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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         }
  71
  72         public int              config_major = AltosLib.MISSING;
  73         public int              config_minor = AltosLib.MISSING;
  74         public int              flight_log_max = AltosLib.MISSING;
  75
  76         public void set_config(int major, int minor, int log_max) {
  77                 if (major != AltosLib.MISSING)
  78                         config_major = major;
  79                 if (minor != AltosLib.MISSING)
  80                         config_minor = minor;
  81                 if (log_max != AltosLib.MISSING)
  82                         flight_log_max = log_max;
  83         }
  84
  85         public double           apogee_delay = AltosLib.MISSING;
  86         public double           main_deploy = AltosLib.MISSING;
  87
  88         public void set_flight_params(double apogee_delay, double main_deploy) {
  89                 if (apogee_delay != AltosLib.MISSING)
  90                         this.apogee_delay = apogee_delay;
  91                 if (main_deploy != AltosLib.MISSING)
  92                         this.main_deploy = main_deploy;
  93         }
  94
  95         public double           accel_plus_g = AltosLib.MISSING;
  96         public double           accel_minus_g = AltosLib.MISSING;
  97         public double           ground_accel = AltosLib.MISSING;
  98
  99         public void set_accel_plus_minus(double plus, double minus) {
 100                 if (plus != AltosLib.MISSING && minus != AltosLib.MISSING) {
 101                         accel_plus_g = plus;
 102                         accel_minus_g = minus;
 103                 }
 104         }
 105
 106         public void set_ground_accel(double ground_accel) {
 107                 if (ground_accel != AltosLib.MISSING)
 108                         this.ground_accel = ground_accel;
 109         }
 110
 111         /* Raw acceleration value */
 112         public double           accel = AltosLib.MISSING;
 113
 114         public void set_accel(double accel) {
 115                 this.accel = accel;
 116         }
 117
 118         public boolean mma655x_inverted = false;
 119
 120         public void set_mma655x_inverted(boolean inverted) {
 121                 mma655x_inverted = inverted;
 122         }
 123
 124         public int pad_orientation = AltosLib.MISSING;
 125
 126         public void set_pad_orientation(int orientation) {
 127                 if (orientation != AltosLib.MISSING)
 128                         pad_orientation = orientation;
 129         }
 130
 131         /* Compute acceleration */
 132         public double acceleration(double sensor) {
 133                 return AltosConvert.acceleration_from_sensor(sensor, accel_plus_g, accel_minus_g, ground_accel);
 134         }
 135
 136         public AltosMs5607      ms5607 = null;
 137
 138         public void set_ms5607(AltosMs5607 ms5607) {
 139                 this.ms5607 = ms5607;
 140         }
 141
 142         public double           ground_pressure = AltosLib.MISSING;
 143         public double           ground_altitude = AltosLib.MISSING;
 144
 145         public void set_ground_pressure(double ground_pressure) {
 146                 if (ground_pressure != AltosLib.MISSING) {
 147                         this.ground_pressure = ground_pressure;
 148                         this.ground_altitude = AltosConvert.pressure_to_altitude(ground_pressure);
 149                 }
 150         }
 151
 152         public void set_ground_altitude(double ground_altitude) {
 153                 if (ground_altitude != AltosLib.MISSING)
 154                         this.ground_altitude = ground_altitude;
 155         }
 156
 157         /* Compute pressure */
 158
 159         public AltosPresTemp pressure_ms5607(int raw_pres, int raw_temp) {
 160                 if (ms5607 == null)
 161                         return new AltosPresTemp(AltosLib.MISSING, AltosLib.MISSING);
 162                 return ms5607.pres_temp(raw_pres, raw_temp);
 163         }
 164
 165         public int              tick = AltosLib.MISSING;
 166         private int             prev_tick = AltosLib.MISSING;
 167
 168         public void set_tick(int tick) {
 169                 if (tick != AltosLib.MISSING) {
 170                         if (prev_tick != AltosLib.MISSING) {
 171                                 while (tick < prev_tick - 1000) {
 172                                         tick += 65536;
 173                                 }
 174                         }
 175                         prev_tick = tick;
 176                         this.tick = tick;
 177                 }
 178         }
 179
 180         public int              boost_tick = AltosLib.MISSING;
 181
 182         public void set_boost_tick() {
 183                 boost_tick = tick;
 184         }
 185
 186         public double           ticks_per_sec = 100.0;
 187
 188         public void set_ticks_per_sec(double ticks_per_sec) {
 189                 this.ticks_per_sec = ticks_per_sec;
 190         }
 191
 192         public double time() {
 193                 if (tick == AltosLib.MISSING)
 194                         return AltosLib.MISSING;
 195                 if (boost_tick == AltosLib.MISSING)
 196                         return AltosLib.MISSING;
 197                 return (tick - boost_tick) / ticks_per_sec;
 198         }
 199
 200         public double boost_time() {
 201                 if (boost_tick == AltosLib.MISSING)
 202                         return AltosLib.MISSING;
 203                 return boost_tick / ticks_per_sec;
 204         }
 205
 206         public int              state = AltosLib.MISSING;
 207
 208         public void set_state(int state) {
 209                 if (state >= AltosLib.ao_flight_boost && boost_tick == AltosLib.MISSING)
 210                         set_boost_tick();
 211                 this.state = state;
 212         }
 213
 214         public AltosGPS         gps_pad = null;
 215
 216         public double           gps_pad_altitude = AltosLib.MISSING;
 217
 218         public void set_gps(AltosGPS gps) {
 219                 if ((state != AltosLib.MISSING && state < AltosLib.ao_flight_boost) || gps_pad == null)
 220                         gps_pad = gps;
 221                 if (gps_pad_altitude == AltosLib.MISSING && gps.alt != AltosLib.MISSING)
 222                         gps_pad_altitude = gps.alt;
 223         }
 224
 225         /*
 226          * While receiving GPS data, we construct a temporary GPS state
 227          * object and then deliver the result atomically to the listener
 228          */
 229         AltosGPS                temp_gps = null;
 230         AltosGPS                prev_gps = null;
 231         int                     temp_gps_sat_tick = AltosLib.MISSING;
 232
 233         public AltosGPS temp_gps() {
 234                 return temp_gps;
 235         }
 236
 237         public void reset_temp_gps() {
 238                 if (temp_gps != null) {
 239                         if (temp_gps.locked && temp_gps.nsat >= 4)
 240                                 set_gps(temp_gps);
 241                         prev_gps = temp_gps;
 242                         temp_gps = null;
 243                 }
 244         }
 245
 246         public boolean gps_pending() {
 247                 return temp_gps != null;
 248         }
 249
 250         public AltosGPS make_temp_gps(int tick, boolean sats) {
 251                 if (temp_gps == null) {
 252                         if (prev_gps != null)
 253                                 temp_gps = prev_gps.clone();
 254                         else
 255                                 temp_gps = new AltosGPS();
 256                 }
 257                 if (sats) {
 258                         if (tick != temp_gps_sat_tick)
 259                                 temp_gps.cc_gps_sat = null;
 260                         temp_gps_sat_tick = tick;
 261                 }
 262                 return temp_gps;
 263         }
 264
 265         public double   accel_zero_along, accel_zero_across, accel_zero_through;
 266
 267         public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
 268                 if (zero_along != AltosLib.MISSING) {
 269                         accel_zero_along = zero_along;
 270                         accel_zero_across = zero_across;
 271                         accel_zero_through = zero_through;
 272                 }
 273         }
 274
 275         public double accel_along(double counts) {
 276                 return AltosIMU.convert_accel(counts - accel_zero_along);
 277         }
 278
 279         public double accel_across(double counts) {
 280                 return AltosIMU.convert_accel(counts - accel_zero_across);
 281         }
 282
 283         public double accel_through(double counts) {
 284                 return AltosIMU.convert_accel(counts - accel_zero_through);
 285         }
 286
 287         public double   gyro_zero_roll, gyro_zero_pitch, gyro_zero_yaw;
 288
 289         public void set_gyro_zero(double roll, double pitch, double yaw) {
 290                 if (roll != AltosLib.MISSING) {
 291                         gyro_zero_roll = roll;
 292                         gyro_zero_pitch = pitch;
 293                         gyro_zero_yaw = yaw;
 294                 }
 295         }
 296
 297         public double gyro_roll(double counts) {
 298                 if (gyro_zero_roll == AltosLib.MISSING || counts == AltosLib.MISSING)
 299                         return AltosLib.MISSING;
 300                 return AltosIMU.convert_gyro(counts - gyro_zero_roll);
 301         }
 302
 303         public double gyro_pitch(double counts) {
 304                 if (gyro_zero_pitch == AltosLib.MISSING || counts == AltosLib.MISSING)
 305                         return AltosLib.MISSING;
 306                 return AltosIMU.convert_gyro(counts - gyro_zero_pitch);
 307         }
 308
 309         public double gyro_yaw(double counts) {
 310                 if (gyro_zero_yaw == AltosLib.MISSING || counts == AltosLib.MISSING)
 311                         return AltosLib.MISSING;
 312                 return AltosIMU.convert_gyro(counts - gyro_zero_yaw);
 313         }
 314
 315         private double gyro_zero_overflow(double first) {
 316                 double v = first / 128.0;
 317                 if (v < 0)
 318                         v = Math.ceil(v);
 319                 else
 320                         v = Math.floor(v);
 321                 return v * 128.0;
 322         }
 323
 324         public void check_imu_wrap(double roll, double pitch, double yaw) {
 325                 gyro_zero_roll += gyro_zero_overflow(roll);
 326                 gyro_zero_pitch += gyro_zero_overflow(pitch);
 327                 gyro_zero_yaw += gyro_zero_overflow(yaw);
 328         }
 329
 330         public double mag_along(double along) {
 331                 if (along == AltosLib.MISSING)
 332                         return AltosLib.MISSING;
 333                 return AltosMag.convert_gauss(along);
 334         }
 335
 336         public double mag_across(double across) {
 337                 if (across == AltosLib.MISSING)
 338                         return AltosLib.MISSING;
 339                 return AltosMag.convert_gauss(across);
 340         }
 341
 342         public double mag_through(double through) {
 343                 if (through == AltosLib.MISSING)
 344                         return AltosLib.MISSING;
 345                 return AltosMag.convert_gauss(through);
 346         }
 347
 348         public AltosCalData() {
 349         }
 350
 351         public AltosCalData(AltosConfigData config_data) {
 352                 set_serial(config_data.serial);
 353                 set_ticks_per_sec(100.0);
 354                 set_flight(config_data.flight);
 355                 set_callsign(config_data.callsign);
 356                 set_config(config_data.config_major, config_data.config_minor, config_data.flight_log_max);
 357                 set_firmware_version(config_data.version);
 358                 set_flight_params(config_data.apogee_delay / ticks_per_sec, config_data.apogee_lockout / ticks_per_sec);
 359                 set_pad_orientation(config_data.pad_orientation);
 360                 set_product(config_data.product);
 361                 set_accel_plus_minus(config_data.accel_cal_plus, config_data.accel_cal_minus);
 362                 set_accel_zero(config_data.accel_zero_along, config_data.accel_zero_across, config_data.accel_zero_through);
 363                 set_ms5607(config_data.ms5607);
 364                 try {
 365                         set_mma655x_inverted(config_data.mma655x_inverted());
 366                 } catch (AltosUnknownProduct up) {
 367                 }
 368                 set_pad_orientation(config_data.pad_orientation);
 369         }
 370 }