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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_13;
  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 int pad_orientation = AltosLib.MISSING;
 137
 138         public void set_pad_orientation(int orientation) {
 139                 if (orientation != AltosLib.MISSING)
 140                         pad_orientation = orientation;
 141         }
 142
 143         /* Compute acceleration */
 144         public double acceleration(double sensor) {
 145                 return AltosConvert.acceleration_from_sensor(sensor, accel_plus_g, accel_minus_g, ground_accel);
 146         }
 147
 148         public AltosMs5607      ms5607 = null;
 149
 150         public void set_ms5607(AltosMs5607 ms5607) {
 151                 this.ms5607 = ms5607;
 152         }
 153
 154         public double           ground_pressure = AltosLib.MISSING;
 155         public double           ground_altitude = AltosLib.MISSING;
 156
 157         public void set_ground_pressure(double ground_pressure) {
 158                 if (ground_pressure != AltosLib.MISSING) {
 159                         this.ground_pressure = ground_pressure;
 160                         this.ground_altitude = AltosConvert.pressure_to_altitude(ground_pressure);
 161                 }
 162         }
 163
 164         public void set_ground_altitude(double ground_altitude) {
 165                 if (ground_altitude != AltosLib.MISSING)
 166                         this.ground_altitude = ground_altitude;
 167         }
 168
 169         /* Compute pressure */
 170
 171         public AltosPresTemp pressure_ms5607(int raw_pres, int raw_temp) {
 172                 if (ms5607 == null)
 173                         return new AltosPresTemp(AltosLib.MISSING, AltosLib.MISSING);
 174                 return ms5607.pres_temp(raw_pres, raw_temp);
 175         }
 176
 177         public int              tick = AltosLib.MISSING;
 178         private int             first_tick = AltosLib.MISSING;
 179         private int             prev_tick = AltosLib.MISSING;
 180
 181         public void set_tick(int tick) {
 182                 if (tick != AltosLib.MISSING) {
 183                         if (prev_tick != AltosLib.MISSING) {
 184                                 while (tick < prev_tick - 1000) {
 185                                         tick += 65536;
 186                                 }
 187                         }
 188                         if (first_tick == AltosLib.MISSING)
 189                                 first_tick = tick;
 190                         prev_tick = tick;
 191                         this.tick = tick;
 192                 }
 193         }
 194
 195         /* Reset all values which change during flight
 196          */
 197         public void reset() {
 198                 state = AltosLib.MISSING;
 199                 tick = AltosLib.MISSING;
 200                 prev_tick = AltosLib.MISSING;
 201                 temp_gps = null;
 202                 temp_gps_sat_tick = AltosLib.MISSING;
 203                 accel = AltosLib.MISSING;
 204         }
 205
 206         public int              boost_tick = AltosLib.MISSING;
 207
 208         public void set_boost_tick() {
 209                 boost_tick = tick;
 210         }
 211
 212         public double           ticks_per_sec = 100.0;
 213
 214         public void set_ticks_per_sec(double ticks_per_sec) {
 215                 this.ticks_per_sec = ticks_per_sec;
 216         }
 217
 218         public double time() {
 219                 if (tick == AltosLib.MISSING)
 220                         return AltosLib.MISSING;
 221                 if (boost_tick != AltosLib.MISSING)
 222                         return (tick - boost_tick) / ticks_per_sec;
 223                 if (first_tick != AltosLib.MISSING)
 224                         return (tick - first_tick) / ticks_per_sec;
 225                 return tick / ticks_per_sec;
 226         }
 227
 228         public double boost_time() {
 229                 if (boost_tick == AltosLib.MISSING)
 230                         return AltosLib.MISSING;
 231                 return boost_tick / ticks_per_sec;
 232         }
 233
 234         public int              state = AltosLib.MISSING;
 235
 236         public void set_state(int state) {
 237                 if (state >= AltosLib.ao_flight_boost && boost_tick == AltosLib.MISSING)
 238                         set_boost_tick();
 239                 this.state = state;
 240         }
 241
 242         public AltosGPS         gps_pad = null;
 243
 244         public AltosGPS         prev_gps = null;
 245
 246         public double           gps_pad_altitude = AltosLib.MISSING;
 247
 248         public void set_cal_gps(AltosGPS gps) {
 249                 if (gps.locked && gps.nsat >= 4) {
 250                         if ((state != AltosLib.MISSING && state < AltosLib.ao_flight_boost) || gps_pad == null)
 251                                 gps_pad = gps;
 252                         if (gps_pad_altitude == AltosLib.MISSING && gps.alt != AltosLib.MISSING)
 253                                 gps_pad_altitude = gps.alt;
 254                 }
 255                 temp_gps = null;
 256                 prev_gps = gps;
 257         }
 258
 259         /*
 260          * While receiving GPS data, we construct a temporary GPS state
 261          * object and then deliver the result atomically to the listener
 262          */
 263         AltosGPS                temp_gps = null;
 264         int                     temp_gps_sat_tick = AltosLib.MISSING;
 265
 266         public AltosGPS temp_cal_gps() {
 267                 return temp_gps;
 268         }
 269
 270         public void reset_temp_cal_gps() {
 271                 if (temp_gps != null)
 272                         set_cal_gps(temp_gps);
 273         }
 274
 275         public boolean cal_gps_pending() {
 276                 return temp_gps != null;
 277         }
 278
 279         public AltosGPS make_temp_cal_gps(int tick, boolean sats) {
 280                 if (temp_gps == null)
 281                         temp_gps = new AltosGPS(prev_gps);
 282                 if (sats) {
 283                         if (tick != temp_gps_sat_tick)
 284                                 temp_gps.cc_gps_sat = null;
 285                         temp_gps_sat_tick = tick;
 286                 }
 287                 return temp_gps;
 288         }
 289
 290         public double   accel_zero_along, accel_zero_across, accel_zero_through;
 291
 292         public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
 293                 if (zero_along != AltosLib.MISSING) {
 294                         accel_zero_along = zero_along;
 295                         accel_zero_across = zero_across;
 296                         accel_zero_through = zero_through;
 297                 }
 298         }
 299
 300         public double accel_along(double counts) {
 301                 return AltosIMU.convert_accel(counts - accel_zero_along);
 302         }
 303
 304         public double accel_across(double counts) {
 305                 return AltosIMU.convert_accel(counts - accel_zero_across);
 306         }
 307
 308         public double accel_through(double counts) {
 309                 return AltosIMU.convert_accel(counts - accel_zero_through);
 310         }
 311
 312         public double   gyro_zero_roll, gyro_zero_pitch, gyro_zero_yaw;
 313
 314         public void set_gyro_zero(double roll, double pitch, double yaw) {
 315                 if (roll != AltosLib.MISSING) {
 316                         gyro_zero_roll = roll;
 317                         gyro_zero_pitch = pitch;
 318                         gyro_zero_yaw = yaw;
 319                         imu_wrap_checked = false;
 320                 }
 321         }
 322
 323         public double gyro_roll(double counts) {
 324                 if (gyro_zero_roll == AltosLib.MISSING || counts == AltosLib.MISSING)
 325                         return AltosLib.MISSING;
 326
 327                 return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_roll);
 328         }
 329
 330         public double gyro_pitch(double counts) {
 331                 if (gyro_zero_pitch == AltosLib.MISSING || counts == AltosLib.MISSING)
 332                         return AltosLib.MISSING;
 333                 return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_pitch);
 334         }
 335
 336         public double gyro_yaw(double counts) {
 337                 if (gyro_zero_yaw == AltosLib.MISSING || counts == AltosLib.MISSING)
 338                         return AltosLib.MISSING;
 339                 return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_yaw);
 340         }
 341
 342         private double gyro_zero_overflow(double first) {
 343                 double v = first / 128.0;
 344                 if (v < 0)
 345                         v = Math.ceil(v);
 346                 else
 347                         v = Math.floor(v);
 348 //              if (v != 0)
 349 //                      System.out.printf("Adjusting gyro axis by %g steps\n", v);
 350                 return v * 128.0;
 351         }
 352
 353         /* Initial TeleMega log format had only 16 bits for gyro cal, so the top 9 bits got lost as the
 354          * cal data are scaled by 512. Use the first sample to adjust the cal value, assuming that it is
 355          * from a time of fairly low rotation speed. Fixed in later TeleMega firmware by storing 32 bits
 356          * of cal values.
 357          */
 358         private boolean imu_wrap_checked = false;
 359
 360         public void check_imu_wrap(double roll, double pitch, double yaw) {
 361                 if (!imu_wrap_checked) {
 362                         gyro_zero_roll += gyro_zero_overflow(roll);
 363                         gyro_zero_pitch += gyro_zero_overflow(pitch);
 364                         gyro_zero_yaw += gyro_zero_overflow(yaw);
 365                         imu_wrap_checked = true;
 366                 }
 367         }
 368
 369         public double mag_along(double along) {
 370                 if (along == AltosLib.MISSING)
 371                         return AltosLib.MISSING;
 372                 return AltosMag.convert_gauss(along);
 373         }
 374
 375         public double mag_across(double across) {
 376                 if (across == AltosLib.MISSING)
 377                         return AltosLib.MISSING;
 378                 return AltosMag.convert_gauss(across);
 379         }
 380
 381         public double mag_through(double through) {
 382                 if (through == AltosLib.MISSING)
 383                         return AltosLib.MISSING;
 384                 return AltosMag.convert_gauss(through);
 385         }
 386
 387         public AltosCalData() {
 388         }
 389
 390         public AltosCalData(AltosConfigData config_data) {
 391                 set_serial(config_data.serial);
 392                 set_ticks_per_sec(100.0);
 393                 set_flight(config_data.flight);
 394                 set_callsign(config_data.callsign);
 395                 set_config(config_data.config_major, config_data.config_minor, config_data.flight_log_max);
 396                 set_firmware_version(config_data.version);
 397                 set_flight_params(config_data.apogee_delay / ticks_per_sec, config_data.apogee_lockout / ticks_per_sec);
 398                 set_pad_orientation(config_data.pad_orientation);
 399                 set_product(config_data.product);
 400                 set_accel_plus_minus(config_data.accel_cal_plus(config_data.pad_orientation), config_data.accel_cal_minus(config_data.pad_orientation));
 401                 set_accel_zero(config_data.accel_zero_along, config_data.accel_zero_across, config_data.accel_zero_through);
 402                 set_ms5607(config_data.ms5607);
 403                 try {
 404                         set_mma655x_inverted(config_data.mma655x_inverted());
 405                 } catch (AltosUnknownProduct up) {
 406                 }
 407                 set_pad_orientation(config_data.pad_orientation);
 408         }
 409 }