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   1 /*
   2  * Copyright © 2017 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_11;
  16
  17 /*
  18  * Calibration and other data needed to construct 'real' values from various data
  19  * sources.
  20  */
  21
  22 public class AltosCalData {
  23         public int              flight = AltosLib.MISSING;
  24
  25         public void set_flight(int flight) {
  26                 if (flight != AltosLib.MISSING)
  27                         this.flight = flight;
  28         }
  29
  30         public String           callsign = null;
  31
  32         public void set_callsign(String callsign) {
  33                 if (callsign != null)
  34                         this.callsign = callsign;
  35         }
  36
  37         public String           firmware_version = null;
  38
  39         public void set_firmware_version(String firmware_version) {
  40                 if (firmware_version != null)
  41                         this.firmware_version = firmware_version;
  42         }
  43
  44         public String           product = null;
  45
  46         public void set_product(String product) {
  47                 if (product != null)
  48                         this.product = product;
  49         }
  50
  51         public int              serial = AltosLib.MISSING;
  52
  53         public void set_serial(int serial) {
  54                 if (serial != AltosLib.MISSING)
  55                         this.serial = serial;
  56         }
  57
  58         public int              receiver_serial = AltosLib.MISSING;
  59
  60         public void set_receiver_serial(int receiver_serial) {
  61                 if (receiver_serial != AltosLib.MISSING)
  62                         this.receiver_serial = receiver_serial;
  63         }
  64
  65         public int              device_type = AltosLib.MISSING;
  66
  67         public void set_device_type(int device_type) {
  68                 if (device_type != AltosLib.MISSING) {
  69                         this.device_type = device_type;
  70                         if (product == null)
  71                                 set_product(AltosLib.product_name(device_type));
  72                 }
  73         }
  74
  75         public int              config_major = AltosLib.MISSING;
  76         public int              config_minor = AltosLib.MISSING;
  77         public int              flight_log_max = AltosLib.MISSING;
  78
  79         public void set_config(int major, int minor, int log_max) {
  80                 if (major != AltosLib.MISSING)
  81                         config_major = major;
  82                 if (minor != AltosLib.MISSING)
  83                         config_minor = minor;
  84                 if (log_max != AltosLib.MISSING)
  85                         flight_log_max = log_max;
  86         }
  87
  88         public double           apogee_delay = AltosLib.MISSING;
  89         public double           main_deploy = AltosLib.MISSING;
  90
  91         public void set_flight_params(double apogee_delay, double main_deploy) {
  92                 if (apogee_delay != AltosLib.MISSING)
  93                         this.apogee_delay = apogee_delay;
  94                 if (main_deploy != AltosLib.MISSING)
  95                         this.main_deploy = main_deploy;
  96         }
  97
  98         public double           accel_plus_g = AltosLib.MISSING;
  99         public double           accel_minus_g = AltosLib.MISSING;
 100         public double           ground_accel = AltosLib.MISSING;
 101
 102         public void set_accel_plus_minus(double plus, double minus) {
 103                 if (plus != AltosLib.MISSING && minus != AltosLib.MISSING) {
 104                         if (plus == minus)
 105                                 return;
 106                         accel_plus_g = plus;
 107                         accel_minus_g = minus;
 108                 }
 109         }
 110
 111         public void set_ground_accel(double ground_accel) {
 112                 if (ground_accel != AltosLib.MISSING)
 113                         this.ground_accel = ground_accel;
 114         }
 115
 116         /* Raw acceleration value */
 117         public double           accel = AltosLib.MISSING;
 118
 119         public void set_accel(double accel) {
 120                 this.accel = accel;
 121         }
 122
 123         public boolean mma655x_inverted = false;
 124
 125         public void set_mma655x_inverted(boolean inverted) {
 126                 mma655x_inverted = inverted;
 127         }
 128
 129         public int pad_orientation = AltosLib.MISSING;
 130
 131         public void set_pad_orientation(int orientation) {
 132                 if (orientation != AltosLib.MISSING)
 133                         pad_orientation = orientation;
 134         }
 135
 136         /* Compute acceleration */
 137         public double acceleration(double sensor) {
 138                 return AltosConvert.acceleration_from_sensor(sensor, accel_plus_g, accel_minus_g, ground_accel);
 139         }
 140
 141         public AltosMs5607      ms5607 = null;
 142
 143         public void set_ms5607(AltosMs5607 ms5607) {
 144                 this.ms5607 = ms5607;
 145         }
 146
 147         public double           ground_pressure = AltosLib.MISSING;
 148         public double           ground_altitude = AltosLib.MISSING;
 149
 150         public void set_ground_pressure(double ground_pressure) {
 151                 if (ground_pressure != AltosLib.MISSING) {
 152                         this.ground_pressure = ground_pressure;
 153                         this.ground_altitude = AltosConvert.pressure_to_altitude(ground_pressure);
 154                 }
 155         }
 156
 157         public void set_ground_altitude(double ground_altitude) {
 158                 if (ground_altitude != AltosLib.MISSING)
 159                         this.ground_altitude = ground_altitude;
 160         }
 161
 162         /* Compute pressure */
 163
 164         public AltosPresTemp pressure_ms5607(int raw_pres, int raw_temp) {
 165                 if (ms5607 == null)
 166                         return new AltosPresTemp(AltosLib.MISSING, AltosLib.MISSING);
 167                 return ms5607.pres_temp(raw_pres, raw_temp);
 168         }
 169
 170         public int              tick = AltosLib.MISSING;
 171         private int             first_tick = AltosLib.MISSING;
 172         private int             prev_tick = AltosLib.MISSING;
 173
 174         public void set_tick(int tick) {
 175                 if (tick != AltosLib.MISSING) {
 176                         if (prev_tick != AltosLib.MISSING) {
 177                                 while (tick < prev_tick - 1000) {
 178                                         tick += 65536;
 179                                 }
 180                         }
 181                         if (first_tick == AltosLib.MISSING)
 182                                 first_tick = tick;
 183                         prev_tick = tick;
 184                         this.tick = tick;
 185                 }
 186         }
 187
 188         /* Reset all values which change during flight
 189          */
 190         public void reset() {
 191                 state = AltosLib.MISSING;
 192                 tick = AltosLib.MISSING;
 193                 prev_tick = AltosLib.MISSING;
 194                 temp_gps = null;
 195                 prev_gps = null;
 196                 temp_gps_sat_tick = AltosLib.MISSING;
 197                 accel = AltosLib.MISSING;
 198         }
 199
 200         public int              boost_tick = AltosLib.MISSING;
 201
 202         public void set_boost_tick() {
 203                 boost_tick = tick;
 204         }
 205
 206         public double           ticks_per_sec = 100.0;
 207
 208         public void set_ticks_per_sec(double ticks_per_sec) {
 209                 this.ticks_per_sec = ticks_per_sec;
 210         }
 211
 212         public double time() {
 213                 if (tick == AltosLib.MISSING)
 214                         return AltosLib.MISSING;
 215                 if (boost_tick != AltosLib.MISSING)
 216                         return (tick - boost_tick) / ticks_per_sec;
 217                 if (first_tick != AltosLib.MISSING)
 218                         return (tick - first_tick) / ticks_per_sec;
 219                 return tick / ticks_per_sec;
 220         }
 221
 222         public double boost_time() {
 223                 if (boost_tick == AltosLib.MISSING)
 224                         return AltosLib.MISSING;
 225                 return boost_tick / ticks_per_sec;
 226         }
 227
 228         public int              state = AltosLib.MISSING;
 229
 230         public void set_state(int state) {
 231                 if (state >= AltosLib.ao_flight_boost && boost_tick == AltosLib.MISSING)
 232                         set_boost_tick();
 233                 this.state = state;
 234         }
 235
 236         public AltosGPS         gps_pad = null;
 237
 238         public double           gps_pad_altitude = AltosLib.MISSING;
 239
 240         public void set_gps(AltosGPS gps) {
 241                 if ((state != AltosLib.MISSING && state < AltosLib.ao_flight_boost) || gps_pad == null)
 242                         gps_pad = gps;
 243                 if (gps_pad_altitude == AltosLib.MISSING && gps.alt != AltosLib.MISSING)
 244                         gps_pad_altitude = gps.alt;
 245         }
 246
 247         /*
 248          * While receiving GPS data, we construct a temporary GPS state
 249          * object and then deliver the result atomically to the listener
 250          */
 251         AltosGPS                temp_gps = null;
 252         AltosGPS                prev_gps = null;
 253         int                     temp_gps_sat_tick = AltosLib.MISSING;
 254
 255         public AltosGPS temp_gps() {
 256                 return temp_gps;
 257         }
 258
 259         public void reset_temp_gps() {
 260                 if (temp_gps != null) {
 261                         if (temp_gps.locked && temp_gps.nsat >= 4)
 262                                 set_gps(temp_gps);
 263                         prev_gps = temp_gps;
 264                         temp_gps = null;
 265                 }
 266         }
 267
 268         public boolean gps_pending() {
 269                 return temp_gps != null;
 270         }
 271
 272         public AltosGPS make_temp_gps(int tick, boolean sats) {
 273                 if (temp_gps == null) {
 274                         if (prev_gps != null)
 275                                 temp_gps = prev_gps.clone();
 276                         else
 277                                 temp_gps = new AltosGPS();
 278                 }
 279                 if (sats) {
 280                         if (tick != temp_gps_sat_tick)
 281                                 temp_gps.cc_gps_sat = null;
 282                         temp_gps_sat_tick = tick;
 283                 }
 284                 return temp_gps;
 285         }
 286
 287         public double   accel_zero_along, accel_zero_across, accel_zero_through;
 288
 289         public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
 290                 if (zero_along != AltosLib.MISSING) {
 291                         accel_zero_along = zero_along;
 292                         accel_zero_across = zero_across;
 293                         accel_zero_through = zero_through;
 294                 }
 295         }
 296
 297         public double accel_along(double counts) {
 298                 return AltosIMU.convert_accel(counts - accel_zero_along);
 299         }
 300
 301         public double accel_across(double counts) {
 302                 return AltosIMU.convert_accel(counts - accel_zero_across);
 303         }
 304
 305         public double accel_through(double counts) {
 306                 return AltosIMU.convert_accel(counts - accel_zero_through);
 307         }
 308
 309         public double   gyro_zero_roll, gyro_zero_pitch, gyro_zero_yaw;
 310
 311         public void set_gyro_zero(double roll, double pitch, double yaw) {
 312                 if (roll != AltosLib.MISSING) {
 313                         gyro_zero_roll = roll;
 314                         gyro_zero_pitch = pitch;
 315                         gyro_zero_yaw = yaw;
 316                         imu_wrap_checked = false;
 317                 }
 318         }
 319
 320         public double gyro_roll(double counts) {
 321                 if (gyro_zero_roll == AltosLib.MISSING || counts == AltosLib.MISSING)
 322                         return AltosLib.MISSING;
 323
 324                 return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_roll);
 325         }
 326
 327         public double gyro_pitch(double counts) {
 328                 if (gyro_zero_pitch == AltosLib.MISSING || counts == AltosLib.MISSING)
 329                         return AltosLib.MISSING;
 330                 return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_pitch);
 331         }
 332
 333         public double gyro_yaw(double counts) {
 334                 if (gyro_zero_yaw == AltosLib.MISSING || counts == AltosLib.MISSING)
 335                         return AltosLib.MISSING;
 336                 return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_yaw);
 337         }
 338
 339         private double gyro_zero_overflow(double first) {
 340                 double v = first / 128.0;
 341                 if (v < 0)
 342                         v = Math.ceil(v);
 343                 else
 344                         v = Math.floor(v);
 345                 if (v != 0)
 346                         System.out.printf("Adjusting gyro axis by %g steps\n", v);
 347                 return v * 128.0;
 348         }
 349
 350         /* Initial TeleMega log format had only 16 bits for gyro cal, so the top 9 bits got lost as the
 351          * cal data are scaled by 512. Use the first sample to adjust the cal value, assuming that it is
 352          * from a time of fairly low rotation speed. Fixed in later TeleMega firmware by storing 32 bits
 353          * of cal values.
 354          */
 355         private boolean imu_wrap_checked = false;
 356
 357         public void check_imu_wrap(double roll, double pitch, double yaw) {
 358                 if (!imu_wrap_checked) {
 359                         gyro_zero_roll += gyro_zero_overflow(roll);
 360                         gyro_zero_pitch += gyro_zero_overflow(pitch);
 361                         gyro_zero_yaw += gyro_zero_overflow(yaw);
 362                         imu_wrap_checked = true;
 363                 }
 364         }
 365
 366         public double mag_along(double along) {
 367                 if (along == AltosLib.MISSING)
 368                         return AltosLib.MISSING;
 369                 return AltosMag.convert_gauss(along);
 370         }
 371
 372         public double mag_across(double across) {
 373                 if (across == AltosLib.MISSING)
 374                         return AltosLib.MISSING;
 375                 return AltosMag.convert_gauss(across);
 376         }
 377
 378         public double mag_through(double through) {
 379                 if (through == AltosLib.MISSING)
 380                         return AltosLib.MISSING;
 381                 return AltosMag.convert_gauss(through);
 382         }
 383
 384         public AltosCalData() {
 385         }
 386
 387         public AltosCalData(AltosConfigData config_data) {
 388                 set_serial(config_data.serial);
 389                 set_ticks_per_sec(100.0);
 390                 set_flight(config_data.flight);
 391                 set_callsign(config_data.callsign);
 392                 set_config(config_data.config_major, config_data.config_minor, config_data.flight_log_max);
 393                 set_firmware_version(config_data.version);
 394                 set_flight_params(config_data.apogee_delay / ticks_per_sec, config_data.apogee_lockout / ticks_per_sec);
 395                 set_pad_orientation(config_data.pad_orientation);
 396                 set_product(config_data.product);
 397                 set_accel_plus_minus(config_data.accel_cal_plus, config_data.accel_cal_minus);
 398                 set_accel_zero(config_data.accel_zero_along, config_data.accel_zero_across, config_data.accel_zero_through);
 399                 set_ms5607(config_data.ms5607);
 400                 try {
 401                         set_mma655x_inverted(config_data.mma655x_inverted());
 402                 } catch (AltosUnknownProduct up) {
 403                 }
 404                 set_pad_orientation(config_data.pad_orientation);
 405         }
 406 }