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_TELEMETRUM:
203 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
204 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
206 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
207 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
208 case AltosLib.AO_LOG_FORMAT_EASYMOTOR:
211 if (product.startsWith("EasyTimer-"))
213 return AltosLib.MISSING;
217 public boolean has_monitor_battery() {
218 if (product.startsWith("TeleBT"))
223 int[] parse_version(String v) {
224 String[] parts = v.split("\\.");
225 int r[] = new int[parts.length];
227 for (int i = 0; i < parts.length; i++) {
229 r[i] = (int) AltosLib.fromdec(parts[i]);
230 } catch (NumberFormatException n) {
238 public boolean altitude_32() {
239 return altitude_32 == 1;
242 public int compare_version(String other) {
243 int[] me = parse_version(version);
244 int[] them = parse_version(other);
246 int l = Math.min(me.length, them.length);
248 for (int i = 0; i < l; i++) {
249 int d = me[i] - them[i];
260 public void reset() {
263 serial = AltosLib.MISSING;
264 flight = AltosLib.MISSING;
265 log_format = AltosLib.AO_LOG_FORMAT_UNKNOWN;
266 log_space = AltosLib.MISSING;
268 config_major = AltosLib.MISSING;
269 config_minor = AltosLib.MISSING;
271 main_deploy = AltosLib.MISSING;
272 apogee_delay = AltosLib.MISSING;
273 apogee_lockout = AltosLib.MISSING;
275 radio_frequency = AltosLib.MISSING;
277 radio_enable = AltosLib.MISSING;
278 radio_calibration = AltosLib.MISSING;
279 radio_channel = AltosLib.MISSING;
280 radio_setting = AltosLib.MISSING;
281 telemetry_rate = AltosLib.MISSING;
283 accel_cal_plus_cooked = AltosLib.MISSING;
284 accel_cal_minus_cooked = AltosLib.MISSING;
285 accel_cal_plus = AltosLib.MISSING;
286 accel_cal_minus = AltosLib.MISSING;
287 pad_orientation = AltosLib.MISSING;
288 accel_cal_adjusted = false;
290 flight_log_max = AltosLib.MISSING;
291 log_fixed = AltosLib.MISSING;
292 ignite_mode = AltosLib.MISSING;
296 pyro = AltosLib.MISSING;
297 npyro = AltosLib.MISSING;
299 pyro_firing_time = AltosLib.MISSING;
301 aprs_interval = AltosLib.MISSING;
302 aprs_ssid = AltosLib.MISSING;
303 aprs_format = AltosLib.MISSING;
304 aprs_offset = AltosLib.MISSING;
306 beep = AltosLib.MISSING;
308 tracker_motion = AltosLib.MISSING;
309 tracker_interval = AltosLib.MISSING;
311 storage_size = AltosLib.MISSING;
312 storage_erase_unit = AltosLib.MISSING;
316 accel_zero_along = AltosLib.MISSING;
317 accel_zero_across = AltosLib.MISSING;
318 accel_zero_through = AltosLib.MISSING;
321 /* Return + accel calibration relative to a specific pad orientation */
322 public int accel_cal_plus(int pad_orientation) {
324 if (!accel_cal_adjusted)
325 return AltosLib.MISSING;
327 switch (pad_orientation) {
328 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
329 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
330 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
331 return accel_cal_plus_cooked;
332 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
333 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
334 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
335 return invert_accel_value(accel_cal_minus_cooked);
337 return AltosLib.MISSING;
341 /* Return - accel calibration relative to a specific pad orientation */
342 public int accel_cal_minus(int pad_orientation) {
344 if (!accel_cal_adjusted)
345 return AltosLib.MISSING;
347 switch (pad_orientation) {
348 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
349 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
350 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
351 return accel_cal_minus_cooked;
352 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
353 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
354 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
355 return invert_accel_value(accel_cal_plus_cooked);
357 return AltosLib.MISSING;
361 /* Once we have all of the values from the config data, compute the
362 * accel cal values relative to Antenna Up orientation.
364 private void adjust_accel_cal() {
365 if (!accel_cal_adjusted &&
367 pad_orientation != AltosLib.MISSING &&
368 accel_cal_plus != AltosLib.MISSING &&
369 accel_cal_minus != AltosLib.MISSING)
371 switch (pad_orientation) {
372 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
373 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
374 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
375 accel_cal_plus_cooked = accel_cal_plus;
376 accel_cal_minus_cooked = accel_cal_minus;
377 accel_cal_adjusted = true;
379 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
380 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
381 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
382 accel_cal_plus_cooked = invert_accel_value(accel_cal_minus);
383 accel_cal_minus_cooked = invert_accel_value(accel_cal_plus);
384 accel_cal_adjusted = true;
392 public void parse_line(String line) {
394 /* Version replies */
395 try { manufacturer = get_string(line, "manufacturer"); } catch (Exception e) {}
396 try { product = get_string(line, "product"); } catch (Exception e) {}
397 try { serial = get_int(line, "serial-number"); } catch (Exception e) {}
398 try { flight = get_int(line, "current-flight"); } catch (Exception e) {}
399 try { log_format = get_int(line, "log-format"); } catch (Exception e) {}
400 try { log_space = get_int(line, "log-space"); } catch (Exception e) {}
401 try { altitude_32 = get_int(line, "altitude-32"); } catch (Exception e) {}
402 try { version = get_string(line, "software-version"); } catch (Exception e) {}
404 /* Version also contains MS5607 info, which we ignore here */
406 try { ms5607().reserved = get_int(line, "ms5607 reserved:"); } catch (Exception e) {}
407 try { ms5607().sens = get_int(line, "ms5607 sens:"); } catch (Exception e) {}
408 try { ms5607().off = get_int(line, "ms5607 off:"); } catch (Exception e) {}
409 try { ms5607().tcs = get_int(line, "ms5607 tcs:"); } catch (Exception e) {}
410 try { ms5607().tco = get_int(line, "ms5607 tco:"); } catch (Exception e) {}
411 try { ms5607().tref = get_int(line, "ms5607 tref:"); } catch (Exception e) {}
412 try { ms5607().tempsens = get_int(line, "ms5607 tempsens:"); } catch (Exception e) {}
413 try { ms5607().crc = get_int(line, "ms5607 crc:"); } catch (Exception e) {}
415 /* Config show replies */
418 if (line.startsWith("Config version")) {
419 String[] bits = line.split("\\s+");
420 if (bits.length >= 3) {
421 String[] cfg = bits[2].split("\\.");
423 if (cfg.length >= 2) {
424 config_major = Integer.parseInt(cfg[0]);
425 config_minor = Integer.parseInt(cfg[1]);
429 } catch (Exception e) {}
432 try { main_deploy = get_int(line, "Main deploy:"); } catch (Exception e) {}
433 try { apogee_delay = get_int(line, "Apogee delay:"); } catch (Exception e) {}
434 try { apogee_lockout = get_int(line, "Apogee lockout:"); } catch (Exception e) {}
438 radio_frequency = get_int(line, "Frequency:");
439 if (radio_frequency < 0)
440 radio_frequency = 434550;
441 } catch (Exception e) {}
442 try { callsign = get_string(line, "Callsign:"); } catch (Exception e) {}
443 try { radio_enable = get_int(line, "Radio enable:"); } catch (Exception e) {}
444 try { radio_calibration = get_int(line, "Radio cal:"); } catch (Exception e) {}
445 try { telemetry_rate = get_int(line, "Telemetry rate:"); } catch (Exception e) {}
447 /* Old HAS_RADIO values */
448 try { radio_channel = get_int(line, "Radio channel:"); } catch (Exception e) {}
449 try { radio_setting = get_int(line, "Radio setting:"); } catch (Exception e) {}
453 if (line.startsWith("Accel cal")) {
454 String[] bits = line.split("\\s+");
455 if (bits.length >= 6) {
456 accel_cal_plus = Integer.parseInt(bits[3]);
457 accel_cal_minus = Integer.parseInt(bits[5]);
458 accel_cal_adjusted = false;
461 } catch (Exception e) {}
462 try { pad_orientation = get_int(line, "Pad orientation:"); } catch (Exception e) {}
465 try { flight_log_max = get_int(line, "Max flight log:"); } catch (Exception e) {}
466 try { log_fixed = get_int(line, "Log fixed:"); } catch (Exception e) {}
469 try { ignite_mode = get_int(line, "Ignite mode:"); } catch (Exception e) {}
472 try { aes_key = get_string(line, "AES key:"); } catch (Exception e) {}
476 npyro = get_int(line, "Pyro-count:");
477 pyros = new AltosPyro[npyro];
479 } catch (Exception e) {}
480 if (npyro != AltosLib.MISSING) {
482 AltosPyro p = new AltosPyro(pyro, line);
485 } catch (Exception e) {}
487 try { pyro_firing_time = get_int(line, "Pyro time:") / 100.0; } catch (Exception e) {}
490 try { aprs_interval = get_int(line, "APRS interval:"); } catch (Exception e) {}
491 try { aprs_ssid = get_int(line, "APRS SSID:"); } catch (Exception e) {}
492 try { aprs_format = get_int(line, "APRS format:"); } catch (Exception e) {}
493 try { aprs_offset = get_int(line, "APRS offset:"); } catch (Exception e) {}
496 try { beep = get_int(line, "Beeper setting:"); } catch (Exception e) {}
500 int[] values = get_values(line, "Tracker setting:");
501 tracker_motion = values[0];
502 tracker_interval = values[1];
503 } catch (Exception e) {}
505 /* Storage info replies */
506 try { storage_size = get_int(line, "Storage size:"); } catch (Exception e) {}
507 try { storage_erase_unit = get_int(line, "Storage erase unit:"); } catch (Exception e) {}
509 /* Log listing replies */
511 int flight = get_int(line, "flight");
512 String[] tokens = line.split("\\s+");
513 if (tokens.length >= 6) {
514 int start = -1, end = -1;
516 if (tokens[2].equals("start"))
517 start = AltosParse.parse_hex(tokens[3]);
518 if (tokens[4].equals("end"))
519 end = AltosParse.parse_hex(tokens[5]);
520 if (flight != 0 && start >= 0 && end > 0) {
525 len = flights.length;
526 AltosEepromFlight [] new_flights = new AltosEepromFlight[len + 1];
527 for (int i = 0; i < len; i++)
528 new_flights[i] = flights[i];
529 new_flights[len] = new AltosEepromFlight(flight, start, end);
530 flights = new_flights;
531 stored_flight = flights.length;
533 } catch (ParseException pe) { System.out.printf("Parse error %s\n", pe.toString()); }
535 } catch (Exception e) {}
539 if (line.startsWith("IMU cal along")) {
540 String[] bits = line.split("\\s+");
541 if (bits.length >= 8) {
542 accel_zero_along = Integer.parseInt(bits[3]);
543 accel_zero_across = Integer.parseInt(bits[5]);
544 accel_zero_through = Integer.parseInt(bits[7]);
547 } catch (Exception e) {}
550 public AltosConfigData() {
554 private void read_link(AltosLink link, String finished) throws InterruptedException, TimeoutException {
556 String line = link.get_reply();
558 throw new TimeoutException();
559 if (line.contains("Syntax error"))
561 this.parse_line(line);
563 /* signals the end of the version info */
564 if (line.startsWith(finished))
569 public boolean has_frequency() {
570 return radio_frequency != AltosLib.MISSING || radio_setting != AltosLib.MISSING || radio_channel != AltosLib.MISSING;
573 public boolean has_telemetry_rate() {
574 return telemetry_rate != AltosLib.MISSING;
577 public void set_frequency(double freq) {
578 int frequency = radio_frequency;
579 int setting = radio_setting;
581 if (frequency != AltosLib.MISSING) {
582 radio_frequency = (int) Math.floor (freq * 1000 + 0.5);
583 radio_channel = AltosLib.MISSING;
584 } else if (setting != AltosLib.MISSING) {
585 radio_setting =AltosConvert.radio_frequency_to_setting(freq, radio_calibration);
586 radio_channel = AltosLib.MISSING;
588 radio_channel = AltosConvert.radio_frequency_to_channel(freq);
592 public double frequency() {
593 int channel = radio_channel;
594 int setting = radio_setting;
596 if (radio_frequency == AltosLib.MISSING && channel == AltosLib.MISSING && setting == AltosLib.MISSING)
597 return AltosLib.MISSING;
599 if (channel == AltosLib.MISSING)
601 if (setting == AltosLib.MISSING)
604 return AltosConvert.radio_to_frequency(radio_frequency,
610 boolean use_flash_for_config() {
611 if (product.startsWith("TeleMega"))
613 if (product.startsWith("TeleMetrum-v2"))
615 if (product.startsWith("TeleMetrum-v3"))
617 if (product.startsWith("EasyMega"))
623 public boolean mma655x_inverted() throws AltosUnknownProduct {
624 if (product != null) {
625 if (product.startsWith("EasyMega-v1"))
627 if (product.startsWith("TeleMetrum-v2"))
629 if (product.startsWith("TeleMega-v2"))
631 if (product.startsWith("TeleMega-v1"))
634 throw new AltosUnknownProduct(product);
637 public boolean adxl375_inverted() throws AltosUnknownProduct {
638 if (product != null) {
639 if (product.startsWith("EasyMega-v2"))
641 if (product.startsWith("TeleMetrum-v3"))
643 if (product.startsWith("TeleMega-v4"))
645 if (product.startsWith("EasyMotor-v2"))
648 throw new AltosUnknownProduct(product);
651 public int adxl375_axis() throws AltosUnknownProduct {
652 if (product != null) {
653 if (product.startsWith("EasyMega-v2"))
654 return AltosAdxl375.X_AXIS;
655 if (product.startsWith("TeleMetrum-v3"))
656 return AltosAdxl375.X_AXIS;
657 if (product.startsWith("TeleMega-v4"))
658 return AltosAdxl375.X_AXIS;
659 if (product.startsWith("EasyMotor-v2"))
660 return AltosAdxl375.X_AXIS;
663 throw new AltosUnknownProduct(product);
666 public void get_values(AltosConfigValues source) throws AltosConfigDataException {
669 if (main_deploy != AltosLib.MISSING)
670 main_deploy = source.main_deploy();
671 if (apogee_delay != AltosLib.MISSING)
672 apogee_delay = source.apogee_delay();
673 if (apogee_lockout != AltosLib.MISSING)
674 apogee_lockout = source.apogee_lockout();
678 set_frequency(source.radio_frequency());
679 if (radio_enable != AltosLib.MISSING)
680 radio_enable = source.radio_enable();
681 if (callsign != null)
682 callsign = source.callsign();
683 if (telemetry_rate != AltosLib.MISSING)
684 telemetry_rate = source.telemetry_rate();
687 if (pad_orientation != AltosLib.MISSING)
688 pad_orientation = source.pad_orientation();
690 if (accel_cal_plus_cooked != AltosLib.MISSING)
691 accel_cal_plus_cooked = source.accel_cal_plus();
693 if (accel_cal_minus_cooked != AltosLib.MISSING)
694 accel_cal_minus_cooked = source.accel_cal_minus();
697 if (flight_log_max != AltosLib.MISSING)
698 flight_log_max = source.flight_log_max();
701 if (ignite_mode != AltosLib.MISSING)
702 ignite_mode = source.ignite_mode();
705 if (npyro != AltosLib.MISSING)
706 pyros = source.pyros();
707 if (pyro_firing_time != AltosLib.MISSING)
708 pyro_firing_time = source.pyro_firing_time();
711 if (aprs_interval != AltosLib.MISSING)
712 aprs_interval = source.aprs_interval();
713 if (aprs_ssid != AltosLib.MISSING)
714 aprs_ssid = source.aprs_ssid();
715 if (aprs_format != AltosLib.MISSING)
716 aprs_format = source.aprs_format();
717 if (aprs_offset != AltosLib.MISSING)
718 aprs_offset = source.aprs_offset();
721 if (beep != AltosLib.MISSING)
722 beep = source.beep();
724 if (tracker_motion != AltosLib.MISSING)
725 tracker_motion = source.tracker_motion();
726 if (tracker_interval != AltosLib.MISSING)
727 tracker_interval = source.tracker_interval();
730 public void set_values(AltosConfigValues dest) {
731 dest.set_serial(serial);
732 dest.set_product(product);
733 dest.set_version(version);
734 dest.set_altitude_32(altitude_32);
735 dest.set_main_deploy(main_deploy);
736 dest.set_apogee_delay(apogee_delay);
737 dest.set_apogee_lockout(apogee_lockout);
738 dest.set_radio_calibration(radio_calibration);
739 dest.set_radio_frequency(frequency());
740 dest.set_telemetry_rate(telemetry_rate);
741 boolean max_enabled = true;
743 if (log_space() == 0)
746 if (log_fixed != AltosLib.MISSING)
749 switch (log_format) {
750 case AltosLib.AO_LOG_FORMAT_TINY:
759 dest.set_flight_log_max_enabled(max_enabled);
760 dest.set_radio_enable(radio_enable);
761 dest.set_flight_log_max_limit(log_space() >> 10, storage_erase_unit >> 10);
762 dest.set_flight_log_max(flight_log_max);
763 dest.set_ignite_mode(ignite_mode);
764 dest.set_pad_orientation(pad_orientation);
765 dest.set_accel_cal(accel_cal_plus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP),
766 accel_cal_minus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP));
767 dest.set_callsign(callsign);
768 if (npyro != AltosLib.MISSING)
769 dest.set_pyros(pyros);
771 dest.set_pyros(null);
772 dest.set_pyro_firing_time(pyro_firing_time);
773 dest.set_aprs_interval(aprs_interval);
774 dest.set_aprs_ssid(aprs_ssid);
775 dest.set_aprs_format(aprs_format);
776 dest.set_aprs_offset(aprs_offset);
778 dest.set_tracker_motion(tracker_motion);
779 dest.set_tracker_interval(tracker_interval);
782 public boolean log_has_state() {
783 switch (log_format) {
784 case AltosLib.AO_LOG_FORMAT_TELEGPS:
790 public void save(AltosLink link, boolean remote) throws InterruptedException, TimeoutException {
793 if (main_deploy != AltosLib.MISSING)
794 link.printf("c m %d\n", main_deploy);
795 if (apogee_delay != AltosLib.MISSING)
796 link.printf("c d %d\n", apogee_delay);
797 if (apogee_lockout != AltosLib.MISSING)
798 link.printf("c L %d\n", apogee_lockout);
801 if (has_frequency()) {
802 boolean has_frequency = radio_frequency != AltosLib.MISSING;
803 boolean has_setting = radio_setting != AltosLib.MISSING;
804 double frequency = frequency();
805 link.set_radio_frequency(frequency,
809 /* When remote, reset the dongle frequency at the same time */
810 if (remote && frequency != link.frequency) {
812 link.set_radio_frequency(frequency);
817 if (telemetry_rate != AltosLib.MISSING) {
818 link.printf("c T %d\n", telemetry_rate);
819 if (remote && telemetry_rate != link.telemetry_rate) {
821 link.set_telemetry_rate(telemetry_rate);
826 if (callsign != null) {
827 link.printf("c c %s\n", callsign);
828 if (remote && !callsign.equals(link.callsign)) {
829 System.out.printf("changing link callsign from %s to %s\n", link.callsign, callsign);
831 link.set_callsign(callsign);
836 if (radio_enable != AltosLib.MISSING)
837 link.printf("c e %d\n", radio_enable);
840 /* set orientation first so that we know how to set the accel cal */
841 if (pad_orientation != AltosLib.MISSING)
842 link.printf("c o %d\n", pad_orientation);
843 int plus = accel_cal_plus(pad_orientation);
844 int minus = accel_cal_minus(pad_orientation);
845 if (plus != AltosLib.MISSING && minus != AltosLib.MISSING) {
849 minus = 65536 + minus;
850 if (accel_zero_along != AltosLib.MISSING &&
851 accel_zero_across != AltosLib.MISSING &&
852 accel_zero_through != AltosLib.MISSING)
853 link.printf("c a %d %d %d %d %d\n",
859 link.printf("c a %d %d\n", plus, minus);
863 if (flight_log_max != 0 && flight_log_max != AltosLib.MISSING)
864 link.printf("c l %d\n", flight_log_max);
867 if (ignite_mode != AltosLib.MISSING)
868 link.printf("c i %d\n", ignite_mode);
871 /* UI doesn't support AES key config */
874 if (npyro != AltosLib.MISSING) {
875 for (int p = 0; p < pyros.length; p++) {
876 link.printf("c P %s\n",
877 pyros[p].toString());
880 if (pyro_firing_time != AltosLib.MISSING)
881 link.printf("c I %d\n", (int) (pyro_firing_time * 100.0 + 0.5));
884 if (aprs_interval != AltosLib.MISSING)
885 link.printf("c A %d\n", aprs_interval);
886 if (aprs_ssid != AltosLib.MISSING)
887 link.printf("c S %d\n", aprs_ssid);
888 if (aprs_format != AltosLib.MISSING)
889 link.printf("c C %d\n", aprs_format);
890 if (aprs_offset != AltosLib.MISSING)
891 link.printf("c O %d\n", aprs_offset);
894 if (beep != AltosLib.MISSING)
895 link.printf("c b %d\n", beep);
898 if (tracker_motion != AltosLib.MISSING && tracker_interval != AltosLib.MISSING)
899 link.printf("c t %d %d\n", tracker_motion, tracker_interval);
902 /* UI doesn't support accel cal */
904 link.printf("c w\n");
905 read_link(link, "Saved");
908 public AltosConfigData(AltosLink link) throws InterruptedException, TimeoutException {
910 link.printf("c s\nf\nv\n");
911 read_link(link, "software-version");
912 switch (log_format) {
913 case AltosLib.AO_LOG_FORMAT_UNKNOWN:
914 case AltosLib.AO_LOG_FORMAT_NONE:
918 read_link(link, "done");