--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.awt.*;
+import java.util.*;
+import java.text.*;
+
+public class Altos {
+ /* EEProm command letters */
+ static final int AO_LOG_FLIGHT = 'F';
+ static final int AO_LOG_SENSOR = 'A';
+ static final int AO_LOG_TEMP_VOLT = 'T';
+ static final int AO_LOG_DEPLOY = 'D';
+ static final int AO_LOG_STATE = 'S';
+ static final int AO_LOG_GPS_TIME = 'G';
+ static final int AO_LOG_GPS_LAT = 'N';
+ static final int AO_LOG_GPS_LON = 'W';
+ static final int AO_LOG_GPS_ALT = 'H';
+ static final int AO_LOG_GPS_SAT = 'V';
+ static final int AO_LOG_GPS_DATE = 'Y';
+
+ /* Added for header fields in eeprom files */
+ static final int AO_LOG_CONFIG_VERSION = 1000;
+ static final int AO_LOG_MAIN_DEPLOY = 1001;
+ static final int AO_LOG_APOGEE_DELAY = 1002;
+ static final int AO_LOG_RADIO_CHANNEL = 1003;
+ static final int AO_LOG_CALLSIGN = 1004;
+ static final int AO_LOG_ACCEL_CAL = 1005;
+ static final int AO_LOG_RADIO_CAL = 1006;
+ static final int AO_LOG_MANUFACTURER = 1007;
+ static final int AO_LOG_PRODUCT = 1008;
+ static final int AO_LOG_SERIAL_NUMBER = 1009;
+ static final int AO_LOG_SOFTWARE_VERSION = 1010;
+
+ /* Added to flag invalid records */
+ static final int AO_LOG_INVALID = -1;
+
+ /* Flight state numbers and names */
+ static final int ao_flight_startup = 0;
+ static final int ao_flight_idle = 1;
+ static final int ao_flight_pad = 2;
+ static final int ao_flight_boost = 3;
+ static final int ao_flight_fast = 4;
+ static final int ao_flight_coast = 5;
+ static final int ao_flight_drogue = 6;
+ static final int ao_flight_main = 7;
+ static final int ao_flight_landed = 8;
+ static final int ao_flight_invalid = 9;
+
+ static HashMap<String,Integer> string_to_state = new HashMap<String,Integer>();
+
+ static boolean map_initialized = false;
+
+ static void initialize_map()
+ {
+ string_to_state.put("startup", ao_flight_startup);
+ string_to_state.put("idle", ao_flight_idle);
+ string_to_state.put("pad", ao_flight_pad);
+ string_to_state.put("boost", ao_flight_boost);
+ string_to_state.put("fast", ao_flight_fast);
+ string_to_state.put("coast", ao_flight_coast);
+ string_to_state.put("drogue", ao_flight_drogue);
+ string_to_state.put("main", ao_flight_main);
+ string_to_state.put("landed", ao_flight_landed);
+ string_to_state.put("invalid", ao_flight_invalid);
+ map_initialized = true;
+ }
+
+ static String[] state_to_string = {
+ "startup",
+ "idle",
+ "pad",
+ "boost",
+ "fast",
+ "coast",
+ "drogue",
+ "main",
+ "landed",
+ "invalid",
+ };
+
+ static public int state(String state) {
+ if (!map_initialized)
+ initialize_map();
+ if (string_to_state.containsKey(state))
+ return string_to_state.get(state);
+ return ao_flight_invalid;
+ }
+
+ static public String state_name(int state) {
+ if (state < 0 || state_to_string.length <= state)
+ return "invalid";
+ return state_to_string[state];
+ }
+
+ 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_NUM_SAT_SHIFT = 0;
+ static final int AO_GPS_NUM_SAT_MASK = 0xf;
+
+ static boolean isspace(int c) {
+ switch (c) {
+ case ' ':
+ case '\t':
+ return true;
+ }
+ return false;
+ }
+
+ static boolean ishex(int c) {
+ if ('0' <= c && c <= '9')
+ return true;
+ if ('a' <= c && c <= 'f')
+ return true;
+ if ('A' <= c && c <= 'F')
+ return true;
+ return false;
+ }
+
+ static boolean ishex(String s) {
+ for (int i = 0; i < s.length(); i++)
+ if (!ishex(s.charAt(i)))
+ return false;
+ return true;
+ }
+
+ static int fromhex(int c) {
+ if ('0' <= c && c <= '9')
+ return c - '0';
+ if ('a' <= c && c <= 'f')
+ return c - 'a' + 10;
+ if ('A' <= c && c <= 'F')
+ return c - 'A' + 10;
+ return -1;
+ }
+
+ static int fromhex(String s) throws NumberFormatException {
+ int c, v = 0;
+ for (int i = 0; i < s.length(); i++) {
+ c = s.charAt(i);
+ if (!ishex(c)) {
+ if (i == 0)
+ throw new NumberFormatException(String.format("invalid hex \"%s\"", s));
+ return v;
+ }
+ v = v * 16 + fromhex(c);
+ }
+ return v;
+ }
+
+ static boolean isdec(int c) {
+ if ('0' <= c && c <= '9')
+ return true;
+ return false;
+ }
+
+ static boolean isdec(String s) {
+ for (int i = 0; i < s.length(); i++)
+ if (!isdec(s.charAt(i)))
+ return false;
+ return true;
+ }
+
+ static int fromdec(int c) {
+ if ('0' <= c && c <= '9')
+ return c - '0';
+ return -1;
+ }
+
+ static int fromdec(String s) throws NumberFormatException {
+ int c, v = 0;
+ int sign = 1;
+ for (int i = 0; i < s.length(); i++) {
+ c = s.charAt(i);
+ if (i == 0 && c == '-') {
+ sign = -1;
+ } else if (!isdec(c)) {
+ if (i == 0)
+ throw new NumberFormatException(String.format("invalid number \"%s\"", s));
+ return v;
+ } else
+ v = v * 10 + fromdec(c);
+ }
+ return v * sign;
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.lang.*;
+import java.io.*;
+import java.text.*;
+import java.util.*;
+
+import altosui.AltosRecord;
+import altosui.AltosReader;
+
+public class AltosCSV {
+ File name;
+ PrintStream out;
+ boolean header_written;
+ boolean seen_boost;
+ int boost_tick;
+ LinkedList<AltosRecord> pad_records;
+ AltosState state;
+
+ static final int ALTOS_CSV_VERSION = 1;
+
+ /* Version 1 format:
+ *
+ * General info
+ * version number
+ * serial number
+ * flight number
+ * callsign
+ * time (seconds since boost)
+ * rssi
+ *
+ * Flight status
+ * state
+ * state name
+ *
+ * Basic sensors
+ * acceleration (m/s²)
+ * pressure (mBar)
+ * altitude (m)
+ * height (m)
+ * accelerometer speed (m/s)
+ * barometer speed (m/s)
+ * temp (°C)
+ * battery (V)
+ * drogue (V)
+ * main (V)
+ *
+ * GPS data
+ * connected (1/0)
+ * locked (1/0)
+ * nsat (used for solution)
+ * latitude (°)
+ * longitude (°)
+ * altitude (m)
+ * year (e.g. 2010)
+ * month (1-12)
+ * day (1-31)
+ * hour (0-23)
+ * minute (0-59)
+ * second (0-59)
+ * from_pad_dist (m)
+ * from_pad_azimuth (deg true)
+ * from_pad_range (m)
+ * from_pad_elevation (deg from horizon)
+ *
+ * GPS Sat data
+ * hdop
+ * C/N0 data for all 32 valid SDIDs
+ */
+
+ void write_general_header() {
+ out.printf("version serial flight call time rssi");
+ }
+
+ void write_general(AltosRecord record) {
+ out.printf("%s,%d,%d,%s,%8.2f,%4d",
+ record.version, record.serial, record.flight, record.callsign,
+ (double) record.time,
+ record.rssi);
+ }
+
+ void write_flight_header() {
+ out.printf("state state_name");
+ }
+
+ void write_flight(AltosRecord record) {
+ out.printf("%d,%8s", record.state, record.state());
+ }
+
+ 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) {
+ 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(),
+ record.accel_speed(),
+ state.baro_speed,
+ record.temperature(),
+ record.battery_voltage(),
+ record.drogue_voltage(),
+ record.main_voltage());
+ }
+
+ void write_gps_header() {
+ out.printf("connected locked nsat latitude longitude altitude year month day hour minute second pad_dist pad_range pad_az pad_el");
+ }
+
+ void write_gps(AltosRecord record) {
+ AltosGPS gps = record.gps;
+ if (gps == null)
+ gps = new AltosGPS();
+
+ AltosGreatCircle from_pad = state.from_pad;
+ 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",
+ gps.connected?1:0,
+ gps.locked?1:0,
+ gps.nsat,
+ gps.lat,
+ gps.lon,
+ gps.alt,
+ gps.year,
+ gps.month,
+ gps.day,
+ gps.hour,
+ gps.minute,
+ gps.second,
+ from_pad.distance,
+ state.range,
+ from_pad.bearing,
+ state.elevation);
+ }
+
+ void write_header() {
+ out.printf("# "); write_general_header();
+ out.printf(" "); write_flight_header();
+ out.printf(" "); write_basic_header();
+ out.printf(" "); write_gps_header();
+ 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(",");
+ write_gps(record);
+ out.printf ("\n");
+ }
+
+ void flush_pad() {
+ while (!pad_records.isEmpty()) {
+ write_one (pad_records.remove());
+ }
+ }
+
+ public void write(AltosRecord record) {
+ if (!header_written) {
+ write_header();
+ header_written = true;
+ }
+ if (!seen_boost) {
+ if (record.state >= Altos.ao_flight_boost) {
+ seen_boost = true;
+ boost_tick = record.tick;
+ flush_pad();
+ }
+ }
+ if (seen_boost)
+ write_one(record);
+ else
+ pad_records.add(record);
+ }
+
+ public PrintStream out() {
+ return out;
+ }
+
+ public void close() {
+ if (!pad_records.isEmpty()) {
+ boost_tick = pad_records.element().tick;
+ flush_pad();
+ }
+ out.close();
+ }
+
+ public void write(AltosReader reader) {
+ AltosRecord record;
+
+ reader.write_comments(out());
+ try {
+ for (;;) {
+ record = reader.read();
+ if (record == null)
+ break;
+ write(record);
+ }
+ } catch (IOException ie) {
+ System.out.printf("IOException\n");
+ } catch (ParseException pe) {
+ System.out.printf("ParseException %s\n", pe.getMessage());
+ }
+ }
+
+ public AltosCSV(File in_name) throws FileNotFoundException {
+ name = in_name;
+ out = new PrintStream(name);
+ pad_records = new LinkedList<AltosRecord>();
+ }
+
+ public AltosCSV(String in_string) throws FileNotFoundException {
+ this(new File(in_string));
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.LinkedBlockingQueue;
+
+import altosui.AltosLogfileChooser;
+import altosui.AltosCSV;
+
+public class AltosCSVUI
+ extends JDialog
+ implements Runnable, ActionListener
+{
+ JFrame frame;
+ Thread thread;
+ AltosReader reader;
+ AltosCSV writer;
+
+ public void run() {
+ AltosLogfileChooser chooser;
+
+ chooser = new AltosLogfileChooser(frame);
+ reader = chooser.runDialog();
+ if (reader == null)
+ return;
+ JFileChooser csv_chooser;
+
+ File file = chooser.file();
+ String path = file.getPath();
+ int dot = path.lastIndexOf(".");
+ if (dot >= 0)
+ path = path.substring(0,dot);
+ path = path.concat(".csv");
+ csv_chooser = new JFileChooser(path);
+ int ret = csv_chooser.showSaveDialog(frame);
+ if (ret == JFileChooser.APPROVE_OPTION) {
+ try {
+ writer = new AltosCSV(csv_chooser.getSelectedFile());
+ } catch (FileNotFoundException ee) {
+ JOptionPane.showMessageDialog(frame,
+ file.getName(),
+ "Cannot open file",
+ JOptionPane.ERROR_MESSAGE);
+ }
+ writer.write(reader);
+ reader.close();
+ writer.close();
+ }
+ }
+
+ public void actionPerformed(ActionEvent e) {
+ }
+
+ public AltosCSVUI(JFrame in_frame) {
+ frame = in_frame;
+ thread = new Thread(this);
+ thread.start();
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.LinkedBlockingQueue;
+
+public class AltosChannelMenu extends JMenu implements ActionListener {
+ ButtonGroup group;
+ int channel;
+ LinkedList<ActionListener> listeners;
+
+ public void addActionListener(ActionListener l) {
+ listeners.add(l);
+ }
+
+ public void actionPerformed(ActionEvent e) {
+ channel = Integer.parseInt(e.getActionCommand());
+
+ ListIterator<ActionListener> i = listeners.listIterator();
+
+ ActionEvent newe = new ActionEvent(this, channel, e.getActionCommand());
+ while (i.hasNext()) {
+ ActionListener listener = i.next();
+ listener.actionPerformed(newe);
+ }
+ }
+
+ public AltosChannelMenu(int current_channel) {
+ super("Channel", true);
+ group = new ButtonGroup();
+
+ channel = current_channel;
+
+ listeners = new LinkedList<ActionListener>();
+ for (int c = 0; c <= 9; c++) {
+ JRadioButtonMenuItem radioitem = new JRadioButtonMenuItem(String.format("Channel %1d (%7.3fMHz)", c,
+ 434.550 + c * 0.1),
+ c == channel);
+ radioitem.setActionCommand(String.format("%d", c));
+ radioitem.addActionListener(this);
+ add(radioitem);
+ group.add(radioitem);
+ }
+ }
+
+}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.LinkedBlockingQueue;
+
+import altosui.Altos;
+import altosui.AltosSerial;
+import altosui.AltosSerialMonitor;
+import altosui.AltosRecord;
+import altosui.AltosTelemetry;
+import altosui.AltosState;
+import altosui.AltosDeviceDialog;
+import altosui.AltosPreferences;
+import altosui.AltosLog;
+import altosui.AltosVoice;
+import altosui.AltosFlightStatusTableModel;
+import altosui.AltosFlightInfoTableModel;
+import altosui.AltosConfigUI;
+
+import libaltosJNI.*;
+
+public class AltosConfig implements Runnable, ActionListener {
+
+ class int_ref {
+ int value;
+
+ public int get() {
+ return value;
+ }
+ public void set(int i) {
+ value = i;
+ }
+ public int_ref(int i) {
+ value = i;
+ }
+ }
+
+ class string_ref {
+ String value;
+
+ public String get() {
+ return value;
+ }
+ public void set(String i) {
+ value = i;
+ }
+ public string_ref(String i) {
+ value = i;
+ }
+ }
+
+ JFrame owner;
+ AltosDevice device;
+ AltosSerial serial_line;
+ boolean remote;
+ Thread config_thread;
+ int_ref serial;
+ int_ref main_deploy;
+ int_ref apogee_delay;
+ int_ref radio_channel;
+ string_ref version;
+ string_ref product;
+ string_ref callsign;
+ AltosConfigUI config_ui;
+
+
+ boolean get_int(String line, String label, int_ref x) {
+ if (line.startsWith(label)) {
+ try {
+ String tail = line.substring(label.length()).trim();
+ String[] tokens = tail.split("\\s+");
+ if (tokens.length > 0) {
+ int i = Integer.parseInt(tokens[0]);
+ x.set(i);
+ return true;
+ }
+ } catch (NumberFormatException ne) {
+ }
+ }
+ return false;
+ }
+
+ boolean get_string(String line, String label, string_ref s) {
+ if (line.startsWith(label)) {
+ String quoted = line.substring(label.length()).trim();
+
+ if (quoted.startsWith("\""))
+ quoted = quoted.substring(1);
+ if (quoted.endsWith("\""))
+ quoted = quoted.substring(0,quoted.length()-1);
+ s.set(quoted);
+ return true;
+ } else {
+ return false;
+ }
+ }
+
+ void start_serial() throws InterruptedException {
+ if (remote) {
+ serial_line.printf("m 0\n");
+ serial_line.set_channel(AltosPreferences.channel());
+ serial_line.set_callsign(AltosPreferences.callsign());
+ serial_line.printf("p\n");
+ }
+ }
+
+ void stop_serial() throws InterruptedException {
+ if (remote) {
+ serial_line.printf("~\n");
+ serial_line.flush();
+ }
+ }
+
+ void get_data() throws InterruptedException {
+ try {
+ start_serial();
+ serial_line.printf("c s\nv\n");
+ for (;;) {
+ String line = serial_line.get_reply();
+ get_int(line, "serial-number", serial);
+ get_int(line, "Main deploy:", main_deploy);
+ get_int(line, "Apogee delay:", apogee_delay);
+ get_int(line, "Radio channel:", radio_channel);
+ get_string(line, "Callsign:", callsign);
+ get_string(line,"software-version", version);
+ get_string(line,"product", product);
+
+ /* signals the end of the version info */
+ if (line.startsWith("software-version"))
+ break;
+ }
+ } finally {
+ stop_serial();
+ }
+ }
+
+ void init_ui () {
+ config_ui = new AltosConfigUI(owner);
+ config_ui.addActionListener(this);
+ set_ui();
+ }
+
+ void set_ui() {
+ try {
+ if (serial_line != null)
+ get_data();
+ config_ui.set_serial(serial.get());
+ config_ui.set_product(product.get());
+ config_ui.set_version(version.get());
+ config_ui.set_main_deploy(main_deploy.get());
+ config_ui.set_apogee_delay(apogee_delay.get());
+ config_ui.set_radio_channel(radio_channel.get());
+ config_ui.set_callsign(callsign.get());
+ config_ui.set_clean();
+ } catch (InterruptedException ie) {
+ }
+ }
+
+ void run_dialog() {
+ }
+
+ void save_data() {
+ main_deploy.set(config_ui.main_deploy());
+ apogee_delay.set(config_ui.apogee_delay());
+ radio_channel.set(config_ui.radio_channel());
+ callsign.set(config_ui.callsign());
+ try {
+ start_serial();
+ serial_line.printf("c m %d\n", main_deploy.get());
+ serial_line.printf("c d %d\n", apogee_delay.get());
+ serial_line.printf("c r %d\n", radio_channel.get());
+ serial_line.printf("c c %s\n", callsign.get());
+ serial_line.printf("c w\n");
+ } catch (InterruptedException ie) {
+ } finally {
+ try {
+ stop_serial();
+ } catch (InterruptedException ie) {
+ }
+ }
+ }
+
+ public void actionPerformed(ActionEvent e) {
+ String cmd = e.getActionCommand();
+ if (cmd.equals("save")) {
+ save_data();
+ set_ui();
+ } else if (cmd.equals("reset")) {
+ set_ui();
+ } else if (cmd.equals("close")) {
+ if (serial_line != null)
+ serial_line.close();
+ }
+ }
+
+ public void run () {
+ try {
+ init_ui();
+ config_ui.make_visible();
+// } catch (InterruptedException ie) {
+ } finally {
+ }
+ }
+
+ public AltosConfig(JFrame given_owner) {
+ owner = given_owner;
+
+ serial = new int_ref(0);
+ main_deploy = new int_ref(250);
+ apogee_delay = new int_ref(0);
+ radio_channel = new int_ref(0);
+ callsign = new string_ref("N0CALL");
+ version = new string_ref("unknown");
+ product = new string_ref("unknown");
+
+ device = AltosDeviceDialog.show(owner, AltosDevice.Any);
+ serial_line = new AltosSerial();
+ if (device != null) {
+ try {
+ serial_line.open(device);
+ if (!device.matchProduct(AltosDevice.TeleMetrum))
+ remote = true;
+ config_thread = new Thread(this);
+ config_thread.start();
+ } catch (FileNotFoundException ee) {
+ JOptionPane.showMessageDialog(owner,
+ String.format("Cannot open device \"%s\"",
+ device.getPath()),
+ "Cannot open target device",
+ JOptionPane.ERROR_MESSAGE);
+ } catch (IOException ee) {
+ JOptionPane.showMessageDialog(owner,
+ device.getPath(),
+ ee.getLocalizedMessage(),
+ JOptionPane.ERROR_MESSAGE);
+ }
+ }
+ }
+}
\ No newline at end of file
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import javax.swing.event.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.LinkedBlockingQueue;
+
+import altosui.Altos;
+import altosui.AltosSerial;
+import altosui.AltosSerialMonitor;
+import altosui.AltosRecord;
+import altosui.AltosTelemetry;
+import altosui.AltosState;
+import altosui.AltosDeviceDialog;
+import altosui.AltosPreferences;
+import altosui.AltosLog;
+import altosui.AltosVoice;
+import altosui.AltosFlightStatusTableModel;
+import altosui.AltosFlightInfoTableModel;
+
+import libaltosJNI.*;
+
+public class AltosConfigUI
+ extends JDialog
+ implements ActionListener, ItemListener, DocumentListener
+{
+
+ Container pane;
+ Box box;
+ JLabel product_label;
+ JLabel version_label;
+ JLabel serial_label;
+ JLabel main_deploy_label;
+ JLabel apogee_delay_label;
+ JLabel radio_channel_label;
+ JLabel callsign_label;
+
+ public boolean dirty;
+
+ JFrame owner;
+ JLabel product_value;
+ JLabel version_value;
+ JLabel serial_value;
+ JComboBox main_deploy_value;
+ JComboBox apogee_delay_value;
+ JComboBox radio_channel_value;
+ JTextField callsign_value;
+
+ JButton save;
+ JButton reset;
+ JButton close;
+
+ ActionListener listener;
+
+ static String[] main_deploy_values = {
+ "100", "150", "200", "250", "300", "350",
+ "400", "450", "500"
+ };
+
+ static String[] apogee_delay_values = {
+ "0", "1", "2", "3", "4", "5"
+ };
+
+ static String[] radio_channel_values = new String[10];
+ {
+ for (int i = 0; i <= 9; i++)
+ radio_channel_values[i] = String.format("Channel %1d (%7.3fMHz)",
+ i, 434.550 + i * 0.1);
+ }
+
+ /* A window listener to catch closing events and tell the config code */
+ class ConfigListener extends WindowAdapter {
+ AltosConfigUI ui;
+
+ public ConfigListener(AltosConfigUI this_ui) {
+ ui = this_ui;
+ }
+
+ public void windowClosing(WindowEvent e) {
+ ui.actionPerformed(new ActionEvent(e.getSource(),
+ ActionEvent.ACTION_PERFORMED,
+ "close"));
+ }
+ }
+
+ /* Build the UI using a grid bag */
+ public AltosConfigUI(JFrame in_owner) {
+ super (in_owner, "Configure TeleMetrum", false);
+
+ owner = in_owner;
+ GridBagConstraints c;
+
+ Insets il = new Insets(4,4,4,4);
+ Insets ir = new Insets(4,4,4,4);
+
+ pane = getContentPane();
+ pane.setLayout(new GridBagLayout());
+
+ /* Product */
+ c = new GridBagConstraints();
+ c.gridx = 0; c.gridy = 0;
+ c.gridwidth = 3;
+ c.fill = GridBagConstraints.NONE;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = il;
+ product_label = new JLabel("Product:");
+ pane.add(product_label, c);
+
+ c = new GridBagConstraints();
+ c.gridx = 3; c.gridy = 0;
+ c.gridwidth = 3;
+ c.fill = GridBagConstraints.HORIZONTAL;
+ c.weightx = 1;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = ir;
+ product_value = new JLabel("");
+ pane.add(product_value, c);
+
+ /* Version */
+ c = new GridBagConstraints();
+ c.gridx = 0; c.gridy = 1;
+ c.gridwidth = 3;
+ c.fill = GridBagConstraints.NONE;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = il;
+ c.ipady = 5;
+ version_label = new JLabel("Software version:");
+ pane.add(version_label, c);
+
+ c = new GridBagConstraints();
+ c.gridx = 3; c.gridy = 1;
+ c.gridwidth = 3;
+ c.fill = GridBagConstraints.HORIZONTAL;
+ c.weightx = 1;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = ir;
+ c.ipady = 5;
+ version_value = new JLabel("");
+ pane.add(version_value, c);
+
+ /* Serial */
+ c = new GridBagConstraints();
+ c.gridx = 0; c.gridy = 2;
+ c.gridwidth = 3;
+ c.fill = GridBagConstraints.NONE;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = il;
+ c.ipady = 5;
+ serial_label = new JLabel("Serial:");
+ pane.add(serial_label, c);
+
+ c = new GridBagConstraints();
+ c.gridx = 3; c.gridy = 2;
+ c.gridwidth = 3;
+ c.fill = GridBagConstraints.HORIZONTAL;
+ c.weightx = 1;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = ir;
+ c.ipady = 5;
+ serial_value = new JLabel("");
+ pane.add(serial_value, c);
+
+ /* Main deploy */
+ c = new GridBagConstraints();
+ c.gridx = 0; c.gridy = 3;
+ c.gridwidth = 3;
+ c.fill = GridBagConstraints.NONE;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = il;
+ c.ipady = 5;
+ main_deploy_label = new JLabel("Main Deploy Altitude(m):");
+ pane.add(main_deploy_label, c);
+
+ c = new GridBagConstraints();
+ c.gridx = 3; c.gridy = 3;
+ c.gridwidth = 3;
+ c.fill = GridBagConstraints.HORIZONTAL;
+ c.weightx = 1;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = ir;
+ c.ipady = 5;
+ main_deploy_value = new JComboBox(main_deploy_values);
+ main_deploy_value.setEditable(true);
+ main_deploy_value.addItemListener(this);
+ pane.add(main_deploy_value, c);
+
+ /* Apogee delay */
+ c = new GridBagConstraints();
+ c.gridx = 0; c.gridy = 4;
+ c.gridwidth = 3;
+ c.fill = GridBagConstraints.NONE;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = il;
+ c.ipady = 5;
+ apogee_delay_label = new JLabel("Apogee Delay(s):");
+ pane.add(apogee_delay_label, c);
+
+ c = new GridBagConstraints();
+ c.gridx = 3; c.gridy = 4;
+ c.gridwidth = 3;
+ c.fill = GridBagConstraints.HORIZONTAL;
+ c.weightx = 1;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = ir;
+ c.ipady = 5;
+ apogee_delay_value = new JComboBox(apogee_delay_values);
+ apogee_delay_value.setEditable(true);
+ apogee_delay_value.addItemListener(this);
+ pane.add(apogee_delay_value, c);
+
+ /* Radio channel */
+ c = new GridBagConstraints();
+ c.gridx = 0; c.gridy = 5;
+ c.gridwidth = 3;
+ c.fill = GridBagConstraints.NONE;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = il;
+ c.ipady = 5;
+ radio_channel_label = new JLabel("Radio Channel:");
+ pane.add(radio_channel_label, c);
+
+ c = new GridBagConstraints();
+ c.gridx = 3; c.gridy = 5;
+ c.gridwidth = 3;
+ c.fill = GridBagConstraints.HORIZONTAL;
+ c.weightx = 1;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = ir;
+ c.ipady = 5;
+ radio_channel_value = new JComboBox(radio_channel_values);
+ radio_channel_value.setEditable(false);
+ radio_channel_value.addItemListener(this);
+ pane.add(radio_channel_value, c);
+
+ /* Callsign */
+ c = new GridBagConstraints();
+ c.gridx = 0; c.gridy = 6;
+ c.gridwidth = 3;
+ c.fill = GridBagConstraints.NONE;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = il;
+ c.ipady = 5;
+ callsign_label = new JLabel("Callsign:");
+ pane.add(callsign_label, c);
+
+ c = new GridBagConstraints();
+ c.gridx = 3; c.gridy = 6;
+ c.gridwidth = 3;
+ c.fill = GridBagConstraints.HORIZONTAL;
+ c.weightx = 1;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = ir;
+ c.ipady = 5;
+ callsign_value = new JTextField("N0CALL");
+ callsign_value.getDocument().addDocumentListener(this);
+ pane.add(callsign_value, c);
+
+ /* Buttons */
+ c = new GridBagConstraints();
+ c.gridx = 0; c.gridy = 7;
+ c.gridwidth = 6;
+ c.fill = GridBagConstraints.NONE;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = il;
+ save = new JButton("Save");
+ pane.add(save, c);
+ save.addActionListener(this);
+ save.setActionCommand("save");
+
+ c = new GridBagConstraints();
+ c.gridx = 0; c.gridy = 7;
+ c.gridwidth = 6;
+ c.fill = GridBagConstraints.NONE;
+ c.anchor = GridBagConstraints.CENTER;
+ c.insets = il;
+ reset = new JButton("Reset");
+ pane.add(reset, c);
+ reset.addActionListener(this);
+ reset.setActionCommand("reset");
+
+ c = new GridBagConstraints();
+ c.gridx = 0; c.gridy = 7;
+ c.gridwidth = 6;
+ c.fill = GridBagConstraints.NONE;
+ c.anchor = GridBagConstraints.LINE_END;
+ c.insets = il;
+ close = new JButton("Close");
+ pane.add(close, c);
+ close.addActionListener(this);
+ close.setActionCommand("close");
+
+ addWindowListener(new ConfigListener(this));
+ }
+
+ /* Once the initial values are set, the config code will show the dialog */
+ public void make_visible() {
+ pack();
+ setLocationRelativeTo(owner);
+ setVisible(true);
+ }
+
+ /* If any values have been changed, confirm before closing */
+ public boolean check_dirty() {
+ if (dirty) {
+ Object[] options = { "Close anyway", "Keep editing" };
+ int i;
+ i = JOptionPane.showOptionDialog(this,
+ "Configuration modified, close anyway?",
+ "Configuration Modified",
+ JOptionPane.DEFAULT_OPTION,
+ JOptionPane.WARNING_MESSAGE,
+ null, options, options[1]);
+ if (i != 0)
+ return false;
+ }
+ return true;
+ }
+
+ /* Listen for events from our buttons */
+ public void actionPerformed(ActionEvent e) {
+ String cmd = e.getActionCommand();
+
+ if (cmd.equals("close"))
+ if (!check_dirty())
+ return;
+ listener.actionPerformed(e);
+ if (cmd.equals("close")) {
+ setVisible(false);
+ dispose();
+ }
+ dirty = false;
+ }
+
+ /* ItemListener interface method */
+ public void itemStateChanged(ItemEvent e) {
+ dirty = true;
+ }
+
+ /* DocumentListener interface methods */
+ public void changedUpdate(DocumentEvent e) {
+ dirty = true;
+ }
+
+ public void insertUpdate(DocumentEvent e) {
+ dirty = true;
+ }
+
+ public void removeUpdate(DocumentEvent e) {
+ dirty = true;
+ }
+
+ /* Let the config code hook on a listener */
+ public void addActionListener(ActionListener l) {
+ listener = l;
+ }
+
+ /* set and get all of the dialog values */
+ public void set_product(String product) {
+ product_value.setText(product);
+ }
+
+ public void set_version(String version) {
+ version_value.setText(version);
+ }
+
+ public void set_serial(int serial) {
+ serial_value.setText(String.format("%d", serial));
+ }
+
+ public void set_main_deploy(int new_main_deploy) {
+ main_deploy_value.setSelectedItem(Integer.toString(new_main_deploy));
+ }
+
+ public int main_deploy() {
+ return Integer.parseInt(main_deploy_value.getSelectedItem().toString());
+ }
+
+ public void set_apogee_delay(int new_apogee_delay) {
+ apogee_delay_value.setSelectedItem(Integer.toString(new_apogee_delay));
+ }
+
+ public int apogee_delay() {
+ return Integer.parseInt(apogee_delay_value.getSelectedItem().toString());
+ }
+
+ public void set_radio_channel(int new_radio_channel) {
+ radio_channel_value.setSelectedIndex(new_radio_channel);
+ }
+
+ public int radio_channel() {
+ return radio_channel_value.getSelectedIndex();
+ }
+
+ public void set_callsign(String new_callsign) {
+ callsign_value.setText(new_callsign);
+ }
+
+ public String callsign() {
+ return callsign_value.getText();
+ }
+
+ public void set_clean() {
+ dirty = false;
+ }
+
+ }
\ No newline at end of file
* altitudes are measured with respect to the mean sea level
*/
static double
- cc_altitude_to_pressure(double altitude)
+ altitude_to_pressure(double altitude)
{
double base_temperature = LAYER0_BASE_TEMPERATURE;
double base_pressure = LAYER0_BASE_PRESSURE;
/* outputs the altitude associated with the given pressure. the altitude
returned is measured with respect to the mean sea level */
static double
- cc_pressure_to_altitude(double pressure)
+ pressure_to_altitude(double pressure)
{
double next_base_temperature = LAYER0_BASE_TEMPERATURE;
return altitude;
}
- /*
- * 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
- cc_barometer_to_pressure(double count)
- {
- return ((count / 16.0) / 2047.0 + 0.095) / 0.009 * 1000.0;
- }
-
- static double
- cc_barometer_to_altitude(double baro)
- {
- double Pa = cc_barometer_to_pressure(baro);
- return cc_pressure_to_altitude(Pa);
- }
-
- static final double count_per_mss = 27.0;
-
- static double
- cc_accelerometer_to_acceleration(double accel, double ground_accel)
- {
- return (ground_accel - accel) / count_per_mss;
- }
-
- /* 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
- cc_thermometer_to_temperature(double thermo)
- {
- return (thermo - 19791.268) / 32728.0 * 1.25 / 0.00247;
- }
-
static double
cc_battery_to_voltage(double battery)
{
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.lang.*;
+import java.io.*;
+import java.util.concurrent.LinkedBlockingQueue;
+import java.util.LinkedList;
+import java.util.Iterator;
+import altosui.AltosSerial;
+import altosui.AltosRomconfig;
+
+public class AltosDebug extends AltosSerial {
+
+ public static final byte WR_CONFIG = 0x1d;
+ public static final byte RD_CONFIG = 0x24;
+ public static final byte CONFIG_TIMERS_OFF = (1 << 3);
+ public static final byte CONFIG_DMA_PAUSE = (1 << 2);
+ public static final byte CONFIG_TIMER_SUSPEND = (1 << 1);
+ public static final byte SET_FLASH_INFO_PAGE = (1 << 0);
+
+ public static final byte GET_PC = 0x28;
+ public static final byte READ_STATUS = 0x34;
+ public static final byte STATUS_CHIP_ERASE_DONE = (byte) (1 << 7);
+ public static final byte STATUS_PCON_IDLE = (1 << 6);
+ public static final byte STATUS_CPU_HALTED = (1 << 5);
+ public static final byte STATUS_POWER_MODE_0 = (1 << 4);
+ public static final byte STATUS_HALT_STATUS = (1 << 3);
+ public static final byte STATUS_DEBUG_LOCKED = (1 << 2);
+ public static final byte STATUS_OSCILLATOR_STABLE = (1 << 1);
+ public static final byte STATUS_STACK_OVERFLOW = (1 << 0);
+
+ public static final byte SET_HW_BRKPNT = 0x3b;
+ public static byte HW_BRKPNT_N(byte n) { return (byte) ((n) << 3); }
+ public static final byte HW_BRKPNT_N_MASK = (0x3 << 3);
+ public static final byte HW_BRKPNT_ENABLE = (1 << 2);
+
+ public static final byte HALT = 0x44;
+ public static final byte RESUME = 0x4c;
+ public static byte DEBUG_INSTR(byte n) { return (byte) (0x54|(n)); }
+ public static final byte STEP_INSTR = 0x5c;
+ public static byte STEP_REPLACE(byte n) { return (byte) (0x64|(n)); }
+ public static final byte GET_CHIP_ID = 0x68;
+
+
+ boolean debug_mode;
+
+ void ensure_debug_mode() {
+ if (!debug_mode) {
+ printf("m 0\nD\n");
+ flush_reply();
+ debug_mode = true;
+ }
+ }
+
+ void dump_memory(String header, int address, byte[] bytes, int start, int len) {
+ System.out.printf("%s\n", header);
+ for (int j = 0; j < len; j++) {
+ if ((j & 15) == 0) {
+ if (j != 0)
+ System.out.printf("\n");
+ System.out.printf ("%04x:", address + j);
+ }
+ System.out.printf(" %02x", bytes[start + j]);
+ }
+ System.out.printf("\n");
+ }
+
+ /*
+ * Write target memory
+ */
+ public void write_memory(int address, byte[] bytes, int start, int len) {
+ ensure_debug_mode();
+// dump_memory("write_memory", address, bytes, start, len);
+ printf("O %x %x\n", len, address);
+ for (int i = 0; i < len; i++)
+ printf("%02x", bytes[start + i]);
+ }
+
+ public void write_memory(int address, byte[] bytes) {
+ write_memory(address, bytes, 0, bytes.length);
+ }
+
+ /*
+ * Read target memory
+ */
+ public byte[] read_memory(int address, int length)
+ throws IOException, InterruptedException {
+ byte[] data = new byte[length];
+
+ flush_reply();
+ ensure_debug_mode();
+ printf("I %x %x\n", length, address);
+ int i = 0;
+ int start = 0;
+ while (i < length) {
+ String line = get_reply().trim();
+ if (!Altos.ishex(line) || line.length() % 2 != 0)
+ throw new IOException(
+ String.format
+ ("Invalid reply \"%s\"", line));
+ int this_time = line.length() / 2;
+ for (int j = 0; j < this_time; j++)
+ data[start + j] = (byte) ((Altos.fromhex(line.charAt(j*2)) << 4) +
+ Altos.fromhex(line.charAt(j*2+1)));
+ start += this_time;
+ i += this_time;
+ }
+// dump_memory("read_memory", address, data, 0, length);
+
+ return data;
+ }
+
+ /*
+ * Write raw bytes to the debug link using the 'P' command
+ */
+ public void write_bytes(byte[] bytes) throws IOException {
+ int i = 0;
+ ensure_debug_mode();
+ while (i < bytes.length) {
+ int this_time = bytes.length - i;
+ if (this_time > 8)
+ this_time = 0;
+ printf("P");
+ for (int j = 0; j < this_time; j++)
+ printf(" %02x", bytes[i+j]);
+ printf("\n");
+ i += this_time;
+ }
+ }
+
+ public void write_byte(byte b) throws IOException {
+ byte[] bytes = { b };
+ write_bytes(bytes);
+ }
+
+ /*
+ * Read raw bytes from the debug link using the 'G' command
+ */
+ public byte[] read_bytes(int length)
+ throws IOException, InterruptedException {
+
+ flush_reply();
+ ensure_debug_mode();
+ printf("G %x\n", length);
+ int i = 0;
+ byte[] data = new byte[length];
+ while (i < length) {
+ String line = get_reply().trim();
+ String tokens[] = line.split("\\s+");
+ for (int j = 0; j < tokens.length; j++) {
+ if (!Altos.ishex(tokens[j]) ||
+ tokens[j].length() != 2)
+ throw new IOException(
+ String.format
+ ("Invalid read_bytes reply \"%s\"", line));
+ try {
+ data[i + j] = (byte) Integer.parseInt(tokens[j], 16);
+ } catch (NumberFormatException ne) {
+ throw new IOException(
+ String.format
+ ("Invalid read_bytes reply \"%s\"", line));
+ }
+ }
+ i += tokens.length;
+ }
+ return data;
+ }
+
+ public byte read_byte() throws IOException, InterruptedException {
+ return read_bytes(1)[0];
+ }
+
+ public byte debug_instr(byte[] instruction) throws IOException, InterruptedException {
+ byte[] command = new byte[1 + instruction.length];
+ command[0] = DEBUG_INSTR((byte) instruction.length);
+ for (int i = 0; i < instruction.length; i++)
+ command[i+1] = instruction[i];
+ write_bytes(command);
+ return read_byte();
+ }
+
+ public byte resume() throws IOException, InterruptedException {
+ write_byte(RESUME);
+ return read_byte();
+ }
+
+ public int read_uint16() throws IOException, InterruptedException {
+ byte[] d = read_bytes(2);
+ return ((int) (d[0] & 0xff) << 8) | (d[1] & 0xff);
+ }
+
+ public int read_uint8() throws IOException, InterruptedException {
+ byte[] d = read_bytes(1);
+ return (int) (d[0] & 0xff);
+ }
+
+ public int get_chip_id() throws IOException, InterruptedException {
+ write_byte(GET_CHIP_ID);
+ return read_uint16();
+ }
+
+ public int get_pc() throws IOException, InterruptedException {
+ write_byte(GET_PC);
+ return read_uint16();
+ }
+
+ public byte read_status() throws IOException, InterruptedException {
+ write_byte(READ_STATUS);
+ return read_byte();
+ }
+
+ static final byte LJMP = 0x02;
+
+ public void set_pc(int pc) throws IOException, InterruptedException {
+ byte high = (byte) (pc >> 8);
+ byte low = (byte) pc;
+ byte[] jump_mem = { LJMP, high, low };
+ debug_instr(jump_mem);
+ }
+
+ public boolean check_connection() throws IOException, InterruptedException {
+ byte reply = read_status();
+ if ((reply & STATUS_CHIP_ERASE_DONE) == 0)
+ return false;
+ if ((reply & STATUS_PCON_IDLE) != 0)
+ return false;
+ if ((reply & STATUS_POWER_MODE_0) == 0)
+ return false;
+ return true;
+ }
+
+ public AltosRomconfig romconfig() {
+ try {
+ byte[] bytes = read_memory(0xa0, 10);
+ return new AltosRomconfig(bytes, 0);
+ } catch (IOException ie) {
+ } catch (InterruptedException ie) {
+ }
+ return new AltosRomconfig();
+ }
+
+ /*
+ * Reset target
+ */
+ public void reset() {
+ printf ("R\n");
+ }
+}
\ No newline at end of file
public class AltosDevice extends altos_device {
+ static boolean initialized = false;
+ static {
+ try {
+ System.loadLibrary("altos");
+ libaltos.altos_init();
+ initialized = true;
+ } catch (UnsatisfiedLinkError e) {
+ System.err.println("Native library failed to load.\n" + e);
+ }
+ }
+ public final static int TeleMetrum = libaltosConstants.USB_PRODUCT_TELEMETRUM;
+ public final static int TeleDongle = libaltosConstants.USB_PRODUCT_TELEDONGLE;
+ public final static int TeleTerra = libaltosConstants.USB_PRODUCT_TELETERRA;
+ public final static int Any = 0x10000;
+ public final static int BaseStation = 0x10000 + 1;
+
public String toString() {
+ String name = getName();
+ if (name == null)
+ name = "Altus Metrum";
return String.format("%-20.20s %4d %s",
- getProduct(), getSerial(), getPath());
+ getName(), getSerial(), getPath());
}
- static {
- System.loadLibrary("altos");
- libaltos.altos_init();
+ public boolean isAltusMetrum() {
+ if (getVendor() != libaltosConstants.USB_VENDOR_ALTUSMETRUM)
+ return false;
+ if (getProduct() < libaltosConstants.USB_PRODUCT_ALTUSMETRUM_MIN)
+ return false;
+ if (getProduct() > libaltosConstants.USB_PRODUCT_ALTUSMETRUM_MAX)
+ return false;
+ return true;
}
- static AltosDevice[] list(String product) {
+
+ public boolean matchProduct(int want_product) {
+
+ if (want_product == Any)
+ return true;
+
+ if (want_product == BaseStation)
+ return matchProduct(TeleDongle) || matchProduct(TeleTerra);
+
+ if (!isAltusMetrum())
+ return false;
+
+ int have_product = getProduct();
+
+ if (want_product == have_product)
+ return true;
+
+ if (have_product != libaltosConstants.USB_PRODUCT_ALTUSMETRUM)
+ return false;
+
+ String name = getName();
+
+ if (name == null)
+ return false;
+ if (want_product == libaltosConstants.USB_PRODUCT_TELEMETRUM)
+ return name.startsWith("TeleMetrum");
+ if (want_product == libaltosConstants.USB_PRODUCT_TELEDONGLE)
+ return name.startsWith("TeleDongle");
+ if (want_product == libaltosConstants.USB_PRODUCT_TELETERRA)
+ return name.startsWith("TeleTerra");
+ return false;
+ }
+
+ static AltosDevice[] list(int product) {
+ if (!initialized)
+ return null;
+
SWIGTYPE_p_altos_list list = libaltos.altos_list_start();
ArrayList<AltosDevice> device_list = new ArrayList<AltosDevice>();
AltosDevice device = new AltosDevice();
if (libaltos.altos_list_next(list, device) == 0)
break;
- if (product == null || device.getProduct().startsWith(product))
+ if (device.matchProduct(product))
device_list.add(device);
}
libaltos.altos_list_finish(list);
public class AltosDeviceDialog extends JDialog implements ActionListener {
private static AltosDeviceDialog dialog;
- private static altos_device value = null;
+ private static AltosDevice value = null;
private JList list;
- public static altos_device show (Component frameComp, String product) {
+ public static AltosDevice show (Component frameComp, int product) {
Frame frame = JOptionPane.getFrameForComponent(frameComp);
AltosDevice[] devices;
devices = AltosDevice.list(product);
- if (devices != null & devices.length > 0) {
+ if (devices != null && devices.length > 0) {
value = null;
dialog = new AltosDeviceDialog(frame, frameComp,
devices,
//Handle clicks on the Set and Cancel buttons.
public void actionPerformed(ActionEvent e) {
if ("select".equals(e.getActionCommand()))
- AltosDeviceDialog.value = (altos_device)(list.getSelectedValue());
+ AltosDeviceDialog.value = (AltosDevice)(list.getSelectedValue());
AltosDeviceDialog.dialog.setVisible(false);
}
+++ /dev/null
-/*
- * Copyright © 2010 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-package altosui;
-
-import java.awt.*;
-import java.awt.event.*;
-import javax.swing.*;
-import javax.swing.filechooser.FileNameExtensionFilter;
-import javax.swing.table.*;
-import java.io.*;
-import java.util.*;
-import java.text.*;
-import java.util.prefs.*;
-import java.util.concurrent.LinkedBlockingQueue;
-
-import altosui.AltosSerial;
-import altosui.AltosSerialMonitor;
-import altosui.AltosTelemetry;
-import altosui.AltosState;
-import altosui.AltosDeviceDialog;
-import altosui.AltosPreferences;
-import altosui.AltosLog;
-import altosui.AltosVoice;
-import altosui.AltosEepromMonitor;
-
-import libaltosJNI.*;
-
-public class AltosEeprom implements Runnable {
-
- static final int AO_LOG_FLIGHT = 'F';
- static final int AO_LOG_SENSOR = 'A';
- static final int AO_LOG_TEMP_VOLT = 'T';
- static final int AO_LOG_DEPLOY = 'D';
- static final int AO_LOG_STATE = 'S';
- static final int AO_LOG_GPS_TIME = 'G';
- static final int AO_LOG_GPS_LAT = 'N';
- static final int AO_LOG_GPS_LON = 'W';
- static final int AO_LOG_GPS_ALT = 'H';
- static final int AO_LOG_GPS_SAT = 'V';
- static final int AO_LOG_GPS_DATE = 'Y';
-
- static final int ao_flight_startup = 0;
- static final int ao_flight_idle = 1;
- static final int ao_flight_pad = 2;
- static final int ao_flight_boost = 3;
- static final int ao_flight_fast = 4;
- static final int ao_flight_coast = 5;
- static final int ao_flight_drogue = 6;
- static final int ao_flight_main = 7;
- static final int ao_flight_landed = 8;
- static final int ao_flight_invalid = 9;
-
- static final String[] state_names = {
- "startup",
- "idle",
- "pad",
- "boost",
- "fast",
- "coast",
- "drogue",
- "main",
- "landed",
- "invalid",
- };
-
- int[] ParseHex(String line) {
- String[] tokens = line.split("\\s+");
- int[] array = new int[tokens.length];
-
- for (int i = 0; i < tokens.length; i++)
- try {
- array[i] = Integer.parseInt(tokens[i], 16);
- } catch (NumberFormatException ne) {
- return null;
- }
- return array;
- }
-
- int checksum(int[] line) {
- int csum = 0x5a;
- for (int i = 1; i < line.length; i++)
- csum += line[i];
- return csum & 0xff;
- }
-
- void FlushPending(FileWriter file, LinkedList<String> pending) throws IOException {
- while (!pending.isEmpty()) {
- file.write(pending.remove());
- }
- }
-
- JFrame frame;
- altos_device device;
- AltosSerial serial_line;
- boolean remote;
- Thread eeprom_thread;
- AltosEepromMonitor monitor;
-
- void CaptureLog() throws IOException, InterruptedException {
- int serial = 0;
- int block, state_block = 0;
- int addr;
- int flight = 0;
- int year = 0, month = 0, day = 0;
- int state = 0;
- boolean done = false;
- boolean want_file = false;
- boolean any_valid;
- FileWriter eeprom_file = null;
- AltosFile eeprom_name;
- LinkedList<String> eeprom_pending = new LinkedList<String>();
-
- serial_line.printf("v\n");
-
- /* Pull the serial number out of the version information */
-
- for (;;) {
- String line = serial_line.get_reply();
-
- if (line.startsWith("serial-number")) {
- try {
- serial = Integer.parseInt(line.substring(13).trim());
- eeprom_pending.add(String.format("%s\n", line));
- } catch (NumberFormatException ne) {
- serial = 0;
- }
- }
-
- /* signals the end of the version info */
- if (line.startsWith("software-version"))
- break;
- }
- if (serial == 0)
- throw new IOException("no serial number found");
-
- monitor.set_serial(serial);
- /* Now scan the eeprom, reading blocks of data and converting to .eeprom file form */
-
- state = 0; state_block = 0;
- for (block = 0; !done && block < 511; block++) {
- serial_line.printf("e %x\n", block);
- any_valid = false;
- monitor.set_value(state_names[state], state, block - state_block);
- for (addr = 0; addr < 0x100;) {
- String line = serial_line.get_reply();
- int[] values = ParseHex(line);
-
- if (values == null) {
- System.out.printf("invalid line: %s\n", line);
- } else if (values[0] != addr) {
- System.out.printf("data address out of sync at 0x%x\n",
- block * 256 + values[0]);
- } else if (checksum(values) != 0) {
- System.out.printf("invalid checksum at 0x%x\n",
- block * 256 + values[0]);
- } else {
- any_valid = true;
- int cmd = values[1];
- int tick = values[3] + (values[4] << 8);
- int a = values[5] + (values[6] << 8);
- int b = values[7] + (values[8] << 8);
-
- if (cmd == AO_LOG_FLIGHT) {
- flight = b;
- monitor.set_flight(flight);
- }
-
- /* Monitor state transitions to update display */
- if (cmd == AO_LOG_STATE && a <= ao_flight_landed) {
- if (a > ao_flight_pad)
- want_file = true;
- if (a > state)
- state_block = block;
- state = a;
- }
-
- if (cmd == AO_LOG_GPS_DATE) {
- year = 2000 + (a & 0xff);
- month = (a >> 8) & 0xff;
- day = (b & 0xff);
- want_file = true;
- }
-
- if (eeprom_file == null) {
- if (serial != 0 && flight != 0 && want_file) {
- if (year != 0 && month != 0 && day != 0)
- eeprom_name = new AltosFile(year, month, day, serial, flight, "eeprom");
- else
- eeprom_name = new AltosFile(serial, flight, "eeprom");
-
- monitor.set_file(eeprom_name.getName());
- eeprom_file = new FileWriter(eeprom_name);
- if (eeprom_file != null) {
- FlushPending(eeprom_file, eeprom_pending);
- eeprom_pending = null;
- }
- }
- }
-
- String log_line = String.format("%c %4x %4x %4x\n",
- cmd, tick, a, b);
- if (eeprom_file != null)
- eeprom_file.write(log_line);
- else
- eeprom_pending.add(log_line);
-
- if (cmd == AO_LOG_STATE && a == ao_flight_landed) {
- done = true;
- }
- }
- addr += 8;
- }
- if (!any_valid)
- done = true;
- }
- if (eeprom_file == null) {
- eeprom_name = new AltosFile(serial,flight,"eeprom");
- eeprom_file = new FileWriter(eeprom_name);
- if (eeprom_file != null) {
- FlushPending(eeprom_file, eeprom_pending);
- }
- }
- if (eeprom_file != null) {
- eeprom_file.flush();
- eeprom_file.close();
- }
- }
-
- public void run () {
- if (remote) {
- serial_line.printf("m 0\n");
- serial_line.set_channel(AltosPreferences.channel());
- serial_line.printf("p\n");
- }
-
- monitor = new AltosEepromMonitor(frame, ao_flight_boost, ao_flight_landed);
- monitor.addActionListener(new ActionListener() {
- public void actionPerformed(ActionEvent e) {
- eeprom_thread.interrupt();
- }
- });
- try {
- CaptureLog();
- } catch (IOException ee) {
- JOptionPane.showMessageDialog(frame,
- device.getPath(),
- ee.getLocalizedMessage(),
- JOptionPane.ERROR_MESSAGE);
- } catch (InterruptedException ie) {
- }
- if (remote)
- serial_line.printf("~");
- monitor.done();
- serial_line.close();
- }
-
- public AltosEeprom(JFrame given_frame) {
- frame = given_frame;
- device = AltosDeviceDialog.show(frame, null);
-
- serial_line = new AltosSerial();
- remote = false;
-
- if (device != null) {
- try {
- serial_line.open(device);
- if (!device.getProduct().startsWith("TeleMetrum"))
- remote = true;
- eeprom_thread = new Thread(this);
- eeprom_thread.start();
- } catch (FileNotFoundException ee) {
- JOptionPane.showMessageDialog(frame,
- String.format("Cannot open device \"%s\"",
- device.getPath()),
- "Cannot open target device",
- JOptionPane.ERROR_MESSAGE);
- } catch (IOException ee) {
- JOptionPane.showMessageDialog(frame,
- device.getPath(),
- ee.getLocalizedMessage(),
- JOptionPane.ERROR_MESSAGE);
- }
- }
- }
-}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.LinkedBlockingQueue;
+
+import altosui.Altos;
+import altosui.AltosSerial;
+import altosui.AltosSerialMonitor;
+import altosui.AltosRecord;
+import altosui.AltosTelemetry;
+import altosui.AltosState;
+import altosui.AltosDeviceDialog;
+import altosui.AltosPreferences;
+import altosui.AltosLog;
+import altosui.AltosVoice;
+import altosui.AltosEepromMonitor;
+
+import libaltosJNI.*;
+
+public class AltosEepromDownload implements Runnable {
+
+ static final String[] state_names = {
+ "startup",
+ "idle",
+ "pad",
+ "boost",
+ "fast",
+ "coast",
+ "drogue",
+ "main",
+ "landed",
+ "invalid",
+ };
+
+ int[] ParseHex(String line) {
+ String[] tokens = line.split("\\s+");
+ int[] array = new int[tokens.length];
+
+ for (int i = 0; i < tokens.length; i++)
+ try {
+ array[i] = Integer.parseInt(tokens[i], 16);
+ } catch (NumberFormatException ne) {
+ return null;
+ }
+ return array;
+ }
+
+ int checksum(int[] line) {
+ int csum = 0x5a;
+ for (int i = 1; i < line.length; i++)
+ csum += line[i];
+ return csum & 0xff;
+ }
+
+ void FlushPending(FileWriter file, LinkedList<String> pending) throws IOException {
+ while (!pending.isEmpty()) {
+ file.write(pending.remove());
+ }
+ }
+
+ JFrame frame;
+ AltosDevice device;
+ AltosSerial serial_line;
+ boolean remote;
+ Thread eeprom_thread;
+ AltosEepromMonitor monitor;
+
+ void CaptureLog() throws IOException, InterruptedException {
+ int serial = 0;
+ int block, state_block = 0;
+ int addr;
+ int flight = 0;
+ int year = 0, month = 0, day = 0;
+ int state = 0;
+ boolean done = false;
+ boolean want_file = false;
+ boolean any_valid;
+ FileWriter eeprom_file = null;
+ AltosFile eeprom_name;
+ LinkedList<String> eeprom_pending = new LinkedList<String>();
+
+ serial_line.printf("\nc s\nv\n");
+
+ /* Pull the serial number out of the version information */
+
+ for (;;) {
+ String line = serial_line.get_reply();
+
+ if (line.startsWith("serial-number")) {
+ try {
+ serial = Integer.parseInt(line.substring(13).trim());
+ } catch (NumberFormatException ne) {
+ serial = 0;
+ }
+ }
+
+ eeprom_pending.add(String.format("%s\n", line));
+
+ /* signals the end of the version info */
+ if (line.startsWith("software-version"))
+ break;
+ }
+ if (serial == 0)
+ throw new IOException("no serial number found");
+
+ monitor.set_serial(serial);
+ /* Now scan the eeprom, reading blocks of data and converting to .eeprom file form */
+
+ state = 0; state_block = 0;
+ for (block = 0; !done && block < 511; block++) {
+ serial_line.printf("e %x\n", block);
+ any_valid = false;
+ monitor.set_value(state_names[state], state, block - state_block);
+ for (addr = 0; addr < 0x100;) {
+ String line = serial_line.get_reply();
+ int[] values = ParseHex(line);
+
+ if (values == null) {
+ System.out.printf("invalid line: %s\n", line);
+ } else if (values[0] != addr) {
+ System.out.printf("data address out of sync at 0x%x\n",
+ block * 256 + values[0]);
+ } else if (checksum(values) != 0) {
+ System.out.printf("invalid checksum at 0x%x\n",
+ block * 256 + values[0]);
+ } else {
+ any_valid = true;
+ int cmd = values[1];
+ int tick = values[3] + (values[4] << 8);
+ int a = values[5] + (values[6] << 8);
+ int b = values[7] + (values[8] << 8);
+
+ if (cmd == Altos.AO_LOG_FLIGHT) {
+ flight = b;
+ monitor.set_flight(flight);
+ }
+
+ /* Monitor state transitions to update display */
+ if (cmd == Altos.AO_LOG_STATE && a <= Altos.ao_flight_landed) {
+ if (a > Altos.ao_flight_pad)
+ want_file = true;
+ if (a > state)
+ state_block = block;
+ state = a;
+ }
+
+ if (cmd == Altos.AO_LOG_GPS_DATE) {
+ year = 2000 + (a & 0xff);
+ month = (a >> 8) & 0xff;
+ day = (b & 0xff);
+ want_file = true;
+ }
+
+ if (eeprom_file == null) {
+ if (serial != 0 && flight != 0 && want_file) {
+ if (year != 0 && month != 0 && day != 0)
+ eeprom_name = new AltosFile(year, month, day, serial, flight, "eeprom");
+ else
+ eeprom_name = new AltosFile(serial, flight, "eeprom");
+
+ monitor.set_file(eeprom_name.getName());
+ eeprom_file = new FileWriter(eeprom_name);
+ if (eeprom_file != null) {
+ FlushPending(eeprom_file, eeprom_pending);
+ eeprom_pending = null;
+ }
+ }
+ }
+
+ String log_line = String.format("%c %4x %4x %4x\n",
+ cmd, tick, a, b);
+ if (eeprom_file != null)
+ eeprom_file.write(log_line);
+ else
+ eeprom_pending.add(log_line);
+
+ if (cmd == Altos.AO_LOG_STATE && a == Altos.ao_flight_landed) {
+ done = true;
+ }
+ }
+ addr += 8;
+ }
+ if (!any_valid)
+ done = true;
+ }
+ if (eeprom_file == null) {
+ eeprom_name = new AltosFile(serial,flight,"eeprom");
+ eeprom_file = new FileWriter(eeprom_name);
+ if (eeprom_file != null) {
+ FlushPending(eeprom_file, eeprom_pending);
+ }
+ }
+ if (eeprom_file != null) {
+ eeprom_file.flush();
+ eeprom_file.close();
+ }
+ }
+
+ public void run () {
+ if (remote) {
+ serial_line.printf("m 0\n");
+ serial_line.set_channel(AltosPreferences.channel());
+ serial_line.set_callsign(AltosPreferences.callsign());
+ serial_line.printf("p\n");
+ }
+
+ monitor = new AltosEepromMonitor(frame, Altos.ao_flight_boost, Altos.ao_flight_landed);
+ monitor.addActionListener(new ActionListener() {
+ public void actionPerformed(ActionEvent e) {
+ eeprom_thread.interrupt();
+ }
+ });
+ try {
+ CaptureLog();
+ } catch (IOException ee) {
+ JOptionPane.showMessageDialog(frame,
+ device.getPath(),
+ ee.getLocalizedMessage(),
+ JOptionPane.ERROR_MESSAGE);
+ } catch (InterruptedException ie) {
+ }
+ if (remote)
+ serial_line.printf("~");
+ monitor.done();
+ serial_line.close();
+ }
+
+ public AltosEepromDownload(JFrame given_frame) {
+ frame = given_frame;
+ device = AltosDeviceDialog.show(frame, AltosDevice.Any);
+
+ serial_line = new AltosSerial();
+ remote = false;
+
+ if (device != null) {
+ try {
+ serial_line.open(device);
+ if (!device.matchProduct(AltosDevice.TeleMetrum))
+ remote = true;
+ eeprom_thread = new Thread(this);
+ eeprom_thread.start();
+ } catch (FileNotFoundException ee) {
+ JOptionPane.showMessageDialog(frame,
+ String.format("Cannot open device \"%s\"",
+ device.getPath()),
+ "Cannot open target device",
+ JOptionPane.ERROR_MESSAGE);
+ } catch (IOException ee) {
+ JOptionPane.showMessageDialog(frame,
+ device.getPath(),
+ ee.getLocalizedMessage(),
+ JOptionPane.ERROR_MESSAGE);
+ }
+ }
+ }
+}
import altosui.AltosSerial;
import altosui.AltosSerialMonitor;
+import altosui.AltosRecord;
import altosui.AltosTelemetry;
import altosui.AltosState;
import altosui.AltosDeviceDialog;
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.LinkedBlockingQueue;
+
+import altosui.AltosRecord;
+import altosui.AltosState;
+import altosui.AltosDeviceDialog;
+import altosui.AltosPreferences;
+import altosui.AltosLog;
+import altosui.AltosVoice;
+import altosui.AltosEepromMonitor;
+
+/*
+ * 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)
+ throws ParseException {
+ super(line);
+ int new_tick = tick | (prev_tick & ~0xffff);
+ if (new_tick < prev_tick) {
+ if (prev_tick - new_tick > 0x8000)
+ new_tick += 0x10000;
+ }
+ tick = new_tick;
+ 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 int compareTo(AltosOrderedRecord o) {
+ int tick_diff = tick - o.tick;
+ if (tick_diff != 0)
+ return tick_diff;
+ return index - o.index;
+ }
+}
+
+public class AltosEepromReader extends AltosReader {
+
+ 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|seen_temp_volt|seen_deploy;
+
+ AltosRecord state;
+ AltosOrderedRecord record;
+
+ TreeSet<AltosOrderedRecord> records;
+
+ Iterator<AltosOrderedRecord> record_iterator;
+
+ int seen;
+
+ int index;
+
+ boolean last_reported;
+
+ double ground_pres;
+ double ground_accel;
+
+ int n_pad_samples;
+
+ int gps_tick;
+
+ boolean saw_boost;
+
+ int boost_tick;
+
+ boolean saw_gps_date;
+
+ boolean missing_gps_time;
+
+ public AltosRecord read() throws IOException, ParseException {
+ for (;;) {
+ if (record == null) {
+ if (!record_iterator.hasNext()) {
+ if (last_reported)
+ return null;
+ last_reported = true;
+ return state;
+ }
+ record = record_iterator.next();
+
+ if ((seen & seen_basic) == seen_basic && record.tick != state.tick) {
+ AltosRecord r = new AltosRecord(state);
+ r.time = (r.tick - boost_tick) / 100.0;
+ return r;
+ }
+ }
+
+ state.tick = record.tick;
+ switch (record.cmd) {
+ case Altos.AO_LOG_FLIGHT:
+ state.ground_accel = record.a;
+ state.flight = record.b;
+ seen |= seen_flight;
+ break;
+ case Altos.AO_LOG_SENSOR:
+ state.accel = record.a;
+ state.pres = record.b;
+ if (state.state < Altos.ao_flight_boost) {
+ n_pad_samples++;
+ ground_pres += state.pres;
+ state.ground_pres = (int) (ground_pres / n_pad_samples);
+ state.flight_pres = state.ground_pres;
+ ground_accel += state.accel;
+ state.ground_accel = (int) (ground_accel / n_pad_samples);
+ state.flight_accel = state.ground_accel;
+ } else {
+ state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
+ state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
+ state.flight_vel += (state.accel_plus_g - state.accel);
+ }
+ seen |= seen_sensor;
+ break;
+ case Altos.AO_LOG_TEMP_VOLT:
+ state.temp = record.a;
+ state.batt = record.b;
+ seen |= seen_temp_volt;
+ break;
+ case Altos.AO_LOG_DEPLOY:
+ state.drogue = record.a;
+ state.main = record.b;
+ seen |= seen_deploy;
+ break;
+ case Altos.AO_LOG_STATE:
+ state.state = record.a;
+ break;
+ case Altos.AO_LOG_GPS_TIME:
+ gps_tick = state.tick;
+ state.gps = new AltosGPS();
+ state.gps.hour = (record.a & 0xff);
+ state.gps.minute = (record.a >> 8);
+ state.gps.second = (record.b & 0xff);
+ int flags = (record.b >> 8);
+ state.gps.connected = (flags & Altos.AO_GPS_RUNNING) != 0;
+ state.gps.locked = (flags & Altos.AO_GPS_VALID) != 0;
+ state.gps.date_valid = (flags & Altos.AO_GPS_DATE_VALID) != 0;
+ state.gps.nsat = (flags & Altos.AO_GPS_NUM_SAT_MASK) >>
+ Altos.AO_GPS_NUM_SAT_SHIFT;
+ System.out.printf("GPS %2d:%02d:%02d%s%s%s %d\n",
+ state.gps.hour, state.gps.minute, state.gps.second,
+ state.gps.connected ? " connected" : "",
+ state.gps.locked ? " locked" : "",
+ state.gps.date_valid ? " date_valid" : "",
+ state.gps.nsat);
+ break;
+ case Altos.AO_LOG_GPS_LAT:
+ int lat32 = record.a | (record.b << 16);
+ state.gps.lat = (double) lat32 / 1e7;
+ break;
+ case Altos.AO_LOG_GPS_LON:
+ int lon32 = record.a | (record.b << 16);
+ state.gps.lon = (double) lon32 / 1e7;
+ break;
+ case Altos.AO_LOG_GPS_ALT:
+ state.gps.alt = record.a;
+ break;
+ case Altos.AO_LOG_GPS_SAT:
+ if (state.tick == gps_tick) {
+ int svid = record.a;
+ int c_n0 = record.b >> 8;
+ state.gps.add_sat(svid, c_n0);
+ }
+ break;
+ case Altos.AO_LOG_GPS_DATE:
+ state.gps.year = record.a & 0xff;
+ state.gps.month = record.a >> 8;
+ state.gps.day = record.b & 0xff;
+ break;
+
+ case Altos.AO_LOG_CONFIG_VERSION:
+ break;
+ case Altos.AO_LOG_MAIN_DEPLOY:
+ break;
+ case Altos.AO_LOG_APOGEE_DELAY:
+ break;
+ case Altos.AO_LOG_RADIO_CHANNEL:
+ break;
+ case Altos.AO_LOG_CALLSIGN:
+ state.callsign = record.data;
+ break;
+ case Altos.AO_LOG_ACCEL_CAL:
+ state.accel_plus_g = record.a;
+ state.accel_minus_g = record.b;
+ break;
+ case Altos.AO_LOG_RADIO_CAL:
+ break;
+ case Altos.AO_LOG_MANUFACTURER:
+ break;
+ case Altos.AO_LOG_PRODUCT:
+ break;
+ case Altos.AO_LOG_SERIAL_NUMBER:
+ state.serial = record.a;
+ break;
+ case Altos.AO_LOG_SOFTWARE_VERSION:
+ break;
+ }
+ record = null;
+ }
+ }
+
+ 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 Altos.AO_LOG_CONFIG_VERSION:
+ out.printf("# Config version: %s\n", record.data);
+ break;
+ case Altos.AO_LOG_MAIN_DEPLOY:
+ out.printf("# Main deploy: %s\n", record.a);
+ break;
+ case Altos.AO_LOG_APOGEE_DELAY:
+ out.printf("# Apogee delay: %s\n", record.a);
+ break;
+ case Altos.AO_LOG_RADIO_CHANNEL:
+ out.printf("# Radio channel: %s\n", record.a);
+ break;
+ case Altos.AO_LOG_CALLSIGN:
+ out.printf("# Callsign: %s\n", record.data);
+ break;
+ case Altos.AO_LOG_ACCEL_CAL:
+ out.printf ("# Accel cal: %d %d\n", record.a, record.b);
+ break;
+ case Altos.AO_LOG_RADIO_CAL:
+ out.printf ("# Radio cal: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_MANUFACTURER:
+ out.printf ("# Manufacturer: %s\n", record.data);
+ break;
+ case Altos.AO_LOG_PRODUCT:
+ out.printf ("# Product: %s\n", record.data);
+ break;
+ case Altos.AO_LOG_SERIAL_NUMBER:
+ out.printf ("# Serial number: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_SOFTWARE_VERSION:
+ out.printf ("# Software version: %s\n", record.data);
+ break;
+ }
+ }
+ }
+
+ /*
+ * 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;
+
+ 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);
+
+ System.out.printf("Synthesizing time good %2d:%02d:%02d bad %2d:%02d:%02d\n",
+ hour, minute, second,
+ new_hour, new_minute, new_second);
+
+ bad.a = new_hour + (new_minute << 8);
+ bad.b = new_second + (flags << 8);
+ }
+
+ /*
+ * Read the whole file, dumping records into a RB tree so
+ * we can enumerate them in time order -- the eeprom data
+ * are sometimes out of order with GPS data getting timestamps
+ * matching the first packet out of the GPS unit but not
+ * written until the final GPS packet has been received.
+ */
+ public AltosEepromReader (FileInputStream input) {
+ state = new AltosRecord();
+ state.state = Altos.ao_flight_pad;
+ state.accel_plus_g = 15758;
+ state.accel_minus_g = 16294;
+ seen = 0;
+ records = new TreeSet<AltosOrderedRecord>();
+
+ AltosOrderedRecord last_gps_time = null;
+
+ int index = 0;
+ int tick = 0;
+
+ boolean missing_time = false;
+
+ try {
+ for (;;) {
+ String line = AltosRecord.gets(input);
+ if (line == null)
+ break;
+ AltosOrderedRecord record = new AltosOrderedRecord(line, index++, tick);
+ if (record == null)
+ break;
+ tick = record.tick;
+ if (!saw_boost && record.cmd == Altos.AO_LOG_STATE &&
+ record.a >= Altos.ao_flight_boost)
+ {
+ saw_boost = true;
+ boost_tick = tick;
+ }
+
+ /* Two firmware bugs caused the loss of some GPS data.
+ * The flight date would never be recorded, and often
+ * the flight time would get overwritten by another
+ * record. Detect the loss of the GPS date and fix up the
+ * missing time records
+ */
+ if (record.cmd == Altos.AO_LOG_GPS_DATE)
+ saw_gps_date = true;
+
+ /* go back and fix up any missing time values */
+ if (record.cmd == Altos.AO_LOG_GPS_TIME) {
+ last_gps_time = record;
+ if (missing_time) {
+ System.out.printf("Going back to clean up broken GPS time records\n");
+ Iterator<AltosOrderedRecord> iterator = records.iterator();
+ while (iterator.hasNext()) {
+ AltosOrderedRecord old = iterator.next();
+ if (old.cmd == Altos.AO_LOG_GPS_TIME) {
+ System.out.printf("Old time record %d, %d\n", old.a, old.b);
+ }
+ if (old.cmd == Altos.AO_LOG_GPS_TIME &&
+ old.a == -1 && old.b == -1)
+ {
+ update_time(record, old);
+ }
+ }
+ missing_time = false;
+ }
+ }
+
+ if (record.cmd == Altos.AO_LOG_GPS_LAT) {
+ if (last_gps_time == null || last_gps_time.tick != record.tick) {
+ AltosOrderedRecord add_gps_time = new AltosOrderedRecord(Altos.AO_LOG_GPS_TIME,
+ record.tick,
+ -1, -1, index-1);
+ if (last_gps_time != null)
+ update_time(last_gps_time, add_gps_time);
+ else {
+ System.out.printf("early GPS missing time\n");
+ missing_time = true;
+ }
+ records.add(add_gps_time);
+ record.index = index++;
+ }
+ }
+ records.add(record);
+ }
+ } catch (IOException io) {
+ } catch (ParseException pe) {
+ }
+ record_iterator = records.iterator();
+ 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 altosui;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.LinkedBlockingQueue;
+
+import altosui.AltosSerial;
+import altosui.AltosSerialMonitor;
+import altosui.AltosRecord;
+import altosui.AltosTelemetry;
+import altosui.AltosState;
+import altosui.AltosDeviceDialog;
+import altosui.AltosPreferences;
+import altosui.AltosLog;
+import altosui.AltosVoice;
+import altosui.AltosEepromMonitor;
+
+public class AltosEepromRecord {
+ public int cmd;
+ public int tick;
+ public int a;
+ public int b;
+ public String data;
+ public boolean tick_valid;
+
+ public AltosEepromRecord (String line) throws ParseException {
+ tick_valid = false;
+ tick = 0;
+ a = 0;
+ b = 0;
+ data = null;
+ if (line == null) {
+ cmd = Altos.AO_LOG_INVALID;
+ } else {
+ String[] tokens = line.split("\\s+");
+
+ if (tokens[0].length() == 1) {
+ if (tokens.length != 4)
+ throw new ParseException(line, 0);
+ 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 = Altos.AO_LOG_CONFIG_VERSION;
+ data = tokens[2];
+ } else if (tokens[0].equals("Main") && tokens[1].equals("deploy:")) {
+ cmd = Altos.AO_LOG_MAIN_DEPLOY;
+ a = Integer.parseInt(tokens[2]);
+ } else if (tokens[0].equals("Apogee") && tokens[1].equals("delay:")) {
+ cmd = Altos.AO_LOG_APOGEE_DELAY;
+ a = Integer.parseInt(tokens[2]);
+ } else if (tokens[0].equals("Radio") && tokens[1].equals("channel:")) {
+ cmd = Altos.AO_LOG_RADIO_CHANNEL;
+ a = Integer.parseInt(tokens[2]);
+ } else if (tokens[0].equals("Callsign:")) {
+ cmd = Altos.AO_LOG_CALLSIGN;
+ data = tokens[1].replaceAll("\"","");
+ } else if (tokens[0].equals("Accel") && tokens[1].equals("cal")) {
+ cmd = Altos.AO_LOG_ACCEL_CAL;
+ a = Integer.parseInt(tokens[3]);
+ b = Integer.parseInt(tokens[5]);
+ } else if (tokens[0].equals("Radio") && tokens[1].equals("cal:")) {
+ cmd = Altos.AO_LOG_RADIO_CAL;
+ a = Integer.parseInt(tokens[2]);
+ } else if (tokens[0].equals("manufacturer")) {
+ cmd = Altos.AO_LOG_MANUFACTURER;
+ data = tokens[1];
+ } else if (tokens[0].equals("product")) {
+ cmd = Altos.AO_LOG_PRODUCT;
+ data = tokens[1];
+ } else if (tokens[0].equals("serial-number")) {
+ cmd = Altos.AO_LOG_SERIAL_NUMBER;
+ a = Integer.parseInt(tokens[1]);
+ } else if (tokens[0].equals("software-version")) {
+ cmd = Altos.AO_LOG_SOFTWARE_VERSION;
+ data = tokens[1];
+ } else {
+ cmd = Altos.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 altosui;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.LinkedBlockingQueue;
+
+import altosui.AltosHexfile;
+
+public class AltosFlash {
+ File file;
+ FileInputStream input;
+ AltosHexfile image;
+ JFrame frame;
+ AltosDevice debug_dongle;
+ AltosDebug debug;
+ AltosRomconfig rom_config;
+ ActionListener listener;
+ boolean aborted;
+
+ static final byte MOV_direct_data = (byte) 0x75;
+ static final byte MOV_DPTR_data16 = (byte) 0x90;
+ static final byte MOV_A_data = (byte) 0x74;
+ static final byte MOVX_atDPTR_A = (byte) 0xf0;
+ static final byte MOVX_A_atDPTR = (byte) 0xe0;
+ static final byte INC_DPTR = (byte) 0xa3;
+ static final byte TRAP = (byte) 0xa5;
+
+ static final byte JB = (byte) 0x20;
+
+ static final byte MOV_A_direct = (byte) 0xe5;
+ static final byte MOV_direct1_direct2 = (byte) 0x85;
+ static final byte MOV_direct_A = (byte) 0xf5;
+ static final byte MOV_R0_data = (byte) (0x78 | 0);
+ static final byte MOV_R1_data = (byte) (0x78 | 1);
+ static final byte MOV_R2_data = (byte) (0x78 | 2);
+ static final byte MOV_R3_data = (byte) (0x78 | 3);
+ static final byte MOV_R4_data = (byte) (0x78 | 4);
+ static final byte MOV_R5_data = (byte) (0x78 | 5);
+ static final byte MOV_R6_data = (byte) (0x78 | 6);
+ static final byte MOV_R7_data = (byte) (0x78 | 7);
+ static final byte DJNZ_R0_rel = (byte) (0xd8 | 0);
+ static final byte DJNZ_R1_rel = (byte) (0xd8 | 1);
+ static final byte DJNZ_R2_rel = (byte) (0xd8 | 2);
+ static final byte DJNZ_R3_rel = (byte) (0xd8 | 3);
+ static final byte DJNZ_R4_rel = (byte) (0xd8 | 4);
+ static final byte DJNZ_R5_rel = (byte) (0xd8 | 5);
+ static final byte DJNZ_R6_rel = (byte) (0xd8 | 6);
+ static final byte DJNZ_R7_rel = (byte) (0xd8 | 7);
+
+ static final byte P1DIR = (byte) 0xFE;
+ static final byte P1 = (byte) 0x90;
+
+ /* flash controller */
+ static final byte FWT = (byte) 0xAB;
+ static final byte FADDRL = (byte) 0xAC;
+ static final byte FADDRH = (byte) 0xAD;
+ static final byte FCTL = (byte) 0xAE;
+ static final byte FCTL_BUSY = (byte) 0x80;
+ static final byte FCTL_BUSY_BIT = (byte) 7;
+ static final byte FCTL_SWBSY = (byte) 0x40;
+ static final byte FCTL_SWBSY_BIT = (byte) 6;
+ static final byte FCTL_CONTRD = (byte) 0x10;
+ static final byte FCTL_WRITE = (byte) 0x02;
+ static final byte FCTL_ERASE = (byte) 0x01;
+ static final byte FWDATA = (byte) 0xAF;
+
+ static final byte ACC = (byte) 0xE0;
+
+ /* offsets within the flash_page program */
+ static final int FLASH_ADDR_HIGH = 8;
+ static final int FLASH_ADDR_LOW = 11;
+ static final int RAM_ADDR_HIGH = 13;
+ static final int RAM_ADDR_LOW = 14;
+ static final int FLASH_WORDS_HIGH = 16;
+ static final int FLASH_WORDS_LOW = 18;
+ static final int FLASH_TIMING = 21;
+
+ /* sleep mode control */
+ static final int SLEEP = (byte) 0xbe;
+ static final int SLEEP_USB_EN = (byte) 0x80;
+ static final int SLEEP_XOSC_STB = (byte) 0x40;
+ static final int SLEEP_HFRC_STB = (byte) 0x20;
+ static final int SLEEP_RST_MASK = (byte) 0x18;
+ static final int SLEEP_RST_POWERON = (byte) 0x00;
+ static final int SLEEP_RST_EXTERNAL = (byte) 0x10;
+ static final int SLEEP_RST_WATCHDOG = (byte) 0x08;
+ static final int SLEEP_OSC_PD = (byte) 0x04;
+ static final int SLEEP_MODE_MASK = (byte) 0x03;
+ static final int SLEEP_MODE_PM0 = (byte) 0x00;
+ static final int SLEEP_MODE_PM1 = (byte) 0x01;
+ static final int SLEEP_MODE_PM2 = (byte) 0x02;
+ static final int SLEEP_MODE_PM3 = (byte) 0x03;
+
+ /* clock controller */
+ static final byte CLKCON = (byte) 0xC6;
+ static final byte CLKCON_OSC32K = (byte) 0x80;
+ static final byte CLKCON_OSC = (byte) 0x40;
+ static final byte CLKCON_TICKSPD = (byte) 0x38;
+ static final byte CLKCON_CLKSPD = (byte) 0x07;
+
+ static final byte[] flash_page_proto = {
+
+ MOV_direct_data, P1DIR, (byte) 0x02,
+ MOV_direct_data, P1, (byte) 0xFF,
+
+ MOV_direct_data, FADDRH, 0, /* FLASH_ADDR_HIGH */
+
+ MOV_direct_data, FADDRL, 0, /* FLASH_ADDR_LOW */
+
+ MOV_DPTR_data16, 0, 0, /* RAM_ADDR_HIGH, RAM_ADDR_LOW */
+
+ MOV_R7_data, 0, /* FLASH_WORDS_HIGH */
+
+ MOV_R6_data, 0, /* FLASH_WORDS_LOW */
+
+
+ MOV_direct_data, FWT, 0x20, /* FLASH_TIMING */
+
+ MOV_direct_data, FCTL, FCTL_ERASE,
+/* eraseWaitLoop: */
+ MOV_A_direct, FCTL,
+ JB, ACC|FCTL_BUSY_BIT, (byte) 0xfb,
+
+ MOV_direct_data, P1, (byte) 0xfd,
+
+ MOV_direct_data, FCTL, FCTL_WRITE,
+/* writeLoop: */
+ MOV_R5_data, 2,
+/* writeWordLoop: */
+ MOVX_A_atDPTR,
+ INC_DPTR,
+ MOV_direct_A, FWDATA,
+ DJNZ_R5_rel, (byte) 0xfa, /* writeWordLoop */
+/* writeWaitLoop: */
+ MOV_A_direct, FCTL,
+ JB, ACC|FCTL_SWBSY_BIT, (byte) 0xfb, /* writeWaitLoop */
+ DJNZ_R6_rel, (byte) 0xf1, /* writeLoop */
+ DJNZ_R7_rel, (byte) 0xef, /* writeLoop */
+
+ MOV_direct_data, P1DIR, (byte) 0x00,
+ MOV_direct_data, P1, (byte) 0xFF,
+ TRAP,
+ };
+
+ public byte[] make_flash_page(int flash_addr, int ram_addr, int byte_count) {
+ int flash_word_addr = flash_addr >> 1;
+ int flash_word_count = ((byte_count + 1) >> 1);
+
+ byte[] flash_page = new byte[flash_page_proto.length];
+ for (int i = 0; i < flash_page.length; i++)
+ flash_page[i] = flash_page_proto[i];
+
+ flash_page[FLASH_ADDR_HIGH] = (byte) (flash_word_addr >> 8);
+ flash_page[FLASH_ADDR_LOW] = (byte) (flash_word_addr);
+ flash_page[RAM_ADDR_HIGH] = (byte) (ram_addr >> 8);
+ flash_page[RAM_ADDR_LOW] = (byte) (ram_addr);
+
+ byte flash_words_low = (byte) (flash_word_count);
+ byte flash_words_high = (byte) (flash_word_count >> 8);
+ /* the flashing code has a minor 'bug' */
+ if (flash_words_low != 0)
+ flash_words_high++;
+
+ flash_page[FLASH_WORDS_HIGH] = (byte) flash_words_high;
+ flash_page[FLASH_WORDS_LOW] = (byte) flash_words_low;
+ return flash_page;
+ }
+
+ static byte[] set_clkcon_fast = {
+ MOV_direct_data, CLKCON, 0x00
+ };
+
+ static byte[] get_sleep = {
+ MOV_A_direct, SLEEP
+ };
+
+ public void clock_init() throws IOException, InterruptedException {
+ debug.debug_instr(set_clkcon_fast);
+
+ byte status;
+ do {
+ status = debug.debug_instr(get_sleep);
+ } while ((status & SLEEP_XOSC_STB) == 0);
+ }
+
+ void action(String s, int percent) {
+ if (listener != null && !aborted)
+ listener.actionPerformed(new ActionEvent(this,
+ percent,
+ s));
+ }
+
+ void action(int part, int total) {
+ int percent = 100 * part / total;
+ action(String.format("%d/%d (%d%%)",
+ part, total, percent),
+ percent);
+ }
+
+ public void flash() throws IOException, FileNotFoundException, InterruptedException {
+ if (!check_rom_config())
+ throw new IOException("Invalid rom config settings");
+ if (image.address + image.data.length > 0x8000)
+ throw new IOException(String.format("Flash image too long %d",
+ image.address +
+ image.data.length));
+ if ((image.address & 0x3ff) != 0)
+ throw new IOException(String.format("Flash image must start on page boundary (is 0x%x)",
+ image.address));
+ int ram_address = 0xf000;
+ int flash_prog = 0xf400;
+
+ /*
+ * Store desired config values into image
+ */
+ rom_config.write(image);
+ /*
+ * Bring up the clock
+ */
+ clock_init();
+
+ int remain = image.data.length;
+ int 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 > 0x400)
+ this_time = 0x400;
+
+ /* write the data */
+ debug.write_memory(ram_address, image.data,
+ image_start, this_time);
+
+ /* write the flash program */
+ byte[] flash_page = make_flash_page(flash_addr,
+ ram_address,
+ this_time);
+ debug.write_memory(flash_prog, flash_page);
+
+ debug.set_pc(flash_prog);
+ int pc = debug.get_pc();
+ debug.resume();
+ Thread.sleep(100);
+ for (int times = 0; times < 10; times++) {
+ byte status = debug.read_status();
+ if ((status & AltosDebug.STATUS_CPU_HALTED) != 0)
+ break;
+ Thread.sleep(100);
+ }
+
+ byte[] check = debug.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]));
+ remain -= this_time;
+ flash_addr += this_time;
+ image_start += this_time;
+
+ action(image.data.length - remain, image.data.length);
+ }
+ if (!aborted) {
+ action("done", 100);
+ debug.set_pc(image.address);
+ debug.resume();
+ }
+ debug.close();
+ }
+
+ public void abort() {
+ aborted = true;
+ debug.close();
+ }
+
+ public void addActionListener(ActionListener l) {
+ listener = l;
+ }
+
+ public boolean check_rom_config() {
+ 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 void open() throws IOException, FileNotFoundException, InterruptedException {
+ input = new FileInputStream(file);
+ image = new AltosHexfile(input);
+ debug.open(debug_dongle);
+ if (!debug.check_connection())
+ throw new IOException("Debug port not connected");
+ }
+
+ public AltosFlash(File in_file, AltosDevice in_debug_dongle) {
+ file = in_file;
+ debug_dongle = in_debug_dongle;
+ debug = new AltosDebug();
+ }
+}
\ No newline at end of file
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.LinkedBlockingQueue;
+
+import altosui.AltosHexfile;
+import altosui.AltosFlash;
+
+public class AltosFlashUI
+ extends JDialog
+ implements Runnable, ActionListener
+{
+ Container pane;
+ Box box;
+ JLabel serial_label;
+ JLabel serial_value;
+ JLabel file_label;
+ JLabel file_value;
+ JProgressBar pbar;
+ JButton cancel;
+
+ File file;
+ Thread thread;
+ JFrame frame;
+ AltosDevice debug_dongle;
+ AltosFlash flash;
+
+ public void actionPerformed(ActionEvent e) {
+ if (e.getSource() == cancel) {
+ abort();
+ dispose();
+ } else {
+ String cmd = e.getActionCommand();
+ if (cmd.equals("done"))
+ ;
+ else if (cmd.equals("start")) {
+ setVisible(true);
+ } else {
+ pbar.setValue(e.getID());
+ pbar.setString(cmd);
+ }
+ }
+ }
+
+ public void run() {
+ flash = new AltosFlash(file, debug_dongle);
+ flash.addActionListener(this);
+ try {
+ flash.open();
+ AltosRomconfigUI romconfig_ui = new AltosRomconfigUI (frame);
+
+ romconfig_ui.set(flash.romconfig());
+ romconfig_ui.showDialog();
+
+ AltosRomconfig romconfig = romconfig_ui.romconfig();
+ if (romconfig == null || !romconfig.valid())
+ return;
+ flash.set_romconfig(romconfig);
+ serial_value.setText(String.format("%d",
+ flash.romconfig().serial_number));
+ file_value.setText(file.toString());
+ setVisible(true);
+ flash.flash();
+ } catch (FileNotFoundException ee) {
+ JOptionPane.showMessageDialog(frame,
+ "Cannot open image",
+ file.toString(),
+ JOptionPane.ERROR_MESSAGE);
+ } catch (IOException e) {
+ JOptionPane.showMessageDialog(frame,
+ e.getMessage(),
+ file.toString(),
+ JOptionPane.ERROR_MESSAGE);
+ } catch (InterruptedException ie) {
+ }
+ dispose();
+ }
+
+ public void abort() {
+ if (flash != null)
+ flash.abort();
+ }
+
+ public void build_dialog() {
+ GridBagConstraints c;
+ Insets il = new Insets(4,4,4,4);
+ Insets ir = new Insets(4,4,4,4);
+
+ pane = getContentPane();
+ pane.setLayout(new GridBagLayout());
+
+ c = new GridBagConstraints();
+ c.gridx = 0; c.gridy = 0;
+ c.fill = GridBagConstraints.NONE;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = il;
+ serial_label = new JLabel("Serial:");
+ pane.add(serial_label, c);
+
+ c = new GridBagConstraints();
+ c.gridx = 1; c.gridy = 0;
+ c.fill = GridBagConstraints.HORIZONTAL;
+ c.weightx = 1;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = ir;
+ serial_value = new JLabel("");
+ pane.add(serial_value, c);
+
+ c = new GridBagConstraints();
+ c.fill = GridBagConstraints.NONE;
+ c.gridx = 0; c.gridy = 1;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = il;
+ file_label = new JLabel("File:");
+ pane.add(file_label, c);
+
+ c = new GridBagConstraints();
+ c.fill = GridBagConstraints.HORIZONTAL;
+ c.weightx = 1;
+ c.gridx = 1; c.gridy = 1;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = ir;
+ file_value = new JLabel("");
+ pane.add(file_value, c);
+
+ pbar = new JProgressBar();
+ pbar.setMinimum(0);
+ pbar.setMaximum(100);
+ pbar.setValue(0);
+ pbar.setString("");
+ pbar.setStringPainted(true);
+ pbar.setPreferredSize(new Dimension(600, 20));
+ c = new GridBagConstraints();
+ c.fill = GridBagConstraints.HORIZONTAL;
+ c.anchor = GridBagConstraints.CENTER;
+ c.gridx = 0; c.gridy = 2;
+ c.gridwidth = GridBagConstraints.REMAINDER;
+ Insets ib = new Insets(4,4,4,4);
+ c.insets = ib;
+ pane.add(pbar, c);
+
+ cancel = new JButton("Cancel");
+ c = new GridBagConstraints();
+ c.fill = GridBagConstraints.NONE;
+ c.anchor = GridBagConstraints.CENTER;
+ c.gridx = 0; c.gridy = 3;
+ c.gridwidth = GridBagConstraints.REMAINDER;
+ Insets ic = new Insets(4,4,4,4);
+ c.insets = ic;
+ pane.add(cancel, c);
+ cancel.addActionListener(this);
+ pack();
+ setLocationRelativeTo(frame);
+ }
+
+ public AltosFlashUI(JFrame in_frame) {
+ super(in_frame, "Program Altusmetrum Device", false);
+
+ frame = in_frame;
+
+ build_dialog();
+
+ debug_dongle = AltosDeviceDialog.show(frame, AltosDevice.Any);
+
+ if (debug_dongle == null)
+ return;
+
+ JFileChooser hexfile_chooser = new JFileChooser();
+
+ hexfile_chooser.setDialogTitle("Select Flash Image");
+ hexfile_chooser.setFileFilter(new FileNameExtensionFilter("Flash Image", "ihx"));
+ int returnVal = hexfile_chooser.showOpenDialog(frame);
+
+ if (returnVal != JFileChooser.APPROVE_OPTION)
+ return;
+
+ file = hexfile_chooser.getSelectedFile();
+
+ thread = new Thread(this);
+ thread.start();
+ }
+}
\ No newline at end of file
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.LinkedBlockingQueue;
+
+public class AltosFlightInfoTableModel extends AbstractTableModel {
+ private String[] columnNames = {"Field", "Value"};
+
+ class InfoLine {
+ String name;
+ String value;
+
+ public InfoLine(String n, String v) {
+ name = n;
+ value = v;
+ }
+ }
+
+ private ArrayList<InfoLine> rows = new ArrayList<InfoLine>();
+
+ public int getColumnCount() { return columnNames.length; }
+ public String getColumnName(int col) { return columnNames[col]; }
+
+ public int getRowCount() { return 20; }
+
+ int current_row = 0;
+ int prev_num_rows = 0;
+
+ public Object getValueAt(int row, int col) {
+ if (row >= rows.size())
+ return "";
+ if (col == 0)
+ return rows.get(row).name;
+ else
+ return rows.get(row).value;
+ }
+
+ public void resetRow() {
+ current_row = 0;
+ }
+ public void addRow(String name, String value) {
+ if (current_row >= rows.size())
+ rows.add(current_row, new InfoLine(name, value));
+ else
+ rows.set(current_row, new InfoLine(name, value));
+ current_row++;
+ }
+ public void finish() {
+ if (current_row > prev_num_rows)
+ fireTableRowsInserted(prev_num_rows, current_row - 1);
+ while (rows.size() > current_row)
+ rows.remove(rows.size() - 1);
+ prev_num_rows = current_row;
+ fireTableDataChanged();
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.LinkedBlockingQueue;
+
+public class AltosFlightStatusTableModel extends AbstractTableModel {
+ private String[] columnNames = {"Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
+ private Object[] data = { 0, "idle", 0, 0 };
+
+ public int getColumnCount() { return columnNames.length; }
+ public int getRowCount() { return 2; }
+ public Object getValueAt(int row, int col) {
+ if (row == 0)
+ return columnNames[col];
+ return data[col];
+ }
+
+ public void setValueAt(Object value, int col) {
+ data[col] = value;
+ fireTableCellUpdated(1, col);
+ }
+
+ public void setValueAt(Object value, int row, int col) {
+ setValueAt(value, col);
+ }
+
+ public void set(AltosState state) {
+ setValueAt(String.format("%1.0f", state.height), 0);
+ setValueAt(state.data.state(), 1);
+ setValueAt(state.data.rssi, 2);
+ double speed = state.baro_speed;
+ if (state.ascent)
+ speed = state.speed;
+ setValueAt(String.format("%1.0f", speed), 3);
+ }
+}
public class AltosGPS {
- public class AltosGPSTime {
- int year;
- int month;
- int day;
- int hour;
- int minute;
- int second;
-
- public AltosGPSTime(String date, String time) throws ParseException {
- String[] ymd = date.split("-");
- if (ymd.length != 3)
- throw new ParseException("error parsing GPS date " + date + " got " + ymd.length, 0);
- year = AltosParse.parse_int(ymd[0]);
- month = AltosParse.parse_int(ymd[1]);
- day = AltosParse.parse_int(ymd[2]);
-
- String[] hms = time.split(":");
- if (hms.length != 3)
- throw new ParseException("Error parsing GPS time " + time + " got " + hms.length, 0);
- hour = AltosParse.parse_int(hms[0]);
- minute = AltosParse.parse_int(hms[1]);
- second = AltosParse.parse_int(hms[2]);
- }
-
- public AltosGPSTime() {
- year = month = day = 0;
- hour = minute = second = 0;
- }
-
- }
-
public class AltosGPSSat {
int svid;
int c_n0;
}
int nsat;
- boolean gps_locked;
- boolean gps_connected;
- AltosGPSTime gps_time;
+ boolean locked;
+ boolean connected;
+ boolean date_valid;
double lat; /* degrees (+N -S) */
double lon; /* degrees (+E -W) */
int alt; /* m */
+ int year;
+ int month;
+ int day;
+ int hour;
+ int minute;
+ int second;
int gps_extended; /* has extra data */
double ground_speed; /* m/s */
AltosGPSSat[] cc_gps_sat; /* tracking data */
- public AltosGPS(String[] words, int i) throws ParseException {
+ void ParseGPSDate(String date) throws ParseException {
+ String[] ymd = date.split("-");
+ if (ymd.length != 3)
+ throw new ParseException("error parsing GPS date " + date + " got " + ymd.length, 0);
+ year = AltosParse.parse_int(ymd[0]);
+ month = AltosParse.parse_int(ymd[1]);
+ day = AltosParse.parse_int(ymd[2]);
+ }
+
+ void ParseGPSTime(String time) throws ParseException {
+ String[] hms = time.split(":");
+ if (hms.length != 3)
+ throw new ParseException("Error parsing GPS time " + time + " got " + hms.length, 0);
+ hour = AltosParse.parse_int(hms[0]);
+ minute = AltosParse.parse_int(hms[1]);
+ second = AltosParse.parse_int(hms[2]);
+ }
+
+ void ClearGPSTime() {
+ year = month = day = 0;
+ hour = minute = second = 0;
+ }
+
+ public AltosGPS(String[] words, int i, int version) throws ParseException {
AltosParse.word(words[i++], "GPS");
nsat = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "sat");
- gps_connected = false;
- gps_locked = false;
+ connected = false;
+ locked = false;
lat = lon = 0;
alt = 0;
+ ClearGPSTime();
if ((words[i]).equals("unlocked")) {
- gps_connected = true;
- gps_time = new AltosGPSTime();
+ connected = true;
i++;
} else if ((words[i]).equals("not-connected")) {
- gps_time = new AltosGPSTime();
i++;
} else if (words.length >= 40) {
- gps_locked = true;
- gps_connected = true;
+ locked = true;
+ connected = true;
- gps_time = new AltosGPSTime(words[i], words[i+1]); i += 2;
+ if (version > 1)
+ ParseGPSDate(words[i++]);
+ else
+ year = month = day = 0;
+ ParseGPSTime(words[i++]);
lat = AltosParse.parse_coord(words[i++]);
lon = AltosParse.parse_coord(words[i++]);
- alt = AltosParse.parse_int(AltosParse.strip_suffix(words[i++], "m"));
- ground_speed = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(H)"));
- course = AltosParse.parse_int(AltosParse.strip_suffix(words[i++], "°"));
- climb_rate = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(V)"));
- hdop = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "(hdop)"));
- h_error = AltosParse.parse_int(AltosParse.strip_suffix(words[i++], "(herr)"));
- v_error = AltosParse.parse_int(AltosParse.strip_suffix(words[i++], "(verr)"));
+ alt = AltosParse.parse_int(words[i++]);
+ if (version > 1 || (i < words.length && !words[i].equals("SAT"))) {
+ ground_speed = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(H)"));
+ course = AltosParse.parse_int(words[i++]);
+ climb_rate = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(V)"));
+ hdop = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "(hdop)"));
+ h_error = AltosParse.parse_int(words[i++]);
+ v_error = AltosParse.parse_int(words[i++]);
+ }
} else {
- gps_time = new AltosGPSTime();
i++;
}
- AltosParse.word(words[i++], "SAT");
- int tracking_channels = 0;
- if (words[i].equals("not-connected"))
- tracking_channels = 0;
- else
- tracking_channels = AltosParse.parse_int(words[i]);
- i++;
- cc_gps_sat = new AltosGPS.AltosGPSSat[tracking_channels];
- for (int chan = 0; chan < tracking_channels; chan++) {
- cc_gps_sat[chan] = new AltosGPS.AltosGPSSat();
- cc_gps_sat[chan].svid = AltosParse.parse_int(words[i++]);
- cc_gps_sat[chan].c_n0 = AltosParse.parse_int(words[i++]);
+ if (i < words.length) {
+ AltosParse.word(words[i++], "SAT");
+ int tracking_channels = 0;
+ if (words[i].equals("not-connected"))
+ tracking_channels = 0;
+ else
+ tracking_channels = AltosParse.parse_int(words[i]);
+ i++;
+ cc_gps_sat = new AltosGPS.AltosGPSSat[tracking_channels];
+ for (int chan = 0; chan < tracking_channels; chan++) {
+ cc_gps_sat[chan] = new AltosGPS.AltosGPSSat();
+ cc_gps_sat[chan].svid = AltosParse.parse_int(words[i++]);
+ /* Older versions included SiRF status bits */
+ if (version < 2)
+ i++;
+ cc_gps_sat[chan].c_n0 = AltosParse.parse_int(words[i++]);
+ }
+ } else
+ cc_gps_sat = new AltosGPS.AltosGPSSat[0];
+ }
+
+ public void set_latitude(int in_lat) {
+ lat = in_lat / 10.0e7;
+ }
+
+ public void set_longitude(int in_lon) {
+ lon = in_lon / 10.0e7;
+ }
+
+ public void set_time(int hour, int minute, int second) {
+ hour = hour;
+ minute = minute;
+ second = second;
+ }
+
+ public void set_date(int year, int month, int day) {
+ year = year;
+ month = month;
+ day = day;
+ }
+
+ public void set_flags(int flags) {
+ flags = flags;
+ }
+
+ public void set_altitude(int altitude) {
+ altitude = altitude;
+ }
+
+ public void add_sat(int svid, int c_n0) {
+ if (cc_gps_sat == null) {
+ cc_gps_sat = new AltosGPS.AltosGPSSat[1];
+ } else {
+ AltosGPSSat[] new_gps_sat = new AltosGPS.AltosGPSSat[cc_gps_sat.length + 1];
+ for (int i = 0; i < cc_gps_sat.length; i++)
+ new_gps_sat[i] = cc_gps_sat[i];
+ cc_gps_sat = new_gps_sat;
+ }
+ AltosGPS.AltosGPSSat sat = new AltosGPS.AltosGPSSat();
+ sat.svid = svid;
+ sat.c_n0 = c_n0;
+ cc_gps_sat[cc_gps_sat.length - 1] = sat;
+ }
+
+ public AltosGPS() {
+ ClearGPSTime();
+ cc_gps_sat = null;
+ }
+
+ public AltosGPS(AltosGPS old) {
+ nsat = old.nsat;
+ locked = old.locked;
+ connected = old.connected;
+ date_valid = old.date_valid;
+ lat = old.lat; /* degrees (+N -S) */
+ lon = old.lon; /* degrees (+E -W) */
+ alt = old.alt; /* m */
+ year = old.year;
+ month = old.month;
+ day = old.day;
+ hour = old.hour;
+ minute = old.minute;
+ second = old.second;
+
+ gps_extended = old.gps_extended; /* has extra data */
+ ground_speed = old.ground_speed; /* m/s */
+ course = old.course; /* degrees */
+ climb_rate = old.climb_rate; /* m/s */
+ hdop = old.hdop; /* unitless? */
+ h_error = old.h_error; /* m */
+ v_error = old.v_error; /* m */
+
+ if (old.cc_gps_sat != null) {
+ cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
+ for (int i = 0; i < old.cc_gps_sat.length; i++) {
+ cc_gps_sat[i] = new AltosGPSSat();
+ cc_gps_sat[i].svid = old.cc_gps_sat[i].svid;
+ cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0;
+ }
}
}
}
package altosui;
+import altosui.AltosGPS;
+
import java.lang.Math;
public class AltosGreatCircle {
static final double rad = Math.PI / 180;
static final double earth_radius = 6371.2 * 1000; /* in meters */
- AltosGreatCircle (double start_lat, double start_lon,
- double end_lat, double end_lon)
+ public AltosGreatCircle (double start_lat, double start_lon,
+ double end_lat, double end_lon)
{
double lat1 = rad * start_lat;
double lon1 = rad * -start_lon;
distance = d * earth_radius;
bearing = course * 180/Math.PI;
}
+
+ public AltosGreatCircle(AltosGPS start, AltosGPS end) {
+ this(start.lat, start.lon, end.lat, end.lon);
+ }
+
+ public AltosGreatCircle() {
+ distance = 0;
+ bearing = 0;
+ }
}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.lang.*;
+import java.io.*;
+import java.util.concurrent.LinkedBlockingQueue;
+import java.util.LinkedList;
+import java.util.Iterator;
+import java.util.Arrays;
+
+class HexFileInputStream extends PushbackInputStream {
+ public int line;
+
+ public HexFileInputStream(FileInputStream o) {
+ super(new BufferedInputStream(o));
+ line = 1;
+ }
+
+ public int read() throws IOException {
+ int c = super.read();
+ if (c == '\n')
+ line++;
+ return c;
+ }
+
+ public void unread(int c) throws IOException {
+ if (c == '\n')
+ line--;
+ if (c != -1)
+ super.unread(c);
+ }
+}
+
+class HexRecord implements Comparable {
+ public int address;
+ public int type;
+ public byte checksum;
+ public byte[] data;
+
+ static final int NORMAL = 0;
+ static final int EOF = 1;
+ static final int EXTENDED_ADDRESS = 2;
+
+ enum read_state {
+ marker,
+ length,
+ address,
+ type,
+ data,
+ checksum,
+ newline,
+ white,
+ done,
+ }
+
+ boolean ishex(int c) {
+ if ('0' <= c && c <= '9')
+ return true;
+ if ('a' <= c && c <= 'f')
+ return true;
+ if ('A' <= c && c <= 'F')
+ return true;
+ return false;
+ }
+
+ boolean isspace(int c) {
+ switch (c) {
+ case ' ':
+ case '\t':
+ return true;
+ }
+ return false;
+ }
+
+ int fromhex(int c) {
+ if ('0' <= c && c <= '9')
+ return c - '0';
+ if ('a' <= c && c <= 'f')
+ return c - 'a' + 10;
+ if ('A' <= c && c <= 'F')
+ return c - 'A' + 10;
+ return -1;
+ }
+
+ public byte checksum() {
+ byte got = 0;
+
+ got += data.length;
+ got += (address >> 8) & 0xff;
+ got += (address ) & 0xff;
+ got += type;
+ for (int i = 0; i < data.length; i++)
+ got += data[i];
+ return (byte) (-got);
+ }
+
+ public int compareTo(Object other) {
+ HexRecord o = (HexRecord) other;
+ return address - o.address;
+ }
+
+ public String toString() {
+ return String.format("%04x: %02x (%d)", address, type, data.length);
+ }
+
+ public HexRecord(HexFileInputStream input) throws IOException {
+ read_state state = read_state.marker;
+ int nhexbytes = 0;
+ int hex = 0;
+ int ndata = 0;
+ byte got_checksum;
+
+ while (state != read_state.done) {
+ int c = input.read();
+ if (c < 0 && state != read_state.white)
+ throw new IOException(String.format("%d: Unexpected EOF", input.line));
+ if (c == ' ')
+ continue;
+ switch (state) {
+ case marker:
+ if (c != ':')
+ throw new IOException("Missing ':'");
+ state = read_state.length;
+ nhexbytes = 2;
+ hex = 0;
+ break;
+ case length:
+ case address:
+ case type:
+ case data:
+ case checksum:
+ if(!ishex(c))
+ throw new IOException(String.format("Non-hex char '%c'", c));
+ hex = hex << 4 | fromhex(c);
+ --nhexbytes;
+ if (nhexbytes != 0)
+ break;
+
+ switch (state) {
+ case length:
+ data = new byte[hex];
+ state = read_state.address;
+ nhexbytes = 4;
+ break;
+ case address:
+ address = hex;
+ state = read_state.type;
+ nhexbytes = 2;
+ break;
+ case type:
+ type = hex;
+ if (data.length > 0)
+ state = read_state.data;
+ else
+ state = read_state.checksum;
+ nhexbytes = 2;
+ ndata = 0;
+ break;
+ case data:
+ data[ndata] = (byte) hex;
+ ndata++;
+ nhexbytes = 2;
+ if (ndata == data.length)
+ state = read_state.checksum;
+ break;
+ case checksum:
+ checksum = (byte) hex;
+ state = read_state.newline;
+ break;
+ default:
+ break;
+ }
+ hex = 0;
+ break;
+ case newline:
+ if (c != '\n' && c != '\r')
+ throw new IOException("Missing newline");
+ state = read_state.white;
+ break;
+ case white:
+ if (!isspace(c)) {
+ input.unread(c);
+ state = read_state.done;
+ }
+ break;
+ case done:
+ break;
+ }
+ }
+ got_checksum = checksum();
+ if (got_checksum != checksum)
+ throw new IOException(String.format("Invalid checksum (read 0x%02x computed 0x%02x)\n",
+ checksum, got_checksum));
+ }
+}
+
+public class AltosHexfile {
+ public int address;
+ public byte[] data;
+
+ public byte get_byte(int a) {
+ return data[a - address];
+ }
+
+ public AltosHexfile(FileInputStream file) throws IOException {
+ HexFileInputStream input = new HexFileInputStream(file);
+ LinkedList<HexRecord> record_list = new LinkedList<HexRecord>();
+ boolean done = false;
+
+ while (!done) {
+ HexRecord record = new HexRecord(input);
+
+ if (record.type == HexRecord.EOF)
+ done = true;
+ else
+ record_list.add(record);
+ }
+ HexRecord[] records = record_list.toArray(new HexRecord[0]);
+ Arrays.sort(records);
+ if (records.length > 0) {
+ int base = records[0].address;
+ int bound = records[records.length-1].address +
+ records[records.length-1].data.length;
+
+ data = new byte[bound - base];
+ address = base;
+ Arrays.fill(data, (byte) 0xff);
+
+ /* Paint the records into the new array */
+ for (int i = 0; i < records.length; i++) {
+ for (int j = 0; j < records[i].data.length; j++)
+ data[records[i].address - base + j] = records[i].data[j];
+ }
+ }
+ }
+}
\ No newline at end of file
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+
+import altosui.AltosPreferences;
+import altosui.AltosReader;
+import altosui.AltosEepromReader;
+import altosui.AltosTelemetryReader;
+
+public class AltosLogfileChooser extends JFileChooser {
+ JFrame frame;
+ String filename;
+ File file;
+
+ public String filename() {
+ return filename;
+ }
+
+ public File file() {
+ return file;
+ }
+
+ public AltosReader runDialog() {
+ int ret;
+
+ ret = showOpenDialog(frame);
+ if (ret == APPROVE_OPTION) {
+ file = getSelectedFile();
+ if (file == null)
+ return null;
+ filename = file.getName();
+ try {
+ FileInputStream in;
+
+ in = new FileInputStream(file);
+ if (filename.endsWith("eeprom"))
+ return new AltosEepromReader(in);
+ else
+ return new AltosTelemetryReader(in);
+ } catch (FileNotFoundException fe) {
+ JOptionPane.showMessageDialog(frame,
+ filename,
+ "Cannot open file",
+ JOptionPane.ERROR_MESSAGE);
+ }
+ }
+ return null;
+ }
+
+ public AltosLogfileChooser(JFrame in_frame) {
+ frame = in_frame;
+ setDialogTitle("Select Flight Record File");
+ setFileFilter(new FileNameExtensionFilter("Flight data file",
+ "eeprom",
+ "telem"));
+ setCurrentDirectory(AltosPreferences.logdir());
+ }
+}
\ No newline at end of file
import java.text.*;
import java.lang.*;
+import altosui.Altos;
+
public class AltosParse {
+ static boolean isdigit(char c) {
+ return '0' <= c && c <= '9';
+ }
+
static int parse_int(String v) throws ParseException {
try {
- return Integer.parseInt(v);
+ return Altos.fromdec(v);
} catch (NumberFormatException e) {
throw new ParseException("error parsing int " + v, 0);
}
static int parse_hex(String v) throws ParseException {
try {
- return Integer.parseInt(v, 16);
+ return Altos.fromhex(v);
} catch (NumberFormatException e) {
throw new ParseException("error parsing hex " + v, 0);
}
/* voice preference name */
final static String voicePreference = "VOICE";
+ /* callsign preference name */
+ final static String callsignPreference = "CALLSIGN";
+
/* Default logdir is ~/TeleMetrum */
final static String logdirName = "TeleMetrum";
/* Voice preference */
static boolean voice;
+ static String callsign;
+
public static void init(Component ui) {
preferences = Preferences.userRoot().node("/org/altusmetrum/altosui");
channel = preferences.getInt(channelPreference, 0);
voice = preferences.getBoolean(voicePreference, true);
+
+ callsign = preferences.get(callsignPreference,"N0CALL");
}
static void flush_preferences() {
public static boolean voice() {
return voice;
}
+
+ public static void set_callsign(String new_callsign) {
+ callsign = new_callsign;
+ synchronized(preferences) {
+ preferences.put(callsignPreference, callsign);
+ flush_preferences();
+ }
+ }
+
+ public static String callsign() {
+ return callsign;
+ }
}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+
+import altosui.AltosRecord;
+
+public class AltosReader {
+ public AltosRecord read() throws IOException, ParseException { return null; }
+ public void close() { }
+ public void write_comments(PrintStream out) { }
+}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.lang.*;
+import java.text.*;
+import java.util.HashMap;
+import java.io.*;
+import altosui.AltosConvert;
+import altosui.AltosGPS;
+
+public class AltosRecord {
+ int version;
+ String callsign;
+ int serial;
+ int flight;
+ int rssi;
+ int status;
+ int state;
+ int tick;
+ int accel;
+ int pres;
+ int temp;
+ int batt;
+ int drogue;
+ int main;
+ int flight_accel;
+ int ground_accel;
+ int flight_vel;
+ int flight_pres;
+ int ground_pres;
+ int accel_plus_g;
+ int accel_minus_g;
+ AltosGPS gps;
+
+ double time; /* seconds since boost */
+
+ /*
+ * 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() {
+ return barometer_to_pressure(flight_pres);
+ }
+
+ public double ground_pressure() {
+ return barometer_to_pressure(ground_pres);
+ }
+
+ public double altitude() {
+ return AltosConvert.pressure_to_altitude(pressure());
+ }
+
+ public double ground_altitude() {
+ return AltosConvert.pressure_to_altitude(ground_pressure());
+ }
+
+ public double height() {
+ return altitude() - ground_altitude();
+ }
+
+ public double battery_voltage() {
+ return AltosConvert.cc_battery_to_voltage(batt);
+ }
+
+ public double main_voltage() {
+ return AltosConvert.cc_ignitor_to_voltage(main);
+ }
+
+ public double drogue_voltage() {
+ 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() {
+ 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() {
+ return (accel_plus_g - accel) / accel_counts_per_mss();
+ }
+
+ public double accel_speed() {
+ double speed = flight_vel / (accel_counts_per_mss() * 100.0);
+ return speed;
+ }
+
+ public String state() {
+ return Altos.state_name(state);
+ }
+
+ public static String gets(FileInputStream s) throws IOException {
+ int c;
+ String line = "";
+
+ while ((c = s.read()) != -1) {
+ if (c == '\r')
+ continue;
+ if (c == '\n') {
+ return line;
+ }
+ line = line + (char) c;
+ }
+ return null;
+ }
+
+ public AltosRecord(AltosRecord 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;
+ gps = new AltosGPS(old.gps);
+ }
+
+ public AltosRecord() {
+ version = 0;
+ callsign = "N0CALL";
+ serial = 0;
+ flight = 0;
+ rssi = 0;
+ status = 0;
+ state = Altos.ao_flight_startup;
+ tick = 0;
+ accel = 0;
+ pres = 0;
+ temp = 0;
+ batt = 0;
+ drogue = 0;
+ main = 0;
+ flight_accel = 0;
+ ground_accel = 0;
+ flight_vel = 0;
+ flight_pres = 0;
+ ground_pres = 0;
+ accel_plus_g = 0;
+ accel_minus_g = 0;
+ gps = new AltosGPS();
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+import java.io.*;
+import altosui.AltosHexfile;
+
+public class AltosRomconfig {
+ public boolean valid;
+ public int version;
+ public int check;
+ public int serial_number;
+ public int radio_calibration;
+
+ static int get_int(byte[] bytes, int start, int len) {
+ int v = 0;
+ int o = 0;
+ while (len > 0) {
+ v = v | ((((int) bytes[start]) & 0xff) << o);
+ start++;
+ len--;
+ o += 8;
+ }
+ return v;
+ }
+
+ static void put_int(int value, byte[] bytes, int start, int len) {
+ while (len > 0) {
+ bytes[start] = (byte) (value & 0xff);
+ start++;
+ len--;
+ value >>= 8;
+ }
+ }
+
+ static void put_string(String value, byte[] bytes, int start) {
+ for (int i = 0; i < value.length(); i++)
+ bytes[start + i] = (byte) value.charAt(i);
+ }
+
+ static final int AO_USB_DESC_STRING = 3;
+
+ static void put_usb_serial(int value, byte[] bytes, int start) {
+ int offset = start + 0xa;
+ int string_num = 0;
+ System.out.printf("Put usb serial %d\n", value);
+
+ while (offset < bytes.length && bytes[offset] != 0) {
+ if (bytes[offset + 1] == AO_USB_DESC_STRING) {
+ ++string_num;
+ if (string_num == 4)
+ break;
+ }
+ offset += ((int) bytes[offset]) & 0xff;
+ }
+ System.out.printf("offset %d content %d\n",
+ offset, bytes[offset]);
+ if (offset >= bytes.length || bytes[offset] == 0)
+ return;
+ int len = ((((int) bytes[offset]) & 0xff) - 2) / 2;
+ String fmt = String.format("%%0%dd", len);
+ System.out.printf("existing serial length %d format %s\n", len, fmt);
+
+ String s = String.format(fmt, value);
+ if (s.length() != len) {
+ System.out.printf("weird usb length issue %s isn't %d\n",
+ s, len);
+ return;
+ }
+ for (int i = 0; i < len; i++) {
+ bytes[offset + 2 + i*2] = (byte) s.charAt(i);
+ bytes[offset + 2 + i*2+1] = 0;
+ }
+ }
+
+ public AltosRomconfig(byte[] bytes, int offset) {
+ version = get_int(bytes, offset + 0, 2);
+ check = get_int(bytes, offset + 2, 2);
+ System.out.printf("version %d check %d\n", version, check);
+ if (check == (~version & 0xffff)) {
+ switch (version) {
+ case 2:
+ case 1:
+ serial_number = get_int(bytes, offset + 4, 2);
+ radio_calibration = get_int(bytes, offset + 6, 4);
+ System.out.printf("serial %d cal %d\n", serial_number, radio_calibration);
+ valid = true;
+ break;
+ }
+ }
+ }
+
+ public AltosRomconfig(AltosHexfile hexfile) {
+ this(hexfile.data, 0xa0 - hexfile.address);
+ }
+
+ public void write(byte[] bytes, int offset) throws IOException {
+ if (!valid)
+ throw new IOException("rom configuration invalid");
+
+ if (offset < 0 || bytes.length < offset + 10)
+ throw new IOException("image cannot contain rom config");
+
+ AltosRomconfig existing = new AltosRomconfig(bytes, offset);
+ if (!existing.valid)
+ throw new IOException("image does not contain existing rom config");
+
+ switch (existing.version) {
+ case 2:
+ put_usb_serial(serial_number, bytes, offset);
+ case 1:
+ put_int(serial_number, bytes, offset + 4, 2);
+ put_int(radio_calibration, bytes, offset + 6, 4);
+ break;
+ }
+ }
+
+ public void write (AltosHexfile hexfile) throws IOException {
+ write(hexfile.data, 0xa0 - hexfile.address);
+ AltosRomconfig check = new AltosRomconfig(hexfile);
+ if (!check.valid())
+ throw new IOException("writing new rom config failed\n");
+ }
+
+ public AltosRomconfig(int in_serial_number, int in_radio_calibration) {
+ valid = true;
+ version = 1;
+ check = (~version & 0xffff);
+ serial_number = in_serial_number;
+ radio_calibration = in_radio_calibration;
+ }
+
+ public boolean valid() {
+ return valid && serial_number != 0;
+ }
+
+ public AltosRomconfig() {
+ valid = false;
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import javax.swing.event.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+
+import altosui.AltosRomconfig;
+
+public class AltosRomconfigUI
+ extends JDialog
+ implements ActionListener
+{
+ Container pane;
+ Box box;
+ JLabel serial_label;
+ JLabel radio_calibration_label;
+
+ JFrame owner;
+ JTextField serial_value;
+ JTextField radio_calibration_value;
+
+ JButton ok;
+ JButton cancel;
+
+ /* Build the UI using a grid bag */
+ public AltosRomconfigUI(JFrame in_owner) {
+ super (in_owner, "Configure TeleMetrum Rom Values", true);
+
+ owner = in_owner;
+ GridBagConstraints c;
+
+ Insets il = new Insets(4,4,4,4);
+ Insets ir = new Insets(4,4,4,4);
+
+ pane = getContentPane();
+ pane.setLayout(new GridBagLayout());
+
+ /* Serial */
+ c = new GridBagConstraints();
+ c.gridx = 0; c.gridy = 0;
+ c.gridwidth = 3;
+ c.fill = GridBagConstraints.NONE;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = il;
+ serial_label = new JLabel("Serial:");
+ pane.add(serial_label, c);
+
+ c = new GridBagConstraints();
+ c.gridx = 3; c.gridy = 0;
+ c.gridwidth = 3;
+ c.fill = GridBagConstraints.HORIZONTAL;
+ c.weightx = 1;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = ir;
+ serial_value = new JTextField("0");
+ pane.add(serial_value, c);
+
+ /* Radio calibration value */
+ c = new GridBagConstraints();
+ c.gridx = 0; c.gridy = 1;
+ c.gridwidth = 3;
+ c.fill = GridBagConstraints.NONE;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = il;
+ c.ipady = 5;
+ radio_calibration_label = new JLabel("Radio Calibration:");
+ pane.add(radio_calibration_label, c);
+
+ c = new GridBagConstraints();
+ c.gridx = 3; c.gridy = 1;
+ c.gridwidth = 3;
+ c.fill = GridBagConstraints.HORIZONTAL;
+ c.weightx = 1;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = ir;
+ c.ipady = 5;
+ radio_calibration_value = new JTextField("1186611");
+ pane.add(radio_calibration_value, c);
+
+ /* Buttons */
+ c = new GridBagConstraints();
+ c.gridx = 0; c.gridy = 2;
+ c.gridwidth = 3;
+ c.fill = GridBagConstraints.NONE;
+ c.anchor = GridBagConstraints.CENTER;
+ c.insets = il;
+ ok = new JButton("OK");
+ pane.add(ok, c);
+ ok.addActionListener(this);
+ ok.setActionCommand("ok");
+
+ c = new GridBagConstraints();
+ c.gridx = 3; c.gridy = 2;
+ c.gridwidth = 3;
+ c.fill = GridBagConstraints.NONE;
+ c.anchor = GridBagConstraints.CENTER;
+ c.insets = il;
+ cancel = new JButton("Cancel");
+ pane.add(cancel, c);
+ cancel.addActionListener(this);
+ cancel.setActionCommand("cancel");
+
+ pack();
+ setLocationRelativeTo(owner);
+ }
+
+ boolean selected;
+
+ /* Listen for events from our buttons */
+ public void actionPerformed(ActionEvent e) {
+ String cmd = e.getActionCommand();
+
+ if (cmd.equals("ok"))
+ selected = true;
+ setVisible(false);
+ }
+
+ int serial() {
+ return Integer.parseInt(serial_value.getText());
+ }
+
+ void set_serial(int serial) {
+ serial_value.setText(String.format("%d", serial));
+ }
+
+ int radio_calibration() {
+ return Integer.parseInt(radio_calibration_value.getText());
+ }
+
+ void set_radio_calibration(int calibration) {
+ radio_calibration_value.setText(String.format("%d", calibration));
+ }
+
+ public void set(AltosRomconfig config) {
+ if (config != null && config.valid()) {
+ set_serial(config.serial_number);
+ set_radio_calibration(config.radio_calibration);
+ }
+ }
+
+ public AltosRomconfig romconfig() {
+ try {
+ return new AltosRomconfig(serial(), radio_calibration());
+ } catch (NumberFormatException ne) {
+ return null;
+ }
+ }
+
+ public AltosRomconfig showDialog() {
+ setVisible(true);
+ if (selected)
+ return romconfig();
+ return null;
+ }
+}
LinkedBlockingQueue<String> reply_queue;
Thread input_thread;
String line;
+ byte[] line_bytes;
+ int line_count;
public void run () {
int c;
continue;
synchronized(this) {
if (c == '\n') {
- if (line != "") {
+ if (line_count != 0) {
+ try {
+ line = new String(line_bytes, 0, line_count, "UTF-8");
+ } catch (UnsupportedEncodingException ue) {
+ line = "";
+ for (int i = 0; i < line_count; i++)
+ line = line + line_bytes[i];
+ }
if (line.startsWith("VERSION")) {
for (int e = 0; e < monitors.size(); e++) {
LinkedBlockingQueue<String> q = monitors.get(e);
q.put(line);
}
- } else
+ } else {
+// System.out.printf("GOT: %s\n", line);
reply_queue.put(line);
+ }
+ line_count = 0;
line = "";
}
} else {
- line = line + (char) c;
+ if (line_bytes == null) {
+ line_bytes = new byte[256];
+ } else if (line_count == line_bytes.length) {
+ byte[] new_line_bytes = new byte[line_count * 2];
+ System.arraycopy(line_bytes, 0, new_line_bytes, 0, line_count);
+ line_bytes = new_line_bytes;
+ }
+ line_bytes[line_count] = (byte) c;
+ line_count++;
}
}
}
}
}
+ public void flush_reply() {
+ libaltos.altos_flush(altos);
+ try {
+ Thread.sleep(100);
+ } catch (InterruptedException ie) {
+ }
+ reply_queue.clear();
+ }
+
public String get_reply() throws InterruptedException {
- return reply_queue.take();
+ libaltos.altos_flush(altos);
+ String line = reply_queue.take();
+ return line;
}
public void add_monitor(LinkedBlockingQueue<String> q) {
}
public void print(String data) {
+//h System.out.printf("\"%s\" ", data);
for (int i = 0; i < data.length(); i++)
putc(data.charAt(i));
}
printf("m 0\nc r %d\nm 1\n", channel);
}
+ public void set_callsign(String callsign) {
+ if (altos != null)
+ printf ("c c %s\n", callsign);
+ }
+
public AltosSerial() {
altos = null;
input_thread = null;
*/
/*
- * Track flight state from telemetry data stream
+ * Track flight state from telemetry or eeprom data stream
*/
package altosui;
-import altosui.AltosTelemetry;
+import altosui.AltosRecord;
import altosui.AltosGPS;
public class AltosState {
- AltosTelemetry data;
+ AltosRecord data;
/* derived data */
boolean gps_ready;
AltosGreatCircle from_pad;
+ double elevation; /* from pad */
+ double range; /* total distance */
double gps_height;
double speak_altitude;
- void init (AltosTelemetry cur, AltosState prev_state) {
+ void init (AltosRecord cur, AltosState prev_state) {
int i;
- AltosTelemetry prev;
- double accel_counts_per_mss;
+ AltosRecord prev;
data = cur;
- ground_altitude = AltosConvert.cc_barometer_to_altitude(data.ground_pres);
- height = AltosConvert.cc_barometer_to_altitude(data.flight_pres) - ground_altitude;
+ ground_altitude = data.ground_altitude();
+ height = data.altitude() - ground_altitude;
report_time = System.currentTimeMillis();
- accel_counts_per_mss = ((data.accel_minus_g - data.accel_plus_g) / 2.0) / 9.80665;
- acceleration = (data.ground_accel - data.flight_accel) / accel_counts_per_mss;
- speed = data.flight_vel / (accel_counts_per_mss * 100.0);
- temperature = AltosConvert.cc_thermometer_to_temperature(data.temp);
- drogue_sense = AltosConvert.cc_ignitor_to_voltage(data.drogue);
- main_sense = AltosConvert.cc_ignitor_to_voltage(data.main);
- battery = AltosConvert.cc_battery_to_voltage(data.batt);
+ acceleration = data.acceleration();
+ speed = data.accel_speed();
+ temperature = data.temperature();
+ drogue_sense = data.drogue_voltage();
+ main_sense = data.main_voltage();
+ battery = data.battery_voltage();
tick = data.tick;
- state = data.state();
+ state = data.state;
if (prev_state != null) {
time_change = 0;
}
- if (state == AltosTelemetry.ao_flight_pad) {
- if (data.gps != null && data.gps.gps_locked && data.gps.nsat >= 4) {
+ if (state == Altos.ao_flight_pad) {
+ if (data.gps != null && data.gps.locked) {
npad++;
if (npad > 1) {
/* filter pad position */
gps_ready = gps_waiting == 0;
- ascent = (AltosTelemetry.ao_flight_boost <= state &&
- state <= AltosTelemetry.ao_flight_coast);
+ ascent = (Altos.ao_flight_boost <= state &&
+ state <= Altos.ao_flight_coast);
/* Only look at accelerometer data on the way up */
if (ascent && acceleration > max_acceleration)
if (height > max_height)
max_height = height;
if (data.gps != null) {
- if (gps == null || !gps.gps_locked || data.gps.gps_locked)
+ if (gps == null || !gps.locked || data.gps.locked)
gps = data.gps;
- if (npad > 0 && gps.gps_locked)
+ if (npad > 0 && gps.locked) {
from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
+ }
}
+ elevation = 0;
+ range = -1;
if (npad > 0) {
gps_height = gps.alt - pad_alt;
+ if (from_pad != null) {
+ elevation = Math.atan2(height, from_pad.distance) * 180 / Math.PI;
+ range = Math.sqrt(height * height + from_pad.distance * from_pad.distance);
+ }
} else {
gps_height = 0;
}
}
- public AltosState(AltosTelemetry cur) {
+ public AltosState(AltosRecord cur) {
init(cur, null);
}
- public AltosState (AltosTelemetry cur, AltosState prev) {
+ public AltosState (AltosRecord cur, AltosState prev) {
init(cur, prev);
}
}
import java.text.*;
import java.util.HashMap;
import altosui.AltosConvert;
+import altosui.AltosRecord;
import altosui.AltosGPS;
/*
* SAT 10 29 30 24 28 5 25 21 20 15 33 1 23 30 24 18 26 10 29 2 26
*/
-public class AltosTelemetry {
- int version;
- String callsign;
- int serial;
- int flight;
- int rssi;
- int status;
- String state;
- int tick;
- int accel;
- int pres;
- int temp;
- int batt;
- int drogue;
- int main;
- int flight_accel;
- int ground_accel;
- int flight_vel;
- int flight_pres;
- int ground_pres;
- int accel_plus_g;
- int accel_minus_g;
- AltosGPS gps;
-
- public static final int ao_flight_startup = 0;
- public static final int ao_flight_idle = 1;
- public static final int ao_flight_pad = 2;
- public static final int ao_flight_boost = 3;
- public static final int ao_flight_fast = 4;
- public static final int ao_flight_coast = 5;
- public static final int ao_flight_drogue = 6;
- public static final int ao_flight_main = 7;
- public static final int ao_flight_landed = 8;
- public static final int ao_flight_invalid = 9;
-
- static HashMap<String,Integer> states = new HashMap<String,Integer>();
- {
- states.put("startup", ao_flight_startup);
- states.put("idle", ao_flight_idle);
- states.put("pad", ao_flight_pad);
- states.put("boost", ao_flight_boost);
- states.put("fast", ao_flight_fast);
- states.put("coast", ao_flight_coast);
- states.put("drogue", ao_flight_drogue);
- states.put("main", ao_flight_main);
- states.put("landed", ao_flight_landed);
- states.put("invalid", ao_flight_invalid);
- }
-
- public int state() {
- if (states.containsKey(state))
- return states.get(state);
- return ao_flight_invalid;
- }
-
- public double altitude() {
- return AltosConvert.cc_pressure_to_altitude(AltosConvert.cc_barometer_to_pressure(pres));
- }
-
- public double pad_altitude() {
- return AltosConvert.cc_pressure_to_altitude(AltosConvert.cc_barometer_to_pressure(ground_pres));
- }
-
+public class AltosTelemetry extends AltosRecord {
public AltosTelemetry(String line) throws ParseException {
String[] words = line.split("\\s+");
-
int i = 0;
- AltosParse.word (words[i++], "VERSION");
- version = AltosParse.parse_int(words[i++]);
+ if (words[i].equals("CALL")) {
+ version = 0;
+ } else {
+ AltosParse.word (words[i++], "VERSION");
+ version = AltosParse.parse_int(words[i++]);
+ }
AltosParse.word (words[i++], "CALL");
callsign = words[i++];
AltosParse.word (words[i++], "SERIAL");
serial = AltosParse.parse_int(words[i++]);
- AltosParse.word (words[i++], "FLIGHT");
- flight = 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 = words[i++];
+ state = Altos.state(words[i++]);
tick = AltosParse.parse_int(words[i++]);
AltosParse.word(words[i++], "gp:");
ground_pres = AltosParse.parse_int(words[i++]);
- AltosParse.word(words[i++], "a+:");
- accel_plus_g = 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++]);
+ 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);
+ gps = new AltosGPS(words, i, version);
}
}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import altosui.AltosTelemetry;
+
+public class AltosTelemetryReader extends AltosReader {
+ LinkedList<AltosRecord> records;
+
+ Iterator<AltosRecord> record_iterator;
+
+ int boost_tick;
+
+ public AltosRecord read() throws IOException, ParseException {
+ AltosRecord r;
+ if (!record_iterator.hasNext())
+ return null;
+
+ r = record_iterator.next();
+ r.time = (r.tick - boost_tick) / 100.0;
+ return r;
+ }
+
+ public AltosTelemetryReader (FileInputStream input) {
+ boolean saw_boost = false;
+
+ records = new LinkedList<AltosRecord> ();
+
+ try {
+ for (;;) {
+ String line = AltosRecord.gets(input);
+ if (line == null) {
+ break;
+ }
+ try {
+ AltosTelemetry record = new AltosTelemetry(line);
+ if (record == null)
+ break;
+ if (!saw_boost && record.state >= Altos.ao_flight_boost)
+ {
+ saw_boost = true;
+ boost_tick = record.tick;
+ }
+ records.add(record);
+ } catch (ParseException pe) {
+ System.out.printf("parse exception %s\n", pe.getMessage());
+ }
+ }
+ } catch (IOException io) {
+ System.out.printf("io exception\n");
+ }
+ record_iterator = records.iterator();
+ try {
+ input.close();
+ } catch (IOException ie) {
+ }
+ }
+}
import java.util.prefs.*;
import java.util.concurrent.LinkedBlockingQueue;
+import altosui.Altos;
import altosui.AltosSerial;
import altosui.AltosSerialMonitor;
+import altosui.AltosRecord;
import altosui.AltosTelemetry;
import altosui.AltosState;
import altosui.AltosDeviceDialog;
import altosui.AltosPreferences;
import altosui.AltosLog;
import altosui.AltosVoice;
+import altosui.AltosFlightStatusTableModel;
+import altosui.AltosFlightInfoTableModel;
+import altosui.AltosChannelMenu;
+import altosui.AltosFlashUI;
+import altosui.AltosLogfileChooser;
+import altosui.AltosCSVUI;
import libaltosJNI.*;
-class AltosFlightStatusTableModel extends AbstractTableModel {
- private String[] columnNames = {"Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
- private Object[] data = { 0, "idle", 0, 0 };
-
- public int getColumnCount() { return columnNames.length; }
- public int getRowCount() { return 2; }
- public Object getValueAt(int row, int col) {
- if (row == 0)
- return columnNames[col];
- return data[col];
- }
-
- public void setValueAt(Object value, int col) {
- data[col] = value;
- fireTableCellUpdated(1, col);
- }
-
- public void setValueAt(Object value, int row, int col) {
- setValueAt(value, col);
- }
-
- public void set(AltosState state) {
- setValueAt(String.format("%1.0f", state.height), 0);
- setValueAt(state.data.state, 1);
- setValueAt(state.data.rssi, 2);
- double speed = state.baro_speed;
- if (state.ascent)
- speed = state.speed;
- setValueAt(String.format("%1.0f", speed), 3);
- }
-}
-
-class AltosFlightInfoTableModel extends AbstractTableModel {
- private String[] columnNames = {"Field", "Value"};
-
- class InfoLine {
- String name;
- String value;
-
- public InfoLine(String n, String v) {
- name = n;
- value = v;
- }
- }
-
- private ArrayList<InfoLine> rows = new ArrayList<InfoLine>();
-
- public int getColumnCount() { return columnNames.length; }
- public String getColumnName(int col) { return columnNames[col]; }
-
- public int getRowCount() { return 20; }
-
- public Object getValueAt(int row, int col) {
- if (row >= rows.size())
- return "";
- if (col == 0)
- return rows.get(row).name;
- else
- return rows.get(row).value;
- }
-
- int current_row = 0;
- int prev_num_rows = 0;
-
- public void resetRow() {
- current_row = 0;
- }
- public void addRow(String name, String value) {
- if (current_row >= rows.size())
- rows.add(current_row, new InfoLine(name, value));
- else
- rows.set(current_row, new InfoLine(name, value));
- current_row++;
- }
- public void finish() {
- if (current_row > prev_num_rows) {
- fireTableRowsInserted(prev_num_rows, current_row - 1);
- prev_num_rows = current_row;
- }
- fireTableDataChanged();
- }
-}
-
public class AltosUI extends JFrame {
private int channel = -1;
else
info_add_row(0, "Ground state", "wait (%d)",
state.gps_waiting);
- info_add_row(0, "Rocket state", "%s", state.data.state);
+ info_add_row(0, "Rocket state", "%s", state.data.state());
info_add_row(0, "Callsign", "%s", state.data.callsign);
info_add_row(0, "Rocket serial", "%6d", state.data.serial);
info_add_row(0, "Rocket flight", "%6d", state.data.flight);
if (state.gps == null) {
info_add_row(1, "GPS", "not available");
} else {
- if (state.data.gps.gps_locked)
+ if (state.data.gps.locked)
info_add_row(1, "GPS", " locked");
- else if (state.data.gps.gps_connected)
+ else if (state.data.gps.connected)
info_add_row(1, "GPS", " unlocked");
else
info_add_row(1, "GPS", " missing");
info_add_row(1, "Pad GPS alt", "%6.0f m", state.pad_alt);
}
info_add_row(1, "GPS date", "%04d-%02d-%02d",
- state.gps.gps_time.year,
- state.gps.gps_time.month,
- state.gps.gps_time.day);
+ state.gps.year,
+ state.gps.month,
+ state.gps.day);
info_add_row(1, "GPS time", " %02d:%02d:%02d",
- state.gps.gps_time.hour,
- state.gps.gps_time.minute,
- state.gps.gps_time.second);
+ state.gps.hour,
+ state.gps.minute,
+ state.gps.second);
int nsat_vis = 0;
int c;
private AltosState state;
int reported_landing;
- public void report(boolean last) {
+ public synchronized void report(boolean last) {
if (state == null)
return;
/* reset the landing count once we hear about a new flight */
- if (state.state < AltosTelemetry.ao_flight_drogue)
+ if (state.state < Altos.ao_flight_drogue)
reported_landing = 0;
/* Shut up once the rocket is on the ground */
}
/* If the rocket isn't on the pad, then report height */
- if (state.state > AltosTelemetry.ao_flight_pad) {
+ if (Altos.ao_flight_drogue <= state.state &&
+ state.state < Altos.ao_flight_landed &&
+ state.range >= 0)
+ {
+ voice.speak("Height %d, bearing %d, elevation %d, range %d.\n",
+ (int) (state.height + 0.5),
+ (int) (state.from_pad.bearing + 0.5),
+ (int) (state.elevation + 0.5),
+ (int) (state.range + 0.5));
+ } else if (state.state > Altos.ao_flight_pad) {
voice.speak("%d meters", (int) (state.height + 0.5));
} else {
reported_landing = 0;
* either we've got a landed report or we haven't heard from it in
* a long time
*/
- if (!state.ascent &&
+ if (state.state >= Altos.ao_flight_drogue &&
(last ||
System.currentTimeMillis() - state.report_time >= 15000 ||
- state.state == AltosTelemetry.ao_flight_landed))
+ state.state == Altos.ao_flight_landed))
{
if (Math.abs(state.baro_speed) < 20 && state.height < 100)
voice.speak("rocket landed safely");
else
voice.speak("rocket may have crashed");
if (state.from_pad != null)
- voice.speak("bearing %d degrees, range %d meters",
+ voice.speak("Bearing %d degrees, range %d meters.",
(int) (state.from_pad.bearing + 0.5),
(int) (state.from_pad.distance + 0.5));
++reported_landing;
state = null;
try {
for (;;) {
- Thread.sleep(10000);
+ Thread.sleep(20000);
report(false);
}
} catch (InterruptedException ie) {
}
public void notice(AltosState new_state) {
+ AltosState old_state = state;
state = new_state;
+ if (old_state != null && old_state.state != state.state)
+ report(false);
}
}
private void tell(AltosState state, AltosState old_state) {
if (old_state == null || old_state.state != state.state) {
- voice.speak(state.data.state);
- if ((old_state == null || old_state.state <= AltosTelemetry.ao_flight_boost) &&
- state.state > AltosTelemetry.ao_flight_boost) {
+ voice.speak(state.data.state());
+ if ((old_state == null || old_state.state <= Altos.ao_flight_boost) &&
+ state.state > Altos.ao_flight_boost) {
voice.speak("max speed: %d meters per second.",
(int) (state.max_speed + 0.5));
- } else if ((old_state == null || old_state.state < AltosTelemetry.ao_flight_drogue) &&
- state.state >= AltosTelemetry.ao_flight_drogue) {
+ } else if ((old_state == null || old_state.state < Altos.ao_flight_drogue) &&
+ state.state >= Altos.ao_flight_drogue) {
voice.speak("max height: %d meters.",
(int) (state.max_height + 0.5));
}
class DisplayThread extends Thread {
IdleThread idle_thread;
- String read() throws InterruptedException { return null; }
+ String name;
+
+ AltosRecord read() throws InterruptedException, ParseException { return null; }
void close() { }
info_finish();
idle_thread.start();
try {
- while ((line = read()) != null) {
+ for (;;) {
try {
- AltosTelemetry t = new AltosTelemetry(line);
+ AltosRecord record = read();
+ if (record == null)
+ break;
old_state = state;
- state = new AltosState(t, state);
+ state = new AltosState(record, state);
update(state);
show(state);
tell(state, old_state);
idle_thread.notice(state);
} catch (ParseException pp) {
- System.out.printf("Parse error on %s\n", line);
- System.out.println("exception " + pp);
+ System.out.printf("Parse error: %d \"%s\"\n", pp.getErrorOffset(), pp.getMessage());
}
}
} catch (InterruptedException ee) {
AltosSerial serial;
LinkedBlockingQueue<String> telem;
- String read() throws InterruptedException {
- return telem.take();
+ AltosRecord read() throws InterruptedException, ParseException {
+ return new AltosTelemetry(telem.take());
}
void close() {
serial = s;
telem = new LinkedBlockingQueue<String>();
serial.add_monitor(telem);
+ name = "telemetry";
}
}
private void ConnectToDevice() {
- altos_device device = AltosDeviceDialog.show(AltosUI.this, "TeleDongle");
+ AltosDevice device = AltosDeviceDialog.show(AltosUI.this, AltosDevice.BaseStation);
if (device != null) {
try {
serial_line.open(device);
DeviceThread thread = new DeviceThread(serial_line);
serial_line.set_channel(AltosPreferences.channel());
+ serial_line.set_callsign(AltosPreferences.callsign());
run_display(thread);
} catch (FileNotFoundException ee) {
JOptionPane.showMessageDialog(AltosUI.this,
stop_display();
}
- String readline(FileInputStream s) throws IOException {
- int c;
- String line = "";
-
- while ((c = s.read()) != -1) {
- if (c == '\r')
- continue;
- if (c == '\n') {
- return line;
- }
- line = line + (char) c;
+ void ConfigureCallsign() {
+ String result;
+ result = JOptionPane.showInputDialog(AltosUI.this,
+ "Configure Callsign",
+ AltosPreferences.callsign());
+ if (result != null) {
+ AltosPreferences.set_callsign(result);
+ if (serial_line != null)
+ serial_line.set_callsign(result);
}
- return null;
+ }
+
+ void ConfigureTeleMetrum() {
+ new AltosConfig(AltosUI.this);
+ }
+
+ void FlashImage() {
+ new AltosFlashUI(AltosUI.this);
}
/*
*/
class ReplayThread extends DisplayThread {
- FileInputStream replay;
- String filename;
-
- ReplayThread(FileInputStream in, String name) {
- replay = in;
- filename = name;
- }
+ AltosReader reader;
+ String name;
- String read() {
+ public AltosRecord read() {
try {
- return readline(replay);
- } catch (IOException ee) {
+ return reader.read();
+ } catch (IOException ie) {
JOptionPane.showMessageDialog(AltosUI.this,
- filename,
+ name,
"error reading",
JOptionPane.ERROR_MESSAGE);
+ } catch (ParseException pe) {
}
return null;
}
- void close () {
- try {
- replay.close();
- } catch (IOException ee) {
- }
+ public void close () {
report();
}
+ public ReplayThread(AltosReader in_reader, String in_name) {
+ reader = in_reader;
+ }
void update(AltosState state) throws InterruptedException {
/* Make it run in realtime after the rocket leaves the pad */
- if (state.state > AltosTelemetry.ao_flight_pad)
+ if (state.state > Altos.ao_flight_pad)
Thread.sleep((int) (Math.min(state.time_change,10) * 1000));
}
}
+ class ReplayTelemetryThread extends ReplayThread {
+ ReplayTelemetryThread(FileInputStream in, String in_name) {
+ super(new AltosTelemetryReader(in), in_name);
+ }
+
+ }
+
+ class ReplayEepromThread extends ReplayThread {
+ ReplayEepromThread(FileInputStream in, String in_name) {
+ super(new AltosEepromReader(in), in_name);
+ }
+ }
+
Thread display_thread;
private void stop_display() {
* Replay a flight from telemetry data
*/
private void Replay() {
- JFileChooser logfile_chooser = new JFileChooser();
-
- logfile_chooser.setDialogTitle("Select Telemetry File");
- logfile_chooser.setFileFilter(new FileNameExtensionFilter("Telemetry file", "telem"));
- logfile_chooser.setCurrentDirectory(AltosPreferences.logdir());
- int returnVal = logfile_chooser.showOpenDialog(AltosUI.this);
-
- if (returnVal == JFileChooser.APPROVE_OPTION) {
- File file = logfile_chooser.getSelectedFile();
- if (file == null)
- System.out.println("No file selected?");
- String filename = file.getName();
- try {
- FileInputStream replay = new FileInputStream(file);
- ReplayThread thread = new ReplayThread(replay, filename);
- run_display(thread);
- } catch (FileNotFoundException ee) {
- JOptionPane.showMessageDialog(AltosUI.this,
- filename,
- "Cannot open telemetry file",
- JOptionPane.ERROR_MESSAGE);
- }
- }
+ AltosLogfileChooser chooser = new AltosLogfileChooser(
+ AltosUI.this);
+ AltosReader reader = chooser.runDialog();
+ if (reader != null)
+ run_display(new ReplayThread(reader,
+ chooser.filename()));
}
/* Connect to TeleMetrum, either directly or through
* a TeleDongle over the packet link
*/
private void SaveFlightData() {
- new AltosEeprom(AltosUI.this);
+ new AltosEepromDownload(AltosUI.this);
+ }
+
+ /* Load a flight log file and write out a CSV file containing
+ * all of the data in standard units
+ */
+
+ private void ExportData() {
+ new AltosCSVUI(AltosUI.this);
}
/* Create the AltosUI menus
menu.setMnemonic(KeyEvent.VK_F);
menubar.add(menu);
+ item = new JMenuItem("Replay File",KeyEvent.VK_R);
+ item.addActionListener(new ActionListener() {
+ public void actionPerformed(ActionEvent e) {
+ Replay();
+ }
+ });
+ menu.add(item);
+
+ item = new JMenuItem("Save Flight Data",KeyEvent.VK_S);
+ item.addActionListener(new ActionListener() {
+ public void actionPerformed(ActionEvent e) {
+ SaveFlightData();
+ }
+ });
+ menu.add(item);
+
+ item = new JMenuItem("Flash Image",KeyEvent.VK_F);
+ item.addActionListener(new ActionListener() {
+ public void actionPerformed(ActionEvent e) {
+ FlashImage();
+ }
+ });
+ menu.add(item);
+
+ item = new JMenuItem("Export Data",KeyEvent.VK_F);
+ item.addActionListener(new ActionListener() {
+ public void actionPerformed(ActionEvent e) {
+ ExportData();
+ }
+ });
+ menu.add(item);
+
item = new JMenuItem("Quit",KeyEvent.VK_Q);
item.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_Q,
ActionEvent.CTRL_MASK));
menu.addSeparator();
- item = new JMenuItem("Save Flight Data",KeyEvent.VK_S);
+ item = new JMenuItem("Set Callsign",KeyEvent.VK_S);
item.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
- SaveFlightData();
+ ConfigureCallsign();
}
});
+
menu.add(item);
- item = new JMenuItem("Replay",KeyEvent.VK_R);
+ item = new JMenuItem("Configure TeleMetrum device",KeyEvent.VK_T);
item.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
- Replay();
+ ConfigureTeleMetrum();
}
});
+
menu.add(item);
}
// Log menu
// Channel menu
{
- menu = new JMenu("Channel", true);
- menu.setMnemonic(KeyEvent.VK_C);
- menubar.add(menu);
- ButtonGroup group = new ButtonGroup();
-
- for (int c = 0; c <= 9; c++) {
- radioitem = new JRadioButtonMenuItem(String.format("Channel %1d (%7.3fMHz)", c,
- 434.550 + c * 0.1),
- c == AltosPreferences.channel());
- radioitem.setActionCommand(String.format("%d", c));
- radioitem.addActionListener(new ActionListener() {
+ menu = new AltosChannelMenu(AltosPreferences.channel());
+ menu.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
int new_channel = Integer.parseInt(e.getActionCommand());
AltosPreferences.set_channel(new_channel);
serial_line.set_channel(new_channel);
}
- });
- menu.add(radioitem);
- group.add(radioitem);
- }
+ });
+ menu.setMnemonic(KeyEvent.VK_C);
+ menubar.add(menu);
}
this.setJMenuBar(menubar);
}
+
+ static String replace_extension(String input, String extension) {
+ int dot = input.lastIndexOf(".");
+ if (dot > 0)
+ input = input.substring(0,dot);
+ return input.concat(extension);
+ }
+
+ static AltosReader open_logfile(String filename) {
+ File file = new File (filename);
+ try {
+ FileInputStream in;
+
+ in = new FileInputStream(file);
+ if (filename.endsWith("eeprom"))
+ return new AltosEepromReader(in);
+ else
+ return new AltosTelemetryReader(in);
+ } catch (FileNotFoundException fe) {
+ System.out.printf("Cannot open '%s'\n", filename);
+ return null;
+ }
+ }
+
+ static AltosCSV open_csv(String filename) {
+ File file = new File (filename);
+ try {
+ return new AltosCSV(file);
+ } catch (FileNotFoundException fe) {
+ System.out.printf("Cannot open '%s'\n", filename);
+ return null;
+ }
+ }
+
+ static void process_file(String input) {
+ String output = replace_extension(input,".csv");
+ if (input.equals(output)) {
+ System.out.printf("Not processing '%s'\n", input);
+ return;
+ }
+ System.out.printf("Processing \"%s\" to \"%s\"\n", input, output);
+ AltosReader reader = open_logfile(input);
+ if (reader == null)
+ return;
+ AltosCSV writer = open_csv(output);
+ if (writer == null)
+ return;
+ writer.write(reader);
+ reader.close();
+ writer.close();
+ }
+
public static void main(final String[] args) {
- AltosUI altosui = new AltosUI();
- altosui.setVisible(true);
+
+ /* Handle batch-mode */
+ if (args.length > 0) {
+ for (int i = 0; i < args.length; i++)
+ process_file(args[i]);
+ } else {
+ AltosUI altosui = new AltosUI();
+ altosui.setVisible(true);
+ }
}
}
\ No newline at end of file
CLASSPATH=classes:./*:/usr/share/java/*
CLASSFILES=\
+ Altos.class \
+ AltosChannelMenu.class \
+ AltosConfig.class \
+ AltosConfigUI.class \
AltosConvert.class \
- AltosEeprom.class \
+ AltosCSV.class \
+ AltosCSVUI.class \
+ AltosDebug.class \
+ AltosEepromDownload.class \
AltosEepromMonitor.class \
+ AltosEepromReader.class \
+ AltosEepromRecord.class \
AltosFile.class \
+ AltosFlash.class \
+ AltosFlashUI.class \
+ AltosFlightInfoTableModel.class \
+ AltosFlightStatusTableModel.class \
AltosGPS.class \
AltosGreatCircle.class \
+ AltosHexfile.class \
AltosLog.class \
+ AltosLogfileChooser.class \
AltosParse.class \
AltosPreferences.class \
+ AltosRecord.class \
AltosSerialMonitor.class \
AltosSerial.class \
AltosState.class \
AltosTelemetry.class \
+ AltosTelemetryReader.class \
AltosUI.class \
AltosDevice.class \
AltosDeviceDialog.class \
+ AltosRomconfig.class \
+ AltosRomconfigUI.class \
AltosVoice.class
#FREETTSSRC=/home/keithp/src/freetts/freetts-1.2.2
# en_us.jar \
# freetts.jar
-JAVAFLAGS=-Xlint:unchecked
+JAVAFLAGS=-Xlint:unchecked -Xlint:deprecation
OS:=$(shell uname)
static const struct option options[] = {
{ .name = "tty", .has_arg = 1, .val = 'T' },
{ .name = "device", .has_arg = 1, .val = 'D' },
- { .name = "remote", .has_arg = 1, .val = 'R' },
+ { .name = "remote", .has_arg = 0, .val = 'R' },
+ { .name = "channel", .has_arg = 1, .val = 'C' },
{ 0, 0, 0, 0},
};
static void usage(char *program)
{
- fprintf(stderr, "usage: %s [--tty <tty-name>] [--device <device-name>] [-R]\n", program);
+ fprintf(stderr, "usage: %s [--tty <tty-name>] [--device <device-name>] [--remote] [--channel <radio-channel>]\n", program);
exit(1);
}
FILE *out;
char *filename;
int serial_number = 0;
+ int channel = 0;
int flight = 0;
char cmd;
int tick, a, b;
int invalid;
char serial_line[8192];
- while ((c = getopt_long(argc, argv, "T:D:R", options, NULL)) != -1) {
+ while ((c = getopt_long(argc, argv, "T:D:C:R", options, NULL)) != -1) {
switch (c) {
case 'T':
tty = optarg;
case 'R':
remote = 1;
break;
+ case 'C':
+ channel = atoi(optarg);
+ break;
default:
usage(argv[0]);
break;
if (!cc)
exit(1);
if (remote)
- cc_usb_open_remote(cc);
+ cc_usb_open_remote(cc, channel);
/* send a 'version' command followed by a 'log' command */
cc_usb_printf(cc, "v\n");
out = NULL;
}
void
-cc_usb_open_remote(struct cc_usb *cc)
+cc_usb_open_remote(struct cc_usb *cc, int channel)
{
if (!cc->remote) {
- cc_usb_printf(cc, "\np\nE 0\n");
+ printf ("channel %d\n", channel);
+ cc_usb_printf(cc, "\nc r %d\np\nE 0\n", channel);
do {
cc->in_count = cc->in_pos = 0;
_cc_usb_sync(cc, 100);
cc_usb_printf(struct cc_usb *cc, char *format, ...);
void
-cc_usb_open_remote(struct cc_usb *cc);
+cc_usb_open_remote(struct cc_usb *cc, int channel);
void
cc_usb_close_remote(struct cc_usb *cc);
OS:=$(shell uname)
+#
+# Linux
+#
ifeq ($(OS),Linux)
JAVA_CFLAGS=-I/usr/lib/jvm/java-6-openjdk/include
OS_CFLAGS=-DLINUX -DPOSIX_TTY $(JAVA_CFLAGS)
-LIBEXT=so
+OS_LDFLAGS=
+
+LIBNAME=libaltos.so
+EXEEXT=
endif
+#
+# Darwin (Mac OS X)
+#
ifeq ($(OS),Darwin)
-DARWIN_CFLAGS=\
+OS_CFLAGS=\
+ -DDARWIN -DPOSIX_TTY -arch i386 -arch x86_64 \
--sysroot=/Developer/SDKs/MacOSX10.5.sdk -mmacosx-version-min=10.5 \
-iwithsysroot /System/Library/Frameworks/JavaVM.framework/Headers \
-iwithsysroot /System/Library/Frameworks/IOKit.framework/Headers \
-iwithsysroot /System/Library/Frameworks/CoreFoundation.framework/Headers
-DARWIN_LIBS=\
+
+OS_LDFLAGS =\
-framework IOKit -framework CoreFoundation
-OS_CFLAGS = $(DARWIN_CFLAGS) -DDARWIN -DPOSIX_TTY -arch i386 -arch x86_64
-LIBEXT=dylib
+LIBNAME=libaltos.dylib
+EXEEXT=
+
+endif
+
+#
+# Windows
+#
+ifneq (,$(findstring MINGW,$(OS)))
+
+CC=gcc
+
+OS_CFLAGS = -DWINDOWS -mconsole
+
+OS_LDFLAGS = -lgdi32 -luser32 -lcfgmgr32 -lsetupapi -lole32 \
+ -ladvapi32 -lcomctl32 -mconsole -Wl,--add-stdcall-alias
+
+LIBNAME=altos.dll
+
+EXEEXT=.exe
endif
JAVAFLAGS=-Xlint:unchecked
-all: libaltos.$(LIBEXT) cjnitest $(CLASSFILES)
+CJNITEST=cjnitest$(EXEEXT)
+
+all: $(LIBNAME) $(CJNITEST) $(CLASSFILES)
.java.class:
javac -encoding UTF8 -classpath "$(CLASSPATH)" $(JAVAFLAGS) $*.java
CFLAGS=$(OS_CFLAGS) -O0 -g -I.
+LDFLAGS=$(OS_LDFLAGS)
+
HEADERS=libaltos.h
SRCS = libaltos.c $(SWIG_WRAP)
OBJS = $(SRCS:%.c=%.o)
LIBS = $(DARWIN_LIBS)
-cjnitest: cjnitest.o $(OBJS)
+$(CJNITEST): cjnitest.o $(OBJS)
cc -o $@ $(CFLAGS) cjnitest.o $(OBJS) $(LIBS)
-libaltos.$(LIBEXT): $(OBJS)
- gcc -shared $(CFLAGS) -o $@ $(OBJS) $(LIBS)
+$(LIBNAME): $(OBJS)
+ gcc -shared $(CFLAGS) -o $@ $(OBJS) $(LIBS) $(LDFLAGS)
clean:
- rm -f $(CLASSFILES) $(OBJS) libaltos.$(LIBEXT) cjnitest cjnitest.o
+ rm -f $(CLASSFILES) $(OBJS) $(LIBNAME) $(CJNITEST) cjnitest.o
rm -rf swig_bindings libaltosJNI
$(JNI_FILE): libaltos.i0 $(HEADERS)
#include <stdio.h>
#include "libaltos.h"
+static void
+altos_puts(struct altos_file *file, char *string)
+{
+ char c;
+
+ while ((c = *string++))
+ altos_putchar(file, c);
+}
+
main ()
{
struct altos_device device;
struct altos_file *file;
int c;
+ printf ("%04x:%04x %-20s %4d %s\n", device.vendor, device.product,
+ device.name, device.serial, device.path);
+
file = altos_open(&device);
- altos_putchar(file, '?'); altos_putchar(file, '\n'); altos_flush(file);
+ if (!file) {
+ printf("altos_open failed\n");
+ continue;
+ }
+ altos_puts(file,"v\nc s\n");
while ((c = altos_getchar(file, 100)) >= 0) {
putchar (c);
}
- printf ("getchar returns %d\n", c);
+ if (c != LIBALTOS_TIMEOUT)
+ printf ("getchar returns %d\n", c);
altos_close(file);
}
altos_list_finish(list);
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
+#define BUILD_DLL
#include "libaltos.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
-static int
-match_dev(char *product, int serial, struct altos_device *device)
+PUBLIC int
+altos_init(void)
{
- struct altos_list *list;
- int i;
+ return LIBALTOS_SUCCESS;
+}
- list = altos_list_start();
- if (!list)
- return 0;
- while ((i = altos_list_next(list, device)) != 0) {
- if (product && strncmp (product, device->product, strlen(product)) != 0)
- continue;
- if (serial && serial != device->serial)
- continue;
- break;
- }
- altos_list_finish(list);
- return i;
+PUBLIC void
+altos_fini(void)
+{
}
#ifdef DARWIN
#define altos_strndup strndup
#endif
-int
-altos_find_by_arg(char *arg, char *default_product, struct altos_device *device)
-{
- char *product;
- int serial;
- char *end;
- char *colon;
- int ret;
-
- if (arg)
- {
- /* check for <serial> */
- serial = strtol(arg, &end, 0);
- if (end != arg) {
- if (*end != '\0')
- return 0;
- product = NULL;
- } else {
- /* check for <product>:<serial> */
- colon = strchr(arg, ':');
- if (colon) {
- product = altos_strndup(arg, colon - arg);
- serial = strtol(colon + 1, &end, 0);
- if (*end != '\0')
- return 0;
- } else {
- product = arg;
- serial = 0;
- }
- }
- } else {
- product = NULL;
- serial = 0;
- }
- if (!product && default_product)
- ret = match_dev(default_product, serial, device);
- if (!ret)
- ret = match_dev(product, serial, device);
- if (product && product != arg)
- free(product);
- return ret;
-}
+/*
+ * Scan for Altus Metrum devices by looking through /sys
+ */
#ifdef LINUX
char *sys;
char *tty;
char *manufacturer;
- char *product;
+ char *product_name;
int serial; /* AltOS always uses simple integer serial numbers */
int idProduct;
int idVendor;
return NULL;
usbdev->sys = strdup(sys);
usbdev->manufacturer = load_string(sys, "manufacturer");
- usbdev->product = load_string(sys, "product");
+ usbdev->product_name = load_string(sys, "product");
usbdev->serial = load_dec(sys, "serial");
usbdev->idProduct = load_hex(sys, "idProduct");
usbdev->idVendor = load_hex(sys, "idVendor");
{
free(usbdev->sys);
free(usbdev->manufacturer);
- free(usbdev->product);
+ free(usbdev->product_name);
/* this can get used as a return value */
if (usbdev->tty)
free(usbdev->tty);
int ndev;
};
-int
-altos_init(void)
-{
- return 1;
-}
-
-void
-altos_fini(void)
-{
-}
-
struct altos_list *
altos_list_start(void)
{
dir = cc_fullname(USB_DEVICES, ents[e]->d_name);
dev = usb_scan_device(dir);
free(dir);
- if (dev->idVendor == 0xfffe && dev->tty) {
+ if (USB_IS_ALTUSMETRUM(dev->idVendor, dev->idProduct)) {
if (devs->dev)
devs->dev = realloc(devs->dev,
devs->ndev + 1 * sizeof (struct usbdev *));
if (list->current >= list->ndev)
return 0;
dev = list->dev[list->current];
- strcpy(device->product, dev->product);
+ strcpy(device->name, dev->product_name);
+ device->vendor = dev->idVendor;
+ device->product = dev->idProduct;
strcpy(device->path, dev->tty);
device->serial = dev->serial;
list->current++;
return 0;
}
-int
-altos_init(void)
-{
- return 1;
-}
-
-void
-altos_fini(void)
-{
-}
-
struct altos_list *
altos_list_start(void)
{
#include <fcntl.h>
#include <termios.h>
#include <errno.h>
+#include <pthread.h>
#define USB_BUF_SIZE 64
struct altos_file {
int fd;
+ int pipe[2];
unsigned char out_data[USB_BUF_SIZE];
int out_used;
unsigned char in_data[USB_BUF_SIZE];
int in_used;
int in_read;
+ pthread_mutex_t putc_mutex;
+ pthread_mutex_t getc_mutex;
};
struct altos_file *
if (!file)
return NULL;
+ pipe(file->pipe);
file->fd = open(device->path, O_RDWR | O_NOCTTY);
if (file->fd < 0) {
perror(device->path);
return NULL;
}
cfmakeraw(&term);
- term.c_cc[VMIN] = 0;
- term.c_cc[VTIME] = 1;
+ term.c_cc[VMIN] = 1;
+ term.c_cc[VTIME] = 0;
ret = tcsetattr(file->fd, TCSAFLUSH, &term);
if (ret < 0) {
perror("tcsetattr");
free(file);
return NULL;
}
+ pthread_mutex_init(&file->putc_mutex,NULL);
+ pthread_mutex_init(&file->getc_mutex,NULL);
return file;
}
void
altos_close(struct altos_file *file)
{
- close(file->fd);
- file->fd = -1;
+ if (file->fd != -1) {
+ int fd = file->fd;
+ file->fd = -1;
+ write(file->pipe[1], "\r", 1);
+ close(fd);
+ }
}
void
altos_free(struct altos_file *file)
{
- if (file->fd != -1)
- close(file->fd);
+ altos_close(file);
free(file);
}
+static int
+_altos_flush(struct altos_file *file)
+{
+ while (file->out_used) {
+ int ret;
+
+ if (file->fd < 0)
+ return -EBADF;
+ fflush(stdout);
+ ret = write (file->fd, file->out_data, file->out_used);
+ if (ret < 0)
+ return -errno;
+ if (ret) {
+ memmove(file->out_data, file->out_data + ret,
+ file->out_used - ret);
+ file->out_used -= ret;
+ }
+ }
+}
+
int
altos_putchar(struct altos_file *file, char c)
{
int ret;
+ pthread_mutex_lock(&file->putc_mutex);
if (file->out_used == USB_BUF_SIZE) {
- ret = altos_flush(file);
- if (ret)
+ ret = _altos_flush(file);
+ if (ret) {
+ pthread_mutex_unlock(&file->putc_mutex);
return ret;
+ }
}
file->out_data[file->out_used++] = c;
+ ret = 0;
if (file->out_used == USB_BUF_SIZE)
- return altos_flush(file);
+ ret = _altos_flush(file);
+ pthread_mutex_unlock(&file->putc_mutex);
return 0;
}
int
altos_flush(struct altos_file *file)
{
- while (file->out_used) {
- int ret;
-
- if (file->fd < 0)
- return -EBADF;
- ret = write (file->fd, file->out_data, file->out_used);
- if (ret < 0)
- return -errno;
- if (ret) {
- memmove(file->out_data, file->out_data + ret,
- file->out_used - ret);
- file->out_used -= ret;
- }
- }
+ int ret;
+ pthread_mutex_lock(&file->putc_mutex);
+ ret = _altos_flush(file);
+ pthread_mutex_unlock(&file->putc_mutex);
+ return ret;
}
+
+#include <poll.h>
+
int
altos_getchar(struct altos_file *file, int timeout)
{
- while (file->in_read == file->in_used) {
- int ret;
+ int ret;
+ struct pollfd fd[2];
+ if (timeout == 0)
+ timeout = -1;
+ pthread_mutex_lock(&file->getc_mutex);
+ fd[0].fd = file->fd;
+ fd[0].events = POLLIN;
+ fd[1].fd = file->pipe[0];
+ fd[1].events = POLLIN;
+ while (file->in_read == file->in_used) {
+ if (file->fd < 0) {
+ pthread_mutex_unlock(&file->getc_mutex);
+ return LIBALTOS_ERROR;
+ }
altos_flush(file);
- if (file->fd < 0)
- return -EBADF;
- ret = read(file->fd, file->in_data, USB_BUF_SIZE);
- if (ret < 0)
- return -errno;
- file->in_read = 0;
- file->in_used = ret;
+
+ ret = poll(fd, 2, timeout);
+ if (ret < 0) {
+ perror("altos_getchar");
+ pthread_mutex_unlock(&file->getc_mutex);
+ return LIBALTOS_ERROR;
+ }
+ if (ret == 0) {
+ pthread_mutex_unlock(&file->getc_mutex);
+ return LIBALTOS_TIMEOUT;
+ }
+ if (fd[0].revents & POLLIN) {
+ ret = read(file->fd, file->in_data, USB_BUF_SIZE);
+ if (ret < 0) {
+ perror("altos_getchar");
+ pthread_mutex_unlock(&file->getc_mutex);
+ return LIBALTOS_ERROR;
+ }
+ file->in_read = 0;
+ file->in_used = ret;
+ }
}
- return file->in_data[file->in_read++];
+ ret = file->in_data[file->in_read++];
+ pthread_mutex_unlock(&file->getc_mutex);
+ return ret;
}
#endif /* POSIX_TTY */
-#ifdef USE_LIBUSB
-#include <libusb.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
+#ifdef WINDOWS
-libusb_context *usb_context;
+#include <windows.h>
+#include <setupapi.h>
-int altos_init(void)
-{
- int ret;
- ret = libusb_init(&usb_context);
- if (ret)
- return ret;
- libusb_set_debug(usb_context, 3);
- return 0;
-}
+struct altos_list {
+ HDEVINFO dev_info;
+ int index;
+};
-void altos_fini(void)
-{
- libusb_exit(usb_context);
- usb_context = NULL;
-}
+#define USB_BUF_SIZE 64
+
+struct altos_file {
+ HANDLE handle;
+ unsigned char out_data[USB_BUF_SIZE];
+ int out_used;
+ unsigned char in_data[USB_BUF_SIZE];
+ int in_used;
+ int in_read;
+};
-static libusb_device **list;
-static ssize_t num, current;
-int altos_list_start(void)
+PUBLIC struct altos_list *
+altos_list_start(void)
{
- if (list)
- altos_list_finish();
- current = 0;
- num = libusb_get_device_list(usb_context, &list);
- if (num == 0) {
- current = num = 0;
- list = NULL;
- return 0;
+ struct altos_list *list = calloc(1, sizeof (struct altos_list));
+
+ if (!list)
+ return NULL;
+ list->dev_info = SetupDiGetClassDevs(NULL, "USB", NULL,
+ DIGCF_ALLCLASSES|DIGCF_PRESENT);
+ if (list->dev_info == INVALID_HANDLE_VALUE) {
+ printf("SetupDiGetClassDevs failed %d\n", GetLastError());
+ free(list);
+ return NULL;
}
- return 1;
+ list->index = 0;
+ return list;
}
-int altos_list_next(struct altos_device *device)
-{
- while (current < num) {
- struct libusb_device_descriptor descriptor;
- libusb_device *usb_device = list[current++];
-
- if (libusb_get_device_descriptor(usb_device, &descriptor) == 0) {
- if (descriptor.idVendor == 0xfffe)
- {
- libusb_device_handle *handle;
- if (libusb_open(usb_device, &handle) == 0) {
- char serial_number[256];
- libusb_get_string_descriptor_ascii(handle, descriptor.iProduct,
- device->product,
- sizeof(device->product));
- libusb_get_string_descriptor_ascii(handle, descriptor.iSerialNumber,
- serial_number,
- sizeof (serial_number));
- libusb_close(handle);
- device->serial = atoi(serial_number);
- device->device = usb_device;
- return 1;
- }
- }
+PUBLIC int
+altos_list_next(struct altos_list *list, struct altos_device *device)
+{
+ SP_DEVINFO_DATA dev_info_data;
+ char port[128];
+ DWORD port_len;
+ char location[256];
+ char symbolic[256];
+ DWORD symbolic_len;
+ HKEY dev_key;
+ int vid, pid;
+ int serial;
+ HRESULT result;
+ DWORD location_type;
+ DWORD location_len;
+
+ dev_info_data.cbSize = sizeof (SP_DEVINFO_DATA);
+ while(SetupDiEnumDeviceInfo(list->dev_info, list->index,
+ &dev_info_data))
+ {
+ list->index++;
+
+ dev_key = SetupDiOpenDevRegKey(list->dev_info, &dev_info_data,
+ DICS_FLAG_GLOBAL, 0, DIREG_DEV,
+ KEY_READ);
+ if (dev_key == INVALID_HANDLE_VALUE) {
+ printf("cannot open device registry key\n");
+ continue;
+ }
+
+ /* Fetch symbolic name for this device and parse out
+ * the vid/pid/serial info */
+ symbolic_len = sizeof(symbolic);
+ result = RegQueryValueEx(dev_key, "SymbolicName", NULL, NULL,
+ symbolic, &symbolic_len);
+ if (result != 0) {
+ printf("cannot find SymbolicName value\n");
+ RegCloseKey(dev_key);
+ continue;
+ }
+ vid = pid = serial = 0;
+ sscanf(symbolic + sizeof("\\??\\USB#VID_") - 1,
+ "%04X", &vid);
+ sscanf(symbolic + sizeof("\\??\\USB#VID_XXXX&PID_") - 1,
+ "%04X", &pid);
+ sscanf(symbolic + sizeof("\\??\\USB#VID_XXXX&PID_XXXX#") - 1,
+ "%d", &serial);
+ if (!USB_IS_ALTUSMETRUM(vid, pid)) {
+ printf("Not Altus Metrum symbolic name: %s\n",
+ symbolic);
+ RegCloseKey(dev_key);
+ continue;
+ }
+
+ /* Fetch the com port name */
+ port_len = sizeof (port);
+ result = RegQueryValueEx(dev_key, "PortName", NULL, NULL,
+ port, &port_len);
+ RegCloseKey(dev_key);
+ if (result != 0) {
+ printf("failed to get PortName\n");
+ continue;
}
+
+ /* Fetch the 'location information' which is the device name,
+ * at least on XP */
+ location_len = sizeof (location);
+ if(!SetupDiGetDeviceRegistryProperty(list->dev_info,
+ &dev_info_data,
+ SPDRP_LOCATION_INFORMATION,
+ &location_type,
+ (BYTE *)location,
+ sizeof(location),
+ &location_len))
+ {
+ printf("Failed to get location\n");
+ continue;
+ }
+ device->vendor = vid;
+ device->product = pid;
+ device->serial = serial;
+
+ if (strcasestr(location, "tele"))
+ strcpy(device->name, location);
+ else
+ strcpy(device->name, "");
+
+ strcpy(device->path, port);
+ printf ("product: %04x:%04x (%s) path: %s serial %d\n",
+ device->vendor, device->product, device->name,
+ device->path, device->serial);
+ return 1;
}
+ result = GetLastError();
+ if (result != ERROR_NO_MORE_ITEMS)
+ printf ("SetupDiEnumDeviceInfo failed error %d\n", result);
return 0;
}
-void altos_list_finish(void)
+PUBLIC void
+altos_list_finish(struct altos_list *list)
+{
+ SetupDiDestroyDeviceInfoList(list->dev_info);
+ free(list);
+}
+
+static int
+altos_fill(struct altos_file *file, int timeout)
{
- if (list) {
- libusb_free_device_list(list, 1);
- list = NULL;
+ DWORD result;
+ DWORD got;
+ COMMTIMEOUTS timeouts;
+
+ if (file->in_read < file->in_used)
+ return LIBALTOS_SUCCESS;
+ file->in_read = file->in_used = 0;
+
+ if (timeout) {
+ timeouts.ReadIntervalTimeout = MAXDWORD;
+ timeouts.ReadTotalTimeoutMultiplier = MAXDWORD;
+ timeouts.ReadTotalTimeoutConstant = timeout;
+ } else {
+ timeouts.ReadIntervalTimeout = 0;
+ timeouts.ReadTotalTimeoutMultiplier = 0;
+ timeouts.ReadTotalTimeoutConstant = 0;
+ }
+ timeouts.WriteTotalTimeoutMultiplier = 0;
+ timeouts.WriteTotalTimeoutConstant = 0;
+
+ if (!SetCommTimeouts(file->handle, &timeouts)) {
+ printf("SetCommTimeouts failed %d\n", GetLastError());
}
+
+ if (!ReadFile(file->handle, file->in_data, USB_BUF_SIZE, &got, NULL)) {
+ result = GetLastError();
+ printf ("read failed %d\n", result);
+ return LIBALTOS_ERROR;
+ got = 0;
+ }
+ if (got)
+ return LIBALTOS_SUCCESS;
+ return LIBALTOS_TIMEOUT;
}
-#define USB_BUF_SIZE 64
+PUBLIC int
+altos_flush(struct altos_file *file)
+{
+ DWORD put;
+ char *data = file->out_data;
+ char used = file->out_used;
+ DWORD result;
-struct altos_file {
- struct libusb_device *device;
- struct libusb_device_handle *handle;
- int out_ep;
- int out_size;
- int in_ep;
- int in_size;
- unsigned char out_data[USB_BUF_SIZE];
- int out_used;
- unsigned char in_data[USB_BUF_SIZE];
- int in_used;
- int in_read;
-};
+ while (used) {
+ if (!WriteFile(file->handle, data, used, &put, NULL)) {
+ result = GetLastError();
+ printf ("write failed %d\n", result);
+ return LIBALTOS_ERROR;
+ }
+ data += put;
+ used -= put;
+ }
+ file->out_used = 0;
+ return LIBALTOS_SUCCESS;
+}
-struct altos_file *
+PUBLIC struct altos_file *
altos_open(struct altos_device *device)
{
- struct altos_file *file;
- struct libusb_device_handle *handle;
- if (libusb_open(device->device, &handle) == 0) {
- int ret;
+ struct altos_file *file = calloc (sizeof (struct altos_file), 1);
+ char full_name[64];
- ret = libusb_claim_interface(handle, 1);
-#if 0
- if (ret) {
- libusb_close(handle);
- return NULL;
- }
-#endif
- ret = libusb_detach_kernel_driver(handle, 1);
-#if 0
- if (ret) {
- libusb_close(handle);
- return NULL;
- }
-#endif
+ if (!file)
+ return NULL;
- file = calloc(sizeof (struct altos_file), 1);
- file->device = libusb_ref_device(device->device);
- file->handle = handle;
- /* XXX should get these from the endpoint descriptors */
- file->out_ep = 4 | LIBUSB_ENDPOINT_OUT;
- file->out_size = 64;
- file->in_ep = 5 | LIBUSB_ENDPOINT_IN;
- file->in_size = 64;
+ strcpy(full_name, "\\\\.\\");
+ strcat(full_name, device->path);
+ file->handle = CreateFile(full_name, GENERIC_READ|GENERIC_WRITE,
+ 0, NULL, OPEN_EXISTING,
+ FILE_ATTRIBUTE_NORMAL, NULL);
+ if (file->handle == INVALID_HANDLE_VALUE) {
+ free(file);
+ return NULL;
+ }
- return file;
+ timeouts.ReadIntervalTimeout = MAXDWORD;
+ timeouts.ReadTotalTimeoutMultiplier = MAXDWORD;
+ timeouts.ReadTotalTimeoutConstant = 100;
+ timeouts.WriteTotalTimeoutMultiplier = 0;
+ timeouts.WriteTotalTimeoutConstant = 10000;
+ if (!SetCommTimeouts(file->handle, &timeouts)) {
+ printf("SetCommTimeouts failed %d\n", GetLastError());
}
- return NULL;
+
+ return file;
}
-void
+PUBLIC void
altos_close(struct altos_file *file)
{
- libusb_close(file->handle);
- libusb_unref_device(file->device);
- file->handle = NULL;
+ if (file->handle != INVALID_HANDLE_VALUE) {
+ CloseHandle(file->handle);
+ file->handle = INVALID_HANDLE_VALUE;
+ }
+}
+
+PUBLIC void
+altos_free(struct altos_file *file)
+{
+ altos_close(file);
free(file);
}
{
int ret;
- if (file->out_used == file->out_size) {
+ if (file->out_used == USB_BUF_SIZE) {
ret = altos_flush(file);
if (ret)
return ret;
}
file->out_data[file->out_used++] = c;
- if (file->out_used == file->out_size)
+ if (file->out_used == USB_BUF_SIZE)
return altos_flush(file);
- return 0;
-}
-
-int
-altos_flush(struct altos_file *file)
-{
- while (file->out_used) {
- int transferred;
- int ret;
-
- ret = libusb_bulk_transfer(file->handle,
- file->out_ep,
- file->out_data,
- file->out_used,
- &transferred,
- 0);
- if (ret)
- return ret;
- if (transferred) {
- memmove(file->out_data, file->out_data + transferred,
- file->out_used - transferred);
- file->out_used -= transferred;
- }
- }
+ return LIBALTOS_SUCCESS;
}
int
altos_getchar(struct altos_file *file, int timeout)
{
+ int ret;
while (file->in_read == file->in_used) {
- int ret;
- int transferred;
-
- altos_flush(file);
- ret = libusb_bulk_transfer(file->handle,
- file->in_ep,
- file->in_data,
- file->in_size,
- &transferred,
- (unsigned int) timeout);
+ ret = altos_flush(file);
+ if (ret)
+ return ret;
+ if (file->handle == INVALID_HANDLE_VALUE)
+ return LIBALTOS_ERROR;
+ ret = altos_fill(file, timeout);
if (ret)
return ret;
- file->in_read = 0;
- file->in_used = transferred;
}
return file->in_data[file->in_read++];
}
-#endif /* USE_LIBUSB */
+#endif
#ifndef _LIBALTOS_H_
#define _LIBALTOS_H_
+#if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
+# ifndef BUILD_STATIC
+# ifdef BUILD_DLL
+# define PUBLIC __declspec(dllexport)
+# else
+# define PUBLIC __declspec(dllimport)
+# endif
+# endif /* BUILD_STATIC */
+#endif
+
+#ifndef PUBLIC
+# define PUBLIC
+#endif
+
+#define USB_VENDOR_FSF 0xfffe
+#define USB_VENDOR_ALTUSMETRUM USB_VENDOR_FSF
+#define USB_PRODUCT_ALTUSMETRUM 0x000a
+#define USB_PRODUCT_TELEMETRUM 0x000b
+#define USB_PRODUCT_TELEDONGLE 0x000c
+#define USB_PRODUCT_TELETERRA 0x000d
+#define USB_PRODUCT_ALTUSMETRUM_MIN 0x000a
+#define USB_PRODUCT_ALTUSMETRUM_MAX 0x0013
+
+#define USB_IS_ALTUSMETRUM(v,p) ((v) == USB_VENDOR_ALTUSMETRUM && \
+ (USB_PRODUCT_ALTUSMETRUM_MIN <= (p) && \
+ (p) <= USB_PRODUCT_ALTUSMETRUM_MAX))
+
struct altos_device {
//%immutable;
- char product[256];
+ int vendor;
+ int product;
int serial;
+ char name[256];
char path[256];
//%mutable;
};
-int altos_init(void);
+#define LIBALTOS_SUCCESS 0
+#define LIBALTOS_ERROR -1
+#define LIBALTOS_TIMEOUT -2
+
+/* Returns 0 for success, < 0 on error */
+PUBLIC int
+altos_init(void);
-void altos_fini(void);
+PUBLIC void
+altos_fini(void);
-struct altos_list *
+PUBLIC struct altos_list *
altos_list_start(void);
-int altos_list_next(struct altos_list *list, struct altos_device *device);
+/* Returns 1 for success, zero on end of list */
+PUBLIC int
+altos_list_next(struct altos_list *list, struct altos_device *device);
-void altos_list_finish(struct altos_list *list);
+PUBLIC void
+altos_list_finish(struct altos_list *list);
-struct altos_file *
+PUBLIC struct altos_file *
altos_open(struct altos_device *device);
-void altos_close(struct altos_file *file);
+PUBLIC void
+altos_close(struct altos_file *file);
-void altos_free(struct altos_file *file);
+PUBLIC void
+altos_free(struct altos_file *file);
-int
+/* Returns < 0 for error */
+PUBLIC int
altos_putchar(struct altos_file *file, char c);
-int
+/* Returns < 0 for error */
+PUBLIC int
altos_flush(struct altos_file *file);
-int
+/* Returns < 0 for error or timeout. timeout of 0 == wait forever */
+PUBLIC int
altos_getchar(struct altos_file *file, int timeout);
#endif /* _LIBALTOS_H_ */
ao_panic.c \
ao_task.c \
ao_timer.c \
+ ao_romconfig.c \
_bp.c
#
../altitude.h: make-altitude
nickle $< > $@
-ao_product.h: ao-make-product.5c
- $(call quiet,NICKLE,$<) $< -m altusmetrum.org -p $(PRODUCT) -v $(VERSION) > $@
+ao_product.h: ao-make-product.5c always
+ $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+always:
ao_product.rel: ao_product.c ao_product.h
$(call quiet,CC) -c $(CFLAGS) -D PRODUCT_DEFS='\"ao_product.h\"' -o$@ $<
printf ("#define AO_%s_NUMBER %d\n\n", description, a);
}
+void
+write_hex(int a, string description)
+{
+ printf ("/* %s */\n", description);
+ printf ("#define AO_%s_NUMBER 0x%04x\n\n", description, a);
+}
+
string manufacturer = "altusmetrum.org";
string product = "TeleMetrum";
string version = "0.0";
int serial = 1;
int user_argind = 0;
+int id_product = 0x000a;
argdesc argd = {
.args = {
.name = "product",
.expr_name = "prod",
.desc = "Product name." },
+ {
+ .var = { .arg_int = &id_product },
+ .abbr = 'i',
+ .name = "id_product",
+ .expr_name = "id_p",
+ .desc = "Product ID." },
{
.var = { .arg_int = &serial },
.abbr = 's',
write_ucs2(product, "iProduct");
write_ucs2(sprintf("%06d", serial), "iSerial");
write_int(serial, "iSerial");
+ write_hex(id_product, "idProduct");
write_string(version, "iVersion");
}
/* Yield the processor to another task */
void
-ao_yield(void) _naked;
+ao_yield(void) __naked;
/* Add a task to the run queue */
void
/* Timer interrupt */
void
-ao_timer_isr(void) interrupt 9;
+ao_timer_isr(void) __interrupt 9;
/* Initialize the timer */
void
/* The A/D interrupt handler */
void
-ao_adc_isr(void) interrupt 1;
+ao_adc_isr(void) __interrupt 1;
/* Initialize the A/D converter */
void
void
ao_led_init(uint8_t enable);
+/*
+ * ao_romconfig.c
+ */
+
+#define AO_ROMCONFIG_VERSION 2
+
+extern __code __at (0x00a0) uint16_t ao_romconfig_version;
+extern __code __at (0x00a2) uint16_t ao_romconfig_check;
+extern __code __at (0x00a4) uint16_t ao_serial_number;
+extern __code __at (0x00a6) uint32_t ao_radio_cal;
+extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
+
/*
* ao_usb.c
*/
/* USB interrupt handler */
void
-ao_usb_isr(void) interrupt 6;
+ao_usb_isr(void) __interrupt 6;
/* Enable the USB controller */
void
/* DMA interrupt routine */
void
-ao_dma_isr(void) interrupt 8;
+ao_dma_isr(void) __interrupt 8;
/*
* ao_mutex.c
uint8_t year;
uint8_t month;
uint8_t day;
+ uint8_t extra;
} gps_date;
struct {
uint16_t d0;
};
/* Write a record to the eeprom log */
-void
+uint8_t
ao_log_data(__xdata struct ao_log_record *log) __reentrant;
/* Flush the log */
#if HAS_SERIAL_1
void
-ao_serial_rx1_isr(void) interrupt 3;
+ao_serial_rx1_isr(void) __interrupt 3;
void
-ao_serial_tx1_isr(void) interrupt 14;
+ao_serial_tx1_isr(void) __interrupt 14;
char
ao_serial_getchar(void) __critical;
extern __xdata uint8_t ao_radio_mutex;
void
-ao_radio_general_isr(void) interrupt 16;
+ao_radio_general_isr(void) __interrupt 16;
void
ao_radio_get(void);
* each instance of a product
*/
-extern const uint8_t ao_usb_descriptors [];
-extern const uint16_t ao_serial_number;
+extern __code __at(0x00aa) uint8_t ao_usb_descriptors [];
extern const char ao_version[];
extern const char ao_manufacturer[];
extern const char ao_product[];
* Packet-based command interface
*/
-#define AO_PACKET_MAX 8
+#define AO_PACKET_MAX 64
#define AO_PACKET_SYN (uint8_t) 0xff
struct ao_packet {
uint8_t seq;
uint8_t ack;
uint8_t d[AO_PACKET_MAX];
+ uint8_t callsign[AO_MAX_CALLSIGN];
};
struct ao_packet_recv {
}
void
-ao_adc_isr(void) interrupt 1
+ao_adc_isr(void) __interrupt 1
{
uint8_t sequence;
uint8_t __xdata *a;
}
void
-ao_cmd(void *parameters)
+ao_cmd(void)
{
__xdata char c;
__xdata uint8_t cmd, cmds;
__code struct ao_cmds * __xdata cs;
void (*__xdata func)(void);
- (void) parameters;
lex_echo = 1;
for (;;) {
#define AO_CONFIG_DEFAULT_CALLSIGN "N0CALL"
#define AO_CONFIG_DEFAULT_ACCEL_ZERO_G 16000
#define AO_CONFIG_DEFAULT_APOGEE_DELAY 0
-/*
- * For 434.550MHz, the frequency value is:
- *
- * 434.550e6 / (24e6 / 2**16) = 1186611.2
- *
- * This value is stored in a const variable so that
- * ao-load can change it during programming for
- * devices that have no eeprom for config data.
- */
-const uint32_t ao_radio_cal = 1186611;
#if HAS_EEPROM
static void
}
void
-ao_dma_isr(void) interrupt 8
+ao_dma_isr(void) __interrupt 8
{
uint8_t id, mask;
gps_log.u.gps_altitude.unused = 0xffff;
ao_log_data(&gps_log);
if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) {
- date_reported = 1;
gps_log.type = AO_LOG_GPS_DATE;
gps_log.u.gps_date.year = gps_data.year;
gps_log.u.gps_date.month = gps_data.month;
gps_log.u.gps_date.day = gps_data.day;
- ao_log_data(&gps_log);
+ gps_log.u.gps_date.extra = 0;
+ date_reported = ao_log_data(&gps_log);
}
}
}
printf ("Time: %02d:%02d:%02d\n", ao_gps_data.hour, ao_gps_data.minute, ao_gps_data.second);
printf ("Lat/Lon: %ld %ld\n", ao_gps_data.latitude, ao_gps_data.longitude);
printf ("Alt: %d\n", ao_gps_data.altitude);
+ printf ("Flags: 0x%x\n", ao_gps_data.flags);
ao_mutex_put(&ao_gps_mutex);
}
return -sum;
}
-void
+uint8_t
ao_log_data(__xdata struct ao_log_record *log) __reentrant
{
+ uint8_t wrote = 0;
/* set checksum */
log->csum = 0;
log->csum = ao_log_csum((__xdata uint8_t *) log);
ao_mutex_get(&ao_log_mutex); {
if (ao_log_running) {
+ wrote = 1;
ao_ee_write(ao_log_current_pos,
(uint8_t *) log,
sizeof (struct ao_log_record));
ao_log_running = 0;
}
} ao_mutex_put(&ao_log_mutex);
+ return wrote;
}
void
{
uint8_t status;
+ ao_config_get();
ao_radio_set_packet();
ao_tx_packet.addr = ao_serial_number;
ao_tx_packet.len = AO_PACKET_SYN;
ao_packet_master_time = ao_time();
ao_packet_master_delay = AO_PACKET_MASTER_DELAY_SHORT;
while (ao_packet_enable) {
+ memcpy(ao_tx_packet.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
ao_packet_send();
if (ao_tx_packet.len)
ao_packet_master_busy();
ao_tx_packet.len = AO_PACKET_SYN;
while (ao_packet_enable) {
status = ao_packet_recv();
- if (status & AO_DMA_DONE)
+ if (status & AO_DMA_DONE) {
+ memcpy(&ao_tx_packet.callsign, &ao_rx_packet.packet.callsign, AO_MAX_CALLSIGN);
ao_packet_send();
+ }
}
ao_exit();
}
/* Defines which mark this particular AltOS product */
-const uint16_t ao_serial_number = AO_iSerial_NUMBER;
const char ao_version[] = AO_iVersion_STRING;
const char ao_manufacturer[] = AO_iManufacturer_STRING;
const char ao_product[] = AO_iProduct_STRING;
#define LE_WORD(x) ((x)&0xFF),((uint8_t) (((uint16_t) (x))>>8))
/* USB descriptors in one giant block of bytes */
-const uint8_t ao_usb_descriptors [] =
+__code __at(0x00aa) uint8_t ao_usb_descriptors [] =
{
/* Device descriptor */
0x12,
0x00, /* bDeviceProtocol */
AO_USB_CONTROL_SIZE, /* bMaxPacketSize */
LE_WORD(0xFFFE), /* idVendor */
- LE_WORD(0x000A), /* idProduct */
+ LE_WORD(AO_idProduct_NUMBER), /* idProduct */
LE_WORD(0x0100), /* bcdDevice */
0x01, /* iManufacturer */
0x02, /* iProduct */
__xdata uint8_t ao_radio_mutex;
void
-ao_radio_general_isr(void) interrupt 16
+ao_radio_general_isr(void) __interrupt 16
{
S1CON &= ~0x03;
if (RFIF & RFIF_IM_TIMEOUT) {
--- /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.
+ */
+
+#include "ao.h"
+
+__code __at (0x00a0) uint16_t ao_romconfig_version = AO_ROMCONFIG_VERSION;
+__code __at (0x00a2) uint16_t ao_romconfig_check = ~AO_ROMCONFIG_VERSION;
+__code __at (0x00a4) uint16_t ao_serial_number = 0;
+/*
+ * For 434.550MHz, the frequency value is:
+ *
+ * 434.550e6 / (24e6 / 2**16) = 1186611.2
+ *
+ * This value is stored in a const variable so that
+ * ao-load can change it during programming for
+ * devices that have no eeprom for config data.
+ */
+__code __at (0x00a6) uint32_t ao_radio_cal = 1186611;
volatile __xdata struct ao_fifo ao_usart1_tx_fifo;
void
-ao_serial_rx1_isr(void) interrupt 3
+ao_serial_rx1_isr(void) __interrupt 3
{
if (!ao_fifo_full(ao_usart1_rx_fifo))
ao_fifo_insert(ao_usart1_rx_fifo, U1DBUF);
}
void
-ao_serial_tx1_isr(void) interrupt 14
+ao_serial_tx1_isr(void) __interrupt 14
{
UTX1IF = 0;
ao_serial_tx1_started = 0;
volatile __data uint8_t ao_adc_count;
#endif
-void ao_timer_isr(void) interrupt 9
+void ao_timer_isr(void) __interrupt 9
{
++ao_tick_count;
#if HAS_ADC
* so when we hook that up, fix this
*/
void
-ao_usb_isr(void) interrupt 6
+ao_usb_isr(void) __interrupt 6
{
USBIF = 0;
ao_usb_iif |= USBIIF;
#include <cc1110.h>
#include <stdint.h>
-sfr at 0xA8 IEN0; /* Interrupt Enable 0 Register */
+sfr __at 0xA8 IEN0; /* Interrupt Enable 0 Register */
-sbit at 0xA8 RFTXRXIE; /* RF TX/RX done interrupt enable */
-sbit at 0xA9 ADCIE; /* ADC interrupt enable */
-sbit at 0xAA URX0IE; /* USART0 RX interrupt enable */
-sbit at 0xAB URX1IE; /* USART1 RX interrupt enable (shared with I2S RX) */
-sbit at 0xAB I2SRXIE; /* I2S RX interrupt enable (shared with USART1 RX) */
-sbit at 0xAC ENCIE; /* AES encryption/decryption interrupt enable */
-sbit at 0xAD STIE; /* Sleep Timer interrupt enable */
-sbit at 0xAF EA; /* Enable All */
+sbit __at 0xA8 RFTXRXIE; /* RF TX/RX done interrupt enable */
+sbit __at 0xA9 ADCIE; /* ADC interrupt enable */
+sbit __at 0xAA URX0IE; /* USART0 RX interrupt enable */
+sbit __at 0xAB URX1IE; /* USART1 RX interrupt enable (shared with I2S RX) */
+sbit __at 0xAB I2SRXIE; /* I2S RX interrupt enable (shared with USART1 RX) */
+sbit __at 0xAC ENCIE; /* AES encryption/decryption interrupt enable */
+sbit __at 0xAD STIE; /* Sleep Timer interrupt enable */
+sbit __at 0xAF EA; /* Enable All */
#define IEN0_EA (1 << 7)
#define IEN0_STIE (1 << 5)
#define IEN0_ADCIE (1 << 1)
#define IEN0_RFTXRXIE (1 << 0)
-sfr at 0xB8 IEN1; /* Interrupt Enable 1 Register */
+sfr __at 0xB8 IEN1; /* Interrupt Enable 1 Register */
#define IEN1_P0IE (1 << 5) /* Port 0 interrupt enable */
#define IEN1_T4IE (1 << 4) /* Timer 4 interrupt enable */
#define IEN1_DMAIE (1 << 0) /* DMA transfer interrupt enable */
/* IEN2 */
-sfr at 0x9A IEN2; /* Interrupt Enable 2 Register */
+sfr __at 0x9A IEN2; /* Interrupt Enable 2 Register */
#define IEN2_WDTIE (1 << 5) /* Watchdog timer interrupt enable */
#define IEN2_P1IE (1 << 4) /* Port 1 interrupt enable */
#define IEN2_RFIE (1 << 0) /* RF general interrupt enable */
/* CLKCON 0xC6 */
-sfr at 0xC6 CLKCON; /* Clock Control */
+sfr __at 0xC6 CLKCON; /* Clock Control */
#define CLKCON_OSC32K_RC (1 << 7)
#define CLKCON_OSC32K_XTAL (0 << 7)
#define SLEEP_MODE_MASK (3 << 0)
/* PCON 0x87 */
-sfr at 0x87 PCON; /* Power Mode Control Register */
+sfr __at 0x87 PCON; /* Power Mode Control Register */
#define PCON_IDLE (1 << 0)
/*
* TCON
*/
-sfr at 0x88 TCON; /* CPU Interrupt Flag 1 */
+sfr __at 0x88 TCON; /* CPU Interrupt Flag 1 */
-sbit at 0x8F URX1IF; /* USART1 RX interrupt flag. Automatically cleared */
-sbit at 0x8F I2SRXIF; /* I2S RX interrupt flag. Automatically cleared */
-sbit at 0x8D ADCIF; /* ADC interrupt flag. Automatically cleared */
-sbit at 0x8B URX0IF; /* USART0 RX interrupt flag. Automatically cleared */
-sbit at 0x89 RFTXRXIF; /* RF TX/RX complete interrupt flag. Automatically cleared */
+sbit __at 0x8F URX1IF; /* USART1 RX interrupt flag. Automatically cleared */
+sbit __at 0x8F I2SRXIF; /* I2S RX interrupt flag. Automatically cleared */
+sbit __at 0x8D ADCIF; /* ADC interrupt flag. Automatically cleared */
+sbit __at 0x8B URX0IF; /* USART0 RX interrupt flag. Automatically cleared */
+sbit __at 0x89 RFTXRXIF; /* RF TX/RX complete interrupt flag. Automatically cleared */
#define TCON_URX1IF (1 << 7)
#define TCON_I2SRXIF (1 << 7)
/*
* S0CON
*/
-sfr at 0x98 S0CON; /* CPU Interrupt Flag 2 */
+sfr __at 0x98 S0CON; /* CPU Interrupt Flag 2 */
-sbit at 0x98 ENCIF_0; /* AES interrupt 0. */
-sbit at 0x99 ENCIF_1; /* AES interrupt 1. */
+sbit __at 0x98 ENCIF_0; /* AES interrupt 0. */
+sbit __at 0x99 ENCIF_1; /* AES interrupt 1. */
#define S0CON_ENCIF_1 (1 << 1)
#define S0CON_ENCIF_0 (1 << 0)
/*
* S1CON
*/
-sfr at 0x9B S1CON; /* CPU Interrupt Flag 3 */
+sfr __at 0x9B S1CON; /* CPU Interrupt Flag 3 */
#define S1CON_RFIF_1 (1 << 1)
#define S1CON_RFIF_0 (1 << 0)
/*
* IRCON
*/
-sfr at 0xC0 IRCON; /* CPU Interrupt Flag 4 */
+sfr __at 0xC0 IRCON; /* CPU Interrupt Flag 4 */
-sbit at 0xC0 DMAIF; /* DMA complete interrupt flag */
-sbit at 0xC1 T1IF; /* Timer 1 interrupt flag. Automatically cleared */
-sbit at 0xC2 T2IF; /* Timer 2 interrupt flag. Automatically cleared */
-sbit at 0xC3 T3IF; /* Timer 3 interrupt flag. Automatically cleared */
-sbit at 0xC4 T4IF; /* Timer 4 interrupt flag. Automatically cleared */
-sbit at 0xC5 P0IF; /* Port0 interrupt flag */
-sbit at 0xC7 STIF; /* Sleep Timer interrupt flag */
+sbit __at 0xC0 DMAIF; /* DMA complete interrupt flag */
+sbit __at 0xC1 T1IF; /* Timer 1 interrupt flag. Automatically cleared */
+sbit __at 0xC2 T2IF; /* Timer 2 interrupt flag. Automatically cleared */
+sbit __at 0xC3 T3IF; /* Timer 3 interrupt flag. Automatically cleared */
+sbit __at 0xC4 T4IF; /* Timer 4 interrupt flag. Automatically cleared */
+sbit __at 0xC5 P0IF; /* Port0 interrupt flag */
+sbit __at 0xC7 STIF; /* Sleep Timer interrupt flag */
#define IRCON_DMAIF (1 << 0) /* DMA complete interrupt flag */
#define IRCON_T1IF (1 << 1) /* Timer 1 interrupt flag. Automatically cleared */
/*
* IRCON2
*/
-sfr at 0xE8 IRCON2; /* CPU Interrupt Flag 5 */
+sfr __at 0xE8 IRCON2; /* CPU Interrupt Flag 5 */
-sbit at 0xE8 USBIF; /* USB interrupt flag (shared with Port2) */
-sbit at 0xE8 P2IF; /* Port2 interrupt flag (shared with USB) */
-sbit at 0xE9 UTX0IF; /* USART0 TX interrupt flag */
-sbit at 0xEA UTX1IF; /* USART1 TX interrupt flag (shared with I2S TX) */
-sbit at 0xEA I2STXIF; /* I2S TX interrupt flag (shared with USART1 TX) */
-sbit at 0xEB P1IF; /* Port1 interrupt flag */
-sbit at 0xEC WDTIF; /* Watchdog timer interrupt flag */
+sbit __at 0xE8 USBIF; /* USB interrupt flag (shared with Port2) */
+sbit __at 0xE8 P2IF; /* Port2 interrupt flag (shared with USB) */
+sbit __at 0xE9 UTX0IF; /* USART0 TX interrupt flag */
+sbit __at 0xEA UTX1IF; /* USART1 TX interrupt flag (shared with I2S TX) */
+sbit __at 0xEA I2STXIF; /* I2S TX interrupt flag (shared with USART1 TX) */
+sbit __at 0xEB P1IF; /* Port1 interrupt flag */
+sbit __at 0xEC WDTIF; /* Watchdog timer interrupt flag */
#define IRCON2_USBIF (1 << 0) /* USB interrupt flag (shared with Port2) */
#define IRCON2_P2IF (1 << 0) /* Port2 interrupt flag (shared with USB) */
* Priority = (IP1 << 1) | IP0. Higher priority interrupts served first
*/
-sfr at 0xB9 IP1; /* Interrupt Priority 1 */
-sfr at 0xA9 IP0; /* Interrupt Priority 0 */
+sfr __at 0xB9 IP1; /* Interrupt Priority 1 */
+sfr __at 0xA9 IP0; /* Interrupt Priority 0 */
#define IP1_IPG5 (1 << 5)
#define IP1_IPG4 (1 << 4)
*/
/* Timer count */
-sfr at 0xCA T3CNT;
-sfr at 0xEA T4CNT;
+sfr __at 0xCA T3CNT;
+sfr __at 0xEA T4CNT;
/* Timer control */
-sfr at 0xCB T3CTL;
-sfr at 0xEB T4CTL;
+sfr __at 0xCB T3CTL;
+sfr __at 0xEB T4CTL;
#define TxCTL_DIV_1 (0 << 5)
#define TxCTL_DIV_2 (1 << 5)
/* Timer 4 channel 0 compare control */
-sfr at 0xCC T3CCTL0;
-sfr at 0xCE T3CCTL1;
-sfr at 0xEC T4CCTL0;
-sfr at 0xEE T4CCTL1;
+sfr __at 0xCC T3CCTL0;
+sfr __at 0xCE T3CCTL1;
+sfr __at 0xEC T4CCTL0;
+sfr __at 0xEE T4CCTL1;
#define TxCCTLy_IM (1 << 6)
#define TxCCTLy_CMP_SET (0 << 3)
#define TxCCTLy_CMP_MODE_ENABLE (1 << 2)
/* Timer compare value */
-sfr at 0xCD T3CC0;
-sfr at 0xCF T3CC1;
-sfr at 0xED T4CC0;
-sfr at 0xEF T4CC1;
+sfr __at 0xCD T3CC0;
+sfr __at 0xCF T3CC1;
+sfr __at 0xED T4CC0;
+sfr __at 0xEF T4CC1;
/*
* Peripheral control
*/
-sfr at 0xf1 PERCFG;
+sfr __at 0xf1 PERCFG;
#define PERCFG_T1CFG_ALT_1 (0 << 6)
#define PERCFG_T1CFG_ALT_2 (1 << 6)
#define PERCFG_T1CFG_ALT_MASK (1 << 6)
PRODUCT=TeleDongle-v0.1
PRODUCT_DEF=-DTELEDONGLE_V_0_1
+IDPRODUCT=0x000c
PRODUCT=TeleDongle-v0.2
PRODUCT_DEF=-DTELEDONGLE_V_0_2
+IDPRODUCT=0x000c
PRODUCT=TeleMetrum-v0.1-SiRF
PRODUCT_DEF=-DTELEMETRUM_V_0_1
+IDPRODUCT=0x000b
PRODUCT=TeleMetrum-v0.1
PRODUCT_DEF=-DTELEMETRUM_V_0_1
+IDPRODUCT=0x000b
PRODUCT=TeleMetrum-v1.0
PRODUCT_DEF=-DTELEMETRUM_V_1_0
+IDPRODUCT=0x000b
PRODUCT=TIDongle
PRODUCT_DEF=-DTIDONGLE
+IDPRODUCT=0x000a
projects / fw / altos / commitdiff