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_11;
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:
35 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
38 return AltosLib.MISSING;
41 private int ground_pitch() {
43 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
45 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
48 return AltosLib.MISSING;
51 private int ground_yaw() {
53 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
55 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
58 return AltosLib.MISSING;
62 /* AO_LOG_STATE elements */
63 private int state() { return data16(0); }
64 private int reason() { return data16(2); }
66 /* AO_LOG_SENSOR elements */
67 private int pres() { return data32(0); }
68 private int temp() { return data32(4); }
69 private int accel_x() { return data16(8); }
70 private int accel_y() { return data16(10); }
71 private int accel_z() { return data16(12); }
72 private int gyro_x() { return data16(14); }
73 private int gyro_y() { return data16(16); }
74 private int gyro_z() { return data16(18); }
75 private int mag_x() { return data16(20); }
76 private int mag_y() { return data16(22); }
77 private int mag_z() { return data16(24); }
78 private int accel() { return data16(26); }
80 /* AO_LOG_TEMP_VOLT elements */
81 private int v_batt() { return data16(0); }
82 private int v_pbatt() { return data16(2); }
83 private int nsense() { return data16(4); }
84 private int sense(int i) { return data16(6 + i * 2); }
85 private int pyro() { return data16(26); }
87 /* AO_LOG_GPS_TIME elements */
88 private int latitude() { return data32(0); }
89 private int longitude() { return data32(4); }
90 private int altitude_low() { return data16(8); }
91 private int hour() { return data8(10); }
92 private int minute() { return data8(11); }
93 private int second() { return data8(12); }
94 private int flags() { return data8(13); }
95 private int year() { return data8(14); }
96 private int month() { return data8(15); }
97 private int day() { return data8(16); }
98 private int course() { return data8(17); }
99 private int ground_speed() { return data16(18); }
100 private int climb_rate() { return data16(20); }
101 private int pdop() { return data8(22); }
102 private int hdop() { return data8(23); }
103 private int vdop() { return data8(24); }
104 private int mode() { return data8(25); }
105 private int altitude_high() { return data16(26); }
107 /* AO_LOG_GPS_SAT elements */
108 private int nsat() { return data16(0); }
109 private int svid(int n) { return data8(2 + n * 2); }
110 private int c_n(int n) { return data8(2 + n * 2 + 1); }
112 public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
113 super.provide_data(listener, cal_data);
117 /* Flush any pending GPS changes */
118 if (cal_data.gps_pending()) {
120 case AltosLib.AO_LOG_GPS_LAT:
121 case AltosLib.AO_LOG_GPS_LON:
122 case AltosLib.AO_LOG_GPS_ALT:
123 case AltosLib.AO_LOG_GPS_SAT:
124 case AltosLib.AO_LOG_GPS_DATE:
127 listener.set_gps(cal_data.temp_gps());
128 cal_data.reset_temp_gps();
134 case AltosLib.AO_LOG_FLIGHT:
135 cal_data.set_flight(flight());
136 cal_data.set_ground_accel(ground_accel());
137 cal_data.set_ground_pressure(ground_pres());
138 listener.set_accel_ground(ground_accel_along(),
139 ground_accel_across(),
140 ground_accel_through());
141 cal_data.set_gyro_zero(ground_roll() / 512.0,
142 ground_pitch() / 512.0,
143 ground_yaw() / 512.0);
145 case AltosLib.AO_LOG_STATE:
146 listener.set_state(state());
148 case AltosLib.AO_LOG_SENSOR:
149 AltosConfigData config_data = eeprom.config_data();
150 AltosPresTemp pt = config_data.ms5607().pres_temp(pres(), temp());;
151 listener.set_pressure(pt.pres);
152 listener.set_temperature(pt.temp);
154 int accel_along = accel_y();
155 int accel_across = accel_x();
156 int accel_through = accel_z();
157 int gyro_roll = gyro_y();
158 int gyro_pitch = gyro_x();
159 int gyro_yaw = gyro_z();
161 int mag_along = mag_x();
162 int mag_across = mag_y();
163 int mag_through = mag_z();
165 if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
166 cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw);
168 listener.set_accel(cal_data.accel_along(accel_along),
169 cal_data.accel_across(accel_across),
170 cal_data.accel_through(accel_through));
171 listener.set_gyro(cal_data.gyro_roll(gyro_roll),
172 cal_data.gyro_pitch(gyro_pitch),
173 cal_data.gyro_yaw(gyro_yaw));
175 listener.set_mag(cal_data.mag_along(mag_along),
176 cal_data.mag_across(mag_across),
177 cal_data.mag_through(mag_through));
180 double acceleration = AltosConvert.acceleration_from_sensor(
182 config_data.accel_cal_plus,
183 config_data.accel_cal_minus,
186 listener.set_acceleration(acceleration);
188 case AltosLib.AO_LOG_TEMP_VOLT:
189 listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
190 listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
192 int nsense = nsense();
194 listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
195 listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
197 double voltages[] = new double[nsense-2];
198 for (int i = 0; i < nsense-2; i++)
199 voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
201 listener.set_igniter_voltage(voltages);
202 listener.set_pyro_fired(pyro());
204 case AltosLib.AO_LOG_GPS_TIME:
205 gps = cal_data.make_temp_gps(tick(), false);
206 gps.lat = latitude() / 1e7;
207 gps.lon = longitude() / 1e7;
209 if (config_data().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 (config_data().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 gps = cal_data.make_temp_gps(tick(), true);
253 for (int i = 0; i < n; i++)
254 gps.add_sat(svid(i), c_n(i));
259 public AltosEepromRecord next() {
260 int s = next_start();
263 return new AltosEepromRecordMega(eeprom, s);
266 public AltosEepromRecordMega(AltosEepromNew eeprom, int start) {
267 super(eeprom, start, record_length);
268 log_format = eeprom.config_data().log_format;
271 public AltosEepromRecordMega(AltosEepromNew eeprom) {