X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosEepromRecordMega.java;h=57de0a4137406a38b9ca54f9fedd10d8ecc27b1f;hb=HEAD;hp=0abc3fe73865c64bae21ec23d5f39c0f0fee47e7;hpb=3d29882f5c70e627b0bbfe42c0a31d6cb5f6b6bf;p=fw%2Faltos

diff --git a/altoslib/AltosEepromRecordMega.java b/altoslib/AltosEepromRecordMega.java
index 0abc3fe7..bf94b676 100644
--- a/altoslib/AltosEepromRecordMega.java
+++ b/altoslib/AltosEepromRecordMega.java
@@ -12,7 +12,7 @@
  * General Public License for more details.
  */
 
-package org.altusmetrum.altoslib_11;
+package org.altusmetrum.altoslib_14;
 
 public class AltosEepromRecordMega extends AltosEepromRecord {
 	public static final int	record_length = 32;
@@ -31,6 +31,11 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 	private int ground_roll() {
 		switch (log_format) {
 		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
 			return data32(16);
 		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 			return data16(14);
@@ -41,6 +46,11 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 	private int ground_pitch() {
 		switch (log_format) {
 		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
 			return data32(20);
 		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 			return data16(16);
@@ -51,6 +61,11 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 	private int ground_yaw() {
 		switch (log_format) {
 		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
 			return data32(24);
 		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 			return data16(18);
@@ -73,8 +88,199 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 	private int gyro_y() { return data16(16); }
 	private int gyro_z() { return data16(18); }
 	private int mag_x() { return data16(20); }
-	private int mag_y() { return data16(22); }
-	private int mag_z() { return data16(24); }
+	private int mag_z() { return data16(22); }
+	private int mag_y() { return data16(24); }
+
+	/* normalized log data */
+	private int norm_accel_along() { return data16(8); }
+	private int norm_accel_across() { return data16(10); }
+	private int norm_accel_through() { return data16(12); }
+	private int norm_gyro_roll() { return data16(14); }
+	private int norm_gyro_pitch() { return data16(16); }
+	private int norm_gyro_yaw() { return data16(18); }
+	private int norm_mag_along() { return data16(20); }
+	private int norm_mag_across() { return data16(22); }
+	private int norm_mag_through() { return data16(24); }
+
+	private int imu_type() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return AltosIMU.imu_type_telemega_v1_v2;
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+			return AltosIMU.imu_type_telemega_v3;
+		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+			return AltosIMU.imu_type_easymega_v2;
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+			return AltosIMU.imu_type_telemega_v4;
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	private int imu_model() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
+			return AltosLib.model_mpu6000;
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
+			return AltosLib.model_bmi088;
+		}
+		return AltosLib.MISSING;
+	}
+
+	private boolean sensor_normalized() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
+			return true;
+		}
+		return false;
+	}
+
+	private int mag_model() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
+			return AltosLib.model_mmc5983;
+		}
+		return AltosLib.MISSING;
+	}
+
+	private int accel_across() {
+		if (sensor_normalized()) {
+			return norm_accel_across();
+		}
+
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return accel_x();
+		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+			return -accel_y();
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	private int accel_along(){
+		if (sensor_normalized()) {
+			return norm_accel_along();
+		}
+
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return accel_y();
+		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+			return accel_x();
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	private int accel_through() {
+		if (sensor_normalized()) {
+			return norm_accel_through();
+		}
+
+		return accel_z();
+	}
+
+	private int gyro_pitch() {
+		if (sensor_normalized()) {
+			return norm_gyro_pitch();
+		}
+
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return gyro_x();
+		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+			return -gyro_y();
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+			return -gyro_y();
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	private int gyro_roll() {
+		if (sensor_normalized()) {
+			return norm_gyro_roll();
+		}
+
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return gyro_y();
+		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+			return gyro_x();
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	private int gyro_yaw() {
+		if (sensor_normalized()) {
+			return norm_gyro_yaw();
+		}
+
+		return gyro_z();
+	}
+
+	private int mag_across() {
+		if (sensor_normalized()) {
+			return norm_mag_across();
+		}
+
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return mag_x();
+		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+			return -mag_y();
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+			return mag_y();
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	private int mag_along() {
+		if (sensor_normalized()) {
+			return norm_mag_along();
+		}
+
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return mag_y();
+		case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+			return mag_x();
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	private int mag_through() {
+		if (sensor_normalized()) {
+			return norm_mag_through();
+		}
+
+		return mag_z();
+	}
+
+
 	private int accel() { return data16(26); }
 
 	/* AO_LOG_TEMP_VOLT elements */
@@ -114,14 +320,18 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 
 		AltosGPS	gps;
 
+		cal_data.set_imu_type(imu_type());
+		cal_data.set_imu_model(imu_model());
+		cal_data.set_mag_model(mag_model());
+
 		switch (cmd()) {
 		case AltosLib.AO_LOG_FLIGHT:
 			cal_data.set_flight(flight());
 			cal_data.set_ground_accel(ground_accel());
 			cal_data.set_ground_pressure(ground_pres());
-			listener.set_accel_ground(ground_accel_along(),
-						  ground_accel_across(),
-						  ground_accel_through());
+			listener.set_accel_ground(cal_data.accel_along(ground_accel_along()),
+						  cal_data.accel_across(ground_accel_across()),
+						  cal_data.accel_through(ground_accel_through()));
 			cal_data.set_gyro_zero(ground_roll() / 512.0,
 					       ground_pitch() / 512.0,
 					       ground_yaw() / 512.0);
@@ -135,16 +345,16 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 			listener.set_pressure(pt.pres);
 			listener.set_temperature(pt.temp);
 
-			int	accel_along = accel_y();
-			int	accel_across = accel_x();
-			int	accel_through = accel_z();
-			int	gyro_roll = gyro_y();
-			int	gyro_pitch = gyro_x();
-			int	gyro_yaw = gyro_z();
+			int	accel_along = accel_along();
+			int	accel_across = accel_across();
+			int	accel_through = accel_through();
+			int	gyro_roll = gyro_roll();
+			int	gyro_pitch = gyro_pitch();
+			int	gyro_yaw = gyro_yaw();
 
-			int	mag_along = mag_x();
-			int	mag_across = mag_y();
-			int	mag_through = mag_z();
+			int	mag_along = mag_along();
+			int	mag_across = mag_across();
+			int	mag_through = mag_through();
 
 			if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
 				cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw);
@@ -160,14 +370,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 					 cal_data.mag_across(mag_across),
 					 cal_data.mag_through(mag_through));
 
-
-			double acceleration = AltosConvert.acceleration_from_sensor(
-				accel(),
-				config_data.accel_cal_plus,
-				config_data.accel_cal_minus,
-				AltosLib.MISSING);
-
-			listener.set_acceleration(acceleration);
+			listener.set_acceleration(cal_data.acceleration(accel()));
 			break;
 		case AltosLib.AO_LOG_TEMP_VOLT:
 			listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
@@ -186,7 +389,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 			listener.set_pyro_fired(pyro());
 			break;
 		case AltosLib.AO_LOG_GPS_TIME:
-			gps = cal_data.make_temp_gps(tick(), false);
+			gps = listener.make_temp_gps(false);
 			gps.lat = latitude() / 1e7;
 			gps.lon = longitude() / 1e7;
 
@@ -229,7 +432,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 			}
 			break;
 		case AltosLib.AO_LOG_GPS_SAT:
-			gps = cal_data.make_temp_gps(tick(), true);
+			gps = listener.make_temp_gps(true);
 
 			int n = nsat();
 			if (n > max_sat)
@@ -247,12 +450,12 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 		return new AltosEepromRecordMega(eeprom, s);
 	}
 
-	public AltosEepromRecordMega(AltosEepromNew eeprom, int start) {
+	public AltosEepromRecordMega(AltosEeprom eeprom, int start) {
 		super(eeprom, start, record_length);
 		log_format = eeprom.config_data().log_format;
 	}
 
-	public AltosEepromRecordMega(AltosEepromNew eeprom) {
+	public AltosEepromRecordMega(AltosEeprom eeprom) {
 		this(eeprom, 0);
 	}
 }