2 * Copyright © 2017 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.
15 package org.altusmetrum.altoslib_14;
17 public class AltosEepromRecordMega extends AltosEepromRecord {
18 public static final int record_length = 32;
20 public static final int max_sat = 12;
22 private int log_format;
24 /* AO_LOG_FLIGHT elements */
25 private int flight() { return data16(0); }
26 private int ground_accel() { return data16(2); }
27 private int ground_pres() { return data32(4); }
28 private int ground_accel_along() { return data16(8); }
29 private int ground_accel_across() { return data16(10); }
30 private int ground_accel_through() { return data16(12); }
31 private int ground_roll() {
33 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
34 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
35 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
36 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
37 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
39 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
42 return AltosLib.MISSING;
45 private int ground_pitch() {
47 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
48 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
49 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
50 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
51 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
53 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
56 return AltosLib.MISSING;
59 private int ground_yaw() {
61 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
62 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
63 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
64 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
65 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
67 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
70 return AltosLib.MISSING;
74 /* AO_LOG_STATE elements */
75 private int state() { return data16(0); }
76 private int reason() { return data16(2); }
78 /* AO_LOG_SENSOR elements */
79 private int pres() { return data32(0); }
80 private int temp() { return data32(4); }
81 private int accel_x() { return data16(8); }
82 private int accel_y() { return data16(10); }
83 private int accel_z() { return data16(12); }
84 private int gyro_x() { return data16(14); }
85 private int gyro_y() { return data16(16); }
86 private int gyro_z() { return data16(18); }
87 private int mag_x() { return data16(20); }
88 private int mag_z() { return data16(22); }
89 private int mag_y() { return data16(24); }
91 /* normalized log data */
92 private int norm_accel_along() { return data16(8); }
93 private int norm_accel_across() { return data16(10); }
94 private int norm_accel_through() { return data16(12); }
95 private int norm_gyro_roll() { return data16(14); }
96 private int norm_gyro_pitch() { return data16(16); }
97 private int norm_gyro_yaw() { return data16(18); }
98 private int norm_mag_along() { return data16(20); }
99 private int norm_mag_across() { return data16(22); }
100 private int norm_mag_through() { return data16(24); }
102 private int imu_type() {
103 switch (log_format) {
104 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
105 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
106 return AltosIMU.imu_type_telemega_v1_v2;
107 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
108 return AltosIMU.imu_type_telemega_v3;
109 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
110 return AltosIMU.imu_type_easymega_v2;
111 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
112 return AltosIMU.imu_type_telemega_v4;
114 return AltosLib.MISSING;
118 private int imu_model() {
119 switch (log_format) {
120 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
121 return AltosLib.model_mpu6000;
123 return AltosLib.MISSING;
126 private boolean sensor_normalized() {
127 switch (log_format) {
128 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
134 private int mag_model() {
135 switch (log_format) {
136 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
137 return AltosLib.model_mmc5983;
139 return AltosLib.MISSING;
142 private int accel_across() {
143 if (sensor_normalized()) {
144 return norm_accel_across();
147 switch (log_format) {
148 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
149 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
150 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
152 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
153 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
156 return AltosLib.MISSING;
160 private int accel_along(){
161 if (sensor_normalized()) {
162 return norm_accel_along();
165 switch (log_format) {
166 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
167 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
168 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
170 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
171 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
174 return AltosLib.MISSING;
178 private int accel_through() {
179 if (sensor_normalized()) {
180 return norm_accel_through();
186 private int gyro_pitch() {
187 if (sensor_normalized()) {
188 return norm_gyro_pitch();
191 switch (log_format) {
192 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
193 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
194 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
196 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
198 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
201 return AltosLib.MISSING;
205 private int gyro_roll() {
206 if (sensor_normalized()) {
207 return norm_gyro_roll();
210 switch (log_format) {
211 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
212 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
213 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
215 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
216 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
219 return AltosLib.MISSING;
223 private int gyro_yaw() {
224 if (sensor_normalized()) {
225 return norm_gyro_yaw();
231 private int mag_across() {
232 if (sensor_normalized()) {
233 return norm_mag_across();
236 switch (log_format) {
237 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
238 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
239 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
241 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
243 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
246 return AltosLib.MISSING;
250 private int mag_along() {
251 if (sensor_normalized()) {
252 return norm_mag_along();
255 switch (log_format) {
256 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
257 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
258 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
260 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
261 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
264 return AltosLib.MISSING;
268 private int mag_through() {
269 if (sensor_normalized()) {
270 return norm_mag_through();
277 private int accel() { return data16(26); }
279 /* AO_LOG_TEMP_VOLT elements */
280 private int v_batt() { return data16(0); }
281 private int v_pbatt() { return data16(2); }
282 private int nsense() { return data16(4); }
283 private int sense(int i) { return data16(6 + i * 2); }
284 private int pyro() { return data16(26); }
286 /* AO_LOG_GPS_TIME elements */
287 private int latitude() { return data32(0); }
288 private int longitude() { return data32(4); }
289 private int altitude_low() { return data16(8); }
290 private int hour() { return data8(10); }
291 private int minute() { return data8(11); }
292 private int second() { return data8(12); }
293 private int flags() { return data8(13); }
294 private int year() { return data8(14); }
295 private int month() { return data8(15); }
296 private int day() { return data8(16); }
297 private int course() { return data8(17); }
298 private int ground_speed() { return data16(18); }
299 private int climb_rate() { return data16(20); }
300 private int pdop() { return data8(22); }
301 private int hdop() { return data8(23); }
302 private int vdop() { return data8(24); }
303 private int mode() { return data8(25); }
304 private int altitude_high() { return data16(26); }
306 /* AO_LOG_GPS_SAT elements */
307 private int nsat() { return data16(0); }
308 private int svid(int n) { return data8(2 + n * 2); }
309 private int c_n(int n) { return data8(2 + n * 2 + 1); }
311 public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
312 super.provide_data(listener, cal_data);
316 cal_data.set_imu_type(imu_type());
317 cal_data.set_imu_model(imu_model());
318 cal_data.set_mag_model(mag_model());
321 case AltosLib.AO_LOG_FLIGHT:
322 cal_data.set_flight(flight());
323 cal_data.set_ground_accel(ground_accel());
324 cal_data.set_ground_pressure(ground_pres());
325 listener.set_accel_ground(cal_data.accel_along(ground_accel_along()),
326 cal_data.accel_across(ground_accel_across()),
327 cal_data.accel_through(ground_accel_through()));
328 cal_data.set_gyro_zero(ground_roll() / 512.0,
329 ground_pitch() / 512.0,
330 ground_yaw() / 512.0);
332 case AltosLib.AO_LOG_STATE:
333 listener.set_state(state());
335 case AltosLib.AO_LOG_SENSOR:
336 AltosConfigData config_data = eeprom.config_data();
337 AltosPresTemp pt = config_data.ms5607().pres_temp(pres(), temp());;
338 listener.set_pressure(pt.pres);
339 listener.set_temperature(pt.temp);
341 int accel_along = accel_along();
342 int accel_across = accel_across();
343 int accel_through = accel_through();
344 int gyro_roll = gyro_roll();
345 int gyro_pitch = gyro_pitch();
346 int gyro_yaw = gyro_yaw();
348 int mag_along = mag_along();
349 int mag_across = mag_across();
350 int mag_through = mag_through();
352 if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
353 cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw);
355 listener.set_accel(cal_data.accel_along(accel_along),
356 cal_data.accel_across(accel_across),
357 cal_data.accel_through(accel_through));
358 listener.set_gyro(cal_data.gyro_roll(gyro_roll),
359 cal_data.gyro_pitch(gyro_pitch),
360 cal_data.gyro_yaw(gyro_yaw));
362 listener.set_mag(cal_data.mag_along(mag_along),
363 cal_data.mag_across(mag_across),
364 cal_data.mag_through(mag_through));
366 listener.set_acceleration(cal_data.acceleration(accel()));
368 case AltosLib.AO_LOG_TEMP_VOLT:
369 listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
370 listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
372 int nsense = nsense();
374 listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
375 listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
377 double voltages[] = new double[nsense-2];
378 for (int i = 0; i < nsense-2; i++)
379 voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
381 listener.set_igniter_voltage(voltages);
382 listener.set_pyro_fired(pyro());
384 case AltosLib.AO_LOG_GPS_TIME:
385 gps = listener.make_temp_gps(false);
386 gps.lat = latitude() / 1e7;
387 gps.lon = longitude() / 1e7;
389 if (config_data().altitude_32())
390 gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
392 gps.alt = altitude_low();
395 gps.minute = minute();
396 gps.second = second();
400 gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
401 gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
402 gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
403 AltosLib.AO_GPS_NUM_SAT_SHIFT;
405 gps.year = 2000 + year();
408 gps.ground_speed = ground_speed() * 1.0e-2;
409 gps.course = course() * 2;
410 gps.climb_rate = climb_rate() * 1.0e-2;
411 if (config_data().compare_version("1.4.9") >= 0) {
412 gps.pdop = pdop() / 10.0;
413 gps.hdop = hdop() / 10.0;
414 gps.vdop = vdop() / 10.0;
416 gps.pdop = pdop() / 100.0;
419 gps.hdop = hdop() / 100.0;
422 gps.vdop = vdop() / 100.0;
427 case AltosLib.AO_LOG_GPS_SAT:
428 gps = listener.make_temp_gps(true);
433 for (int i = 0; i < n; i++)
434 gps.add_sat(svid(i), c_n(i));
439 public AltosEepromRecord next() {
440 int s = next_start();
443 return new AltosEepromRecordMega(eeprom, s);
446 public AltosEepromRecordMega(AltosEeprom eeprom, int start) {
447 super(eeprom, start, record_length);
448 log_format = eeprom.config_data().log_format;
451 public AltosEepromRecordMega(AltosEeprom eeprom) {