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:
38 case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
40 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
43 return AltosLib.MISSING;
46 private int ground_pitch() {
48 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
49 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
50 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
51 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
52 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
53 case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
55 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
58 return AltosLib.MISSING;
61 private int ground_yaw() {
63 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
64 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
65 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
66 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
67 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
68 case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
70 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
73 return AltosLib.MISSING;
77 /* AO_LOG_STATE elements */
78 private int state() { return data16(0); }
79 private int reason() { return data16(2); }
81 /* AO_LOG_SENSOR elements */
82 private int pres() { return data32(0); }
83 private int temp() { return data32(4); }
84 private int accel_x() { return data16(8); }
85 private int accel_y() { return data16(10); }
86 private int accel_z() { return data16(12); }
87 private int gyro_x() { return data16(14); }
88 private int gyro_y() { return data16(16); }
89 private int gyro_z() { return data16(18); }
90 private int mag_x() { return data16(20); }
91 private int mag_z() { return data16(22); }
92 private int mag_y() { return data16(24); }
94 /* normalized log data */
95 private int norm_accel_along() { return data16(8); }
96 private int norm_accel_across() { return data16(10); }
97 private int norm_accel_through() { return data16(12); }
98 private int norm_gyro_roll() { return data16(14); }
99 private int norm_gyro_pitch() { return data16(16); }
100 private int norm_gyro_yaw() { return data16(18); }
101 private int norm_mag_along() { return data16(20); }
102 private int norm_mag_across() { return data16(22); }
103 private int norm_mag_through() { return data16(24); }
105 private int imu_type() {
106 switch (log_format) {
107 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
108 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
109 return AltosIMU.imu_type_telemega_v1_v2;
110 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
111 return AltosIMU.imu_type_telemega_v3;
112 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
113 return AltosIMU.imu_type_easymega_v2;
114 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
115 return AltosIMU.imu_type_telemega_v4;
117 return AltosLib.MISSING;
121 private int imu_model() {
122 switch (log_format) {
123 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
124 return AltosLib.model_mpu6000;
125 case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
126 return AltosLib.model_bmi088;
128 return AltosLib.MISSING;
131 private boolean sensor_normalized() {
132 switch (log_format) {
133 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
134 case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
140 private int mag_model() {
141 switch (log_format) {
142 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
143 case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
144 return AltosLib.model_mmc5983;
146 return AltosLib.MISSING;
149 private int accel_across() {
150 if (sensor_normalized()) {
151 return norm_accel_across();
154 switch (log_format) {
155 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
156 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
157 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
159 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
160 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
163 return AltosLib.MISSING;
167 private int accel_along(){
168 if (sensor_normalized()) {
169 return norm_accel_along();
172 switch (log_format) {
173 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
174 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
175 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
177 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
178 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
181 return AltosLib.MISSING;
185 private int accel_through() {
186 if (sensor_normalized()) {
187 return norm_accel_through();
193 private int gyro_pitch() {
194 if (sensor_normalized()) {
195 return norm_gyro_pitch();
198 switch (log_format) {
199 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
200 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
201 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
203 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
205 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
208 return AltosLib.MISSING;
212 private int gyro_roll() {
213 if (sensor_normalized()) {
214 return norm_gyro_roll();
217 switch (log_format) {
218 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
219 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
220 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
222 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
223 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
226 return AltosLib.MISSING;
230 private int gyro_yaw() {
231 if (sensor_normalized()) {
232 return norm_gyro_yaw();
238 private int mag_across() {
239 if (sensor_normalized()) {
240 return norm_mag_across();
243 switch (log_format) {
244 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
245 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
246 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
248 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
250 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
253 return AltosLib.MISSING;
257 private int mag_along() {
258 if (sensor_normalized()) {
259 return norm_mag_along();
262 switch (log_format) {
263 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
264 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
265 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
267 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
268 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
271 return AltosLib.MISSING;
275 private int mag_through() {
276 if (sensor_normalized()) {
277 return norm_mag_through();
284 private int accel() { return data16(26); }
286 /* AO_LOG_TEMP_VOLT elements */
287 private int v_batt() { return data16(0); }
288 private int v_pbatt() { return data16(2); }
289 private int nsense() { return data16(4); }
290 private int sense(int i) { return data16(6 + i * 2); }
291 private int pyro() { return data16(26); }
293 /* AO_LOG_GPS_TIME elements */
294 private int latitude() { return data32(0); }
295 private int longitude() { return data32(4); }
296 private int altitude_low() { return data16(8); }
297 private int hour() { return data8(10); }
298 private int minute() { return data8(11); }
299 private int second() { return data8(12); }
300 private int flags() { return data8(13); }
301 private int year() { return data8(14); }
302 private int month() { return data8(15); }
303 private int day() { return data8(16); }
304 private int course() { return data8(17); }
305 private int ground_speed() { return data16(18); }
306 private int climb_rate() { return data16(20); }
307 private int pdop() { return data8(22); }
308 private int hdop() { return data8(23); }
309 private int vdop() { return data8(24); }
310 private int mode() { return data8(25); }
311 private int altitude_high() { return data16(26); }
313 /* AO_LOG_GPS_SAT elements */
314 private int nsat() { return data16(0); }
315 private int svid(int n) { return data8(2 + n * 2); }
316 private int c_n(int n) { return data8(2 + n * 2 + 1); }
318 public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
319 super.provide_data(listener, cal_data);
323 cal_data.set_imu_type(imu_type());
324 cal_data.set_imu_model(imu_model());
325 cal_data.set_mag_model(mag_model());
328 case AltosLib.AO_LOG_FLIGHT:
329 cal_data.set_flight(flight());
330 cal_data.set_ground_accel(ground_accel());
331 cal_data.set_ground_pressure(ground_pres());
332 listener.set_accel_ground(cal_data.accel_along(ground_accel_along()),
333 cal_data.accel_across(ground_accel_across()),
334 cal_data.accel_through(ground_accel_through()));
335 cal_data.set_gyro_zero(ground_roll() / 512.0,
336 ground_pitch() / 512.0,
337 ground_yaw() / 512.0);
339 case AltosLib.AO_LOG_STATE:
340 listener.set_state(state());
342 case AltosLib.AO_LOG_SENSOR:
343 AltosConfigData config_data = eeprom.config_data();
344 AltosPresTemp pt = config_data.ms5607().pres_temp(pres(), temp());;
345 listener.set_pressure(pt.pres);
346 listener.set_temperature(pt.temp);
348 int accel_along = accel_along();
349 int accel_across = accel_across();
350 int accel_through = accel_through();
351 int gyro_roll = gyro_roll();
352 int gyro_pitch = gyro_pitch();
353 int gyro_yaw = gyro_yaw();
355 int mag_along = mag_along();
356 int mag_across = mag_across();
357 int mag_through = mag_through();
359 if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
360 cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw);
362 listener.set_accel(cal_data.accel_along(accel_along),
363 cal_data.accel_across(accel_across),
364 cal_data.accel_through(accel_through));
365 listener.set_gyro(cal_data.gyro_roll(gyro_roll),
366 cal_data.gyro_pitch(gyro_pitch),
367 cal_data.gyro_yaw(gyro_yaw));
369 listener.set_mag(cal_data.mag_along(mag_along),
370 cal_data.mag_across(mag_across),
371 cal_data.mag_through(mag_through));
373 listener.set_acceleration(cal_data.acceleration(accel()));
375 case AltosLib.AO_LOG_TEMP_VOLT:
376 listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
377 listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
379 int nsense = nsense();
381 listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
382 listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
384 double voltages[] = new double[nsense-2];
385 for (int i = 0; i < nsense-2; i++)
386 voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
388 listener.set_igniter_voltage(voltages);
389 listener.set_pyro_fired(pyro());
391 case AltosLib.AO_LOG_GPS_TIME:
392 gps = listener.make_temp_gps(false);
393 gps.lat = latitude() / 1e7;
394 gps.lon = longitude() / 1e7;
396 if (config_data().altitude_32())
397 gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
399 gps.alt = altitude_low();
402 gps.minute = minute();
403 gps.second = second();
407 gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
408 gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
409 gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
410 AltosLib.AO_GPS_NUM_SAT_SHIFT;
412 gps.year = 2000 + year();
415 gps.ground_speed = ground_speed() * 1.0e-2;
416 gps.course = course() * 2;
417 gps.climb_rate = climb_rate() * 1.0e-2;
418 if (config_data().compare_version("1.4.9") >= 0) {
419 gps.pdop = pdop() / 10.0;
420 gps.hdop = hdop() / 10.0;
421 gps.vdop = vdop() / 10.0;
423 gps.pdop = pdop() / 100.0;
426 gps.hdop = hdop() / 100.0;
429 gps.vdop = vdop() / 100.0;
434 case AltosLib.AO_LOG_GPS_SAT:
435 gps = listener.make_temp_gps(true);
440 for (int i = 0; i < n; i++)
441 gps.add_sat(svid(i), c_n(i));
446 public AltosEepromRecord next() {
447 int s = next_start();
450 return new AltosEepromRecordMega(eeprom, s);
453 public AltosEepromRecordMega(AltosEeprom eeprom, int start) {
454 super(eeprom, start, record_length);
455 log_format = eeprom.config_data().log_format;
458 public AltosEepromRecordMega(AltosEeprom eeprom) {