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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_14;
  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              log_format = AltosLib.MISSING;
  76
  77         public void set_log_format(int log_format) {
  78                 if (log_format != AltosLib.MISSING)
  79                         this.log_format = log_format;
  80         }
  81
  82         public int              config_major = AltosLib.MISSING;
  83         public int              config_minor = AltosLib.MISSING;
  84         public int              flight_log_max = AltosLib.MISSING;
  85
  86         public void set_config(int major, int minor, int log_max) {
  87                 if (major != AltosLib.MISSING)
  88                         config_major = major;
  89                 if (minor != AltosLib.MISSING)
  90                         config_minor = minor;
  91                 if (log_max != AltosLib.MISSING)
  92                         flight_log_max = log_max;
  93         }
  94
  95         public double           apogee_delay = AltosLib.MISSING;
  96         public double           main_deploy = AltosLib.MISSING;
  97
  98         public void set_flight_params(double apogee_delay, double main_deploy) {
  99                 if (apogee_delay != AltosLib.MISSING)
 100                         this.apogee_delay = apogee_delay;
 101                 if (main_deploy != AltosLib.MISSING)
 102                         this.main_deploy = main_deploy;
 103         }
 104
 105         public double           accel_plus_g = AltosLib.MISSING;
 106         public double           accel_minus_g = AltosLib.MISSING;
 107         public double           ground_accel = AltosLib.MISSING;
 108
 109         public void set_accel_plus_minus(double plus, double minus) {
 110                 if (plus != AltosLib.MISSING && minus != AltosLib.MISSING) {
 111                         if (plus == minus)
 112                                 return;
 113                         accel_plus_g = plus;
 114                         accel_minus_g = minus;
 115                 }
 116         }
 117
 118         public void set_ground_accel(double ground_accel) {
 119                 if (ground_accel != AltosLib.MISSING)
 120                         this.ground_accel = ground_accel;
 121         }
 122
 123         /* Raw acceleration value */
 124         public double           accel = AltosLib.MISSING;
 125
 126         public void set_accel(double accel) {
 127                 this.accel = accel;
 128         }
 129
 130         public boolean mma655x_inverted = false;
 131
 132         public void set_mma655x_inverted(boolean inverted) {
 133                 mma655x_inverted = inverted;
 134         }
 135
 136         public boolean adxl375_inverted = false;
 137
 138         public void set_adxl375_inverted(boolean inverted) {
 139                 adxl375_inverted = inverted;
 140         }
 141
 142         public int adxl375_axis = AltosLib.MISSING;
 143
 144         public void set_adxl375_axis(int axis) {
 145                 adxl375_axis = axis;
 146         }
 147
 148         public int pad_orientation = AltosLib.MISSING;
 149
 150         public void set_pad_orientation(int orientation) {
 151                 if (orientation != AltosLib.MISSING)
 152                         pad_orientation = orientation;
 153         }
 154
 155         /* Compute acceleration */
 156         public double acceleration(double sensor) {
 157                 double accel;
 158                 accel = AltosConvert.acceleration_from_sensor(sensor, accel_plus_g, accel_minus_g, ground_accel);
 159                 return accel;
 160         }
 161
 162         public AltosMs5607      ms5607 = null;
 163
 164         public void set_ms5607(AltosMs5607 ms5607) {
 165                 this.ms5607 = ms5607;
 166         }
 167
 168         public double           ground_pressure = AltosLib.MISSING;
 169         public double           ground_altitude = AltosLib.MISSING;
 170
 171         public void set_ground_pressure(double ground_pressure) {
 172                 if (ground_pressure != AltosLib.MISSING) {
 173                         this.ground_pressure = ground_pressure;
 174                         this.ground_altitude = AltosConvert.pressure_to_altitude(ground_pressure);
 175                 }
 176         }
 177
 178         public void set_ground_altitude(double ground_altitude) {
 179                 if (ground_altitude != AltosLib.MISSING)
 180                         this.ground_altitude = ground_altitude;
 181         }
 182
 183         /* Compute pressure */
 184
 185         public AltosPresTemp pressure_ms5607(int raw_pres, int raw_temp) {
 186                 if (ms5607 == null)
 187                         return new AltosPresTemp(AltosLib.MISSING, AltosLib.MISSING);
 188                 return ms5607.pres_temp(raw_pres, raw_temp);
 189         }
 190
 191         public int              tick = AltosLib.MISSING;
 192         private int             first_tick = AltosLib.MISSING;
 193         private int             prev_tick = AltosLib.MISSING;
 194
 195         public void set_tick(int tick) {
 196                 if (tick != AltosLib.MISSING) {
 197                         if (prev_tick != AltosLib.MISSING) {
 198                                 while (tick < prev_tick - 1000) {
 199                                         tick += 65536;
 200                                 }
 201                         }
 202                         if (first_tick == AltosLib.MISSING)
 203                                 first_tick = tick;
 204                         prev_tick = tick;
 205                         this.tick = tick;
 206                 }
 207         }
 208
 209         /* Reset all values which change during flight
 210          */
 211         public void reset() {
 212                 state = AltosLib.MISSING;
 213                 tick = AltosLib.MISSING;
 214                 prev_tick = AltosLib.MISSING;
 215                 temp_gps = null;
 216                 temp_gps_sat_tick = AltosLib.MISSING;
 217                 accel = AltosLib.MISSING;
 218         }
 219
 220         public int              boost_tick = AltosLib.MISSING;
 221
 222         public void set_boost_tick() {
 223                 boost_tick = tick;
 224         }
 225
 226         public double           ticks_per_sec = 100.0;
 227
 228         public void set_ticks_per_sec(double ticks_per_sec) {
 229                 this.ticks_per_sec = ticks_per_sec;
 230         }
 231
 232         public double time() {
 233                 if (tick == AltosLib.MISSING)
 234                         return AltosLib.MISSING;
 235                 if (boost_tick != AltosLib.MISSING)
 236                         return (tick - boost_tick) / ticks_per_sec;
 237                 if (first_tick != AltosLib.MISSING)
 238                         return (tick - first_tick) / ticks_per_sec;
 239                 return tick / ticks_per_sec;
 240         }
 241
 242         public double boost_time() {
 243                 if (boost_tick == AltosLib.MISSING)
 244                         return AltosLib.MISSING;
 245                 return boost_tick / ticks_per_sec;
 246         }
 247
 248         public int              state = AltosLib.MISSING;
 249
 250         public String state_name() {
 251                 return AltosLib.state_name(state);
 252         }
 253
 254         public void set_state(int state) {
 255                 if (state >= AltosLib.ao_flight_boost && boost_tick == AltosLib.MISSING)
 256                         set_boost_tick();
 257                 this.state = state;
 258         }
 259
 260         public AltosGPS         gps_pad = null;
 261
 262         public AltosGPS         prev_gps = null;
 263
 264         public double           gps_pad_altitude = AltosLib.MISSING;
 265
 266         public void set_cal_gps(AltosGPS gps) {
 267                 if (gps.locked && gps.nsat >= 4) {
 268                         if ((state != AltosLib.MISSING && state < AltosLib.ao_flight_boost) || gps_pad == null)
 269                                 gps_pad = gps;
 270                         if (gps_pad_altitude == AltosLib.MISSING && gps.alt != AltosLib.MISSING)
 271                                 gps_pad_altitude = gps.alt;
 272                 }
 273                 temp_gps = null;
 274                 prev_gps = gps;
 275         }
 276
 277         /*
 278          * While receiving GPS data, we construct a temporary GPS state
 279          * object and then deliver the result atomically to the listener
 280          */
 281         AltosGPS                temp_gps = null;
 282         int                     temp_gps_sat_tick = AltosLib.MISSING;
 283
 284         public AltosGPS temp_cal_gps() {
 285                 return temp_gps;
 286         }
 287
 288         public void reset_temp_cal_gps() {
 289                 if (temp_gps != null)
 290                         set_cal_gps(temp_gps);
 291         }
 292
 293         public boolean cal_gps_pending() {
 294                 return temp_gps != null;
 295         }
 296
 297         public AltosGPS make_temp_cal_gps(int tick, boolean sats) {
 298                 if (temp_gps == null)
 299                         temp_gps = new AltosGPS(prev_gps);
 300                 if (sats) {
 301                         if (tick != temp_gps_sat_tick)
 302                                 temp_gps.cc_gps_sat = null;
 303                         temp_gps_sat_tick = tick;
 304                 }
 305                 return temp_gps;
 306         }
 307
 308         public int      imu_type = AltosLib.MISSING;;
 309
 310         public void set_imu_type(int imu_type) {
 311                 this.imu_type = imu_type;
 312         }
 313
 314         public double   accel_zero_along, accel_zero_across, accel_zero_through;
 315
 316         public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
 317                 if (zero_along != AltosLib.MISSING) {
 318                         accel_zero_along = zero_along;
 319                         accel_zero_across = zero_across;
 320                         accel_zero_through = zero_through;
 321                 }
 322         }
 323
 324         public double accel_along(double counts) {
 325                 return AltosIMU.convert_accel(counts - accel_zero_along, imu_type);
 326         }
 327
 328         public double accel_across(double counts) {
 329                 return AltosIMU.convert_accel(counts - accel_zero_across, imu_type);
 330         }
 331
 332         public double accel_through(double counts) {
 333                 return AltosIMU.convert_accel(counts - accel_zero_through, imu_type);
 334         }
 335
 336         public double   gyro_zero_roll, gyro_zero_pitch, gyro_zero_yaw;
 337
 338         public void set_gyro_zero(double roll, double pitch, double yaw) {
 339                 if (roll != AltosLib.MISSING) {
 340                         gyro_zero_roll = roll;
 341                         gyro_zero_pitch = pitch;
 342                         gyro_zero_yaw = yaw;
 343                         imu_wrap_checked = false;
 344                 }
 345         }
 346
 347         public double gyro_roll(double counts) {
 348                 if (gyro_zero_roll == AltosLib.MISSING || counts == AltosLib.MISSING)
 349                         return AltosLib.MISSING;
 350
 351                 return AltosIMU.gyro_degrees_per_second(counts - gyro_zero_roll, imu_type);
 352         }
 353
 354         public double gyro_pitch(double counts) {
 355                 if (gyro_zero_pitch == AltosLib.MISSING || counts == AltosLib.MISSING)
 356                         return AltosLib.MISSING;
 357                 return AltosIMU.gyro_degrees_per_second(counts - gyro_zero_pitch, imu_type);
 358         }
 359
 360         public double gyro_yaw(double counts) {
 361                 if (gyro_zero_yaw == AltosLib.MISSING || counts == AltosLib.MISSING)
 362                         return AltosLib.MISSING;
 363                 return AltosIMU.gyro_degrees_per_second(counts - gyro_zero_yaw, imu_type);
 364         }
 365
 366         private double gyro_zero_overflow(double first) {
 367                 double v = first / 128.0;
 368                 if (v < 0)
 369                         v = Math.ceil(v);
 370                 else
 371                         v = Math.floor(v);
 372 //              if (v != 0)
 373 //                      System.out.printf("Adjusting gyro axis by %g steps\n", v);
 374                 return v * 128.0;
 375         }
 376
 377         /* Initial TeleMega log format had only 16 bits for gyro cal, so the top 9 bits got lost as the
 378          * cal data are scaled by 512. Use the first sample to adjust the cal value, assuming that it is
 379          * from a time of fairly low rotation speed. Fixed in later TeleMega firmware by storing 32 bits
 380          * of cal values.
 381          */
 382         private boolean imu_wrap_checked = false;
 383
 384         public void check_imu_wrap(double roll, double pitch, double yaw) {
 385                 if (!imu_wrap_checked) {
 386                         gyro_zero_roll += gyro_zero_overflow(roll);
 387                         gyro_zero_pitch += gyro_zero_overflow(pitch);
 388                         gyro_zero_yaw += gyro_zero_overflow(yaw);
 389                         imu_wrap_checked = true;
 390                 }
 391         }
 392
 393         public double mag_along(double along) {
 394                 if (along == AltosLib.MISSING)
 395                         return AltosLib.MISSING;
 396                 return AltosIMU.convert_gauss(along, imu_type, AltosIMU.mag_along_axis(imu_type));
 397         }
 398
 399         public double mag_across(double across) {
 400                 if (across == AltosLib.MISSING)
 401                         return AltosLib.MISSING;
 402                 return AltosIMU.convert_gauss(across, imu_type, AltosIMU.mag_across_axis(imu_type));
 403         }
 404
 405         public double mag_through(double through) {
 406                 if (through == AltosLib.MISSING)
 407                         return AltosLib.MISSING;
 408                 return AltosIMU.convert_gauss(through, imu_type, AltosIMU.mag_through_axis(imu_type));
 409         }
 410
 411         public AltosCalData() {
 412         }
 413
 414         public AltosCalData(AltosConfigData config_data) {
 415                 set_serial(config_data.serial);
 416                 set_ticks_per_sec(100.0);
 417                 set_flight(config_data.flight);
 418                 set_callsign(config_data.callsign);
 419                 set_config(config_data.config_major, config_data.config_minor, config_data.flight_log_max);
 420                 set_firmware_version(config_data.version);
 421                 set_flight_params(config_data.apogee_delay / ticks_per_sec, config_data.apogee_lockout / ticks_per_sec);
 422                 set_pad_orientation(config_data.pad_orientation);
 423                 set_product(config_data.product);
 424                 set_accel_plus_minus(config_data.accel_cal_plus(config_data.pad_orientation), config_data.accel_cal_minus(config_data.pad_orientation));
 425                 set_accel_zero(config_data.accel_zero_along, config_data.accel_zero_across, config_data.accel_zero_through);
 426                 set_ms5607(config_data.ms5607);
 427                 try {
 428                         set_mma655x_inverted(config_data.mma655x_inverted());
 429                 } catch (AltosUnknownProduct up) {
 430                 }
 431                 try {
 432                         set_adxl375_inverted(config_data.adxl375_inverted());
 433                 } catch (AltosUnknownProduct up) {
 434                 }
 435                 try {
 436                         set_adxl375_axis(config_data.adxl375_axis());
 437                 } catch (AltosUnknownProduct up) {
 438                 }
 439                 set_pad_orientation(config_data.pad_orientation);
 440         }
 441 }