X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosConfigData.java;h=cd649113b1a6b8293b3766f05a74f97ae6f79d0b;hb=HEAD;hp=dc036867047cf278432aa99b7b35be0ccb244d6f;hpb=b48966c3121e1b5d4a659bebcad595d6f1ec5ee5;p=fw%2Faltos diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java index dc036867..b076357d 100644 --- a/altoslib/AltosConfigData.java +++ b/altoslib/AltosConfigData.java @@ -16,12 +16,13 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_12; +package org.altusmetrum.altoslib_14; import java.util.*; import java.text.*; import java.util.concurrent.*; +/* Don't change the field names in this structure; they're part of all .eeprom files */ public class AltosConfigData { /* Version information */ @@ -53,6 +54,8 @@ public class AltosConfigData { /* HAS_ACCEL */ public int accel_cal_plus, accel_cal_minus; + private int accel_cal_plus_cooked, accel_cal_minus_cooked; + private boolean accel_cal_adjusted; public int pad_orientation; /* HAS_LOG */ @@ -75,16 +78,26 @@ public class AltosConfigData { public int aprs_interval; public int aprs_ssid; public int aprs_format; + public int aprs_offset; /* HAS_BEEP */ public int beep; + /* HAS_RADIO_10MW */ + public int radio_10mw; + + public int report_feet; + + /* HAS_GPS_MOSAIC */ + public int gps_receiver; + /* Storage info replies */ public int storage_size; public int storage_erase_unit; /* Log listing replies */ public int stored_flight; + public AltosEepromFlight[] flights; /* HAS_TRACKER */ public int tracker_motion; @@ -158,7 +171,7 @@ public class AltosConfigData { public int log_available() { switch (log_format) { case AltosLib.AO_LOG_FORMAT_TINY: - if (stored_flight == 0) + if (flights == null) return 1; return 0; case AltosLib.AO_LOG_FORMAT_TELEMETRY: @@ -171,10 +184,10 @@ public class AltosConfigData { int log_space = log_space(); int log_used; - if (stored_flight <= 0) + if (flights == null) log_used = 0; else - log_used = stored_flight * log_max; + log_used = flights.length * log_max; int log_avail; if (log_used >= log_space) @@ -186,12 +199,56 @@ public class AltosConfigData { } } + public int invert_accel_value(int value) { + if (value == AltosLib.MISSING) + return AltosLib.MISSING; + + switch (log_format) { + case AltosLib.AO_LOG_FORMAT_FULL: + return 0x7fff - value; + case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: + case AltosLib.AO_LOG_FORMAT_TELEMEGA: + case AltosLib.AO_LOG_FORMAT_TELEMEGA_3: + return 4095 - value; + case AltosLib.AO_LOG_FORMAT_TELEMETRUM: + /* + * TeleMetrum v2 and later use the same log format, but + * have different accelerometers. This is the only place + * it matters in altoslib. + */ + if (product.startsWith("TeleMetrum-v2")) + return 4095 - value; + /* fall through */ + case AltosLib.AO_LOG_FORMAT_TELEMEGA_4: + case AltosLib.AO_LOG_FORMAT_TELEMEGA_5: + case AltosLib.AO_LOG_FORMAT_TELEMEGA_6: + case AltosLib.AO_LOG_FORMAT_EASYMEGA_2: + case AltosLib.AO_LOG_FORMAT_EASYMEGA_3: + case AltosLib.AO_LOG_FORMAT_EASYMOTOR: + /* ADXL375 */ + return -value; + case AltosLib.AO_LOG_FORMAT_EASYTIMER_2: + /* BMI088 */ + return -value; + default: + if (product.startsWith("EasyTimer-")) + return -value; + return AltosLib.MISSING; + } + } + public boolean has_monitor_battery() { + if (product == null) + return false; if (product.startsWith("TeleBT")) return true; return false; } + public boolean has_radio() { + return product.startsWith("Tele"); + } + int[] parse_version(String v) { String[] parts = v.split("\\."); int r[] = new int[parts.length]; @@ -252,9 +309,12 @@ public class AltosConfigData { radio_setting = AltosLib.MISSING; telemetry_rate = AltosLib.MISSING; + accel_cal_plus_cooked = AltosLib.MISSING; + accel_cal_minus_cooked = AltosLib.MISSING; accel_cal_plus = AltosLib.MISSING; accel_cal_minus = AltosLib.MISSING; pad_orientation = AltosLib.MISSING; + accel_cal_adjusted = false; flight_log_max = AltosLib.MISSING; log_fixed = AltosLib.MISSING; @@ -270,21 +330,100 @@ public class AltosConfigData { aprs_interval = AltosLib.MISSING; aprs_ssid = AltosLib.MISSING; aprs_format = AltosLib.MISSING; + aprs_offset = AltosLib.MISSING; beep = AltosLib.MISSING; + radio_10mw = AltosLib.MISSING; + + report_feet = AltosLib.MISSING; + + gps_receiver = AltosLib.MISSING; + tracker_motion = AltosLib.MISSING; tracker_interval = AltosLib.MISSING; storage_size = AltosLib.MISSING; storage_erase_unit = AltosLib.MISSING; - stored_flight = AltosLib.MISSING; + stored_flight = 0; + flights = null; accel_zero_along = AltosLib.MISSING; accel_zero_across = AltosLib.MISSING; accel_zero_through = AltosLib.MISSING; } + /* Return + accel calibration relative to a specific pad orientation */ + public int accel_cal_plus(int pad_orientation) { + adjust_accel_cal(); + if (!accel_cal_adjusted) + return AltosLib.MISSING; + + switch (pad_orientation) { + case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP: + case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT: + case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP: + return accel_cal_plus_cooked; + case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN: + case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN: + case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN: + return invert_accel_value(accel_cal_minus_cooked); + default: + return AltosLib.MISSING; + } + } + + /* Return - accel calibration relative to a specific pad orientation */ + public int accel_cal_minus(int pad_orientation) { + adjust_accel_cal(); + if (!accel_cal_adjusted) + return AltosLib.MISSING; + + switch (pad_orientation) { + case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP: + case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT: + case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP: + return accel_cal_minus_cooked; + case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN: + case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN: + case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN: + return invert_accel_value(accel_cal_plus_cooked); + default: + return AltosLib.MISSING; + } + } + + /* Once we have all of the values from the config data, compute the + * accel cal values relative to Antenna Up orientation. + */ + private void adjust_accel_cal() { + if (!accel_cal_adjusted && + product != null && + pad_orientation != AltosLib.MISSING && + accel_cal_plus != AltosLib.MISSING && + accel_cal_minus != AltosLib.MISSING) + { + switch (pad_orientation) { + case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP: + case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT: + case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP: + accel_cal_plus_cooked = accel_cal_plus; + accel_cal_minus_cooked = accel_cal_minus; + accel_cal_adjusted = true; + break; + case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN: + case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN: + case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN: + accel_cal_plus_cooked = invert_accel_value(accel_cal_minus); + accel_cal_minus_cooked = invert_accel_value(accel_cal_plus); + accel_cal_adjusted = true; + break; + default: + break; + } + } + } + public void parse_line(String line) { /* Version replies */ @@ -351,6 +490,7 @@ public class AltosConfigData { if (bits.length >= 6) { accel_cal_plus = Integer.parseInt(bits[3]); accel_cal_minus = Integer.parseInt(bits[5]); + accel_cal_adjusted = false; } } } catch (Exception e) {} @@ -385,10 +525,18 @@ public class AltosConfigData { try { aprs_interval = get_int(line, "APRS interval:"); } catch (Exception e) {} try { aprs_ssid = get_int(line, "APRS SSID:"); } catch (Exception e) {} try { aprs_format = get_int(line, "APRS format:"); } catch (Exception e) {} + try { aprs_offset = get_int(line, "APRS offset:"); } catch (Exception e) {} /* HAS_BEEP */ try { beep = get_int(line, "Beeper setting:"); } catch (Exception e) {} + /* HAS_RADIO_10MW */ + try { radio_10mw = get_int(line, "Radio 10mw limit:"); } catch (Exception e) {} + + try { report_feet = get_int(line, "Report in feet:"); } catch (Exception e) {} + + try { gps_receiver = get_int(line, "GPS receiver:"); } catch (Exception e) {} + /* HAS_TRACKER */ try { int[] values = get_values(line, "Tracker setting:"); @@ -401,7 +549,32 @@ public class AltosConfigData { try { storage_erase_unit = get_int(line, "Storage erase unit:"); } catch (Exception e) {} /* Log listing replies */ - try { get_int(line, "flight"); stored_flight++; } catch (Exception e) {} + try { + int flight = get_int(line, "flight"); + String[] tokens = line.split("\\s+"); + if (tokens.length >= 6) { + int start = -1, end = -1; + try { + if (tokens[2].equals("start")) + start = AltosParse.parse_hex(tokens[3]); + if (tokens[4].equals("end")) + end = AltosParse.parse_hex(tokens[5]); + if (flight != 0 && start >= 0 && end > 0) { + int len; + if (flights == null) + len = 0; + else + len = flights.length; + AltosEepromFlight [] new_flights = new AltosEepromFlight[len + 1]; + for (int i = 0; i < len; i++) + new_flights[i] = flights[i]; + new_flights[len] = new AltosEepromFlight(flight, start, end); + flights = new_flights; + stored_flight = flights.length; + } + } catch (ParseException pe) { System.out.printf("Parse error %s\n", pe.toString()); } + } + } catch (Exception e) {} /* HAS_GYRO */ try { @@ -481,6 +654,10 @@ public class AltosConfigData { return false; if (product.startsWith("TeleMetrum-v2")) return false; + if (product.startsWith("TeleMetrum-v3")) + return false; + if (product.startsWith("TeleMetrum-v4")) + return true; if (product.startsWith("EasyMega")) return false; return true; @@ -501,6 +678,51 @@ public class AltosConfigData { throw new AltosUnknownProduct(product); } + public boolean adxl375_inverted() throws AltosUnknownProduct { + if (product != null) { + if (product.startsWith("EasyMega-v2")) + return true; + if (product.startsWith("TeleMetrum-v3")) + return true; + if (product.startsWith("TeleMetrum-v4")) + return true; + if (product.startsWith("TeleMega-v4")) + return true; + if (product.startsWith("TeleMega-v5")) + return true; + if (product.startsWith("TeleMega-v6")) + return true; + if (product.startsWith("EasyMotor-v2")) + return true; + if (product.startsWith("EasyMotor-v3")) + return true; + } + throw new AltosUnknownProduct(product); + } + + public int adxl375_axis() throws AltosUnknownProduct { + if (product != null) { + if (product.startsWith("EasyMega-v2")) + return AltosAdxl375.X_AXIS; + if (product.startsWith("TeleMetrum-v3")) + return AltosAdxl375.X_AXIS; + if (product.startsWith("TeleMetrum-v4")) + return AltosAdxl375.X_AXIS; + if (product.startsWith("TeleMega-v4")) + return AltosAdxl375.X_AXIS; + if (product.startsWith("TeleMega-v5")) + return AltosAdxl375.X_AXIS; + if (product.startsWith("TeleMega-v6")) + return AltosAdxl375.X_AXIS; + if (product.startsWith("EasyMotor-v2")) + return AltosAdxl375.X_AXIS; + if (product.startsWith("EasyMotor-v3")) + return AltosAdxl375.X_AXIS; + + } + throw new AltosUnknownProduct(product); + } + public void get_values(AltosConfigValues source) throws AltosConfigDataException { /* HAS_FLIGHT */ @@ -525,11 +747,11 @@ public class AltosConfigData { if (pad_orientation != AltosLib.MISSING) pad_orientation = source.pad_orientation(); - if (accel_cal_plus != AltosLib.MISSING) - accel_cal_plus = source.accel_cal_plus(); + if (accel_cal_plus_cooked != AltosLib.MISSING) + accel_cal_plus_cooked = source.accel_cal_plus(); - if (accel_cal_minus != AltosLib.MISSING) - accel_cal_minus = source.accel_cal_minus(); + if (accel_cal_minus_cooked != AltosLib.MISSING) + accel_cal_minus_cooked = source.accel_cal_minus(); /* HAS_LOG */ if (flight_log_max != AltosLib.MISSING) @@ -552,10 +774,23 @@ public class AltosConfigData { aprs_ssid = source.aprs_ssid(); if (aprs_format != AltosLib.MISSING) aprs_format = source.aprs_format(); + if (aprs_offset != AltosLib.MISSING) + aprs_offset = source.aprs_offset(); /* HAS_BEEP */ if (beep != AltosLib.MISSING) beep = source.beep(); + + /* HAS_RADIO_10MW */ + if (radio_10mw != AltosLib.MISSING) + radio_10mw = source.radio_10mw(); + + if (report_feet != AltosLib.MISSING) + report_feet = source.report_feet(); + + if (gps_receiver != AltosLib.MISSING) + gps_receiver = source.gps_receiver(); + /* HAS_TRACKER */ if (tracker_motion != AltosLib.MISSING) tracker_motion = source.tracker_motion(); @@ -587,18 +822,19 @@ public class AltosConfigData { max_enabled = false; break; default: - if (stored_flight != AltosLib.MISSING) + if (flights != null) max_enabled = false; break; } dest.set_flight_log_max_enabled(max_enabled); dest.set_radio_enable(radio_enable); - dest.set_flight_log_max_limit(log_space() / 1024); + dest.set_flight_log_max_limit(log_space() >> 10, storage_erase_unit >> 10); dest.set_flight_log_max(flight_log_max); dest.set_ignite_mode(ignite_mode); dest.set_pad_orientation(pad_orientation); - dest.set_accel_cal(accel_cal_plus, accel_cal_minus); + dest.set_accel_cal(accel_cal_plus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP), + accel_cal_minus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP)); dest.set_callsign(callsign); if (npyro != AltosLib.MISSING) dest.set_pyros(pyros); @@ -608,7 +844,11 @@ public class AltosConfigData { dest.set_aprs_interval(aprs_interval); dest.set_aprs_ssid(aprs_ssid); dest.set_aprs_format(aprs_format); + dest.set_aprs_offset(aprs_offset); dest.set_beep(beep); + dest.set_radio_10mw(radio_10mw); + dest.set_report_feet(report_feet); + dest.set_gps_receiver(gps_receiver); dest.set_tracker_motion(tracker_motion); dest.set_tracker_interval(tracker_interval); } @@ -641,33 +881,28 @@ public class AltosConfigData { has_setting, radio_calibration); /* When remote, reset the dongle frequency at the same time */ - if (remote) { - link.flush_output(); + if (remote && frequency != link.frequency) { link.stop_remote(); link.set_radio_frequency(frequency); - link.flush_output(); link.start_remote(); } } if (telemetry_rate != AltosLib.MISSING) { link.printf("c T %d\n", telemetry_rate); - if (remote) { - link.flush_output(); + if (remote && telemetry_rate != link.telemetry_rate) { link.stop_remote(); link.set_telemetry_rate(telemetry_rate); - link.flush_output(); link.start_remote(); } } if (callsign != null) { link.printf("c c %s\n", callsign); - if (remote) { - link.flush_output(); + if (remote && !callsign.equals(link.callsign)) { + System.out.printf("changing link callsign from %s to %s\n", link.callsign, callsign); link.stop_remote(); link.set_callsign(callsign); - link.flush_output(); link.start_remote(); } } @@ -676,13 +911,30 @@ public class AltosConfigData { link.printf("c e %d\n", radio_enable); /* HAS_ACCEL */ + /* set orientation first so that we know how to set the accel cal */ if (pad_orientation != AltosLib.MISSING) link.printf("c o %d\n", pad_orientation); - if (accel_cal_plus != AltosLib.MISSING && accel_cal_minus != AltosLib.MISSING) - link.printf("c a %d %d\n", accel_cal_plus, accel_cal_minus); + int plus = accel_cal_plus(pad_orientation); + int minus = accel_cal_minus(pad_orientation); + if (plus != AltosLib.MISSING && minus != AltosLib.MISSING) { + if (plus < 0) + plus = 65536 + plus; + if (minus < 0) + minus = 65536 + minus; + if (accel_zero_along != AltosLib.MISSING && + accel_zero_across != AltosLib.MISSING && + accel_zero_through != AltosLib.MISSING) + link.printf("c a %d %d %d %d %d\n", + plus, minus, + accel_zero_along, + accel_zero_across, + accel_zero_through); + else + link.printf("c a %d %d\n", plus, minus); + } /* HAS_LOG */ - if (flight_log_max != 0) + if (flight_log_max != 0 && flight_log_max != AltosLib.MISSING) link.printf("c l %d\n", flight_log_max); /* HAS_IGNITE */ @@ -709,11 +961,24 @@ public class AltosConfigData { link.printf("c S %d\n", aprs_ssid); if (aprs_format != AltosLib.MISSING) link.printf("c C %d\n", aprs_format); + if (aprs_offset != AltosLib.MISSING) + link.printf("c O %d\n", aprs_offset); /* HAS_BEEP */ if (beep != AltosLib.MISSING) link.printf("c b %d\n", beep); + /* HAS_RADIO_10MW */ + if (radio_10mw != AltosLib.MISSING) + link.printf("c p %d\n", radio_10mw); + + if (report_feet != AltosLib.MISSING) + link.printf("c u %d\n", report_feet); + + /* HAS_GPS_MOSAIC */ + if (gps_receiver != AltosLib.MISSING) + link.printf("c g %d\n", gps_receiver); + /* HAS_TRACKER */ if (tracker_motion != AltosLib.MISSING && tracker_interval != AltosLib.MISSING) link.printf("c t %d %d\n", tracker_motion, tracker_interval); @@ -722,7 +987,7 @@ public class AltosConfigData { /* UI doesn't support accel cal */ link.printf("c w\n"); - link.flush_output(); + read_link(link, "Saved"); } public AltosConfigData(AltosLink link) throws InterruptedException, TimeoutException { @@ -738,5 +1003,6 @@ public class AltosConfigData { read_link(link, "done"); break; } + adjust_accel_cal(); } }