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_14;
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;
81 public int aprs_offset;
86 /* Storage info replies */
87 public int storage_size;
88 public int storage_erase_unit;
90 /* Log listing replies */
91 public int stored_flight;
92 public AltosEepromFlight[] flights;
95 public int tracker_motion;
96 public int tracker_interval;
99 public int accel_zero_along, accel_zero_across, accel_zero_through;
104 public AltosMs5607 ms5607() {
106 ms5607 = new AltosMs5607();
110 public static String get_string(String line, String label) throws ParseException {
111 if (line.startsWith(label)) {
112 String quoted = line.substring(label.length()).trim();
114 if (quoted.startsWith("\""))
115 quoted = quoted.substring(1);
116 if (quoted.endsWith("\""))
117 quoted = quoted.substring(0,quoted.length()-1);
120 throw new ParseException("mismatch", 0);
123 public static int get_int(String line, String label) throws NumberFormatException, ParseException {
124 if (line.startsWith(label)) {
125 String tail = line.substring(label.length()).trim();
126 String[] tokens = tail.split("\\s+");
127 if (tokens.length > 0)
128 return Integer.parseInt(tokens[0]);
130 throw new ParseException("mismatch", 0);
133 public static int[] get_values(String line, String label) throws NumberFormatException, ParseException {
134 if (line.startsWith(label)) {
135 String tail = line.substring(label.length()).trim();
136 String[] tokens = tail.split("\\s+");
137 if (tokens.length > 1) {
138 int[] values = new int[2];
139 values[0] = Integer.parseInt(tokens[0]);
140 values[1] = Integer.parseInt(tokens[1]);
144 throw new ParseException("mismatch", 0);
147 public int log_space() {
148 if (log_space != AltosLib.MISSING)
151 if (storage_size != AltosLib.MISSING) {
152 int space = storage_size;
154 if (storage_erase_unit != AltosLib.MISSING && use_flash_for_config())
155 space -= storage_erase_unit;
157 if (space != AltosLib.MISSING)
163 public int log_available() {
164 switch (log_format) {
165 case AltosLib.AO_LOG_FORMAT_TINY:
169 case AltosLib.AO_LOG_FORMAT_TELEMETRY:
170 case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
173 if (flight_log_max <= 0)
175 int log_max = flight_log_max * 1024;
176 int log_space = log_space();
182 log_used = flights.length * log_max;
185 if (log_used >= log_space)
188 log_avail = (log_space - log_used) / log_max;
194 public int invert_accel_value(int value) {
195 if (value == AltosLib.MISSING)
196 return AltosLib.MISSING;
198 switch (log_format) {
199 case AltosLib.AO_LOG_FORMAT_FULL:
200 return 0x7fff - value;
201 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
202 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
203 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
205 case AltosLib.AO_LOG_FORMAT_TELEMETRUM:
207 * TeleMetrum v2 and later use the same log format, but
208 * have different accelerometers. This is the only place
209 * it matters in altoslib.
211 if (product.startsWith("TeleMetrum-v2"))
214 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
215 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
216 case AltosLib.AO_LOG_FORMAT_EASYMOTOR:
219 if (product.startsWith("EasyTimer-"))
221 return AltosLib.MISSING;
225 public boolean has_monitor_battery() {
228 if (product.startsWith("TeleBT"))
233 int[] parse_version(String v) {
234 String[] parts = v.split("\\.");
235 int r[] = new int[parts.length];
237 for (int i = 0; i < parts.length; i++) {
239 r[i] = (int) AltosLib.fromdec(parts[i]);
240 } catch (NumberFormatException n) {
248 public boolean altitude_32() {
249 return altitude_32 == 1;
252 public int compare_version(String other) {
253 int[] me = parse_version(version);
254 int[] them = parse_version(other);
256 int l = Math.min(me.length, them.length);
258 for (int i = 0; i < l; i++) {
259 int d = me[i] - them[i];
270 public void reset() {
273 serial = AltosLib.MISSING;
274 flight = AltosLib.MISSING;
275 log_format = AltosLib.AO_LOG_FORMAT_UNKNOWN;
276 log_space = AltosLib.MISSING;
278 config_major = AltosLib.MISSING;
279 config_minor = AltosLib.MISSING;
281 main_deploy = AltosLib.MISSING;
282 apogee_delay = AltosLib.MISSING;
283 apogee_lockout = AltosLib.MISSING;
285 radio_frequency = AltosLib.MISSING;
287 radio_enable = AltosLib.MISSING;
288 radio_calibration = AltosLib.MISSING;
289 radio_channel = AltosLib.MISSING;
290 radio_setting = AltosLib.MISSING;
291 telemetry_rate = AltosLib.MISSING;
293 accel_cal_plus_cooked = AltosLib.MISSING;
294 accel_cal_minus_cooked = AltosLib.MISSING;
295 accel_cal_plus = AltosLib.MISSING;
296 accel_cal_minus = AltosLib.MISSING;
297 pad_orientation = AltosLib.MISSING;
298 accel_cal_adjusted = false;
300 flight_log_max = AltosLib.MISSING;
301 log_fixed = AltosLib.MISSING;
302 ignite_mode = AltosLib.MISSING;
306 pyro = AltosLib.MISSING;
307 npyro = AltosLib.MISSING;
309 pyro_firing_time = AltosLib.MISSING;
311 aprs_interval = AltosLib.MISSING;
312 aprs_ssid = AltosLib.MISSING;
313 aprs_format = AltosLib.MISSING;
314 aprs_offset = AltosLib.MISSING;
316 beep = AltosLib.MISSING;
318 tracker_motion = AltosLib.MISSING;
319 tracker_interval = AltosLib.MISSING;
321 storage_size = AltosLib.MISSING;
322 storage_erase_unit = AltosLib.MISSING;
326 accel_zero_along = AltosLib.MISSING;
327 accel_zero_across = AltosLib.MISSING;
328 accel_zero_through = AltosLib.MISSING;
331 /* Return + accel calibration relative to a specific pad orientation */
332 public int accel_cal_plus(int pad_orientation) {
334 if (!accel_cal_adjusted)
335 return AltosLib.MISSING;
337 switch (pad_orientation) {
338 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
339 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
340 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
341 return accel_cal_plus_cooked;
342 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
343 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
344 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
345 return invert_accel_value(accel_cal_minus_cooked);
347 return AltosLib.MISSING;
351 /* Return - accel calibration relative to a specific pad orientation */
352 public int accel_cal_minus(int pad_orientation) {
354 if (!accel_cal_adjusted)
355 return AltosLib.MISSING;
357 switch (pad_orientation) {
358 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
359 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
360 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
361 return accel_cal_minus_cooked;
362 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
363 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
364 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
365 return invert_accel_value(accel_cal_plus_cooked);
367 return AltosLib.MISSING;
371 /* Once we have all of the values from the config data, compute the
372 * accel cal values relative to Antenna Up orientation.
374 private void adjust_accel_cal() {
375 if (!accel_cal_adjusted &&
377 pad_orientation != AltosLib.MISSING &&
378 accel_cal_plus != AltosLib.MISSING &&
379 accel_cal_minus != AltosLib.MISSING)
381 switch (pad_orientation) {
382 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
383 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
384 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
385 accel_cal_plus_cooked = accel_cal_plus;
386 accel_cal_minus_cooked = accel_cal_minus;
387 accel_cal_adjusted = true;
389 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
390 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
391 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
392 accel_cal_plus_cooked = invert_accel_value(accel_cal_minus);
393 accel_cal_minus_cooked = invert_accel_value(accel_cal_plus);
394 accel_cal_adjusted = true;
402 public void parse_line(String line) {
404 /* Version replies */
405 try { manufacturer = get_string(line, "manufacturer"); } catch (Exception e) {}
406 try { product = get_string(line, "product"); } catch (Exception e) {}
407 try { serial = get_int(line, "serial-number"); } catch (Exception e) {}
408 try { flight = get_int(line, "current-flight"); } catch (Exception e) {}
409 try { log_format = get_int(line, "log-format"); } catch (Exception e) {}
410 try { log_space = get_int(line, "log-space"); } catch (Exception e) {}
411 try { altitude_32 = get_int(line, "altitude-32"); } catch (Exception e) {}
412 try { version = get_string(line, "software-version"); } catch (Exception e) {}
414 /* Version also contains MS5607 info, which we ignore here */
416 try { ms5607().reserved = get_int(line, "ms5607 reserved:"); } catch (Exception e) {}
417 try { ms5607().sens = get_int(line, "ms5607 sens:"); } catch (Exception e) {}
418 try { ms5607().off = get_int(line, "ms5607 off:"); } catch (Exception e) {}
419 try { ms5607().tcs = get_int(line, "ms5607 tcs:"); } catch (Exception e) {}
420 try { ms5607().tco = get_int(line, "ms5607 tco:"); } catch (Exception e) {}
421 try { ms5607().tref = get_int(line, "ms5607 tref:"); } catch (Exception e) {}
422 try { ms5607().tempsens = get_int(line, "ms5607 tempsens:"); } catch (Exception e) {}
423 try { ms5607().crc = get_int(line, "ms5607 crc:"); } catch (Exception e) {}
425 /* Config show replies */
428 if (line.startsWith("Config version")) {
429 String[] bits = line.split("\\s+");
430 if (bits.length >= 3) {
431 String[] cfg = bits[2].split("\\.");
433 if (cfg.length >= 2) {
434 config_major = Integer.parseInt(cfg[0]);
435 config_minor = Integer.parseInt(cfg[1]);
439 } catch (Exception e) {}
442 try { main_deploy = get_int(line, "Main deploy:"); } catch (Exception e) {}
443 try { apogee_delay = get_int(line, "Apogee delay:"); } catch (Exception e) {}
444 try { apogee_lockout = get_int(line, "Apogee lockout:"); } catch (Exception e) {}
448 radio_frequency = get_int(line, "Frequency:");
449 if (radio_frequency < 0)
450 radio_frequency = 434550;
451 } catch (Exception e) {}
452 try { callsign = get_string(line, "Callsign:"); } catch (Exception e) {}
453 try { radio_enable = get_int(line, "Radio enable:"); } catch (Exception e) {}
454 try { radio_calibration = get_int(line, "Radio cal:"); } catch (Exception e) {}
455 try { telemetry_rate = get_int(line, "Telemetry rate:"); } catch (Exception e) {}
457 /* Old HAS_RADIO values */
458 try { radio_channel = get_int(line, "Radio channel:"); } catch (Exception e) {}
459 try { radio_setting = get_int(line, "Radio setting:"); } catch (Exception e) {}
463 if (line.startsWith("Accel cal")) {
464 String[] bits = line.split("\\s+");
465 if (bits.length >= 6) {
466 accel_cal_plus = Integer.parseInt(bits[3]);
467 accel_cal_minus = Integer.parseInt(bits[5]);
468 accel_cal_adjusted = false;
471 } catch (Exception e) {}
472 try { pad_orientation = get_int(line, "Pad orientation:"); } catch (Exception e) {}
475 try { flight_log_max = get_int(line, "Max flight log:"); } catch (Exception e) {}
476 try { log_fixed = get_int(line, "Log fixed:"); } catch (Exception e) {}
479 try { ignite_mode = get_int(line, "Ignite mode:"); } catch (Exception e) {}
482 try { aes_key = get_string(line, "AES key:"); } catch (Exception e) {}
486 npyro = get_int(line, "Pyro-count:");
487 pyros = new AltosPyro[npyro];
489 } catch (Exception e) {}
490 if (npyro != AltosLib.MISSING) {
492 AltosPyro p = new AltosPyro(pyro, line);
495 } catch (Exception e) {}
497 try { pyro_firing_time = get_int(line, "Pyro time:") / 100.0; } catch (Exception e) {}
500 try { aprs_interval = get_int(line, "APRS interval:"); } catch (Exception e) {}
501 try { aprs_ssid = get_int(line, "APRS SSID:"); } catch (Exception e) {}
502 try { aprs_format = get_int(line, "APRS format:"); } catch (Exception e) {}
503 try { aprs_offset = get_int(line, "APRS offset:"); } catch (Exception e) {}
506 try { beep = get_int(line, "Beeper setting:"); } catch (Exception e) {}
510 int[] values = get_values(line, "Tracker setting:");
511 tracker_motion = values[0];
512 tracker_interval = values[1];
513 } catch (Exception e) {}
515 /* Storage info replies */
516 try { storage_size = get_int(line, "Storage size:"); } catch (Exception e) {}
517 try { storage_erase_unit = get_int(line, "Storage erase unit:"); } catch (Exception e) {}
519 /* Log listing replies */
521 int flight = get_int(line, "flight");
522 String[] tokens = line.split("\\s+");
523 if (tokens.length >= 6) {
524 int start = -1, end = -1;
526 if (tokens[2].equals("start"))
527 start = AltosParse.parse_hex(tokens[3]);
528 if (tokens[4].equals("end"))
529 end = AltosParse.parse_hex(tokens[5]);
530 if (flight != 0 && start >= 0 && end > 0) {
535 len = flights.length;
536 AltosEepromFlight [] new_flights = new AltosEepromFlight[len + 1];
537 for (int i = 0; i < len; i++)
538 new_flights[i] = flights[i];
539 new_flights[len] = new AltosEepromFlight(flight, start, end);
540 flights = new_flights;
541 stored_flight = flights.length;
543 } catch (ParseException pe) { System.out.printf("Parse error %s\n", pe.toString()); }
545 } catch (Exception e) {}
549 if (line.startsWith("IMU cal along")) {
550 String[] bits = line.split("\\s+");
551 if (bits.length >= 8) {
552 accel_zero_along = Integer.parseInt(bits[3]);
553 accel_zero_across = Integer.parseInt(bits[5]);
554 accel_zero_through = Integer.parseInt(bits[7]);
557 } catch (Exception e) {}
560 public AltosConfigData() {
564 private void read_link(AltosLink link, String finished) throws InterruptedException, TimeoutException {
566 String line = link.get_reply();
568 throw new TimeoutException();
569 if (line.contains("Syntax error"))
571 this.parse_line(line);
573 /* signals the end of the version info */
574 if (line.startsWith(finished))
579 public boolean has_frequency() {
580 return radio_frequency != AltosLib.MISSING || radio_setting != AltosLib.MISSING || radio_channel != AltosLib.MISSING;
583 public boolean has_telemetry_rate() {
584 return telemetry_rate != AltosLib.MISSING;
587 public void set_frequency(double freq) {
588 int frequency = radio_frequency;
589 int setting = radio_setting;
591 if (frequency != AltosLib.MISSING) {
592 radio_frequency = (int) Math.floor (freq * 1000 + 0.5);
593 radio_channel = AltosLib.MISSING;
594 } else if (setting != AltosLib.MISSING) {
595 radio_setting =AltosConvert.radio_frequency_to_setting(freq, radio_calibration);
596 radio_channel = AltosLib.MISSING;
598 radio_channel = AltosConvert.radio_frequency_to_channel(freq);
602 public double frequency() {
603 int channel = radio_channel;
604 int setting = radio_setting;
606 if (radio_frequency == AltosLib.MISSING && channel == AltosLib.MISSING && setting == AltosLib.MISSING)
607 return AltosLib.MISSING;
609 if (channel == AltosLib.MISSING)
611 if (setting == AltosLib.MISSING)
614 return AltosConvert.radio_to_frequency(radio_frequency,
620 boolean use_flash_for_config() {
621 if (product.startsWith("TeleMega"))
623 if (product.startsWith("TeleMetrum-v2"))
625 if (product.startsWith("TeleMetrum-v3"))
627 if (product.startsWith("EasyMega"))
633 public boolean mma655x_inverted() throws AltosUnknownProduct {
634 if (product != null) {
635 if (product.startsWith("EasyMega-v1"))
637 if (product.startsWith("TeleMetrum-v2"))
639 if (product.startsWith("TeleMega-v2"))
641 if (product.startsWith("TeleMega-v1"))
644 throw new AltosUnknownProduct(product);
647 public boolean adxl375_inverted() throws AltosUnknownProduct {
648 if (product != null) {
649 if (product.startsWith("EasyMega-v2"))
651 if (product.startsWith("TeleMetrum-v3"))
653 if (product.startsWith("TeleMega-v4"))
655 if (product.startsWith("EasyMotor-v2"))
658 throw new AltosUnknownProduct(product);
661 public int adxl375_axis() throws AltosUnknownProduct {
662 if (product != null) {
663 if (product.startsWith("EasyMega-v2"))
664 return AltosAdxl375.X_AXIS;
665 if (product.startsWith("TeleMetrum-v3"))
666 return AltosAdxl375.X_AXIS;
667 if (product.startsWith("TeleMega-v4"))
668 return AltosAdxl375.X_AXIS;
669 if (product.startsWith("EasyMotor-v2"))
670 return AltosAdxl375.X_AXIS;
673 throw new AltosUnknownProduct(product);
676 public void get_values(AltosConfigValues source) throws AltosConfigDataException {
679 if (main_deploy != AltosLib.MISSING)
680 main_deploy = source.main_deploy();
681 if (apogee_delay != AltosLib.MISSING)
682 apogee_delay = source.apogee_delay();
683 if (apogee_lockout != AltosLib.MISSING)
684 apogee_lockout = source.apogee_lockout();
688 set_frequency(source.radio_frequency());
689 if (radio_enable != AltosLib.MISSING)
690 radio_enable = source.radio_enable();
691 if (callsign != null)
692 callsign = source.callsign();
693 if (telemetry_rate != AltosLib.MISSING)
694 telemetry_rate = source.telemetry_rate();
697 if (pad_orientation != AltosLib.MISSING)
698 pad_orientation = source.pad_orientation();
700 if (accel_cal_plus_cooked != AltosLib.MISSING)
701 accel_cal_plus_cooked = source.accel_cal_plus();
703 if (accel_cal_minus_cooked != AltosLib.MISSING)
704 accel_cal_minus_cooked = source.accel_cal_minus();
707 if (flight_log_max != AltosLib.MISSING)
708 flight_log_max = source.flight_log_max();
711 if (ignite_mode != AltosLib.MISSING)
712 ignite_mode = source.ignite_mode();
715 if (npyro != AltosLib.MISSING)
716 pyros = source.pyros();
717 if (pyro_firing_time != AltosLib.MISSING)
718 pyro_firing_time = source.pyro_firing_time();
721 if (aprs_interval != AltosLib.MISSING)
722 aprs_interval = source.aprs_interval();
723 if (aprs_ssid != AltosLib.MISSING)
724 aprs_ssid = source.aprs_ssid();
725 if (aprs_format != AltosLib.MISSING)
726 aprs_format = source.aprs_format();
727 if (aprs_offset != AltosLib.MISSING)
728 aprs_offset = source.aprs_offset();
731 if (beep != AltosLib.MISSING)
732 beep = source.beep();
734 if (tracker_motion != AltosLib.MISSING)
735 tracker_motion = source.tracker_motion();
736 if (tracker_interval != AltosLib.MISSING)
737 tracker_interval = source.tracker_interval();
740 public void set_values(AltosConfigValues dest) {
741 dest.set_serial(serial);
742 dest.set_product(product);
743 dest.set_version(version);
744 dest.set_altitude_32(altitude_32);
745 dest.set_main_deploy(main_deploy);
746 dest.set_apogee_delay(apogee_delay);
747 dest.set_apogee_lockout(apogee_lockout);
748 dest.set_radio_calibration(radio_calibration);
749 dest.set_radio_frequency(frequency());
750 dest.set_telemetry_rate(telemetry_rate);
751 boolean max_enabled = true;
753 if (log_space() == 0)
756 if (log_fixed != AltosLib.MISSING)
759 switch (log_format) {
760 case AltosLib.AO_LOG_FORMAT_TINY:
769 dest.set_flight_log_max_enabled(max_enabled);
770 dest.set_radio_enable(radio_enable);
771 dest.set_flight_log_max_limit(log_space() >> 10, storage_erase_unit >> 10);
772 dest.set_flight_log_max(flight_log_max);
773 dest.set_ignite_mode(ignite_mode);
774 dest.set_pad_orientation(pad_orientation);
775 dest.set_accel_cal(accel_cal_plus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP),
776 accel_cal_minus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP));
777 dest.set_callsign(callsign);
778 if (npyro != AltosLib.MISSING)
779 dest.set_pyros(pyros);
781 dest.set_pyros(null);
782 dest.set_pyro_firing_time(pyro_firing_time);
783 dest.set_aprs_interval(aprs_interval);
784 dest.set_aprs_ssid(aprs_ssid);
785 dest.set_aprs_format(aprs_format);
786 dest.set_aprs_offset(aprs_offset);
788 dest.set_tracker_motion(tracker_motion);
789 dest.set_tracker_interval(tracker_interval);
792 public boolean log_has_state() {
793 switch (log_format) {
794 case AltosLib.AO_LOG_FORMAT_TELEGPS:
800 public void save(AltosLink link, boolean remote) throws InterruptedException, TimeoutException {
803 if (main_deploy != AltosLib.MISSING)
804 link.printf("c m %d\n", main_deploy);
805 if (apogee_delay != AltosLib.MISSING)
806 link.printf("c d %d\n", apogee_delay);
807 if (apogee_lockout != AltosLib.MISSING)
808 link.printf("c L %d\n", apogee_lockout);
811 if (has_frequency()) {
812 boolean has_frequency = radio_frequency != AltosLib.MISSING;
813 boolean has_setting = radio_setting != AltosLib.MISSING;
814 double frequency = frequency();
815 link.set_radio_frequency(frequency,
819 /* When remote, reset the dongle frequency at the same time */
820 if (remote && frequency != link.frequency) {
822 link.set_radio_frequency(frequency);
827 if (telemetry_rate != AltosLib.MISSING) {
828 link.printf("c T %d\n", telemetry_rate);
829 if (remote && telemetry_rate != link.telemetry_rate) {
831 link.set_telemetry_rate(telemetry_rate);
836 if (callsign != null) {
837 link.printf("c c %s\n", callsign);
838 if (remote && !callsign.equals(link.callsign)) {
839 System.out.printf("changing link callsign from %s to %s\n", link.callsign, callsign);
841 link.set_callsign(callsign);
846 if (radio_enable != AltosLib.MISSING)
847 link.printf("c e %d\n", radio_enable);
850 /* set orientation first so that we know how to set the accel cal */
851 if (pad_orientation != AltosLib.MISSING)
852 link.printf("c o %d\n", pad_orientation);
853 int plus = accel_cal_plus(pad_orientation);
854 int minus = accel_cal_minus(pad_orientation);
855 if (plus != AltosLib.MISSING && minus != AltosLib.MISSING) {
859 minus = 65536 + minus;
860 if (accel_zero_along != AltosLib.MISSING &&
861 accel_zero_across != AltosLib.MISSING &&
862 accel_zero_through != AltosLib.MISSING)
863 link.printf("c a %d %d %d %d %d\n",
869 link.printf("c a %d %d\n", plus, minus);
873 if (flight_log_max != 0 && flight_log_max != AltosLib.MISSING)
874 link.printf("c l %d\n", flight_log_max);
877 if (ignite_mode != AltosLib.MISSING)
878 link.printf("c i %d\n", ignite_mode);
881 /* UI doesn't support AES key config */
884 if (npyro != AltosLib.MISSING) {
885 for (int p = 0; p < pyros.length; p++) {
886 link.printf("c P %s\n",
887 pyros[p].toString());
890 if (pyro_firing_time != AltosLib.MISSING)
891 link.printf("c I %d\n", (int) (pyro_firing_time * 100.0 + 0.5));
894 if (aprs_interval != AltosLib.MISSING)
895 link.printf("c A %d\n", aprs_interval);
896 if (aprs_ssid != AltosLib.MISSING)
897 link.printf("c S %d\n", aprs_ssid);
898 if (aprs_format != AltosLib.MISSING)
899 link.printf("c C %d\n", aprs_format);
900 if (aprs_offset != AltosLib.MISSING)
901 link.printf("c O %d\n", aprs_offset);
904 if (beep != AltosLib.MISSING)
905 link.printf("c b %d\n", beep);
908 if (tracker_motion != AltosLib.MISSING && tracker_interval != AltosLib.MISSING)
909 link.printf("c t %d %d\n", tracker_motion, tracker_interval);
912 /* UI doesn't support accel cal */
914 link.printf("c w\n");
915 read_link(link, "Saved");
918 public AltosConfigData(AltosLink link) throws InterruptedException, TimeoutException {
920 link.printf("c s\nf\nv\n");
921 read_link(link, "software-version");
922 switch (log_format) {
923 case AltosLib.AO_LOG_FORMAT_UNKNOWN:
924 case AltosLib.AO_LOG_FORMAT_NONE:
928 read_link(link, "done");