2 * Copyright © 2011 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
19 package org.altusmetrum.altoslib_12;
23 import java.util.concurrent.*;
25 /* Don't change the field names in this structure; they're part of all .eeprom files */
26 public class AltosConfigData {
28 /* Version information */
29 public String manufacturer;
30 public String product;
33 public int log_format;
35 public String version;
36 public int altitude_32;
37 public int config_major, config_minor;
39 /* Config information */
41 public int main_deploy;
42 public int apogee_delay;
43 public int apogee_lockout;
46 public int radio_frequency;
47 public String callsign;
48 public int radio_enable;
49 public int radio_calibration;
50 public int telemetry_rate;
51 /* Old HAS_RADIO values */
52 public int radio_channel;
53 public int radio_setting;
56 public int accel_cal_plus, accel_cal_minus;
57 private int accel_cal_plus_cooked, accel_cal_minus_cooked;
58 private boolean accel_cal_adjusted;
59 public int pad_orientation;
62 public int flight_log_max;
66 public int ignite_mode;
69 public String aes_key;
72 public AltosPyro[] pyros;
75 public double pyro_firing_time;
78 public int aprs_interval;
80 public int aprs_format;
85 /* Storage info replies */
86 public int storage_size;
87 public int storage_erase_unit;
89 /* Log listing replies */
90 public int stored_flight;
93 public int tracker_motion;
94 public int tracker_interval;
97 public int accel_zero_along, accel_zero_across, accel_zero_through;
102 public AltosMs5607 ms5607() {
104 ms5607 = new AltosMs5607();
108 public static String get_string(String line, String label) throws ParseException {
109 if (line.startsWith(label)) {
110 String quoted = line.substring(label.length()).trim();
112 if (quoted.startsWith("\""))
113 quoted = quoted.substring(1);
114 if (quoted.endsWith("\""))
115 quoted = quoted.substring(0,quoted.length()-1);
118 throw new ParseException("mismatch", 0);
121 public static int get_int(String line, String label) throws NumberFormatException, ParseException {
122 if (line.startsWith(label)) {
123 String tail = line.substring(label.length()).trim();
124 String[] tokens = tail.split("\\s+");
125 if (tokens.length > 0)
126 return Integer.parseInt(tokens[0]);
128 throw new ParseException("mismatch", 0);
131 public static int[] get_values(String line, String label) throws NumberFormatException, ParseException {
132 if (line.startsWith(label)) {
133 String tail = line.substring(label.length()).trim();
134 String[] tokens = tail.split("\\s+");
135 if (tokens.length > 1) {
136 int[] values = new int[2];
137 values[0] = Integer.parseInt(tokens[0]);
138 values[1] = Integer.parseInt(tokens[1]);
142 throw new ParseException("mismatch", 0);
145 public int log_space() {
146 if (log_space != AltosLib.MISSING)
149 if (storage_size != AltosLib.MISSING) {
150 int space = storage_size;
152 if (storage_erase_unit != AltosLib.MISSING && use_flash_for_config())
153 space -= storage_erase_unit;
155 if (space != AltosLib.MISSING)
161 public int log_available() {
162 switch (log_format) {
163 case AltosLib.AO_LOG_FORMAT_TINY:
164 if (stored_flight == 0)
167 case AltosLib.AO_LOG_FORMAT_TELEMETRY:
168 case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
171 if (flight_log_max <= 0)
173 int log_max = flight_log_max * 1024;
174 int log_space = log_space();
177 if (stored_flight <= 0)
180 log_used = stored_flight * log_max;
183 if (log_used >= log_space)
186 log_avail = (log_space - log_used) / log_max;
192 public int invert_accel_value(int value) {
193 if (value == AltosLib.MISSING)
194 return AltosLib.MISSING;
196 switch (log_format) {
197 case AltosLib.AO_LOG_FORMAT_FULL:
198 return 0x7fff - value;
199 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
200 case AltosLib.AO_LOG_FORMAT_TELEMETRUM:
201 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
202 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
205 return AltosLib.MISSING;
209 public boolean has_monitor_battery() {
210 if (product.startsWith("TeleBT"))
215 int[] parse_version(String v) {
216 String[] parts = v.split("\\.");
217 int r[] = new int[parts.length];
219 for (int i = 0; i < parts.length; i++) {
221 r[i] = (int) AltosLib.fromdec(parts[i]);
222 } catch (NumberFormatException n) {
230 public boolean altitude_32() {
231 return altitude_32 == 1;
234 public int compare_version(String other) {
235 int[] me = parse_version(version);
236 int[] them = parse_version(other);
238 int l = Math.min(me.length, them.length);
240 for (int i = 0; i < l; i++) {
241 int d = me[i] - them[i];
252 public void reset() {
255 serial = AltosLib.MISSING;
256 flight = AltosLib.MISSING;
257 log_format = AltosLib.AO_LOG_FORMAT_UNKNOWN;
258 log_space = AltosLib.MISSING;
260 config_major = AltosLib.MISSING;
261 config_minor = AltosLib.MISSING;
263 main_deploy = AltosLib.MISSING;
264 apogee_delay = AltosLib.MISSING;
265 apogee_lockout = AltosLib.MISSING;
267 radio_frequency = AltosLib.MISSING;
269 radio_enable = AltosLib.MISSING;
270 radio_calibration = AltosLib.MISSING;
271 radio_channel = AltosLib.MISSING;
272 radio_setting = AltosLib.MISSING;
273 telemetry_rate = AltosLib.MISSING;
275 accel_cal_plus_cooked = AltosLib.MISSING;
276 accel_cal_minus_cooked = AltosLib.MISSING;
277 accel_cal_plus = AltosLib.MISSING;
278 accel_cal_minus = AltosLib.MISSING;
279 pad_orientation = AltosLib.MISSING;
280 accel_cal_adjusted = false;
282 flight_log_max = AltosLib.MISSING;
283 log_fixed = AltosLib.MISSING;
284 ignite_mode = AltosLib.MISSING;
288 pyro = AltosLib.MISSING;
289 npyro = AltosLib.MISSING;
291 pyro_firing_time = AltosLib.MISSING;
293 aprs_interval = AltosLib.MISSING;
294 aprs_ssid = AltosLib.MISSING;
295 aprs_format = AltosLib.MISSING;
297 beep = AltosLib.MISSING;
299 tracker_motion = AltosLib.MISSING;
300 tracker_interval = AltosLib.MISSING;
302 storage_size = AltosLib.MISSING;
303 storage_erase_unit = AltosLib.MISSING;
304 stored_flight = AltosLib.MISSING;
306 accel_zero_along = AltosLib.MISSING;
307 accel_zero_across = AltosLib.MISSING;
308 accel_zero_through = AltosLib.MISSING;
311 /* Return + accel calibration relative to a specific pad orientation */
312 public int accel_cal_plus(int pad_orientation) {
314 switch (pad_orientation) {
315 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
316 return accel_cal_plus_cooked;
317 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
318 return invert_accel_value(accel_cal_minus_cooked);
320 return AltosLib.MISSING;
324 /* Return - accel calibration relative to a specific pad orientation */
325 public int accel_cal_minus(int pad_orientation) {
327 switch (pad_orientation) {
328 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
329 return accel_cal_minus_cooked;
330 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
331 return invert_accel_value(accel_cal_plus_cooked);
333 return AltosLib.MISSING;
337 /* Once we have all of the values from the config data, compute the
338 * accel cal values relative to Antenna Up orientation.
340 private void adjust_accel_cal() {
341 if (!accel_cal_adjusted &&
342 pad_orientation != AltosLib.MISSING &&
343 accel_cal_plus != AltosLib.MISSING &&
344 accel_cal_minus != AltosLib.MISSING &&
345 log_format != AltosLib.AO_LOG_FORMAT_UNKNOWN)
347 switch (pad_orientation) {
348 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
349 accel_cal_plus_cooked = accel_cal_plus;
350 accel_cal_minus_cooked = accel_cal_minus;
351 accel_cal_adjusted = true;
353 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
354 accel_cal_plus_cooked = invert_accel_value(accel_cal_minus);
355 accel_cal_minus_cooked = invert_accel_value(accel_cal_plus);
356 accel_cal_adjusted = true;
364 public void parse_line(String line) {
366 /* Version replies */
367 try { manufacturer = get_string(line, "manufacturer"); } catch (Exception e) {}
368 try { product = get_string(line, "product"); } catch (Exception e) {}
369 try { serial = get_int(line, "serial-number"); } catch (Exception e) {}
370 try { flight = get_int(line, "current-flight"); } catch (Exception e) {}
371 try { log_format = get_int(line, "log-format"); } catch (Exception e) {}
372 try { log_space = get_int(line, "log-space"); } catch (Exception e) {}
373 try { altitude_32 = get_int(line, "altitude-32"); } catch (Exception e) {}
374 try { version = get_string(line, "software-version"); } catch (Exception e) {}
376 /* Version also contains MS5607 info, which we ignore here */
378 try { ms5607().reserved = get_int(line, "ms5607 reserved:"); } catch (Exception e) {}
379 try { ms5607().sens = get_int(line, "ms5607 sens:"); } catch (Exception e) {}
380 try { ms5607().off = get_int(line, "ms5607 off:"); } catch (Exception e) {}
381 try { ms5607().tcs = get_int(line, "ms5607 tcs:"); } catch (Exception e) {}
382 try { ms5607().tco = get_int(line, "ms5607 tco:"); } catch (Exception e) {}
383 try { ms5607().tref = get_int(line, "ms5607 tref:"); } catch (Exception e) {}
384 try { ms5607().tempsens = get_int(line, "ms5607 tempsens:"); } catch (Exception e) {}
385 try { ms5607().crc = get_int(line, "ms5607 crc:"); } catch (Exception e) {}
387 /* Config show replies */
390 if (line.startsWith("Config version")) {
391 String[] bits = line.split("\\s+");
392 if (bits.length >= 3) {
393 String[] cfg = bits[2].split("\\.");
395 if (cfg.length >= 2) {
396 config_major = Integer.parseInt(cfg[0]);
397 config_minor = Integer.parseInt(cfg[1]);
401 } catch (Exception e) {}
404 try { main_deploy = get_int(line, "Main deploy:"); } catch (Exception e) {}
405 try { apogee_delay = get_int(line, "Apogee delay:"); } catch (Exception e) {}
406 try { apogee_lockout = get_int(line, "Apogee lockout:"); } catch (Exception e) {}
410 radio_frequency = get_int(line, "Frequency:");
411 if (radio_frequency < 0)
412 radio_frequency = 434550;
413 } catch (Exception e) {}
414 try { callsign = get_string(line, "Callsign:"); } catch (Exception e) {}
415 try { radio_enable = get_int(line, "Radio enable:"); } catch (Exception e) {}
416 try { radio_calibration = get_int(line, "Radio cal:"); } catch (Exception e) {}
417 try { telemetry_rate = get_int(line, "Telemetry rate:"); } catch (Exception e) {}
419 /* Old HAS_RADIO values */
420 try { radio_channel = get_int(line, "Radio channel:"); } catch (Exception e) {}
421 try { radio_setting = get_int(line, "Radio setting:"); } catch (Exception e) {}
425 if (line.startsWith("Accel cal")) {
426 String[] bits = line.split("\\s+");
427 if (bits.length >= 6) {
428 accel_cal_plus = Integer.parseInt(bits[3]);
429 accel_cal_minus = Integer.parseInt(bits[5]);
430 accel_cal_adjusted = false;
433 } catch (Exception e) {}
434 try { pad_orientation = get_int(line, "Pad orientation:"); } catch (Exception e) {}
437 try { flight_log_max = get_int(line, "Max flight log:"); } catch (Exception e) {}
438 try { log_fixed = get_int(line, "Log fixed:"); } catch (Exception e) {}
441 try { ignite_mode = get_int(line, "Ignite mode:"); } catch (Exception e) {}
444 try { aes_key = get_string(line, "AES key:"); } catch (Exception e) {}
448 npyro = get_int(line, "Pyro-count:");
449 pyros = new AltosPyro[npyro];
451 } catch (Exception e) {}
452 if (npyro != AltosLib.MISSING) {
454 AltosPyro p = new AltosPyro(pyro, line);
457 } catch (Exception e) {}
459 try { pyro_firing_time = get_int(line, "Pyro time:") / 100.0; } catch (Exception e) {}
462 try { aprs_interval = get_int(line, "APRS interval:"); } catch (Exception e) {}
463 try { aprs_ssid = get_int(line, "APRS SSID:"); } catch (Exception e) {}
464 try { aprs_format = get_int(line, "APRS format:"); } catch (Exception e) {}
467 try { beep = get_int(line, "Beeper setting:"); } catch (Exception e) {}
471 int[] values = get_values(line, "Tracker setting:");
472 tracker_motion = values[0];
473 tracker_interval = values[1];
474 } catch (Exception e) {}
476 /* Storage info replies */
477 try { storage_size = get_int(line, "Storage size:"); } catch (Exception e) {}
478 try { storage_erase_unit = get_int(line, "Storage erase unit:"); } catch (Exception e) {}
480 /* Log listing replies */
481 try { get_int(line, "flight"); stored_flight++; } catch (Exception e) {}
485 if (line.startsWith("IMU cal along")) {
486 String[] bits = line.split("\\s+");
487 if (bits.length >= 8) {
488 accel_zero_along = Integer.parseInt(bits[3]);
489 accel_zero_across = Integer.parseInt(bits[5]);
490 accel_zero_through = Integer.parseInt(bits[7]);
493 } catch (Exception e) {}
495 /* Fix accel cal as soon as all of the necessary values appear */
499 public AltosConfigData() {
503 private void read_link(AltosLink link, String finished) throws InterruptedException, TimeoutException {
505 String line = link.get_reply();
507 throw new TimeoutException();
508 if (line.contains("Syntax error"))
510 this.parse_line(line);
512 /* signals the end of the version info */
513 if (line.startsWith(finished))
518 public boolean has_frequency() {
519 return radio_frequency != AltosLib.MISSING || radio_setting != AltosLib.MISSING || radio_channel != AltosLib.MISSING;
522 public boolean has_telemetry_rate() {
523 return telemetry_rate != AltosLib.MISSING;
526 public void set_frequency(double freq) {
527 int frequency = radio_frequency;
528 int setting = radio_setting;
530 if (frequency != AltosLib.MISSING) {
531 radio_frequency = (int) Math.floor (freq * 1000 + 0.5);
532 radio_channel = AltosLib.MISSING;
533 } else if (setting != AltosLib.MISSING) {
534 radio_setting =AltosConvert.radio_frequency_to_setting(freq, radio_calibration);
535 radio_channel = AltosLib.MISSING;
537 radio_channel = AltosConvert.radio_frequency_to_channel(freq);
541 public double frequency() {
542 int channel = radio_channel;
543 int setting = radio_setting;
545 if (radio_frequency == AltosLib.MISSING && channel == AltosLib.MISSING && setting == AltosLib.MISSING)
546 return AltosLib.MISSING;
548 if (channel == AltosLib.MISSING)
550 if (setting == AltosLib.MISSING)
553 return AltosConvert.radio_to_frequency(radio_frequency,
559 boolean use_flash_for_config() {
560 if (product.startsWith("TeleMega"))
562 if (product.startsWith("TeleMetrum-v2"))
564 if (product.startsWith("EasyMega"))
570 public boolean mma655x_inverted() throws AltosUnknownProduct {
571 if (product != null) {
572 if (product.startsWith("EasyMega-v1"))
574 if (product.startsWith("TeleMetrum-v2"))
576 if (product.startsWith("TeleMega-v2"))
578 if (product.startsWith("TeleMega-v1"))
581 throw new AltosUnknownProduct(product);
584 public void get_values(AltosConfigValues source) throws AltosConfigDataException {
587 if (main_deploy != AltosLib.MISSING)
588 main_deploy = source.main_deploy();
589 if (apogee_delay != AltosLib.MISSING)
590 apogee_delay = source.apogee_delay();
591 if (apogee_lockout != AltosLib.MISSING)
592 apogee_lockout = source.apogee_lockout();
596 set_frequency(source.radio_frequency());
597 if (radio_enable != AltosLib.MISSING)
598 radio_enable = source.radio_enable();
599 if (callsign != null)
600 callsign = source.callsign();
601 if (telemetry_rate != AltosLib.MISSING)
602 telemetry_rate = source.telemetry_rate();
605 if (pad_orientation != AltosLib.MISSING)
606 pad_orientation = source.pad_orientation();
608 if (accel_cal_plus_cooked != AltosLib.MISSING)
609 accel_cal_plus_cooked = source.accel_cal_plus();
611 if (accel_cal_minus_cooked != AltosLib.MISSING)
612 accel_cal_minus_cooked = source.accel_cal_minus();
615 if (flight_log_max != AltosLib.MISSING)
616 flight_log_max = source.flight_log_max();
619 if (ignite_mode != AltosLib.MISSING)
620 ignite_mode = source.ignite_mode();
623 if (npyro != AltosLib.MISSING)
624 pyros = source.pyros();
625 if (pyro_firing_time != AltosLib.MISSING)
626 pyro_firing_time = source.pyro_firing_time();
629 if (aprs_interval != AltosLib.MISSING)
630 aprs_interval = source.aprs_interval();
631 if (aprs_ssid != AltosLib.MISSING)
632 aprs_ssid = source.aprs_ssid();
633 if (aprs_format != AltosLib.MISSING)
634 aprs_format = source.aprs_format();
637 if (beep != AltosLib.MISSING)
638 beep = source.beep();
640 if (tracker_motion != AltosLib.MISSING)
641 tracker_motion = source.tracker_motion();
642 if (tracker_interval != AltosLib.MISSING)
643 tracker_interval = source.tracker_interval();
646 public void set_values(AltosConfigValues dest) {
647 dest.set_serial(serial);
648 dest.set_product(product);
649 dest.set_version(version);
650 dest.set_altitude_32(altitude_32);
651 dest.set_main_deploy(main_deploy);
652 dest.set_apogee_delay(apogee_delay);
653 dest.set_apogee_lockout(apogee_lockout);
654 dest.set_radio_calibration(radio_calibration);
655 dest.set_radio_frequency(frequency());
656 dest.set_telemetry_rate(telemetry_rate);
657 boolean max_enabled = true;
659 if (log_space() == 0)
662 if (log_fixed != AltosLib.MISSING)
665 switch (log_format) {
666 case AltosLib.AO_LOG_FORMAT_TINY:
670 if (stored_flight != AltosLib.MISSING)
675 dest.set_flight_log_max_enabled(max_enabled);
676 dest.set_radio_enable(radio_enable);
677 dest.set_flight_log_max_limit(log_space() / 1024);
678 dest.set_flight_log_max(flight_log_max);
679 dest.set_ignite_mode(ignite_mode);
680 dest.set_pad_orientation(pad_orientation);
681 dest.set_accel_cal(accel_cal_plus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP),
682 accel_cal_minus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP));
683 dest.set_callsign(callsign);
684 if (npyro != AltosLib.MISSING)
685 dest.set_pyros(pyros);
687 dest.set_pyros(null);
688 dest.set_pyro_firing_time(pyro_firing_time);
689 dest.set_aprs_interval(aprs_interval);
690 dest.set_aprs_ssid(aprs_ssid);
691 dest.set_aprs_format(aprs_format);
693 dest.set_tracker_motion(tracker_motion);
694 dest.set_tracker_interval(tracker_interval);
697 public boolean log_has_state() {
698 switch (log_format) {
699 case AltosLib.AO_LOG_FORMAT_TELEGPS:
705 public void save(AltosLink link, boolean remote) throws InterruptedException, TimeoutException {
708 if (main_deploy != AltosLib.MISSING)
709 link.printf("c m %d\n", main_deploy);
710 if (apogee_delay != AltosLib.MISSING)
711 link.printf("c d %d\n", apogee_delay);
712 if (apogee_lockout != AltosLib.MISSING)
713 link.printf("c L %d\n", apogee_lockout);
716 if (has_frequency()) {
717 boolean has_frequency = radio_frequency != AltosLib.MISSING;
718 boolean has_setting = radio_setting != AltosLib.MISSING;
719 double frequency = frequency();
720 link.set_radio_frequency(frequency,
724 /* When remote, reset the dongle frequency at the same time */
728 link.set_radio_frequency(frequency);
734 if (telemetry_rate != AltosLib.MISSING) {
735 link.printf("c T %d\n", telemetry_rate);
739 link.set_telemetry_rate(telemetry_rate);
745 if (callsign != null) {
746 link.printf("c c %s\n", callsign);
750 link.set_callsign(callsign);
756 if (radio_enable != AltosLib.MISSING)
757 link.printf("c e %d\n", radio_enable);
760 /* set orientation first so that we know how to set the accel cal */
761 if (pad_orientation != AltosLib.MISSING)
762 link.printf("c o %d\n", pad_orientation);
763 int plus = accel_cal_plus(pad_orientation);
764 int minus = accel_cal_minus(pad_orientation);
765 if (plus != AltosLib.MISSING && minus != AltosLib.MISSING)
766 link.printf("c a %d %d\n", plus, minus);
769 if (flight_log_max != 0)
770 link.printf("c l %d\n", flight_log_max);
773 if (ignite_mode != AltosLib.MISSING)
774 link.printf("c i %d\n", ignite_mode);
777 /* UI doesn't support AES key config */
780 if (npyro != AltosLib.MISSING) {
781 for (int p = 0; p < pyros.length; p++) {
782 link.printf("c P %s\n",
783 pyros[p].toString());
786 if (pyro_firing_time != AltosLib.MISSING)
787 link.printf("c I %d\n", (int) (pyro_firing_time * 100.0 + 0.5));
790 if (aprs_interval != AltosLib.MISSING)
791 link.printf("c A %d\n", aprs_interval);
792 if (aprs_ssid != AltosLib.MISSING)
793 link.printf("c S %d\n", aprs_ssid);
794 if (aprs_format != AltosLib.MISSING)
795 link.printf("c C %d\n", aprs_format);
798 if (beep != AltosLib.MISSING)
799 link.printf("c b %d\n", beep);
802 if (tracker_motion != AltosLib.MISSING && tracker_interval != AltosLib.MISSING)
803 link.printf("c t %d %d\n", tracker_motion, tracker_interval);
806 /* UI doesn't support accel cal */
808 link.printf("c w\n");
812 public AltosConfigData(AltosLink link) throws InterruptedException, TimeoutException {
814 link.printf("c s\nf\nv\n");
815 read_link(link, "software-version");
816 switch (log_format) {
817 case AltosLib.AO_LOG_FORMAT_UNKNOWN:
818 case AltosLib.AO_LOG_FORMAT_NONE:
822 read_link(link, "done");