git.gag.com Git - fw/altos/blob - altoslib/AltosEepromRecordMotor.java

   1 /*
   2  * Copyright © 2020 Keith Packard <keithp@keithp.com>
   3  *
   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.
   8  *
   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.
  13  */
  14
  15 package org.altusmetrum.altoslib_14;
  16
  17 public class AltosEepromRecordMotor extends AltosEepromRecord {
  18         public static final int record_length = 16;
  19
  20         private int log_format;
  21
  22         /* AO_LOG_FLIGHT elements */
  23         private int flight() { return data16(0); }
  24         private int ground_accel() { return data16(2); }
  25         private int ground_accel_along() { return data16(4); }
  26         private int ground_accel_across() { return data16(6); }
  27         private int ground_accel_through() { return data16(8); }
  28         private int ground_motor_pressure() { return data16(10); }
  29
  30         /* AO_LOG_STATE elements */
  31         private int state() { return data16(0); }
  32         private int reason() { return data16(2); }
  33
  34         /* AO_LOG_SENSOR elements */
  35         private int motor_pres() { return data16(0); }
  36         private int v_batt() { return data16(2); }
  37         private int accel() { return data16(4); }
  38         private int accel_across() { return data16(6); }
  39         private int accel_along() { return -data16(8); }
  40         private int accel_through() { return data16(10); }
  41
  42         private int imu_type() {
  43                 switch (log_format) {
  44                 case AltosLib.AO_LOG_FORMAT_EASYMOTOR:
  45                         return AltosIMU.imu_type_easymotor_v2;
  46                 default:
  47                         return AltosLib.MISSING;
  48                 }
  49         }
  50
  51         public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
  52                 super.provide_data(listener, cal_data);
  53
  54                 cal_data.set_imu_type(imu_type());
  55
  56                 switch (cmd()) {
  57                 case AltosLib.AO_LOG_FLIGHT:
  58                         cal_data.set_flight(flight());
  59                         cal_data.set_ground_accel(ground_accel());
  60                         listener.set_accel_ground(cal_data.accel_along(ground_accel_along()),
  61                                                   cal_data.accel_across(ground_accel_across()),
  62                                                   cal_data.accel_through(ground_accel_through()));
  63                         cal_data.set_ground_motor_pressure(ground_motor_pressure());
  64                         break;
  65                 case AltosLib.AO_LOG_STATE:
  66                         listener.set_state(state());
  67                         break;
  68                 case AltosLib.AO_LOG_SENSOR:
  69                         AltosConfigData config_data = eeprom.config_data();
  70
  71                         listener.set_battery_voltage(AltosConvert.easy_motor_3_voltage(v_batt()));
  72                         double pa = AltosConvert.easy_motor_3_motor_pressure(motor_pres(), cal_data.ground_motor_pressure);
  73                         listener.set_motor_pressure(pa);
  74
  75                         int     accel_along = accel_along();
  76                         int     accel_across = accel_across();
  77                         int     accel_through = accel_through();
  78
  79                         listener.set_accel(cal_data.accel_along(accel_along),
  80                                            cal_data.accel_across(accel_across),
  81                                            cal_data.accel_through(accel_through));
  82
  83                         listener.set_acceleration(cal_data.acceleration(accel()));
  84                         break;
  85                 }
  86         }
  87
  88         public AltosEepromRecord next() {
  89                 int     s = next_start();
  90                 if (s < 0)
  91                         return null;
  92                 return new AltosEepromRecordMotor(eeprom, s);
  93         }
  94
  95         public AltosEepromRecordMotor(AltosEeprom eeprom, int start) {
  96                 super(eeprom, start, record_length);
  97                 log_format = eeprom.config_data().log_format;
  98         }
  99
 100         public AltosEepromRecordMotor(AltosEeprom eeprom) {
 101                 this(eeprom, 0);
 102         }
 103 }