*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_14;
import java.text.*;
* Telemetry data contents
*/
-public abstract class AltosTelemetry implements AltosStateUpdate {
+public abstract class AltosTelemetry implements AltosDataProvider {
+ int[] bytes;
/* All telemetry packets have these fields */
- public int tick;
- public int serial;
- public int rssi;
- public int status;
+ static public int rssi(int[] bytes) { return AltosConvert.telem_to_rssi(AltosLib.int8(bytes, bytes.length - 3)); }
+ static public int status(int[] bytes) { return AltosLib.uint8(bytes, bytes.length - 2); }
+
+ public int rssi() { return rssi(bytes); }
+ public int status() { return status(bytes); }
+
+ /* All telemetry packets report these fields in some form */
+ public abstract int serial();
+ public abstract int tick();
/* Mark when we received the packet */
long received_time;
+ /* Mark frequency packet was received on */
+ public double frequency = AltosLib.MISSING;
+
static boolean cksum(int[] bytes) {
int sum = 0x5a;
for (int i = 1; i < bytes.length - 1; i++)
return sum == bytes[bytes.length - 1];
}
- public void update_state(AltosState state) {
- state.set_serial(serial);
- if (state.state == AltosLib.ao_flight_invalid)
- state.set_state(AltosLib.ao_flight_startup);
- state.set_tick(tick);
- state.set_rssi(rssi, status);
- state.set_received_time(received_time);
+ public void provide_data(AltosDataListener listener) {
+ listener.set_serial(serial());
+ if (listener.state() == AltosLib.ao_flight_invalid)
+ listener.set_state(AltosLib.ao_flight_startup);
+ if (frequency != AltosLib.MISSING)
+ listener.set_frequency(frequency);
+ listener.set_tick(tick());
+ listener.set_rssi(rssi(), status());
+ listener.set_received_time(received_time);
}
final static int PKT_APPEND_STATUS_1_CRC_OK = (1 << 7);
final static int packet_type_location = 0x05;
final static int packet_type_satellite = 0x06;
final static int packet_type_companion = 0x07;
- final static int packet_type_mega_sensor = 0x08;
+ final static int packet_type_mega_sensor_mpu = 0x08;
final static int packet_type_mega_data = 0x09;
final static int packet_type_metrum_sensor = 0x0a;
final static int packet_type_metrum_data = 0x0b;
- final static int packet_type_mini = 0x10;
+ final static int packet_type_mini2 = 0x10;
+ final static int packet_type_mini3 = 0x11;
+ final static int packet_type_mega_sensor_bmx160 = 0x12;
+ final static int packet_type_mega_norm_mpu6000_mmc5983 = 0x13;
+ final static int packet_type_mega_norm_bmi088_mmc5983 = 0x14;
static AltosTelemetry parse_hex(String hex) throws ParseException, AltosCRCException {
AltosTelemetry telem = null;
if (!cksum(bytes))
throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
- int rssi = AltosLib.int8(bytes, bytes.length - 3) / 2 - 74;
- int status = AltosLib.uint8(bytes, bytes.length - 2);
-
- if ((status & PKT_APPEND_STATUS_1_CRC_OK) == 0)
- throw new AltosCRCException(rssi);
+ if ((status(bytes) & PKT_APPEND_STATUS_1_CRC_OK) == 0)
+ throw new AltosCRCException(rssi(bytes));
/* length, data ..., rssi, status, checksum -- 4 bytes extra */
switch (bytes.length) {
default:
throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
}
- if (telem != null) {
- telem.received_time = System.currentTimeMillis();
- telem.rssi = rssi;
- telem.status = status;
- }
return telem;
}
- public static int extend_height(AltosState state, int height_16) {
- double compare_height;
- int height = height_16;
-
- System.out.printf("state kalman height %g altitude %g ground_altitude %g gps_height %g\n",
- state.kalman_height.value(), state.altitude(), state.ground_altitude(), state.gps_height());
- if (state.gps != null && state.gps.alt != AltosLib.MISSING) {
- compare_height = state.gps_height();
- } else {
- compare_height = state.height();
- }
-
- if (compare_height != AltosLib.MISSING) {
- int high_bits = (int) Math.floor (compare_height / 65536.0);
+ public void set_frequency(double frequency) {
+ this.frequency = frequency;
+ }
- height = (high_bits << 16) | (height_16 & 0xffff);
+ public AltosTelemetry() {
+ this.received_time = System.currentTimeMillis();
+ }
- if (Math.abs(height + 65536 - compare_height) < Math.abs(height - compare_height))
- height += 65536;
- else if (Math.abs(height - 65536 - compare_height) < Math.abs(height - compare_height))
- height -= 65536;
- if (height != height_16) {
- System.out.printf("Height adjusted from %d to %d with %g\n",
- height_16, height, compare_height);
- }
- }
- return height;
+ public AltosTelemetry(int[] bytes) throws AltosCRCException {
+ this();
+ this.bytes = bytes;
+ if ((status() & PKT_APPEND_STATUS_1_CRC_OK) == 0)
+ throw new AltosCRCException(rssi());
}
public static AltosTelemetry parse(String line) throws ParseException, AltosCRCException {
throw new AltosCRCException(AltosParse.parse_int(word[i++]));
}
- AltosTelemetry telem;
+ AltosTelemetry telem = null;
if (word[i].equals("TELEM")) {
telem = parse_hex(word[i+1]);