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   1 /*
   2  * Copyright © 2011 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  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 package org.altusmetrum.altoslib_14;
  20
  21 import java.util.*;
  22 import java.text.*;
  23 import java.util.concurrent.*;
  24
  25 /* Don't change the field names in this structure; they're part of all .eeprom files */
  26 public class AltosConfigData {
  27
  28         /* Version information */
  29         public String   manufacturer;
  30         public String   product;
  31         public int      serial;
  32         public int      flight;
  33         public int      log_format;
  34         public int      log_space;
  35         public String   version;
  36         public int      altitude_32;
  37         public int      config_major, config_minor;
  38
  39         /* Config information */
  40         /* HAS_FLIGHT*/
  41         public int      main_deploy;
  42         public int      apogee_delay;
  43         public int      apogee_lockout;
  44
  45         /* HAS_RADIO */
  46         public int      radio_frequency;
  47         public String   callsign;
  48         public int      radio_enable;
  49         public int      radio_calibration;
  50         public int      telemetry_rate;
  51         /* Old HAS_RADIO values */
  52         public int      radio_channel;
  53         public int      radio_setting;
  54
  55         /* HAS_ACCEL */
  56         public int      accel_cal_plus, accel_cal_minus;
  57         private int     accel_cal_plus_cooked, accel_cal_minus_cooked;
  58         private boolean accel_cal_adjusted;
  59         public int      pad_orientation;
  60
  61         /* HAS_LOG */
  62         public int      flight_log_max;
  63         public int      log_fixed;
  64
  65         /* HAS_IGNITE */
  66         public int      ignite_mode;
  67
  68         /* HAS_AES */
  69         public String   aes_key;
  70
  71         /* AO_PYRO_NUM */
  72         public AltosPyro[]      pyros;
  73         public int              npyro;
  74         public int              pyro;
  75         public double           pyro_firing_time;
  76
  77         /* HAS_APRS */
  78         public int              aprs_interval;
  79         public int              aprs_ssid;
  80         public int              aprs_format;
  81         public int              aprs_offset;
  82
  83         /* HAS_BEEP */
  84         public int              beep;
  85
  86         /* Storage info replies */
  87         public int      storage_size;
  88         public int      storage_erase_unit;
  89
  90         /* Log listing replies */
  91         public int      stored_flight;
  92         public AltosEepromFlight[] flights;
  93
  94         /* HAS_TRACKER */
  95         public int      tracker_motion;
  96         public int      tracker_interval;
  97
  98         /* HAS_GYRO */
  99         public int      accel_zero_along, accel_zero_across, accel_zero_through;
 100
 101         /* ms5607 data */
 102         AltosMs5607     ms5607;
 103
 104         public AltosMs5607 ms5607() {
 105                 if (ms5607 == null)
 106                         ms5607 = new AltosMs5607();
 107                 return ms5607;
 108         }
 109
 110         public static String get_string(String line, String label) throws  ParseException {
 111                 if (line.startsWith(label)) {
 112                         String  quoted = line.substring(label.length()).trim();
 113
 114                         if (quoted.startsWith("\""))
 115                                 quoted = quoted.substring(1);
 116                         if (quoted.endsWith("\""))
 117                                 quoted = quoted.substring(0,quoted.length()-1);
 118                         return quoted;
 119                 }
 120                 throw new ParseException("mismatch", 0);
 121         }
 122
 123         public static int get_int(String line, String label) throws NumberFormatException, ParseException {
 124                 if (line.startsWith(label)) {
 125                         String tail = line.substring(label.length()).trim();
 126                         String[] tokens = tail.split("\\s+");
 127                         if (tokens.length > 0)
 128                                 return  Integer.parseInt(tokens[0]);
 129                 }
 130                 throw new ParseException("mismatch", 0);
 131         }
 132
 133         public static int[] get_values(String line, String label) throws NumberFormatException, ParseException {
 134                 if (line.startsWith(label)) {
 135                         String tail = line.substring(label.length()).trim();
 136                         String[] tokens = tail.split("\\s+");
 137                         if (tokens.length > 1) {
 138                                 int[]   values = new int[2];
 139                                 values[0] = Integer.parseInt(tokens[0]);
 140                                 values[1] = Integer.parseInt(tokens[1]);
 141                                 return values;
 142                         }
 143                 }
 144                 throw new ParseException("mismatch", 0);
 145         }
 146
 147         public int log_space() {
 148                 if (log_space != AltosLib.MISSING)
 149                         return log_space;
 150
 151                 if (storage_size != AltosLib.MISSING) {
 152                         int     space = storage_size;
 153
 154                         if (storage_erase_unit != AltosLib.MISSING && use_flash_for_config())
 155                                 space -= storage_erase_unit;
 156
 157                         if (space != AltosLib.MISSING)
 158                                 return space;
 159                 }
 160                 return 0;
 161         }
 162
 163         public int log_available() {
 164                 switch (log_format) {
 165                 case AltosLib.AO_LOG_FORMAT_TINY:
 166                         if (flights == null)
 167                                 return 1;
 168                         return 0;
 169                 case AltosLib.AO_LOG_FORMAT_TELEMETRY:
 170                 case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
 171                         return 1;
 172                 default:
 173                         if (flight_log_max <= 0)
 174                                 return 1;
 175                         int     log_max = flight_log_max * 1024;
 176                         int     log_space = log_space();
 177                         int     log_used;
 178
 179                         if (flights == null)
 180                                 log_used = 0;
 181                         else
 182                                 log_used = flights.length * log_max;
 183                         int     log_avail;
 184
 185                         if (log_used >= log_space)
 186                                 log_avail = 0;
 187                         else
 188                                 log_avail = (log_space - log_used) / log_max;
 189
 190                         return log_avail;
 191                 }
 192         }
 193
 194         public int invert_accel_value(int value) {
 195                 if (value == AltosLib.MISSING)
 196                         return AltosLib.MISSING;
 197
 198                 switch (log_format) {
 199                 case AltosLib.AO_LOG_FORMAT_FULL:
 200                         return 0x7fff - value;
 201                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 202                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 203                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 204                         return 4095 - value;
 205                 case AltosLib.AO_LOG_FORMAT_TELEMETRUM:
 206                         /*
 207                          * TeleMetrum v2 and later use the same log format, but
 208                          * have different accelerometers. This is the only place
 209                          * it matters in altoslib.
 210                          */
 211                         if (product.startsWith("TeleMetrum-v2"))
 212                                 return 4095 - value;
 213                         /* fall through */
 214                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 215                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 216                 case AltosLib.AO_LOG_FORMAT_EASYMOTOR:
 217                         return -value;
 218                 default:
 219                         if (product.startsWith("EasyTimer-"))
 220                                 return -value;
 221                         return AltosLib.MISSING;
 222                 }
 223         }
 224
 225         public boolean has_monitor_battery() {
 226                 if (product.startsWith("TeleBT"))
 227                         return true;
 228                 return false;
 229         }
 230
 231         int[] parse_version(String v) {
 232                 String[] parts = v.split("\\.");
 233                 int r[] = new int[parts.length];
 234
 235                 for (int i = 0; i < parts.length; i++) {
 236                         try {
 237                                 r[i] = (int) AltosLib.fromdec(parts[i]);
 238                         } catch (NumberFormatException n) {
 239                                 r[i] = 0;
 240                         }
 241                 }
 242
 243                 return r;
 244         }
 245
 246         public boolean altitude_32() {
 247                 return altitude_32 == 1;
 248         }
 249
 250         public int compare_version(String other) {
 251                 int[]   me = parse_version(version);
 252                 int[]   them = parse_version(other);
 253
 254                 int     l = Math.min(me.length, them.length);
 255
 256                 for (int i = 0; i < l; i++) {
 257                         int     d = me[i] - them[i];
 258                         if (d != 0)
 259                                 return d;
 260                 }
 261                 if (me.length > l)
 262                         return 1;
 263                 if (them.length > l)
 264                         return -1;
 265                 return 0;
 266         }
 267
 268         public void reset() {
 269                 manufacturer = null;
 270                 product = null;
 271                 serial = AltosLib.MISSING;
 272                 flight = AltosLib.MISSING;
 273                 log_format = AltosLib.AO_LOG_FORMAT_UNKNOWN;
 274                 log_space = AltosLib.MISSING;
 275                 version = "unknown";
 276                 config_major = AltosLib.MISSING;
 277                 config_minor = AltosLib.MISSING;
 278
 279                 main_deploy = AltosLib.MISSING;
 280                 apogee_delay = AltosLib.MISSING;
 281                 apogee_lockout = AltosLib.MISSING;
 282
 283                 radio_frequency = AltosLib.MISSING;
 284                 callsign = null;
 285                 radio_enable = AltosLib.MISSING;
 286                 radio_calibration = AltosLib.MISSING;
 287                 radio_channel = AltosLib.MISSING;
 288                 radio_setting = AltosLib.MISSING;
 289                 telemetry_rate = AltosLib.MISSING;
 290
 291                 accel_cal_plus_cooked = AltosLib.MISSING;
 292                 accel_cal_minus_cooked = AltosLib.MISSING;
 293                 accel_cal_plus = AltosLib.MISSING;
 294                 accel_cal_minus = AltosLib.MISSING;
 295                 pad_orientation = AltosLib.MISSING;
 296                 accel_cal_adjusted = false;
 297
 298                 flight_log_max = AltosLib.MISSING;
 299                 log_fixed = AltosLib.MISSING;
 300                 ignite_mode = AltosLib.MISSING;
 301
 302                 aes_key = null;
 303
 304                 pyro = AltosLib.MISSING;
 305                 npyro = AltosLib.MISSING;
 306                 pyros = null;
 307                 pyro_firing_time = AltosLib.MISSING;
 308
 309                 aprs_interval = AltosLib.MISSING;
 310                 aprs_ssid = AltosLib.MISSING;
 311                 aprs_format = AltosLib.MISSING;
 312                 aprs_offset = AltosLib.MISSING;
 313
 314                 beep = AltosLib.MISSING;
 315
 316                 tracker_motion = AltosLib.MISSING;
 317                 tracker_interval = AltosLib.MISSING;
 318
 319                 storage_size = AltosLib.MISSING;
 320                 storage_erase_unit = AltosLib.MISSING;
 321                 stored_flight = 0;
 322                 flights = null;
 323
 324                 accel_zero_along = AltosLib.MISSING;
 325                 accel_zero_across = AltosLib.MISSING;
 326                 accel_zero_through = AltosLib.MISSING;
 327         }
 328
 329         /* Return + accel calibration relative to a specific pad orientation */
 330         public int accel_cal_plus(int pad_orientation) {
 331                 adjust_accel_cal();
 332                 if (!accel_cal_adjusted)
 333                         return AltosLib.MISSING;
 334
 335                 switch (pad_orientation) {
 336                 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
 337                 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
 338                 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
 339                         return accel_cal_plus_cooked;
 340                 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
 341                 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
 342                 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
 343                         return invert_accel_value(accel_cal_minus_cooked);
 344                 default:
 345                         return AltosLib.MISSING;
 346                 }
 347         }
 348
 349         /* Return - accel calibration relative to a specific pad orientation */
 350         public int accel_cal_minus(int pad_orientation) {
 351                 adjust_accel_cal();
 352                 if (!accel_cal_adjusted)
 353                         return AltosLib.MISSING;
 354
 355                 switch (pad_orientation) {
 356                 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
 357                 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
 358                 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
 359                         return accel_cal_minus_cooked;
 360                 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
 361                 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
 362                 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
 363                         return invert_accel_value(accel_cal_plus_cooked);
 364                 default:
 365                         return AltosLib.MISSING;
 366                 }
 367         }
 368
 369         /* Once we have all of the values from the config data, compute the
 370          * accel cal values relative to Antenna Up orientation.
 371          */
 372         private void adjust_accel_cal() {
 373                 if (!accel_cal_adjusted &&
 374                     product != null &&
 375                     pad_orientation != AltosLib.MISSING &&
 376                     accel_cal_plus != AltosLib.MISSING &&
 377                     accel_cal_minus != AltosLib.MISSING)
 378                 {
 379                         switch (pad_orientation) {
 380                         case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
 381                         case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
 382                         case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
 383                                 accel_cal_plus_cooked = accel_cal_plus;
 384                                 accel_cal_minus_cooked = accel_cal_minus;
 385                                 accel_cal_adjusted = true;
 386                                 break;
 387                         case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
 388                         case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
 389                         case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
 390                                 accel_cal_plus_cooked = invert_accel_value(accel_cal_minus);
 391                                 accel_cal_minus_cooked = invert_accel_value(accel_cal_plus);
 392                                 accel_cal_adjusted = true;
 393                                 break;
 394                         default:
 395                                 break;
 396                         }
 397                 }
 398         }
 399
 400         public void parse_line(String line) {
 401
 402                 /* Version replies */
 403                 try { manufacturer = get_string(line, "manufacturer"); } catch (Exception e) {}
 404                 try { product = get_string(line, "product"); } catch (Exception e) {}
 405                 try { serial = get_int(line, "serial-number"); } catch (Exception e) {}
 406                 try { flight = get_int(line, "current-flight"); } catch (Exception e) {}
 407                 try { log_format = get_int(line, "log-format"); } catch (Exception e) {}
 408                 try { log_space = get_int(line, "log-space"); } catch (Exception e) {}
 409                 try { altitude_32 = get_int(line, "altitude-32"); } catch (Exception e) {}
 410                 try { version = get_string(line, "software-version"); } catch (Exception e) {}
 411
 412                 /* Version also contains MS5607 info, which we ignore here */
 413
 414                 try { ms5607().reserved = get_int(line, "ms5607 reserved:"); } catch (Exception e) {}
 415                 try { ms5607().sens = get_int(line, "ms5607 sens:"); } catch (Exception e) {}
 416                 try { ms5607().off = get_int(line, "ms5607 off:"); } catch (Exception e) {}
 417                 try { ms5607().tcs = get_int(line, "ms5607 tcs:"); } catch (Exception e) {}
 418                 try { ms5607().tco = get_int(line, "ms5607 tco:"); } catch (Exception e) {}
 419                 try { ms5607().tref = get_int(line, "ms5607 tref:"); } catch (Exception e) {}
 420                 try { ms5607().tempsens = get_int(line, "ms5607 tempsens:"); } catch (Exception e) {}
 421                 try { ms5607().crc = get_int(line, "ms5607 crc:"); } catch (Exception e) {}
 422
 423                 /* Config show replies */
 424
 425                 try {
 426                         if (line.startsWith("Config version")) {
 427                                 String[] bits = line.split("\\s+");
 428                                 if (bits.length >= 3) {
 429                                         String[] cfg = bits[2].split("\\.");
 430
 431                                         if (cfg.length >= 2) {
 432                                                 config_major = Integer.parseInt(cfg[0]);
 433                                                 config_minor = Integer.parseInt(cfg[1]);
 434                                         }
 435                                 }
 436                         }
 437                 } catch (Exception e) {}
 438
 439                 /* HAS_FLIGHT */
 440                 try { main_deploy = get_int(line, "Main deploy:"); } catch (Exception e) {}
 441                 try { apogee_delay = get_int(line, "Apogee delay:"); } catch (Exception e) {}
 442                 try { apogee_lockout = get_int(line, "Apogee lockout:"); } catch (Exception e) {}
 443
 444                 /* HAS_RADIO */
 445                 try {
 446                         radio_frequency = get_int(line, "Frequency:");
 447                         if (radio_frequency < 0)
 448                                 radio_frequency = 434550;
 449                 } catch (Exception e) {}
 450                 try { callsign = get_string(line, "Callsign:"); } catch (Exception e) {}
 451                 try { radio_enable = get_int(line, "Radio enable:"); } catch (Exception e) {}
 452                 try { radio_calibration = get_int(line, "Radio cal:"); } catch (Exception e) {}
 453                 try { telemetry_rate = get_int(line, "Telemetry rate:"); } catch (Exception e) {}
 454
 455                 /* Old HAS_RADIO values */
 456                 try { radio_channel = get_int(line, "Radio channel:"); } catch (Exception e) {}
 457                 try { radio_setting = get_int(line, "Radio setting:"); } catch (Exception e) {}
 458
 459                 /* HAS_ACCEL */
 460                 try {
 461                         if (line.startsWith("Accel cal")) {
 462                                 String[] bits = line.split("\\s+");
 463                                 if (bits.length >= 6) {
 464                                         accel_cal_plus = Integer.parseInt(bits[3]);
 465                                         accel_cal_minus = Integer.parseInt(bits[5]);
 466                                         accel_cal_adjusted = false;
 467                                 }
 468                         }
 469                 } catch (Exception e) {}
 470                 try { pad_orientation = get_int(line, "Pad orientation:"); } catch (Exception e) {}
 471
 472                 /* HAS_LOG */
 473                 try { flight_log_max = get_int(line, "Max flight log:"); } catch (Exception e) {}
 474                 try { log_fixed = get_int(line, "Log fixed:"); } catch (Exception e) {}
 475
 476                 /* HAS_IGNITE */
 477                 try { ignite_mode = get_int(line, "Ignite mode:"); } catch (Exception e) {}
 478
 479                 /* HAS_AES */
 480                 try { aes_key = get_string(line, "AES key:"); } catch (Exception e) {}
 481
 482                 /* AO_PYRO_NUM */
 483                 try {
 484                         npyro = get_int(line, "Pyro-count:");
 485                         pyros = new AltosPyro[npyro];
 486                         pyro = 0;
 487                 } catch (Exception e) {}
 488                 if (npyro != AltosLib.MISSING) {
 489                         try {
 490                                 AltosPyro p = new AltosPyro(pyro, line);
 491                                 if (pyro < npyro)
 492                                         pyros[pyro++] = p;
 493                         } catch (Exception e) {}
 494                 }
 495                 try { pyro_firing_time = get_int(line, "Pyro time:") / 100.0; } catch (Exception e) {}
 496
 497                 /* HAS_APRS */
 498                 try { aprs_interval = get_int(line, "APRS interval:"); } catch (Exception e) {}
 499                 try { aprs_ssid = get_int(line, "APRS SSID:"); } catch (Exception e) {}
 500                 try { aprs_format = get_int(line, "APRS format:"); } catch (Exception e) {}
 501                 try { aprs_offset = get_int(line, "APRS offset:"); } catch (Exception e) {}
 502
 503                 /* HAS_BEEP */
 504                 try { beep = get_int(line, "Beeper setting:"); } catch (Exception e) {}
 505
 506                 /* HAS_TRACKER */
 507                 try {
 508                         int[] values = get_values(line, "Tracker setting:");
 509                         tracker_motion = values[0];
 510                         tracker_interval = values[1];
 511                 } catch (Exception e) {}
 512
 513                 /* Storage info replies */
 514                 try { storage_size = get_int(line, "Storage size:"); } catch (Exception e) {}
 515                 try { storage_erase_unit = get_int(line, "Storage erase unit:"); } catch (Exception e) {}
 516
 517                 /* Log listing replies */
 518                 try {
 519                         int flight = get_int(line, "flight");
 520                         String[] tokens = line.split("\\s+");
 521                         if (tokens.length >= 6) {
 522                                 int     start = -1, end = -1;
 523                                 try {
 524                                         if (tokens[2].equals("start"))
 525                                                 start = AltosParse.parse_hex(tokens[3]);
 526                                         if (tokens[4].equals("end"))
 527                                                 end = AltosParse.parse_hex(tokens[5]);
 528                                         if (flight != 0 && start >= 0 && end > 0) {
 529                                                 int len;
 530                                                 if (flights == null)
 531                                                         len = 0;
 532                                                 else
 533                                                         len = flights.length;
 534                                                 AltosEepromFlight [] new_flights = new AltosEepromFlight[len + 1];
 535                                                 for (int i = 0; i < len; i++)
 536                                                         new_flights[i] = flights[i];
 537                                                 new_flights[len] = new AltosEepromFlight(flight, start, end);
 538                                                 flights = new_flights;
 539                                                 stored_flight = flights.length;
 540                                         }
 541                                 } catch (ParseException pe) { System.out.printf("Parse error %s\n", pe.toString()); }
 542                         }
 543                 }  catch (Exception e) {}
 544
 545                 /* HAS_GYRO */
 546                 try {
 547                         if (line.startsWith("IMU cal along")) {
 548                                 String[] bits = line.split("\\s+");
 549                                 if (bits.length >= 8) {
 550                                         accel_zero_along = Integer.parseInt(bits[3]);
 551                                         accel_zero_across = Integer.parseInt(bits[5]);
 552                                         accel_zero_through = Integer.parseInt(bits[7]);
 553                                 }
 554                         }
 555                 } catch (Exception e) {}
 556         }
 557
 558         public AltosConfigData() {
 559                 reset();
 560         }
 561
 562         private void read_link(AltosLink link, String finished) throws InterruptedException, TimeoutException {
 563                 for (;;) {
 564                         String line = link.get_reply();
 565                         if (line == null)
 566                                 throw new TimeoutException();
 567                         if (line.contains("Syntax error"))
 568                                 continue;
 569                         this.parse_line(line);
 570
 571                         /* signals the end of the version info */
 572                         if (line.startsWith(finished))
 573                                 break;
 574                 }
 575         }
 576
 577         public boolean has_frequency() {
 578                 return radio_frequency != AltosLib.MISSING || radio_setting != AltosLib.MISSING || radio_channel != AltosLib.MISSING;
 579         }
 580
 581         public boolean has_telemetry_rate() {
 582                 return telemetry_rate != AltosLib.MISSING;
 583         }
 584
 585         public void set_frequency(double freq) {
 586                 int     frequency = radio_frequency;
 587                 int     setting = radio_setting;
 588
 589                 if (frequency != AltosLib.MISSING) {
 590                         radio_frequency = (int) Math.floor (freq * 1000 + 0.5);
 591                         radio_channel = AltosLib.MISSING;
 592                 } else if (setting != AltosLib.MISSING) {
 593                         radio_setting =AltosConvert.radio_frequency_to_setting(freq, radio_calibration);
 594                         radio_channel = AltosLib.MISSING;
 595                 } else {
 596                         radio_channel = AltosConvert.radio_frequency_to_channel(freq);
 597                 }
 598         }
 599
 600         public double frequency() {
 601                 int     channel = radio_channel;
 602                 int     setting = radio_setting;
 603
 604                 if (radio_frequency == AltosLib.MISSING && channel == AltosLib.MISSING && setting == AltosLib.MISSING)
 605                         return AltosLib.MISSING;
 606
 607                 if (channel == AltosLib.MISSING)
 608                         channel = 0;
 609                 if (setting == AltosLib.MISSING)
 610                         setting = 0;
 611
 612                 return AltosConvert.radio_to_frequency(radio_frequency,
 613                                                        setting,
 614                                                        radio_calibration,
 615                                                        channel);
 616         }
 617
 618         boolean use_flash_for_config() {
 619                 if (product.startsWith("TeleMega"))
 620                         return false;
 621                 if (product.startsWith("TeleMetrum-v2"))
 622                         return false;
 623                 if (product.startsWith("TeleMetrum-v3"))
 624                         return false;
 625                 if (product.startsWith("EasyMega"))
 626                         return false;
 627                 return true;
 628         }
 629
 630
 631         public boolean mma655x_inverted() throws AltosUnknownProduct {
 632                 if (product != null) {
 633                         if (product.startsWith("EasyMega-v1"))
 634                                 return false;
 635                         if (product.startsWith("TeleMetrum-v2"))
 636                                 return true;
 637                         if (product.startsWith("TeleMega-v2"))
 638                                 return false;
 639                         if (product.startsWith("TeleMega-v1"))
 640                                 return false;
 641                 }
 642                 throw new AltosUnknownProduct(product);
 643         }
 644
 645         public boolean adxl375_inverted() throws AltosUnknownProduct {
 646                 if (product != null) {
 647                         if (product.startsWith("EasyMega-v2"))
 648                                 return true;
 649                         if (product.startsWith("TeleMetrum-v3"))
 650                                 return true;
 651                         if (product.startsWith("TeleMega-v4"))
 652                                 return true;
 653                         if (product.startsWith("EasyMotor-v2"))
 654                                 return true;
 655                 }
 656                 throw new AltosUnknownProduct(product);
 657         }
 658
 659         public int adxl375_axis() throws AltosUnknownProduct {
 660                 if (product != null) {
 661                         if (product.startsWith("EasyMega-v2"))
 662                                 return AltosAdxl375.X_AXIS;
 663                         if (product.startsWith("TeleMetrum-v3"))
 664                                 return AltosAdxl375.X_AXIS;
 665                         if (product.startsWith("TeleMega-v4"))
 666                                 return AltosAdxl375.X_AXIS;
 667                         if (product.startsWith("EasyMotor-v2"))
 668                                 return AltosAdxl375.X_AXIS;
 669
 670                 }
 671                 throw new AltosUnknownProduct(product);
 672         }
 673
 674         public void get_values(AltosConfigValues source) throws AltosConfigDataException {
 675
 676                 /* HAS_FLIGHT */
 677                 if (main_deploy != AltosLib.MISSING)
 678                         main_deploy = source.main_deploy();
 679                 if (apogee_delay != AltosLib.MISSING)
 680                         apogee_delay = source.apogee_delay();
 681                 if (apogee_lockout != AltosLib.MISSING)
 682                         apogee_lockout = source.apogee_lockout();
 683
 684                 /* HAS_RADIO */
 685                 if (has_frequency())
 686                         set_frequency(source.radio_frequency());
 687                 if (radio_enable != AltosLib.MISSING)
 688                         radio_enable = source.radio_enable();
 689                 if (callsign != null)
 690                         callsign = source.callsign();
 691                 if (telemetry_rate != AltosLib.MISSING)
 692                         telemetry_rate = source.telemetry_rate();
 693
 694                 /* HAS_ACCEL */
 695                 if (pad_orientation != AltosLib.MISSING)
 696                         pad_orientation = source.pad_orientation();
 697
 698                 if (accel_cal_plus_cooked != AltosLib.MISSING)
 699                         accel_cal_plus_cooked = source.accel_cal_plus();
 700
 701                 if (accel_cal_minus_cooked != AltosLib.MISSING)
 702                         accel_cal_minus_cooked = source.accel_cal_minus();
 703
 704                 /* HAS_LOG */
 705                 if (flight_log_max != AltosLib.MISSING)
 706                         flight_log_max = source.flight_log_max();
 707
 708                 /* HAS_IGNITE */
 709                 if (ignite_mode != AltosLib.MISSING)
 710                         ignite_mode = source.ignite_mode();
 711
 712                 /* AO_PYRO_NUM */
 713                 if (npyro != AltosLib.MISSING)
 714                         pyros = source.pyros();
 715                 if (pyro_firing_time != AltosLib.MISSING)
 716                         pyro_firing_time = source.pyro_firing_time();
 717
 718                 /* HAS_APRS */
 719                 if (aprs_interval != AltosLib.MISSING)
 720                         aprs_interval = source.aprs_interval();
 721                 if (aprs_ssid != AltosLib.MISSING)
 722                         aprs_ssid = source.aprs_ssid();
 723                 if (aprs_format != AltosLib.MISSING)
 724                         aprs_format = source.aprs_format();
 725                 if (aprs_offset != AltosLib.MISSING)
 726                         aprs_offset = source.aprs_offset();
 727
 728                 /* HAS_BEEP */
 729                 if (beep != AltosLib.MISSING)
 730                         beep = source.beep();
 731                 /* HAS_TRACKER */
 732                 if (tracker_motion != AltosLib.MISSING)
 733                         tracker_motion = source.tracker_motion();
 734                 if (tracker_interval != AltosLib.MISSING)
 735                         tracker_interval = source.tracker_interval();
 736         }
 737
 738         public void set_values(AltosConfigValues dest) {
 739                 dest.set_serial(serial);
 740                 dest.set_product(product);
 741                 dest.set_version(version);
 742                 dest.set_altitude_32(altitude_32);
 743                 dest.set_main_deploy(main_deploy);
 744                 dest.set_apogee_delay(apogee_delay);
 745                 dest.set_apogee_lockout(apogee_lockout);
 746                 dest.set_radio_calibration(radio_calibration);
 747                 dest.set_radio_frequency(frequency());
 748                 dest.set_telemetry_rate(telemetry_rate);
 749                 boolean max_enabled = true;
 750
 751                 if (log_space() == 0)
 752                         max_enabled = false;
 753
 754                 if (log_fixed != AltosLib.MISSING)
 755                         max_enabled = false;
 756
 757                 switch (log_format) {
 758                 case AltosLib.AO_LOG_FORMAT_TINY:
 759                         max_enabled = false;
 760                         break;
 761                 default:
 762                         if (flights != null)
 763                                 max_enabled = false;
 764                         break;
 765                 }
 766
 767                 dest.set_flight_log_max_enabled(max_enabled);
 768                 dest.set_radio_enable(radio_enable);
 769                 dest.set_flight_log_max_limit(log_space() >> 10, storage_erase_unit >> 10);
 770                 dest.set_flight_log_max(flight_log_max);
 771                 dest.set_ignite_mode(ignite_mode);
 772                 dest.set_pad_orientation(pad_orientation);
 773                 dest.set_accel_cal(accel_cal_plus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP),
 774                                    accel_cal_minus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP));
 775                 dest.set_callsign(callsign);
 776                 if (npyro != AltosLib.MISSING)
 777                         dest.set_pyros(pyros);
 778                 else
 779                         dest.set_pyros(null);
 780                 dest.set_pyro_firing_time(pyro_firing_time);
 781                 dest.set_aprs_interval(aprs_interval);
 782                 dest.set_aprs_ssid(aprs_ssid);
 783                 dest.set_aprs_format(aprs_format);
 784                 dest.set_aprs_offset(aprs_offset);
 785                 dest.set_beep(beep);
 786                 dest.set_tracker_motion(tracker_motion);
 787                 dest.set_tracker_interval(tracker_interval);
 788         }
 789
 790         public boolean log_has_state() {
 791                 switch (log_format) {
 792                 case AltosLib.AO_LOG_FORMAT_TELEGPS:
 793                         return false;
 794                 }
 795                 return true;
 796         }
 797
 798         public void save(AltosLink link, boolean remote) throws InterruptedException, TimeoutException {
 799
 800                 /* HAS_FLIGHT */
 801                 if (main_deploy != AltosLib.MISSING)
 802                         link.printf("c m %d\n", main_deploy);
 803                 if (apogee_delay != AltosLib.MISSING)
 804                         link.printf("c d %d\n", apogee_delay);
 805                 if (apogee_lockout != AltosLib.MISSING)
 806                         link.printf("c L %d\n", apogee_lockout);
 807
 808                 /* HAS_RADIO */
 809                 if (has_frequency()) {
 810                         boolean has_frequency = radio_frequency != AltosLib.MISSING;
 811                         boolean has_setting = radio_setting != AltosLib.MISSING;
 812                         double frequency = frequency();
 813                         link.set_radio_frequency(frequency,
 814                                                         has_frequency,
 815                                                         has_setting,
 816                                                         radio_calibration);
 817                         /* When remote, reset the dongle frequency at the same time */
 818                         if (remote && frequency != link.frequency) {
 819                                 link.stop_remote();
 820                                 link.set_radio_frequency(frequency);
 821                                 link.start_remote();
 822                         }
 823                 }
 824
 825                 if (telemetry_rate != AltosLib.MISSING) {
 826                         link.printf("c T %d\n", telemetry_rate);
 827                         if (remote && telemetry_rate != link.telemetry_rate) {
 828                                 link.stop_remote();
 829                                 link.set_telemetry_rate(telemetry_rate);
 830                                 link.start_remote();
 831                         }
 832                 }
 833
 834                 if (callsign != null) {
 835                         link.printf("c c %s\n", callsign);
 836                         if (remote && !callsign.equals(link.callsign)) {
 837                                 System.out.printf("changing link callsign from %s to %s\n", link.callsign, callsign);
 838                                 link.stop_remote();
 839                                 link.set_callsign(callsign);
 840                                 link.start_remote();
 841                         }
 842                 }
 843
 844                 if (radio_enable != AltosLib.MISSING)
 845                         link.printf("c e %d\n", radio_enable);
 846
 847                 /* HAS_ACCEL */
 848                 /* set orientation first so that we know how to set the accel cal */
 849                 if (pad_orientation != AltosLib.MISSING)
 850                         link.printf("c o %d\n", pad_orientation);
 851                 int plus = accel_cal_plus(pad_orientation);
 852                 int minus = accel_cal_minus(pad_orientation);
 853                 if (plus != AltosLib.MISSING && minus != AltosLib.MISSING) {
 854                         if (plus < 0)
 855                                 plus = 65536 + plus;
 856                         if (minus < 0)
 857                                 minus = 65536 + minus;
 858                         if (accel_zero_along != AltosLib.MISSING &&
 859                             accel_zero_across != AltosLib.MISSING &&
 860                             accel_zero_through != AltosLib.MISSING)
 861                                 link.printf("c a %d %d %d %d %d\n",
 862                                             plus, minus,
 863                                             accel_zero_along,
 864                                             accel_zero_across,
 865                                             accel_zero_through);
 866                         else
 867                                 link.printf("c a %d %d\n", plus, minus);
 868                 }
 869
 870                 /* HAS_LOG */
 871                 if (flight_log_max != 0 && flight_log_max != AltosLib.MISSING)
 872                         link.printf("c l %d\n", flight_log_max);
 873
 874                 /* HAS_IGNITE */
 875                 if (ignite_mode != AltosLib.MISSING)
 876                         link.printf("c i %d\n", ignite_mode);
 877
 878                 /* HAS_AES */
 879                 /* UI doesn't support AES key config */
 880
 881                 /* AO_PYRO_NUM */
 882                 if (npyro != AltosLib.MISSING) {
 883                         for (int p = 0; p < pyros.length; p++) {
 884                                 link.printf("c P %s\n",
 885                                                    pyros[p].toString());
 886                         }
 887                 }
 888                 if (pyro_firing_time != AltosLib.MISSING)
 889                         link.printf("c I %d\n", (int) (pyro_firing_time * 100.0 + 0.5));
 890
 891                 /* HAS_APRS */
 892                 if (aprs_interval != AltosLib.MISSING)
 893                         link.printf("c A %d\n", aprs_interval);
 894                 if (aprs_ssid != AltosLib.MISSING)
 895                         link.printf("c S %d\n", aprs_ssid);
 896                 if (aprs_format != AltosLib.MISSING)
 897                         link.printf("c C %d\n", aprs_format);
 898                 if (aprs_offset != AltosLib.MISSING)
 899                         link.printf("c O %d\n", aprs_offset);
 900
 901                 /* HAS_BEEP */
 902                 if (beep != AltosLib.MISSING)
 903                         link.printf("c b %d\n", beep);
 904
 905                 /* HAS_TRACKER */
 906                 if (tracker_motion != AltosLib.MISSING && tracker_interval != AltosLib.MISSING)
 907                         link.printf("c t %d %d\n", tracker_motion, tracker_interval);
 908
 909                 /* HAS_GYRO */
 910                 /* UI doesn't support accel cal */
 911
 912                 link.printf("c w\n");
 913                 read_link(link, "Saved");
 914         }
 915
 916         public AltosConfigData(AltosLink link) throws InterruptedException, TimeoutException {
 917                 reset();
 918                 link.printf("c s\nf\nv\n");
 919                 read_link(link, "software-version");
 920                 switch (log_format) {
 921                 case AltosLib.AO_LOG_FORMAT_UNKNOWN:
 922                 case AltosLib.AO_LOG_FORMAT_NONE:
 923                         break;
 924                 default:
 925                         link.printf("l\n");
 926                         read_link(link, "done");
 927                         break;
 928                 }
 929                 adjust_accel_cal();
 930         }
 931 }