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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             prev_tick = AltosLib.MISSING;
 172
 173         public void set_tick(int tick) {
 174                 if (tick != AltosLib.MISSING) {
 175                         if (prev_tick != AltosLib.MISSING) {
 176                                 while (tick < prev_tick - 1000) {
 177                                         tick += 65536;
 178                                 }
 179                         }
 180                         prev_tick = tick;
 181                         this.tick = tick;
 182                 }
 183         }
 184
 185         /* Reset all values which change during flight
 186          */
 187         public void reset() {
 188                 state = AltosLib.MISSING;
 189                 tick = AltosLib.MISSING;
 190                 prev_tick = AltosLib.MISSING;
 191                 temp_gps = null;
 192                 prev_gps = null;
 193                 temp_gps_sat_tick = AltosLib.MISSING;
 194                 accel = AltosLib.MISSING;
 195         }
 196
 197         public int              boost_tick = AltosLib.MISSING;
 198
 199         public void set_boost_tick() {
 200                 boost_tick = tick;
 201         }
 202
 203         public double           ticks_per_sec = 100.0;
 204
 205         public void set_ticks_per_sec(double ticks_per_sec) {
 206                 this.ticks_per_sec = ticks_per_sec;
 207         }
 208
 209         public double time() {
 210                 if (tick == AltosLib.MISSING)
 211                         return AltosLib.MISSING;
 212                 if (boost_tick == AltosLib.MISSING)
 213                         return AltosLib.MISSING;
 214                 return (tick - boost_tick) / ticks_per_sec;
 215         }
 216
 217         public double boost_time() {
 218                 if (boost_tick == AltosLib.MISSING)
 219                         return AltosLib.MISSING;
 220                 return boost_tick / ticks_per_sec;
 221         }
 222
 223         public int              state = AltosLib.MISSING;
 224
 225         public void set_state(int state) {
 226                 if (state >= AltosLib.ao_flight_boost && boost_tick == AltosLib.MISSING)
 227                         set_boost_tick();
 228                 this.state = state;
 229         }
 230
 231         public AltosGPS         gps_pad = null;
 232
 233         public double           gps_pad_altitude = AltosLib.MISSING;
 234
 235         public void set_gps(AltosGPS gps) {
 236                 if ((state != AltosLib.MISSING && state < AltosLib.ao_flight_boost) || gps_pad == null)
 237                         gps_pad = gps;
 238                 if (gps_pad_altitude == AltosLib.MISSING && gps.alt != AltosLib.MISSING)
 239                         gps_pad_altitude = gps.alt;
 240         }
 241
 242         /*
 243          * While receiving GPS data, we construct a temporary GPS state
 244          * object and then deliver the result atomically to the listener
 245          */
 246         AltosGPS                temp_gps = null;
 247         AltosGPS                prev_gps = null;
 248         int                     temp_gps_sat_tick = AltosLib.MISSING;
 249
 250         public AltosGPS temp_gps() {
 251                 return temp_gps;
 252         }
 253
 254         public void reset_temp_gps() {
 255                 if (temp_gps != null) {
 256                         if (temp_gps.locked && temp_gps.nsat >= 4)
 257                                 set_gps(temp_gps);
 258                         prev_gps = temp_gps;
 259                         temp_gps = null;
 260                 }
 261         }
 262
 263         public boolean gps_pending() {
 264                 return temp_gps != null;
 265         }
 266
 267         public AltosGPS make_temp_gps(int tick, boolean sats) {
 268                 if (temp_gps == null) {
 269                         if (prev_gps != null)
 270                                 temp_gps = prev_gps.clone();
 271                         else
 272                                 temp_gps = new AltosGPS();
 273                 }
 274                 if (sats) {
 275                         if (tick != temp_gps_sat_tick)
 276                                 temp_gps.cc_gps_sat = null;
 277                         temp_gps_sat_tick = tick;
 278                 }
 279                 return temp_gps;
 280         }
 281
 282         public double   accel_zero_along, accel_zero_across, accel_zero_through;
 283
 284         public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
 285                 if (zero_along != AltosLib.MISSING) {
 286                         accel_zero_along = zero_along;
 287                         accel_zero_across = zero_across;
 288                         accel_zero_through = zero_through;
 289                 }
 290         }
 291
 292         public double accel_along(double counts) {
 293                 return AltosIMU.convert_accel(counts - accel_zero_along);
 294         }
 295
 296         public double accel_across(double counts) {
 297                 return AltosIMU.convert_accel(counts - accel_zero_across);
 298         }
 299
 300         public double accel_through(double counts) {
 301                 return AltosIMU.convert_accel(counts - accel_zero_through);
 302         }
 303
 304         public double   gyro_zero_roll, gyro_zero_pitch, gyro_zero_yaw;
 305
 306         public void set_gyro_zero(double roll, double pitch, double yaw) {
 307                 if (roll != AltosLib.MISSING) {
 308                         gyro_zero_roll = roll;
 309                         gyro_zero_pitch = pitch;
 310                         gyro_zero_yaw = yaw;
 311                 }
 312         }
 313
 314         public double gyro_roll(double counts) {
 315                 if (gyro_zero_roll == AltosLib.MISSING || counts == AltosLib.MISSING)
 316                         return AltosLib.MISSING;
 317                 return AltosIMU.convert_gyro(counts - gyro_zero_roll);
 318         }
 319
 320         public double gyro_pitch(double counts) {
 321                 if (gyro_zero_pitch == AltosLib.MISSING || counts == AltosLib.MISSING)
 322                         return AltosLib.MISSING;
 323                 return AltosIMU.convert_gyro(counts - gyro_zero_pitch);
 324         }
 325
 326         public double gyro_yaw(double counts) {
 327                 if (gyro_zero_yaw == AltosLib.MISSING || counts == AltosLib.MISSING)
 328                         return AltosLib.MISSING;
 329                 return AltosIMU.convert_gyro(counts - gyro_zero_yaw);
 330         }
 331
 332         private double gyro_zero_overflow(double first) {
 333                 double v = first / 128.0;
 334                 if (v < 0)
 335                         v = Math.ceil(v);
 336                 else
 337                         v = Math.floor(v);
 338                 return v * 128.0;
 339         }
 340
 341         public void check_imu_wrap(double roll, double pitch, double yaw) {
 342                 gyro_zero_roll += gyro_zero_overflow(roll);
 343                 gyro_zero_pitch += gyro_zero_overflow(pitch);
 344                 gyro_zero_yaw += gyro_zero_overflow(yaw);
 345         }
 346
 347         public double mag_along(double along) {
 348                 if (along == AltosLib.MISSING)
 349                         return AltosLib.MISSING;
 350                 return AltosMag.convert_gauss(along);
 351         }
 352
 353         public double mag_across(double across) {
 354                 if (across == AltosLib.MISSING)
 355                         return AltosLib.MISSING;
 356                 return AltosMag.convert_gauss(across);
 357         }
 358
 359         public double mag_through(double through) {
 360                 if (through == AltosLib.MISSING)
 361                         return AltosLib.MISSING;
 362                 return AltosMag.convert_gauss(through);
 363         }
 364
 365         public AltosCalData() {
 366         }
 367
 368         public AltosCalData(AltosConfigData config_data) {
 369                 set_serial(config_data.serial);
 370                 set_ticks_per_sec(100.0);
 371                 set_flight(config_data.flight);
 372                 set_callsign(config_data.callsign);
 373                 set_config(config_data.config_major, config_data.config_minor, config_data.flight_log_max);
 374                 set_firmware_version(config_data.version);
 375                 set_flight_params(config_data.apogee_delay / ticks_per_sec, config_data.apogee_lockout / ticks_per_sec);
 376                 set_pad_orientation(config_data.pad_orientation);
 377                 set_product(config_data.product);
 378                 set_accel_plus_minus(config_data.accel_cal_plus, config_data.accel_cal_minus);
 379                 set_accel_zero(config_data.accel_zero_along, config_data.accel_zero_across, config_data.accel_zero_through);
 380                 set_ms5607(config_data.ms5607);
 381                 try {
 382                         set_mma655x_inverted(config_data.mma655x_inverted());
 383                 } catch (AltosUnknownProduct up) {
 384                 }
 385                 set_pad_orientation(config_data.pad_orientation);
 386         }
 387 }