$(PROG): $(REL) Makefile
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
ao_product.h: ao-make-product.5c ../Version
# Otherwise, print the full command line.
quiet ?= $($1)
-all: ../$(PROG)
+all: $(PROG)
-../$(PROG): $(REL) Makefile
- $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+$(PROG): $(REL) Makefile
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL)
$(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
ao_product.h: ao-make-product.5c ../Version
projects / fw / altos / commitdiff