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:
35 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
37 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
40 return AltosLib.MISSING;
43 private int ground_pitch() {
45 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
46 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
47 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
49 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
52 return AltosLib.MISSING;
55 private int ground_yaw() {
57 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
58 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
59 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
61 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
64 return AltosLib.MISSING;
68 /* AO_LOG_STATE elements */
69 private int state() { return data16(0); }
70 private int reason() { return data16(2); }
72 /* AO_LOG_SENSOR elements */
73 private int pres() { return data32(0); }
74 private int temp() { return data32(4); }
75 private int accel_x() { return data16(8); }
76 private int accel_y() { return data16(10); }
77 private int accel_z() { return data16(12); }
78 private int gyro_x() { return data16(14); }
79 private int gyro_y() { return data16(16); }
80 private int gyro_z() { return data16(18); }
81 private int mag_x() { return data16(20); }
82 private int mag_z() { return data16(22); }
83 private int mag_y() { return data16(24); }
85 private int accel_across() {
87 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
88 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
89 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
91 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
94 return AltosLib.MISSING;
98 private int accel_along(){
100 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
101 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
102 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
104 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
107 return AltosLib.MISSING;
111 private int accel_through() {
115 private int gyro_pitch() {
116 switch (log_format) {
117 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
118 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
119 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
121 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
124 return AltosLib.MISSING;
128 private int gyro_roll() {
129 switch (log_format) {
130 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
131 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
132 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
134 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
137 return AltosLib.MISSING;
141 private int gyro_yaw() {
145 private int mag_across() {
146 switch (log_format) {
147 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
148 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
149 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
151 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
154 return AltosLib.MISSING;
158 private int mag_along() {
159 switch (log_format) {
160 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
161 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
162 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
164 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
167 return AltosLib.MISSING;
171 private int mag_through() {
176 private int accel() { return data16(26); }
178 /* AO_LOG_TEMP_VOLT elements */
179 private int v_batt() { return data16(0); }
180 private int v_pbatt() { return data16(2); }
181 private int nsense() { return data16(4); }
182 private int sense(int i) { return data16(6 + i * 2); }
183 private int pyro() { return data16(26); }
185 /* AO_LOG_GPS_TIME elements */
186 private int latitude() { return data32(0); }
187 private int longitude() { return data32(4); }
188 private int altitude_low() { return data16(8); }
189 private int hour() { return data8(10); }
190 private int minute() { return data8(11); }
191 private int second() { return data8(12); }
192 private int flags() { return data8(13); }
193 private int year() { return data8(14); }
194 private int month() { return data8(15); }
195 private int day() { return data8(16); }
196 private int course() { return data8(17); }
197 private int ground_speed() { return data16(18); }
198 private int climb_rate() { return data16(20); }
199 private int pdop() { return data8(22); }
200 private int hdop() { return data8(23); }
201 private int vdop() { return data8(24); }
202 private int mode() { return data8(25); }
203 private int altitude_high() { return data16(26); }
205 /* AO_LOG_GPS_SAT elements */
206 private int nsat() { return data16(0); }
207 private int svid(int n) { return data8(2 + n * 2); }
208 private int c_n(int n) { return data8(2 + n * 2 + 1); }
210 public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
211 super.provide_data(listener, cal_data);
216 case AltosLib.AO_LOG_FLIGHT:
217 cal_data.set_flight(flight());
218 cal_data.set_ground_accel(ground_accel());
219 cal_data.set_ground_pressure(ground_pres());
220 listener.set_accel_ground(ground_accel_along(),
221 ground_accel_across(),
222 ground_accel_through());
223 cal_data.set_gyro_zero(ground_roll() / 512.0,
224 ground_pitch() / 512.0,
225 ground_yaw() / 512.0);
227 case AltosLib.AO_LOG_STATE:
228 listener.set_state(state());
230 case AltosLib.AO_LOG_SENSOR:
231 AltosConfigData config_data = eeprom.config_data();
232 AltosPresTemp pt = config_data.ms5607().pres_temp(pres(), temp());;
233 listener.set_pressure(pt.pres);
234 listener.set_temperature(pt.temp);
236 int accel_along = accel_along();
237 int accel_across = accel_across();
238 int accel_through = accel_through();
239 int gyro_roll = gyro_roll();
240 int gyro_pitch = gyro_pitch();
241 int gyro_yaw = gyro_yaw();
243 int mag_along = mag_along();
244 int mag_across = mag_across();
245 int mag_through = mag_through();
247 if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
248 cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw);
250 listener.set_accel(cal_data.accel_along(accel_along),
251 cal_data.accel_across(accel_across),
252 cal_data.accel_through(accel_through));
253 listener.set_gyro(cal_data.gyro_roll(gyro_roll),
254 cal_data.gyro_pitch(gyro_pitch),
255 cal_data.gyro_yaw(gyro_yaw));
257 listener.set_mag(cal_data.mag_along(mag_along),
258 cal_data.mag_across(mag_across),
259 cal_data.mag_through(mag_through));
262 final double lsb_per_g = 1920.0/105.5;
264 double acceleration = AltosConvert.acceleration_from_sensor(
266 cal_data.ground_accel,
267 cal_data.ground_accel + 2 * lsb_per_g,
268 cal_data.ground_accel);
270 listener.set_acceleration(acceleration);
272 case AltosLib.AO_LOG_TEMP_VOLT:
273 listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
274 listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
276 int nsense = nsense();
278 listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
279 listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
281 double voltages[] = new double[nsense-2];
282 for (int i = 0; i < nsense-2; i++)
283 voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
285 listener.set_igniter_voltage(voltages);
286 listener.set_pyro_fired(pyro());
288 case AltosLib.AO_LOG_GPS_TIME:
289 gps = listener.make_temp_gps(false);
290 gps.lat = latitude() / 1e7;
291 gps.lon = longitude() / 1e7;
293 if (config_data().altitude_32())
294 gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
296 gps.alt = altitude_low();
299 gps.minute = minute();
300 gps.second = second();
304 gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
305 gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
306 gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
307 AltosLib.AO_GPS_NUM_SAT_SHIFT;
309 gps.year = 2000 + year();
312 gps.ground_speed = ground_speed() * 1.0e-2;
313 gps.course = course() * 2;
314 gps.climb_rate = climb_rate() * 1.0e-2;
315 if (config_data().compare_version("1.4.9") >= 0) {
316 gps.pdop = pdop() / 10.0;
317 gps.hdop = hdop() / 10.0;
318 gps.vdop = vdop() / 10.0;
320 gps.pdop = pdop() / 100.0;
323 gps.hdop = hdop() / 100.0;
326 gps.vdop = vdop() / 100.0;
331 case AltosLib.AO_LOG_GPS_SAT:
332 gps = listener.make_temp_gps(true);
337 for (int i = 0; i < n; i++)
338 gps.add_sat(svid(i), c_n(i));
343 public AltosEepromRecord next() {
344 int s = next_start();
347 return new AltosEepromRecordMega(eeprom, s);
350 public AltosEepromRecordMega(AltosEeprom eeprom, int start) {
351 super(eeprom, start, record_length);
352 log_format = eeprom.config_data().log_format;
355 public AltosEepromRecordMega(AltosEeprom eeprom) {