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   1 /*
   2  * Copyright © 2011 Keith Packard <keithp@keithp.com>
   3  *
   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.
   8  *
   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.
  13  *
  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.
  17  */
  18
  19 package org.altusmetrum.altoslib_14;
  20
  21 import java.util.*;
  22 import java.text.*;
  23 import java.util.concurrent.*;
  24
  25 /* Don't change the field names in this structure; they're part of all .eeprom files */
  26 public class AltosConfigData {
  27
  28         /* Version information */
  29         public String   manufacturer;
  30         public String   product;
  31         public int      serial;
  32         public int      flight;
  33         public int      log_format;
  34         public int      log_space;
  35         public String   version;
  36         public int      altitude_32;
  37         public int      config_major, config_minor;
  38
  39         /* Config information */
  40         /* HAS_FLIGHT*/
  41         public int      main_deploy;
  42         public int      apogee_delay;
  43         public int      apogee_lockout;
  44
  45         /* HAS_RADIO */
  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;
  54
  55         /* HAS_ACCEL */
  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;
  60
  61         /* HAS_LOG */
  62         public int      flight_log_max;
  63         public int      log_fixed;
  64
  65         /* HAS_IGNITE */
  66         public int      ignite_mode;
  67
  68         /* HAS_AES */
  69         public String   aes_key;
  70
  71         /* AO_PYRO_NUM */
  72         public AltosPyro[]      pyros;
  73         public int              npyro;
  74         public int              pyro;
  75         public double           pyro_firing_time;
  76
  77         /* HAS_APRS */
  78         public int              aprs_interval;
  79         public int              aprs_ssid;
  80         public int              aprs_format;
  81         public int              aprs_offset;
  82
  83         /* HAS_BEEP */
  84         public int              beep;
  85
  86         /* HAS_RADIO_10MW */
  87         public int              radio_10mw;
  88
  89         public int              report_feet;
  90
  91         /* HAS_GPS_MOSAIC */
  92         public int              gps_receiver;
  93
  94         /* Storage info replies */
  95         public int      storage_size;
  96         public int      storage_erase_unit;
  97
  98         /* Log listing replies */
  99         public int      stored_flight;
 100         public AltosEepromFlight[] flights;
 101
 102         /* HAS_TRACKER */
 103         public int      tracker_motion;
 104         public int      tracker_interval;
 105
 106         /* HAS_GYRO */
 107         public int      accel_zero_along, accel_zero_across, accel_zero_through;
 108
 109         /* ms5607 data */
 110         AltosMs5607     ms5607;
 111
 112         public AltosMs5607 ms5607() {
 113                 if (ms5607 == null)
 114                         ms5607 = new AltosMs5607();
 115                 return ms5607;
 116         }
 117
 118         public static String get_string(String line, String label) throws  ParseException {
 119                 if (line.startsWith(label)) {
 120                         String  quoted = line.substring(label.length()).trim();
 121
 122                         if (quoted.startsWith("\""))
 123                                 quoted = quoted.substring(1);
 124                         if (quoted.endsWith("\""))
 125                                 quoted = quoted.substring(0,quoted.length()-1);
 126                         return quoted;
 127                 }
 128                 throw new ParseException("mismatch", 0);
 129         }
 130
 131         public static int get_int(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 > 0)
 136                                 return  Integer.parseInt(tokens[0]);
 137                 }
 138                 throw new ParseException("mismatch", 0);
 139         }
 140
 141         public static int[] get_values(String line, String label) throws NumberFormatException, ParseException {
 142                 if (line.startsWith(label)) {
 143                         String tail = line.substring(label.length()).trim();
 144                         String[] tokens = tail.split("\\s+");
 145                         if (tokens.length > 1) {
 146                                 int[]   values = new int[2];
 147                                 values[0] = Integer.parseInt(tokens[0]);
 148                                 values[1] = Integer.parseInt(tokens[1]);
 149                                 return values;
 150                         }
 151                 }
 152                 throw new ParseException("mismatch", 0);
 153         }
 154
 155         public int log_space() {
 156                 if (log_space != AltosLib.MISSING)
 157                         return log_space;
 158
 159                 if (storage_size != AltosLib.MISSING) {
 160                         int     space = storage_size;
 161
 162                         if (storage_erase_unit != AltosLib.MISSING && use_flash_for_config())
 163                                 space -= storage_erase_unit;
 164
 165                         if (space != AltosLib.MISSING)
 166                                 return space;
 167                 }
 168                 return 0;
 169         }
 170
 171         public int log_available() {
 172                 switch (log_format) {
 173                 case AltosLib.AO_LOG_FORMAT_TINY:
 174                         if (flights == null)
 175                                 return 1;
 176                         return 0;
 177                 case AltosLib.AO_LOG_FORMAT_TELEMETRY:
 178                 case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
 179                         return 1;
 180                 default:
 181                         if (flight_log_max <= 0)
 182                                 return 1;
 183                         int     log_max = flight_log_max * 1024;
 184                         int     log_space = log_space();
 185                         int     log_used;
 186
 187                         if (flights == null)
 188                                 log_used = 0;
 189                         else
 190                                 log_used = flights.length * log_max;
 191                         int     log_avail;
 192
 193                         if (log_used >= log_space)
 194                                 log_avail = 0;
 195                         else
 196                                 log_avail = (log_space - log_used) / log_max;
 197
 198                         return log_avail;
 199                 }
 200         }
 201
 202         public int invert_accel_value(int value) {
 203                 if (value == AltosLib.MISSING)
 204                         return AltosLib.MISSING;
 205
 206                 switch (log_format) {
 207                 case AltosLib.AO_LOG_FORMAT_FULL:
 208                         return 0x7fff - value;
 209                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 210                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 211                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 212                         return 4095 - value;
 213                 case AltosLib.AO_LOG_FORMAT_TELEMETRUM:
 214                         /*
 215                          * TeleMetrum v2 and later use the same log format, but
 216                          * have different accelerometers. This is the only place
 217                          * it matters in altoslib.
 218                          */
 219                         if (product.startsWith("TeleMetrum-v2"))
 220                                 return 4095 - value;
 221                         /* fall through */
 222                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 223                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
 224                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
 225                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 226                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_3:
 227                 case AltosLib.AO_LOG_FORMAT_EASYMOTOR:
 228                         /* ADXL375 */
 229                         return -value;
 230                 case AltosLib.AO_LOG_FORMAT_EASYTIMER_2:
 231                         /* BMI088 */
 232                         return -value;
 233                 default:
 234                         if (product.startsWith("EasyTimer-"))
 235                                 return -value;
 236                         return AltosLib.MISSING;
 237                 }
 238         }
 239
 240         public boolean has_monitor_battery() {
 241                 if (product == null)
 242                         return false;
 243                 if (product.startsWith("TeleBT"))
 244                         return true;
 245                 return false;
 246         }
 247
 248         public boolean has_radio() {
 249                 return product.startsWith("Tele");
 250         }
 251
 252         int[] parse_version(String v) {
 253                 String[] parts = v.split("\\.");
 254                 int r[] = new int[parts.length];
 255
 256                 for (int i = 0; i < parts.length; i++) {
 257                         try {
 258                                 r[i] = (int) AltosLib.fromdec(parts[i]);
 259                         } catch (NumberFormatException n) {
 260                                 r[i] = 0;
 261                         }
 262                 }
 263
 264                 return r;
 265         }
 266
 267         public boolean altitude_32() {
 268                 return altitude_32 == 1;
 269         }
 270
 271         public int compare_version(String other) {
 272                 int[]   me = parse_version(version);
 273                 int[]   them = parse_version(other);
 274
 275                 int     l = Math.min(me.length, them.length);
 276
 277                 for (int i = 0; i < l; i++) {
 278                         int     d = me[i] - them[i];
 279                         if (d != 0)
 280                                 return d;
 281                 }
 282                 if (me.length > l)
 283                         return 1;
 284                 if (them.length > l)
 285                         return -1;
 286                 return 0;
 287         }
 288
 289         public void reset() {
 290                 manufacturer = null;
 291                 product = null;
 292                 serial = AltosLib.MISSING;
 293                 flight = AltosLib.MISSING;
 294                 log_format = AltosLib.AO_LOG_FORMAT_UNKNOWN;
 295                 log_space = AltosLib.MISSING;
 296                 version = "unknown";
 297                 config_major = AltosLib.MISSING;
 298                 config_minor = AltosLib.MISSING;
 299
 300                 main_deploy = AltosLib.MISSING;
 301                 apogee_delay = AltosLib.MISSING;
 302                 apogee_lockout = AltosLib.MISSING;
 303
 304                 radio_frequency = AltosLib.MISSING;
 305                 callsign = null;
 306                 radio_enable = AltosLib.MISSING;
 307                 radio_calibration = AltosLib.MISSING;
 308                 radio_channel = AltosLib.MISSING;
 309                 radio_setting = AltosLib.MISSING;
 310                 telemetry_rate = AltosLib.MISSING;
 311
 312                 accel_cal_plus_cooked = AltosLib.MISSING;
 313                 accel_cal_minus_cooked = AltosLib.MISSING;
 314                 accel_cal_plus = AltosLib.MISSING;
 315                 accel_cal_minus = AltosLib.MISSING;
 316                 pad_orientation = AltosLib.MISSING;
 317                 accel_cal_adjusted = false;
 318
 319                 flight_log_max = AltosLib.MISSING;
 320                 log_fixed = AltosLib.MISSING;
 321                 ignite_mode = AltosLib.MISSING;
 322
 323                 aes_key = null;
 324
 325                 pyro = AltosLib.MISSING;
 326                 npyro = AltosLib.MISSING;
 327                 pyros = null;
 328                 pyro_firing_time = AltosLib.MISSING;
 329
 330                 aprs_interval = AltosLib.MISSING;
 331                 aprs_ssid = AltosLib.MISSING;
 332                 aprs_format = AltosLib.MISSING;
 333                 aprs_offset = AltosLib.MISSING;
 334
 335                 beep = AltosLib.MISSING;
 336
 337                 radio_10mw = AltosLib.MISSING;
 338
 339                 report_feet = AltosLib.MISSING;
 340
 341                 gps_receiver = AltosLib.MISSING;
 342
 343                 tracker_motion = AltosLib.MISSING;
 344                 tracker_interval = AltosLib.MISSING;
 345
 346                 storage_size = AltosLib.MISSING;
 347                 storage_erase_unit = AltosLib.MISSING;
 348                 stored_flight = 0;
 349                 flights = null;
 350
 351                 accel_zero_along = AltosLib.MISSING;
 352                 accel_zero_across = AltosLib.MISSING;
 353                 accel_zero_through = AltosLib.MISSING;
 354         }
 355
 356         /* Return + accel calibration relative to a specific pad orientation */
 357         public int accel_cal_plus(int pad_orientation) {
 358                 adjust_accel_cal();
 359                 if (!accel_cal_adjusted)
 360                         return AltosLib.MISSING;
 361
 362                 switch (pad_orientation) {
 363                 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
 364                 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
 365                 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
 366                         return accel_cal_plus_cooked;
 367                 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
 368                 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
 369                 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
 370                         return invert_accel_value(accel_cal_minus_cooked);
 371                 default:
 372                         return AltosLib.MISSING;
 373                 }
 374         }
 375
 376         /* Return - accel calibration relative to a specific pad orientation */
 377         public int accel_cal_minus(int pad_orientation) {
 378                 adjust_accel_cal();
 379                 if (!accel_cal_adjusted)
 380                         return AltosLib.MISSING;
 381
 382                 switch (pad_orientation) {
 383                 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
 384                 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
 385                 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
 386                         return accel_cal_minus_cooked;
 387                 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
 388                 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
 389                 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
 390                         return invert_accel_value(accel_cal_plus_cooked);
 391                 default:
 392                         return AltosLib.MISSING;
 393                 }
 394         }
 395
 396         /* Once we have all of the values from the config data, compute the
 397          * accel cal values relative to Antenna Up orientation.
 398          */
 399         private void adjust_accel_cal() {
 400                 if (!accel_cal_adjusted &&
 401                     product != null &&
 402                     pad_orientation != AltosLib.MISSING &&
 403                     accel_cal_plus != AltosLib.MISSING &&
 404                     accel_cal_minus != AltosLib.MISSING)
 405                 {
 406                         switch (pad_orientation) {
 407                         case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
 408                         case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
 409                         case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
 410                                 accel_cal_plus_cooked = accel_cal_plus;
 411                                 accel_cal_minus_cooked = accel_cal_minus;
 412                                 accel_cal_adjusted = true;
 413                                 break;
 414                         case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
 415                         case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
 416                         case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
 417                                 accel_cal_plus_cooked = invert_accel_value(accel_cal_minus);
 418                                 accel_cal_minus_cooked = invert_accel_value(accel_cal_plus);
 419                                 accel_cal_adjusted = true;
 420                                 break;
 421                         default:
 422                                 break;
 423                         }
 424                 }
 425         }
 426
 427         public void parse_line(String line) {
 428
 429                 /* Version replies */
 430                 try { manufacturer = get_string(line, "manufacturer"); } catch (Exception e) {}
 431                 try { product = get_string(line, "product"); } catch (Exception e) {}
 432                 try { serial = get_int(line, "serial-number"); } catch (Exception e) {}
 433                 try { flight = get_int(line, "current-flight"); } catch (Exception e) {}
 434                 try { log_format = get_int(line, "log-format"); } catch (Exception e) {}
 435                 try { log_space = get_int(line, "log-space"); } catch (Exception e) {}
 436                 try { altitude_32 = get_int(line, "altitude-32"); } catch (Exception e) {}
 437                 try { version = get_string(line, "software-version"); } catch (Exception e) {}
 438
 439                 /* Version also contains MS5607 info, which we ignore here */
 440
 441                 try { ms5607().reserved = get_int(line, "ms5607 reserved:"); } catch (Exception e) {}
 442                 try { ms5607().sens = get_int(line, "ms5607 sens:"); } catch (Exception e) {}
 443                 try { ms5607().off = get_int(line, "ms5607 off:"); } catch (Exception e) {}
 444                 try { ms5607().tcs = get_int(line, "ms5607 tcs:"); } catch (Exception e) {}
 445                 try { ms5607().tco = get_int(line, "ms5607 tco:"); } catch (Exception e) {}
 446                 try { ms5607().tref = get_int(line, "ms5607 tref:"); } catch (Exception e) {}
 447                 try { ms5607().tempsens = get_int(line, "ms5607 tempsens:"); } catch (Exception e) {}
 448                 try { ms5607().crc = get_int(line, "ms5607 crc:"); } catch (Exception e) {}
 449
 450                 /* Config show replies */
 451
 452                 try {
 453                         if (line.startsWith("Config version")) {
 454                                 String[] bits = line.split("\\s+");
 455                                 if (bits.length >= 3) {
 456                                         String[] cfg = bits[2].split("\\.");
 457
 458                                         if (cfg.length >= 2) {
 459                                                 config_major = Integer.parseInt(cfg[0]);
 460                                                 config_minor = Integer.parseInt(cfg[1]);
 461                                         }
 462                                 }
 463                         }
 464                 } catch (Exception e) {}
 465
 466                 /* HAS_FLIGHT */
 467                 try { main_deploy = get_int(line, "Main deploy:"); } catch (Exception e) {}
 468                 try { apogee_delay = get_int(line, "Apogee delay:"); } catch (Exception e) {}
 469                 try { apogee_lockout = get_int(line, "Apogee lockout:"); } catch (Exception e) {}
 470
 471                 /* HAS_RADIO */
 472                 try {
 473                         radio_frequency = get_int(line, "Frequency:");
 474                         if (radio_frequency < 0)
 475                                 radio_frequency = 434550;
 476                 } catch (Exception e) {}
 477                 try { callsign = get_string(line, "Callsign:"); } catch (Exception e) {}
 478                 try { radio_enable = get_int(line, "Radio enable:"); } catch (Exception e) {}
 479                 try { radio_calibration = get_int(line, "Radio cal:"); } catch (Exception e) {}
 480                 try { telemetry_rate = get_int(line, "Telemetry rate:"); } catch (Exception e) {}
 481
 482                 /* Old HAS_RADIO values */
 483                 try { radio_channel = get_int(line, "Radio channel:"); } catch (Exception e) {}
 484                 try { radio_setting = get_int(line, "Radio setting:"); } catch (Exception e) {}
 485
 486                 /* HAS_ACCEL */
 487                 try {
 488                         if (line.startsWith("Accel cal")) {
 489                                 String[] bits = line.split("\\s+");
 490                                 if (bits.length >= 6) {
 491                                         accel_cal_plus = Integer.parseInt(bits[3]);
 492                                         accel_cal_minus = Integer.parseInt(bits[5]);
 493                                         accel_cal_adjusted = false;
 494                                 }
 495                         }
 496                 } catch (Exception e) {}
 497                 try { pad_orientation = get_int(line, "Pad orientation:"); } catch (Exception e) {}
 498
 499                 /* HAS_LOG */
 500                 try { flight_log_max = get_int(line, "Max flight log:"); } catch (Exception e) {}
 501                 try { log_fixed = get_int(line, "Log fixed:"); } catch (Exception e) {}
 502
 503                 /* HAS_IGNITE */
 504                 try { ignite_mode = get_int(line, "Ignite mode:"); } catch (Exception e) {}
 505
 506                 /* HAS_AES */
 507                 try { aes_key = get_string(line, "AES key:"); } catch (Exception e) {}
 508
 509                 /* AO_PYRO_NUM */
 510                 try {
 511                         npyro = get_int(line, "Pyro-count:");
 512                         pyros = new AltosPyro[npyro];
 513                         pyro = 0;
 514                 } catch (Exception e) {}
 515                 if (npyro != AltosLib.MISSING) {
 516                         try {
 517                                 AltosPyro p = new AltosPyro(pyro, line);
 518                                 if (pyro < npyro)
 519                                         pyros[pyro++] = p;
 520                         } catch (Exception e) {}
 521                 }
 522                 try { pyro_firing_time = get_int(line, "Pyro time:") / 100.0; } catch (Exception e) {}
 523
 524                 /* HAS_APRS */
 525                 try { aprs_interval = get_int(line, "APRS interval:"); } catch (Exception e) {}
 526                 try { aprs_ssid = get_int(line, "APRS SSID:"); } catch (Exception e) {}
 527                 try { aprs_format = get_int(line, "APRS format:"); } catch (Exception e) {}
 528                 try { aprs_offset = get_int(line, "APRS offset:"); } catch (Exception e) {}
 529
 530                 /* HAS_BEEP */
 531                 try { beep = get_int(line, "Beeper setting:"); } catch (Exception e) {}
 532
 533                 /* HAS_RADIO_10MW */
 534                 try { radio_10mw = get_int(line, "Radio 10mw limit:"); } catch (Exception e) {}
 535
 536                 try { report_feet = get_int(line, "Report in feet:"); } catch (Exception e) {}
 537
 538                 try { gps_receiver = get_int(line, "GPS receiver:"); } catch (Exception e) {}
 539
 540                 /* HAS_TRACKER */
 541                 try {
 542                         int[] values = get_values(line, "Tracker setting:");
 543                         tracker_motion = values[0];
 544                         tracker_interval = values[1];
 545                 } catch (Exception e) {}
 546
 547                 /* Storage info replies */
 548                 try { storage_size = get_int(line, "Storage size:"); } catch (Exception e) {}
 549                 try { storage_erase_unit = get_int(line, "Storage erase unit:"); } catch (Exception e) {}
 550
 551                 /* Log listing replies */
 552                 try {
 553                         int flight = get_int(line, "flight");
 554                         String[] tokens = line.split("\\s+");
 555                         if (tokens.length >= 6) {
 556                                 int     start = -1, end = -1;
 557                                 try {
 558                                         if (tokens[2].equals("start"))
 559                                                 start = AltosParse.parse_hex(tokens[3]);
 560                                         if (tokens[4].equals("end"))
 561                                                 end = AltosParse.parse_hex(tokens[5]);
 562                                         if (flight != 0 && start >= 0 && end > 0) {
 563                                                 int len;
 564                                                 if (flights == null)
 565                                                         len = 0;
 566                                                 else
 567                                                         len = flights.length;
 568                                                 AltosEepromFlight [] new_flights = new AltosEepromFlight[len + 1];
 569                                                 for (int i = 0; i < len; i++)
 570                                                         new_flights[i] = flights[i];
 571                                                 new_flights[len] = new AltosEepromFlight(flight, start, end);
 572                                                 flights = new_flights;
 573                                                 stored_flight = flights.length;
 574                                         }
 575                                 } catch (ParseException pe) { System.out.printf("Parse error %s\n", pe.toString()); }
 576                         }
 577                 }  catch (Exception e) {}
 578
 579                 /* HAS_GYRO */
 580                 try {
 581                         if (line.startsWith("IMU cal along")) {
 582                                 String[] bits = line.split("\\s+");
 583                                 if (bits.length >= 8) {
 584                                         accel_zero_along = Integer.parseInt(bits[3]);
 585                                         accel_zero_across = Integer.parseInt(bits[5]);
 586                                         accel_zero_through = Integer.parseInt(bits[7]);
 587                                 }
 588                         }
 589                 } catch (Exception e) {}
 590         }
 591
 592         public AltosConfigData() {
 593                 reset();
 594         }
 595
 596         private void read_link(AltosLink link, String finished) throws InterruptedException, TimeoutException {
 597                 for (;;) {
 598                         String line = link.get_reply();
 599                         if (line == null)
 600                                 throw new TimeoutException();
 601                         if (line.contains("Syntax error"))
 602                                 continue;
 603                         this.parse_line(line);
 604
 605                         /* signals the end of the version info */
 606                         if (line.startsWith(finished))
 607                                 break;
 608                 }
 609         }
 610
 611         public boolean has_frequency() {
 612                 return radio_frequency != AltosLib.MISSING || radio_setting != AltosLib.MISSING || radio_channel != AltosLib.MISSING;
 613         }
 614
 615         public boolean has_telemetry_rate() {
 616                 return telemetry_rate != AltosLib.MISSING;
 617         }
 618
 619         public void set_frequency(double freq) {
 620                 int     frequency = radio_frequency;
 621                 int     setting = radio_setting;
 622
 623                 if (frequency != AltosLib.MISSING) {
 624                         radio_frequency = (int) Math.floor (freq * 1000 + 0.5);
 625                         radio_channel = AltosLib.MISSING;
 626                 } else if (setting != AltosLib.MISSING) {
 627                         radio_setting =AltosConvert.radio_frequency_to_setting(freq, radio_calibration);
 628                         radio_channel = AltosLib.MISSING;
 629                 } else {
 630                         radio_channel = AltosConvert.radio_frequency_to_channel(freq);
 631                 }
 632         }
 633
 634         public double frequency() {
 635                 int     channel = radio_channel;
 636                 int     setting = radio_setting;
 637
 638                 if (radio_frequency == AltosLib.MISSING && channel == AltosLib.MISSING && setting == AltosLib.MISSING)
 639                         return AltosLib.MISSING;
 640
 641                 if (channel == AltosLib.MISSING)
 642                         channel = 0;
 643                 if (setting == AltosLib.MISSING)
 644                         setting = 0;
 645
 646                 return AltosConvert.radio_to_frequency(radio_frequency,
 647                                                        setting,
 648                                                        radio_calibration,
 649                                                        channel);
 650         }
 651
 652         boolean use_flash_for_config() {
 653                 if (product.startsWith("TeleMega"))
 654                         return false;
 655                 if (product.startsWith("TeleMetrum-v2"))
 656                         return false;
 657                 if (product.startsWith("TeleMetrum-v3"))
 658                         return false;
 659                 if (product.startsWith("TeleMetrum-v4"))
 660                         return true;
 661                 if (product.startsWith("EasyMega"))
 662                         return false;
 663                 return true;
 664         }
 665
 666
 667         public boolean mma655x_inverted() throws AltosUnknownProduct {
 668                 if (product != null) {
 669                         if (product.startsWith("EasyMega-v1"))
 670                                 return false;
 671                         if (product.startsWith("TeleMetrum-v2"))
 672                                 return true;
 673                         if (product.startsWith("TeleMega-v2"))
 674                                 return false;
 675                         if (product.startsWith("TeleMega-v1"))
 676                                 return false;
 677                 }
 678                 throw new AltosUnknownProduct(product);
 679         }
 680
 681         public boolean adxl375_inverted() throws AltosUnknownProduct {
 682                 if (product != null) {
 683                         if (product.startsWith("EasyMega-v2"))
 684                                 return true;
 685                         if (product.startsWith("TeleMetrum-v3"))
 686                                 return true;
 687                         if (product.startsWith("TeleMetrum-v4"))
 688                                 return true;
 689                         if (product.startsWith("TeleMega-v4"))
 690                                 return true;
 691                         if (product.startsWith("TeleMega-v5"))
 692                                 return true;
 693                         if (product.startsWith("TeleMega-v6"))
 694                                 return true;
 695                         if (product.startsWith("EasyMotor-v2"))
 696                                 return true;
 697                         if (product.startsWith("EasyMotor-v3"))
 698                                 return true;
 699                 }
 700                 throw new AltosUnknownProduct(product);
 701         }
 702
 703         public int adxl375_axis() throws AltosUnknownProduct {
 704                 if (product != null) {
 705                         if (product.startsWith("EasyMega-v2"))
 706                                 return AltosAdxl375.X_AXIS;
 707                         if (product.startsWith("TeleMetrum-v3"))
 708                                 return AltosAdxl375.X_AXIS;
 709                         if (product.startsWith("TeleMetrum-v4"))
 710                                 return AltosAdxl375.X_AXIS;
 711                         if (product.startsWith("TeleMega-v4"))
 712                                 return AltosAdxl375.X_AXIS;
 713                         if (product.startsWith("TeleMega-v5"))
 714                                 return AltosAdxl375.X_AXIS;
 715                         if (product.startsWith("TeleMega-v6"))
 716                                 return AltosAdxl375.X_AXIS;
 717                         if (product.startsWith("EasyMotor-v2"))
 718                                 return AltosAdxl375.X_AXIS;
 719                         if (product.startsWith("EasyMotor-v3"))
 720                                 return AltosAdxl375.X_AXIS;
 721
 722                 }
 723                 throw new AltosUnknownProduct(product);
 724         }
 725
 726         public void get_values(AltosConfigValues source) throws AltosConfigDataException {
 727
 728                 /* HAS_FLIGHT */
 729                 if (main_deploy != AltosLib.MISSING)
 730                         main_deploy = source.main_deploy();
 731                 if (apogee_delay != AltosLib.MISSING)
 732                         apogee_delay = source.apogee_delay();
 733                 if (apogee_lockout != AltosLib.MISSING)
 734                         apogee_lockout = source.apogee_lockout();
 735
 736                 /* HAS_RADIO */
 737                 if (has_frequency())
 738                         set_frequency(source.radio_frequency());
 739                 if (radio_enable != AltosLib.MISSING)
 740                         radio_enable = source.radio_enable();
 741                 if (callsign != null)
 742                         callsign = source.callsign();
 743                 if (telemetry_rate != AltosLib.MISSING)
 744                         telemetry_rate = source.telemetry_rate();
 745
 746                 /* HAS_ACCEL */
 747                 if (pad_orientation != AltosLib.MISSING)
 748                         pad_orientation = source.pad_orientation();
 749
 750                 if (accel_cal_plus_cooked != AltosLib.MISSING)
 751                         accel_cal_plus_cooked = source.accel_cal_plus();
 752
 753                 if (accel_cal_minus_cooked != AltosLib.MISSING)
 754                         accel_cal_minus_cooked = source.accel_cal_minus();
 755
 756                 /* HAS_LOG */
 757                 if (flight_log_max != AltosLib.MISSING)
 758                         flight_log_max = source.flight_log_max();
 759
 760                 /* HAS_IGNITE */
 761                 if (ignite_mode != AltosLib.MISSING)
 762                         ignite_mode = source.ignite_mode();
 763
 764                 /* AO_PYRO_NUM */
 765                 if (npyro != AltosLib.MISSING)
 766                         pyros = source.pyros();
 767                 if (pyro_firing_time != AltosLib.MISSING)
 768                         pyro_firing_time = source.pyro_firing_time();
 769
 770                 /* HAS_APRS */
 771                 if (aprs_interval != AltosLib.MISSING)
 772                         aprs_interval = source.aprs_interval();
 773                 if (aprs_ssid != AltosLib.MISSING)
 774                         aprs_ssid = source.aprs_ssid();
 775                 if (aprs_format != AltosLib.MISSING)
 776                         aprs_format = source.aprs_format();
 777                 if (aprs_offset != AltosLib.MISSING)
 778                         aprs_offset = source.aprs_offset();
 779
 780                 /* HAS_BEEP */
 781                 if (beep != AltosLib.MISSING)
 782                         beep = source.beep();
 783
 784                 /* HAS_RADIO_10MW */
 785                 if (radio_10mw != AltosLib.MISSING)
 786                         radio_10mw = source.radio_10mw();
 787
 788                 if (report_feet != AltosLib.MISSING)
 789                         report_feet = source.report_feet();
 790
 791                 if (gps_receiver != AltosLib.MISSING)
 792                         gps_receiver = source.gps_receiver();
 793
 794                 /* HAS_TRACKER */
 795                 if (tracker_motion != AltosLib.MISSING)
 796                         tracker_motion = source.tracker_motion();
 797                 if (tracker_interval != AltosLib.MISSING)
 798                         tracker_interval = source.tracker_interval();
 799         }
 800
 801         public void set_values(AltosConfigValues dest) {
 802                 dest.set_serial(serial);
 803                 dest.set_product(product);
 804                 dest.set_version(version);
 805                 dest.set_altitude_32(altitude_32);
 806                 dest.set_main_deploy(main_deploy);
 807                 dest.set_apogee_delay(apogee_delay);
 808                 dest.set_apogee_lockout(apogee_lockout);
 809                 dest.set_radio_calibration(radio_calibration);
 810                 dest.set_radio_frequency(frequency());
 811                 dest.set_telemetry_rate(telemetry_rate);
 812                 boolean max_enabled = true;
 813
 814                 if (log_space() == 0)
 815                         max_enabled = false;
 816
 817                 if (log_fixed != AltosLib.MISSING)
 818                         max_enabled = false;
 819
 820                 switch (log_format) {
 821                 case AltosLib.AO_LOG_FORMAT_TINY:
 822                         max_enabled = false;
 823                         break;
 824                 default:
 825                         if (flights != null)
 826                                 max_enabled = false;
 827                         break;
 828                 }
 829
 830                 dest.set_flight_log_max_enabled(max_enabled);
 831                 dest.set_radio_enable(radio_enable);
 832                 dest.set_flight_log_max_limit(log_space() >> 10, storage_erase_unit >> 10);
 833                 dest.set_flight_log_max(flight_log_max);
 834                 dest.set_ignite_mode(ignite_mode);
 835                 dest.set_pad_orientation(pad_orientation);
 836                 dest.set_accel_cal(accel_cal_plus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP),
 837                                    accel_cal_minus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP));
 838                 dest.set_callsign(callsign);
 839                 if (npyro != AltosLib.MISSING)
 840                         dest.set_pyros(pyros);
 841                 else
 842                         dest.set_pyros(null);
 843                 dest.set_pyro_firing_time(pyro_firing_time);
 844                 dest.set_aprs_interval(aprs_interval);
 845                 dest.set_aprs_ssid(aprs_ssid);
 846                 dest.set_aprs_format(aprs_format);
 847                 dest.set_aprs_offset(aprs_offset);
 848                 dest.set_beep(beep);
 849                 dest.set_radio_10mw(radio_10mw);
 850                 dest.set_report_feet(report_feet);
 851                 dest.set_gps_receiver(gps_receiver);
 852                 dest.set_tracker_motion(tracker_motion);
 853                 dest.set_tracker_interval(tracker_interval);
 854         }
 855
 856         public boolean log_has_state() {
 857                 switch (log_format) {
 858                 case AltosLib.AO_LOG_FORMAT_TELEGPS:
 859                         return false;
 860                 }
 861                 return true;
 862         }
 863
 864         public void save(AltosLink link, boolean remote) throws InterruptedException, TimeoutException {
 865
 866                 /* HAS_FLIGHT */
 867                 if (main_deploy != AltosLib.MISSING)
 868                         link.printf("c m %d\n", main_deploy);
 869                 if (apogee_delay != AltosLib.MISSING)
 870                         link.printf("c d %d\n", apogee_delay);
 871                 if (apogee_lockout != AltosLib.MISSING)
 872                         link.printf("c L %d\n", apogee_lockout);
 873
 874                 /* HAS_RADIO */
 875                 if (has_frequency()) {
 876                         boolean has_frequency = radio_frequency != AltosLib.MISSING;
 877                         boolean has_setting = radio_setting != AltosLib.MISSING;
 878                         double frequency = frequency();
 879                         link.set_radio_frequency(frequency,
 880                                                         has_frequency,
 881                                                         has_setting,
 882                                                         radio_calibration);
 883                         /* When remote, reset the dongle frequency at the same time */
 884                         if (remote && frequency != link.frequency) {
 885                                 link.stop_remote();
 886                                 link.set_radio_frequency(frequency);
 887                                 link.start_remote();
 888                         }
 889                 }
 890
 891                 if (telemetry_rate != AltosLib.MISSING) {
 892                         link.printf("c T %d\n", telemetry_rate);
 893                         if (remote && telemetry_rate != link.telemetry_rate) {
 894                                 link.stop_remote();
 895                                 link.set_telemetry_rate(telemetry_rate);
 896                                 link.start_remote();
 897                         }
 898                 }
 899
 900                 if (callsign != null) {
 901                         link.printf("c c %s\n", callsign);
 902                         if (remote && !callsign.equals(link.callsign)) {
 903                                 System.out.printf("changing link callsign from %s to %s\n", link.callsign, callsign);
 904                                 link.stop_remote();
 905                                 link.set_callsign(callsign);
 906                                 link.start_remote();
 907                         }
 908                 }
 909
 910                 if (radio_enable != AltosLib.MISSING)
 911                         link.printf("c e %d\n", radio_enable);
 912
 913                 /* HAS_ACCEL */
 914                 /* set orientation first so that we know how to set the accel cal */
 915                 if (pad_orientation != AltosLib.MISSING)
 916                         link.printf("c o %d\n", pad_orientation);
 917                 int plus = accel_cal_plus(pad_orientation);
 918                 int minus = accel_cal_minus(pad_orientation);
 919                 if (plus != AltosLib.MISSING && minus != AltosLib.MISSING) {
 920                         if (plus < 0)
 921                                 plus = 65536 + plus;
 922                         if (minus < 0)
 923                                 minus = 65536 + minus;
 924                         if (accel_zero_along != AltosLib.MISSING &&
 925                             accel_zero_across != AltosLib.MISSING &&
 926                             accel_zero_through != AltosLib.MISSING)
 927                                 link.printf("c a %d %d %d %d %d\n",
 928                                             plus, minus,
 929                                             accel_zero_along,
 930                                             accel_zero_across,
 931                                             accel_zero_through);
 932                         else
 933                                 link.printf("c a %d %d\n", plus, minus);
 934                 }
 935
 936                 /* HAS_LOG */
 937                 if (flight_log_max != 0 && flight_log_max != AltosLib.MISSING)
 938                         link.printf("c l %d\n", flight_log_max);
 939
 940                 /* HAS_IGNITE */
 941                 if (ignite_mode != AltosLib.MISSING)
 942                         link.printf("c i %d\n", ignite_mode);
 943
 944                 /* HAS_AES */
 945                 /* UI doesn't support AES key config */
 946
 947                 /* AO_PYRO_NUM */
 948                 if (npyro != AltosLib.MISSING) {
 949                         for (int p = 0; p < pyros.length; p++) {
 950                                 link.printf("c P %s\n",
 951                                                    pyros[p].toString());
 952                         }
 953                 }
 954                 if (pyro_firing_time != AltosLib.MISSING)
 955                         link.printf("c I %d\n", (int) (pyro_firing_time * 100.0 + 0.5));
 956
 957                 /* HAS_APRS */
 958                 if (aprs_interval != AltosLib.MISSING)
 959                         link.printf("c A %d\n", aprs_interval);
 960                 if (aprs_ssid != AltosLib.MISSING)
 961                         link.printf("c S %d\n", aprs_ssid);
 962                 if (aprs_format != AltosLib.MISSING)
 963                         link.printf("c C %d\n", aprs_format);
 964                 if (aprs_offset != AltosLib.MISSING)
 965                         link.printf("c O %d\n", aprs_offset);
 966
 967                 /* HAS_BEEP */
 968                 if (beep != AltosLib.MISSING)
 969                         link.printf("c b %d\n", beep);
 970
 971                 /* HAS_RADIO_10MW */
 972                 if (radio_10mw != AltosLib.MISSING)
 973                         link.printf("c p %d\n", radio_10mw);
 974
 975                 if (report_feet != AltosLib.MISSING)
 976                         link.printf("c u %d\n", report_feet);
 977
 978                 /* HAS_GPS_MOSAIC */
 979                 if (gps_receiver != AltosLib.MISSING)
 980                         link.printf("c g %d\n", gps_receiver);
 981
 982                 /* HAS_TRACKER */
 983                 if (tracker_motion != AltosLib.MISSING && tracker_interval != AltosLib.MISSING)
 984                         link.printf("c t %d %d\n", tracker_motion, tracker_interval);
 985
 986                 /* HAS_GYRO */
 987                 /* UI doesn't support accel cal */
 988
 989                 link.printf("c w\n");
 990                 read_link(link, "Saved");
 991         }
 992
 993         public AltosConfigData(AltosLink link) throws InterruptedException, TimeoutException {
 994                 reset();
 995                 link.printf("c s\nf\nv\n");
 996                 read_link(link, "software-version");
 997                 switch (log_format) {
 998                 case AltosLib.AO_LOG_FORMAT_UNKNOWN:
 999                 case AltosLib.AO_LOG_FORMAT_NONE:
1000                         break;
1001                 default:
1002                         link.printf("l\n");
1003                         read_link(link, "done");
1004                         break;
1005                 }
1006                 adjust_accel_cal();
1007         }
1008 }