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_13;
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:
36 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
39 return AltosLib.MISSING;
42 private int ground_pitch() {
44 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
45 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
47 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
50 return AltosLib.MISSING;
53 private int ground_yaw() {
55 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
56 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
58 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
61 return AltosLib.MISSING;
65 /* AO_LOG_STATE elements */
66 private int state() { return data16(0); }
67 private int reason() { return data16(2); }
69 /* AO_LOG_SENSOR elements */
70 private int pres() { return data32(0); }
71 private int temp() { return data32(4); }
72 private int accel_x() { return data16(8); }
73 private int accel_y() { return data16(10); }
74 private int accel_z() { return data16(12); }
75 private int gyro_x() { return data16(14); }
76 private int gyro_y() { return data16(16); }
77 private int gyro_z() { return data16(18); }
78 private int mag_x() { return data16(20); }
79 private int mag_z() { return data16(22); }
80 private int mag_y() { return data16(24); }
81 private int accel() { return data16(26); }
83 /* AO_LOG_TEMP_VOLT elements */
84 private int v_batt() { return data16(0); }
85 private int v_pbatt() { return data16(2); }
86 private int nsense() { return data16(4); }
87 private int sense(int i) { return data16(6 + i * 2); }
88 private int pyro() { return data16(26); }
90 /* AO_LOG_GPS_TIME elements */
91 private int latitude() { return data32(0); }
92 private int longitude() { return data32(4); }
93 private int altitude_low() { return data16(8); }
94 private int hour() { return data8(10); }
95 private int minute() { return data8(11); }
96 private int second() { return data8(12); }
97 private int flags() { return data8(13); }
98 private int year() { return data8(14); }
99 private int month() { return data8(15); }
100 private int day() { return data8(16); }
101 private int course() { return data8(17); }
102 private int ground_speed() { return data16(18); }
103 private int climb_rate() { return data16(20); }
104 private int pdop() { return data8(22); }
105 private int hdop() { return data8(23); }
106 private int vdop() { return data8(24); }
107 private int mode() { return data8(25); }
108 private int altitude_high() { return data16(26); }
110 /* AO_LOG_GPS_SAT elements */
111 private int nsat() { return data16(0); }
112 private int svid(int n) { return data8(2 + n * 2); }
113 private int c_n(int n) { return data8(2 + n * 2 + 1); }
115 public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
116 super.provide_data(listener, cal_data);
121 case AltosLib.AO_LOG_FLIGHT:
122 cal_data.set_flight(flight());
123 cal_data.set_ground_accel(ground_accel());
124 cal_data.set_ground_pressure(ground_pres());
125 listener.set_accel_ground(ground_accel_along(),
126 ground_accel_across(),
127 ground_accel_through());
128 cal_data.set_gyro_zero(ground_roll() / 512.0,
129 ground_pitch() / 512.0,
130 ground_yaw() / 512.0);
132 case AltosLib.AO_LOG_STATE:
133 listener.set_state(state());
135 case AltosLib.AO_LOG_SENSOR:
136 AltosConfigData config_data = eeprom.config_data();
137 AltosPresTemp pt = config_data.ms5607().pres_temp(pres(), temp());;
138 listener.set_pressure(pt.pres);
139 listener.set_temperature(pt.temp);
141 int accel_along = accel_y();
142 int accel_across = accel_x();
143 int accel_through = accel_z();
144 int gyro_roll = gyro_y();
145 int gyro_pitch = gyro_x();
146 int gyro_yaw = gyro_z();
148 int mag_along = mag_y();
149 int mag_across = mag_x();
150 int mag_through = mag_z();
152 if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
153 cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw);
155 listener.set_accel(cal_data.accel_along(accel_along),
156 cal_data.accel_across(accel_across),
157 cal_data.accel_through(accel_through));
158 listener.set_gyro(cal_data.gyro_roll(gyro_roll),
159 cal_data.gyro_pitch(gyro_pitch),
160 cal_data.gyro_yaw(gyro_yaw));
162 listener.set_mag(cal_data.mag_along(mag_along),
163 cal_data.mag_across(mag_across),
164 cal_data.mag_through(mag_through));
167 final double lsb_per_g = 1920.0/105.5;
169 double acceleration = AltosConvert.acceleration_from_sensor(
171 cal_data.ground_accel,
172 cal_data.ground_accel + 2 * lsb_per_g,
173 cal_data.ground_accel);
175 listener.set_acceleration(acceleration);
177 case AltosLib.AO_LOG_TEMP_VOLT:
178 listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
179 listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
181 int nsense = nsense();
183 listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
184 listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
186 double voltages[] = new double[nsense-2];
187 for (int i = 0; i < nsense-2; i++)
188 voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
190 listener.set_igniter_voltage(voltages);
191 listener.set_pyro_fired(pyro());
193 case AltosLib.AO_LOG_GPS_TIME:
194 gps = listener.make_temp_gps(false);
195 gps.lat = latitude() / 1e7;
196 gps.lon = longitude() / 1e7;
198 if (config_data().altitude_32())
199 gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
201 gps.alt = altitude_low();
204 gps.minute = minute();
205 gps.second = second();
209 gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
210 gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
211 gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
212 AltosLib.AO_GPS_NUM_SAT_SHIFT;
214 gps.year = 2000 + year();
217 gps.ground_speed = ground_speed() * 1.0e-2;
218 gps.course = course() * 2;
219 gps.climb_rate = climb_rate() * 1.0e-2;
220 if (config_data().compare_version("1.4.9") >= 0) {
221 gps.pdop = pdop() / 10.0;
222 gps.hdop = hdop() / 10.0;
223 gps.vdop = vdop() / 10.0;
225 gps.pdop = pdop() / 100.0;
228 gps.hdop = hdop() / 100.0;
231 gps.vdop = vdop() / 100.0;
236 case AltosLib.AO_LOG_GPS_SAT:
237 gps = listener.make_temp_gps(true);
242 for (int i = 0; i < n; i++)
243 gps.add_sat(svid(i), c_n(i));
248 public AltosEepromRecord next() {
249 int s = next_start();
252 return new AltosEepromRecordMega(eeprom, s);
255 public AltosEepromRecordMega(AltosEeprom eeprom, int start) {
256 super(eeprom, start, record_length);
257 log_format = eeprom.config_data().log_format;
260 public AltosEepromRecordMega(AltosEeprom eeprom) {