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_11;
25 public class AltosEepromMega extends AltosEeprom {
26 public static final int record_length = 32;
28 public static final int max_sat = 12;
30 private int log_format;
32 public int record_length() { return record_length; }
34 /* AO_LOG_FLIGHT elements */
35 public int flight() { return data16(0); }
36 public int ground_accel() { return data16(2); }
37 public int ground_pres() { return data32(4); }
38 public int ground_accel_along() { return data16(8); }
39 public int ground_accel_across() { return data16(10); }
40 public int ground_accel_through() { return data16(12); }
41 public int ground_roll() {
43 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
45 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
48 return AltosLib.MISSING;
51 public int ground_pitch() {
53 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
55 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
58 return AltosLib.MISSING;
61 public int ground_yaw() {
63 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
65 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
68 return AltosLib.MISSING;
72 /* AO_LOG_STATE elements */
73 public int state() { return data16(0); }
74 public int reason() { return data16(2); }
76 /* AO_LOG_SENSOR elements */
77 public int pres() { return data32(0); }
78 public int temp() { return data32(4); }
79 public int accel_x() { return data16(8); }
80 public int accel_y() { return data16(10); }
81 public int accel_z() { return data16(12); }
82 public int gyro_x() { return data16(14); }
83 public int gyro_y() { return data16(16); }
84 public int gyro_z() { return data16(18); }
85 public int mag_x() { return data16(20); }
86 public int mag_y() { return data16(22); }
87 public int mag_z() { return data16(24); }
88 public int accel() { return data16(26); }
90 /* AO_LOG_TEMP_VOLT elements */
91 public int v_batt() { return data16(0); }
92 public int v_pbatt() { return data16(2); }
93 public int nsense() { return data16(4); }
94 public int sense(int i) { return data16(6 + i * 2); }
95 public int pyro() { return data16(26); }
97 /* AO_LOG_GPS_TIME elements */
98 public int latitude() { return data32(0); }
99 public int longitude() { return data32(4); }
100 public int altitude_low() { return data16(8); }
101 public int hour() { return data8(10); }
102 public int minute() { return data8(11); }
103 public int second() { return data8(12); }
104 public int flags() { return data8(13); }
105 public int year() { return data8(14); }
106 public int month() { return data8(15); }
107 public int day() { return data8(16); }
108 public int course() { return data8(17); }
109 public int ground_speed() { return data16(18); }
110 public int climb_rate() { return data16(20); }
111 public int pdop() { return data8(22); }
112 public int hdop() { return data8(23); }
113 public int vdop() { return data8(24); }
114 public int mode() { return data8(25); }
115 public int altitude_high() { return data16(26); }
117 /* AO_LOG_GPS_SAT elements */
118 public int nsat() { return data16(0); }
119 public int svid(int n) { return data8(2 + n * 2); }
120 public int c_n(int n) { return data8(2 + n * 2 + 1); }
122 public AltosEepromMega (AltosEepromChunk chunk, int start, int log_format) throws ParseException {
123 this.log_format = log_format;
124 parse_chunk(chunk, start);
127 public void update_state(AltosState state) {
128 super.update_state(state);
132 /* Flush any pending GPS changes */
133 if (state.gps_pending) {
135 case AltosLib.AO_LOG_GPS_LAT:
136 case AltosLib.AO_LOG_GPS_LON:
137 case AltosLib.AO_LOG_GPS_ALT:
138 case AltosLib.AO_LOG_GPS_SAT:
139 case AltosLib.AO_LOG_GPS_DATE:
142 state.set_temp_gps();
148 case AltosLib.AO_LOG_FLIGHT:
149 state.set_boost_tick(tick);
150 state.set_flight(flight());
151 state.set_ground_accel(ground_accel());
152 state.set_ground_pressure(ground_pres());
153 state.set_accel_ground(ground_accel_along(),
154 ground_accel_across(),
155 ground_accel_through());
156 state.set_gyro_zero(ground_roll() / 512.0,
157 ground_pitch() / 512.0,
158 ground_yaw() / 512.0);
160 case AltosLib.AO_LOG_STATE:
161 state.set_tick(tick);
162 state.set_state(state());
164 case AltosLib.AO_LOG_SENSOR:
165 state.set_tick(tick);
166 state.set_ms5607(pres(), temp());
168 AltosIMU imu = new AltosIMU(accel_y(), /* along */
169 accel_x(), /* across */
170 accel_z(), /* through */
172 gyro_x(), /* pitch */
175 if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
176 state.check_imu_wrap(imu);
180 state.set_mag(new AltosMag(mag_x(),
184 state.set_accel(accel());
187 case AltosLib.AO_LOG_TEMP_VOLT:
188 state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
189 state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
191 int nsense = nsense();
193 state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
194 state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
196 double voltages[] = new double[nsense-2];
197 for (int i = 0; i < nsense-2; i++)
198 voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
200 state.set_ignitor_voltage(voltages);
201 state.set_pyro_fired(pyro());
203 case AltosLib.AO_LOG_GPS_TIME:
204 state.set_tick(tick);
205 gps = state.make_temp_gps(false);
206 gps.lat = latitude() / 1e7;
207 gps.lon = longitude() / 1e7;
209 if (state.altitude_32())
210 gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
212 gps.alt = altitude_low();
215 gps.minute = minute();
216 gps.second = second();
220 gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
221 gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
222 gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
223 AltosLib.AO_GPS_NUM_SAT_SHIFT;
225 gps.year = 2000 + year();
228 gps.ground_speed = ground_speed() * 1.0e-2;
229 gps.course = course() * 2;
230 gps.climb_rate = climb_rate() * 1.0e-2;
231 if (state.compare_version("1.4.9") >= 0) {
232 gps.pdop = pdop() / 10.0;
233 gps.hdop = hdop() / 10.0;
234 gps.vdop = vdop() / 10.0;
236 gps.pdop = pdop() / 100.0;
239 gps.hdop = hdop() / 100.0;
242 gps.vdop = vdop() / 100.0;
247 case AltosLib.AO_LOG_GPS_SAT:
248 state.set_tick(tick);
249 gps = state.make_temp_gps(true);
254 for (int i = 0; i < n; i++)
255 gps.add_sat(svid(i), c_n(i));
260 public AltosEepromMega (String line, int log_format) {
261 this.log_format = log_format;
265 static public LinkedList<AltosEeprom> read(FileInputStream input, int log_format) {
266 LinkedList<AltosEeprom> megas = new LinkedList<AltosEeprom>();
270 String line = AltosLib.gets(input);
274 AltosEepromMega mega = new AltosEepromMega(line, log_format);
275 if (mega.cmd != AltosLib.AO_LOG_INVALID)
277 } catch (Exception e) {
278 System.out.printf ("exception\n");
280 } catch (IOException ie) {