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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                         if (plus == minus)
 102                                 return;
 103                         accel_plus_g = plus;
 104                         accel_minus_g = minus;
 105                 }
 106         }
 107
 108         public void set_ground_accel(double ground_accel) {
 109                 if (ground_accel != AltosLib.MISSING)
 110                         this.ground_accel = ground_accel;
 111         }
 112
 113         /* Raw acceleration value */
 114         public double           accel = AltosLib.MISSING;
 115
 116         public void set_accel(double accel) {
 117                 this.accel = accel;
 118         }
 119
 120         public boolean mma655x_inverted = false;
 121
 122         public void set_mma655x_inverted(boolean inverted) {
 123                 mma655x_inverted = inverted;
 124         }
 125
 126         public int pad_orientation = AltosLib.MISSING;
 127
 128         public void set_pad_orientation(int orientation) {
 129                 if (orientation != AltosLib.MISSING)
 130                         pad_orientation = orientation;
 131         }
 132
 133         /* Compute acceleration */
 134         public double acceleration(double sensor) {
 135                 return AltosConvert.acceleration_from_sensor(sensor, accel_plus_g, accel_minus_g, ground_accel);
 136         }
 137
 138         public AltosMs5607      ms5607 = null;
 139
 140         public void set_ms5607(AltosMs5607 ms5607) {
 141                 this.ms5607 = ms5607;
 142         }
 143
 144         public double           ground_pressure = AltosLib.MISSING;
 145         public double           ground_altitude = AltosLib.MISSING;
 146
 147         public void set_ground_pressure(double ground_pressure) {
 148                 if (ground_pressure != AltosLib.MISSING) {
 149                         this.ground_pressure = ground_pressure;
 150                         this.ground_altitude = AltosConvert.pressure_to_altitude(ground_pressure);
 151                 }
 152         }
 153
 154         public void set_ground_altitude(double ground_altitude) {
 155                 if (ground_altitude != AltosLib.MISSING)
 156                         this.ground_altitude = ground_altitude;
 157         }
 158
 159         /* Compute pressure */
 160
 161         public AltosPresTemp pressure_ms5607(int raw_pres, int raw_temp) {
 162                 if (ms5607 == null)
 163                         return new AltosPresTemp(AltosLib.MISSING, AltosLib.MISSING);
 164                 return ms5607.pres_temp(raw_pres, raw_temp);
 165         }
 166
 167         public int              tick = AltosLib.MISSING;
 168         private int             prev_tick = AltosLib.MISSING;
 169
 170         public void set_tick(int tick) {
 171                 if (tick != AltosLib.MISSING) {
 172                         if (prev_tick != AltosLib.MISSING) {
 173                                 while (tick < prev_tick - 1000) {
 174                                         tick += 65536;
 175                                 }
 176                         }
 177                         prev_tick = tick;
 178                         this.tick = tick;
 179                 }
 180         }
 181
 182         public int              boost_tick = AltosLib.MISSING;
 183
 184         public void set_boost_tick() {
 185                 boost_tick = tick;
 186         }
 187
 188         public double           ticks_per_sec = 100.0;
 189
 190         public void set_ticks_per_sec(double ticks_per_sec) {
 191                 this.ticks_per_sec = ticks_per_sec;
 192         }
 193
 194         public double time() {
 195                 if (tick == AltosLib.MISSING)
 196                         return AltosLib.MISSING;
 197                 if (boost_tick == AltosLib.MISSING)
 198                         return AltosLib.MISSING;
 199                 return (tick - boost_tick) / ticks_per_sec;
 200         }
 201
 202         public double boost_time() {
 203                 if (boost_tick == AltosLib.MISSING)
 204                         return AltosLib.MISSING;
 205                 return boost_tick / ticks_per_sec;
 206         }
 207
 208         public int              state = AltosLib.MISSING;
 209
 210         public void set_state(int state) {
 211                 if (state >= AltosLib.ao_flight_boost && boost_tick == AltosLib.MISSING)
 212                         set_boost_tick();
 213                 this.state = state;
 214         }
 215
 216         public AltosGPS         gps_pad = null;
 217
 218         public double           gps_pad_altitude = AltosLib.MISSING;
 219
 220         public void set_gps(AltosGPS gps) {
 221                 if ((state != AltosLib.MISSING && state < AltosLib.ao_flight_boost) || gps_pad == null)
 222                         gps_pad = gps;
 223                 if (gps_pad_altitude == AltosLib.MISSING && gps.alt != AltosLib.MISSING)
 224                         gps_pad_altitude = gps.alt;
 225         }
 226
 227         /*
 228          * While receiving GPS data, we construct a temporary GPS state
 229          * object and then deliver the result atomically to the listener
 230          */
 231         AltosGPS                temp_gps = null;
 232         AltosGPS                prev_gps = null;
 233         int                     temp_gps_sat_tick = AltosLib.MISSING;
 234
 235         public AltosGPS temp_gps() {
 236                 return temp_gps;
 237         }
 238
 239         public void reset_temp_gps() {
 240                 if (temp_gps != null) {
 241                         if (temp_gps.locked && temp_gps.nsat >= 4)
 242                                 set_gps(temp_gps);
 243                         prev_gps = temp_gps;
 244                         temp_gps = null;
 245                 }
 246         }
 247
 248         public boolean gps_pending() {
 249                 return temp_gps != null;
 250         }
 251
 252         public AltosGPS make_temp_gps(int tick, boolean sats) {
 253                 if (temp_gps == null) {
 254                         if (prev_gps != null)
 255                                 temp_gps = prev_gps.clone();
 256                         else
 257                                 temp_gps = new AltosGPS();
 258                 }
 259                 if (sats) {
 260                         if (tick != temp_gps_sat_tick)
 261                                 temp_gps.cc_gps_sat = null;
 262                         temp_gps_sat_tick = tick;
 263                 }
 264                 return temp_gps;
 265         }
 266
 267         public double   accel_zero_along, accel_zero_across, accel_zero_through;
 268
 269         public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
 270                 if (zero_along != AltosLib.MISSING) {
 271                         accel_zero_along = zero_along;
 272                         accel_zero_across = zero_across;
 273                         accel_zero_through = zero_through;
 274                 }
 275         }
 276
 277         public double accel_along(double counts) {
 278                 return AltosIMU.convert_accel(counts - accel_zero_along);
 279         }
 280
 281         public double accel_across(double counts) {
 282                 return AltosIMU.convert_accel(counts - accel_zero_across);
 283         }
 284
 285         public double accel_through(double counts) {
 286                 return AltosIMU.convert_accel(counts - accel_zero_through);
 287         }
 288
 289         public double   gyro_zero_roll, gyro_zero_pitch, gyro_zero_yaw;
 290
 291         public void set_gyro_zero(double roll, double pitch, double yaw) {
 292                 if (roll != AltosLib.MISSING) {
 293                         gyro_zero_roll = roll;
 294                         gyro_zero_pitch = pitch;
 295                         gyro_zero_yaw = yaw;
 296                 }
 297         }
 298
 299         public double gyro_roll(double counts) {
 300                 if (gyro_zero_roll == AltosLib.MISSING || counts == AltosLib.MISSING)
 301                         return AltosLib.MISSING;
 302                 return AltosIMU.convert_gyro(counts - gyro_zero_roll);
 303         }
 304
 305         public double gyro_pitch(double counts) {
 306                 if (gyro_zero_pitch == AltosLib.MISSING || counts == AltosLib.MISSING)
 307                         return AltosLib.MISSING;
 308                 return AltosIMU.convert_gyro(counts - gyro_zero_pitch);
 309         }
 310
 311         public double gyro_yaw(double counts) {
 312                 if (gyro_zero_yaw == AltosLib.MISSING || counts == AltosLib.MISSING)
 313                         return AltosLib.MISSING;
 314                 return AltosIMU.convert_gyro(counts - gyro_zero_yaw);
 315         }
 316
 317         private double gyro_zero_overflow(double first) {
 318                 double v = first / 128.0;
 319                 if (v < 0)
 320                         v = Math.ceil(v);
 321                 else
 322                         v = Math.floor(v);
 323                 return v * 128.0;
 324         }
 325
 326         public void check_imu_wrap(double roll, double pitch, double yaw) {
 327                 gyro_zero_roll += gyro_zero_overflow(roll);
 328                 gyro_zero_pitch += gyro_zero_overflow(pitch);
 329                 gyro_zero_yaw += gyro_zero_overflow(yaw);
 330         }
 331
 332         public double mag_along(double along) {
 333                 if (along == AltosLib.MISSING)
 334                         return AltosLib.MISSING;
 335                 return AltosMag.convert_gauss(along);
 336         }
 337
 338         public double mag_across(double across) {
 339                 if (across == AltosLib.MISSING)
 340                         return AltosLib.MISSING;
 341                 return AltosMag.convert_gauss(across);
 342         }
 343
 344         public double mag_through(double through) {
 345                 if (through == AltosLib.MISSING)
 346                         return AltosLib.MISSING;
 347                 return AltosMag.convert_gauss(through);
 348         }
 349
 350         public AltosCalData() {
 351         }
 352
 353         public AltosCalData(AltosConfigData config_data) {
 354                 set_serial(config_data.serial);
 355                 set_ticks_per_sec(100.0);
 356                 set_flight(config_data.flight);
 357                 set_callsign(config_data.callsign);
 358                 set_config(config_data.config_major, config_data.config_minor, config_data.flight_log_max);
 359                 set_firmware_version(config_data.version);
 360                 set_flight_params(config_data.apogee_delay / ticks_per_sec, config_data.apogee_lockout / ticks_per_sec);
 361                 set_pad_orientation(config_data.pad_orientation);
 362                 set_product(config_data.product);
 363                 set_accel_plus_minus(config_data.accel_cal_plus, config_data.accel_cal_minus);
 364                 set_accel_zero(config_data.accel_zero_along, config_data.accel_zero_across, config_data.accel_zero_through);
 365                 set_ms5607(config_data.ms5607);
 366                 try {
 367                         set_mma655x_inverted(config_data.mma655x_inverted());
 368                 } catch (AltosUnknownProduct up) {
 369                 }
 370                 set_pad_orientation(config_data.pad_orientation);
 371         }
 372 }