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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 == null)
 227                         return false;
 228                 if (product.startsWith("TeleBT"))
 229                         return true;
 230                 return false;
 231         }
 232
 233         int[] parse_version(String v) {
 234                 String[] parts = v.split("\\.");
 235                 int r[] = new int[parts.length];
 236
 237                 for (int i = 0; i < parts.length; i++) {
 238                         try {
 239                                 r[i] = (int) AltosLib.fromdec(parts[i]);
 240                         } catch (NumberFormatException n) {
 241                                 r[i] = 0;
 242                         }
 243                 }
 244
 245                 return r;
 246         }
 247
 248         public boolean altitude_32() {
 249                 return altitude_32 == 1;
 250         }
 251
 252         public int compare_version(String other) {
 253                 int[]   me = parse_version(version);
 254                 int[]   them = parse_version(other);
 255
 256                 int     l = Math.min(me.length, them.length);
 257
 258                 for (int i = 0; i < l; i++) {
 259                         int     d = me[i] - them[i];
 260                         if (d != 0)
 261                                 return d;
 262                 }
 263                 if (me.length > l)
 264                         return 1;
 265                 if (them.length > l)
 266                         return -1;
 267                 return 0;
 268         }
 269
 270         public void reset() {
 271                 manufacturer = null;
 272                 product = null;
 273                 serial = AltosLib.MISSING;
 274                 flight = AltosLib.MISSING;
 275                 log_format = AltosLib.AO_LOG_FORMAT_UNKNOWN;
 276                 log_space = AltosLib.MISSING;
 277                 version = "unknown";
 278                 config_major = AltosLib.MISSING;
 279                 config_minor = AltosLib.MISSING;
 280
 281                 main_deploy = AltosLib.MISSING;
 282                 apogee_delay = AltosLib.MISSING;
 283                 apogee_lockout = AltosLib.MISSING;
 284
 285                 radio_frequency = AltosLib.MISSING;
 286                 callsign = null;
 287                 radio_enable = AltosLib.MISSING;
 288                 radio_calibration = AltosLib.MISSING;
 289                 radio_channel = AltosLib.MISSING;
 290                 radio_setting = AltosLib.MISSING;
 291                 telemetry_rate = AltosLib.MISSING;
 292
 293                 accel_cal_plus_cooked = AltosLib.MISSING;
 294                 accel_cal_minus_cooked = AltosLib.MISSING;
 295                 accel_cal_plus = AltosLib.MISSING;
 296                 accel_cal_minus = AltosLib.MISSING;
 297                 pad_orientation = AltosLib.MISSING;
 298                 accel_cal_adjusted = false;
 299
 300                 flight_log_max = AltosLib.MISSING;
 301                 log_fixed = AltosLib.MISSING;
 302                 ignite_mode = AltosLib.MISSING;
 303
 304                 aes_key = null;
 305
 306                 pyro = AltosLib.MISSING;
 307                 npyro = AltosLib.MISSING;
 308                 pyros = null;
 309                 pyro_firing_time = AltosLib.MISSING;
 310
 311                 aprs_interval = AltosLib.MISSING;
 312                 aprs_ssid = AltosLib.MISSING;
 313                 aprs_format = AltosLib.MISSING;
 314                 aprs_offset = AltosLib.MISSING;
 315
 316                 beep = AltosLib.MISSING;
 317
 318                 tracker_motion = AltosLib.MISSING;
 319                 tracker_interval = AltosLib.MISSING;
 320
 321                 storage_size = AltosLib.MISSING;
 322                 storage_erase_unit = AltosLib.MISSING;
 323                 stored_flight = 0;
 324                 flights = null;
 325
 326                 accel_zero_along = AltosLib.MISSING;
 327                 accel_zero_across = AltosLib.MISSING;
 328                 accel_zero_through = AltosLib.MISSING;
 329         }
 330
 331         /* Return + accel calibration relative to a specific pad orientation */
 332         public int accel_cal_plus(int pad_orientation) {
 333                 adjust_accel_cal();
 334                 if (!accel_cal_adjusted)
 335                         return AltosLib.MISSING;
 336
 337                 switch (pad_orientation) {
 338                 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
 339                 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
 340                 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
 341                         return accel_cal_plus_cooked;
 342                 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
 343                 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
 344                 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
 345                         return invert_accel_value(accel_cal_minus_cooked);
 346                 default:
 347                         return AltosLib.MISSING;
 348                 }
 349         }
 350
 351         /* Return - accel calibration relative to a specific pad orientation */
 352         public int accel_cal_minus(int pad_orientation) {
 353                 adjust_accel_cal();
 354                 if (!accel_cal_adjusted)
 355                         return AltosLib.MISSING;
 356
 357                 switch (pad_orientation) {
 358                 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
 359                 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
 360                 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
 361                         return accel_cal_minus_cooked;
 362                 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
 363                 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
 364                 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
 365                         return invert_accel_value(accel_cal_plus_cooked);
 366                 default:
 367                         return AltosLib.MISSING;
 368                 }
 369         }
 370
 371         /* Once we have all of the values from the config data, compute the
 372          * accel cal values relative to Antenna Up orientation.
 373          */
 374         private void adjust_accel_cal() {
 375                 if (!accel_cal_adjusted &&
 376                     product != null &&
 377                     pad_orientation != AltosLib.MISSING &&
 378                     accel_cal_plus != AltosLib.MISSING &&
 379                     accel_cal_minus != AltosLib.MISSING)
 380                 {
 381                         switch (pad_orientation) {
 382                         case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
 383                         case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
 384                         case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
 385                                 accel_cal_plus_cooked = accel_cal_plus;
 386                                 accel_cal_minus_cooked = accel_cal_minus;
 387                                 accel_cal_adjusted = true;
 388                                 break;
 389                         case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
 390                         case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
 391                         case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
 392                                 accel_cal_plus_cooked = invert_accel_value(accel_cal_minus);
 393                                 accel_cal_minus_cooked = invert_accel_value(accel_cal_plus);
 394                                 accel_cal_adjusted = true;
 395                                 break;
 396                         default:
 397                                 break;
 398                         }
 399                 }
 400         }
 401
 402         public void parse_line(String line) {
 403
 404                 /* Version replies */
 405                 try { manufacturer = get_string(line, "manufacturer"); } catch (Exception e) {}
 406                 try { product = get_string(line, "product"); } catch (Exception e) {}
 407                 try { serial = get_int(line, "serial-number"); } catch (Exception e) {}
 408                 try { flight = get_int(line, "current-flight"); } catch (Exception e) {}
 409                 try { log_format = get_int(line, "log-format"); } catch (Exception e) {}
 410                 try { log_space = get_int(line, "log-space"); } catch (Exception e) {}
 411                 try { altitude_32 = get_int(line, "altitude-32"); } catch (Exception e) {}
 412                 try { version = get_string(line, "software-version"); } catch (Exception e) {}
 413
 414                 /* Version also contains MS5607 info, which we ignore here */
 415
 416                 try { ms5607().reserved = get_int(line, "ms5607 reserved:"); } catch (Exception e) {}
 417                 try { ms5607().sens = get_int(line, "ms5607 sens:"); } catch (Exception e) {}
 418                 try { ms5607().off = get_int(line, "ms5607 off:"); } catch (Exception e) {}
 419                 try { ms5607().tcs = get_int(line, "ms5607 tcs:"); } catch (Exception e) {}
 420                 try { ms5607().tco = get_int(line, "ms5607 tco:"); } catch (Exception e) {}
 421                 try { ms5607().tref = get_int(line, "ms5607 tref:"); } catch (Exception e) {}
 422                 try { ms5607().tempsens = get_int(line, "ms5607 tempsens:"); } catch (Exception e) {}
 423                 try { ms5607().crc = get_int(line, "ms5607 crc:"); } catch (Exception e) {}
 424
 425                 /* Config show replies */
 426
 427                 try {
 428                         if (line.startsWith("Config version")) {
 429                                 String[] bits = line.split("\\s+");
 430                                 if (bits.length >= 3) {
 431                                         String[] cfg = bits[2].split("\\.");
 432
 433                                         if (cfg.length >= 2) {
 434                                                 config_major = Integer.parseInt(cfg[0]);
 435                                                 config_minor = Integer.parseInt(cfg[1]);
 436                                         }
 437                                 }
 438                         }
 439                 } catch (Exception e) {}
 440
 441                 /* HAS_FLIGHT */
 442                 try { main_deploy = get_int(line, "Main deploy:"); } catch (Exception e) {}
 443                 try { apogee_delay = get_int(line, "Apogee delay:"); } catch (Exception e) {}
 444                 try { apogee_lockout = get_int(line, "Apogee lockout:"); } catch (Exception e) {}
 445
 446                 /* HAS_RADIO */
 447                 try {
 448                         radio_frequency = get_int(line, "Frequency:");
 449                         if (radio_frequency < 0)
 450                                 radio_frequency = 434550;
 451                 } catch (Exception e) {}
 452                 try { callsign = get_string(line, "Callsign:"); } catch (Exception e) {}
 453                 try { radio_enable = get_int(line, "Radio enable:"); } catch (Exception e) {}
 454                 try { radio_calibration = get_int(line, "Radio cal:"); } catch (Exception e) {}
 455                 try { telemetry_rate = get_int(line, "Telemetry rate:"); } catch (Exception e) {}
 456
 457                 /* Old HAS_RADIO values */
 458                 try { radio_channel = get_int(line, "Radio channel:"); } catch (Exception e) {}
 459                 try { radio_setting = get_int(line, "Radio setting:"); } catch (Exception e) {}
 460
 461                 /* HAS_ACCEL */
 462                 try {
 463                         if (line.startsWith("Accel cal")) {
 464                                 String[] bits = line.split("\\s+");
 465                                 if (bits.length >= 6) {
 466                                         accel_cal_plus = Integer.parseInt(bits[3]);
 467                                         accel_cal_minus = Integer.parseInt(bits[5]);
 468                                         accel_cal_adjusted = false;
 469                                 }
 470                         }
 471                 } catch (Exception e) {}
 472                 try { pad_orientation = get_int(line, "Pad orientation:"); } catch (Exception e) {}
 473
 474                 /* HAS_LOG */
 475                 try { flight_log_max = get_int(line, "Max flight log:"); } catch (Exception e) {}
 476                 try { log_fixed = get_int(line, "Log fixed:"); } catch (Exception e) {}
 477
 478                 /* HAS_IGNITE */
 479                 try { ignite_mode = get_int(line, "Ignite mode:"); } catch (Exception e) {}
 480
 481                 /* HAS_AES */
 482                 try { aes_key = get_string(line, "AES key:"); } catch (Exception e) {}
 483
 484                 /* AO_PYRO_NUM */
 485                 try {
 486                         npyro = get_int(line, "Pyro-count:");
 487                         pyros = new AltosPyro[npyro];
 488                         pyro = 0;
 489                 } catch (Exception e) {}
 490                 if (npyro != AltosLib.MISSING) {
 491                         try {
 492                                 AltosPyro p = new AltosPyro(pyro, line);
 493                                 if (pyro < npyro)
 494                                         pyros[pyro++] = p;
 495                         } catch (Exception e) {}
 496                 }
 497                 try { pyro_firing_time = get_int(line, "Pyro time:") / 100.0; } catch (Exception e) {}
 498
 499                 /* HAS_APRS */
 500                 try { aprs_interval = get_int(line, "APRS interval:"); } catch (Exception e) {}
 501                 try { aprs_ssid = get_int(line, "APRS SSID:"); } catch (Exception e) {}
 502                 try { aprs_format = get_int(line, "APRS format:"); } catch (Exception e) {}
 503                 try { aprs_offset = get_int(line, "APRS offset:"); } catch (Exception e) {}
 504
 505                 /* HAS_BEEP */
 506                 try { beep = get_int(line, "Beeper setting:"); } catch (Exception e) {}
 507
 508                 /* HAS_TRACKER */
 509                 try {
 510                         int[] values = get_values(line, "Tracker setting:");
 511                         tracker_motion = values[0];
 512                         tracker_interval = values[1];
 513                 } catch (Exception e) {}
 514
 515                 /* Storage info replies */
 516                 try { storage_size = get_int(line, "Storage size:"); } catch (Exception e) {}
 517                 try { storage_erase_unit = get_int(line, "Storage erase unit:"); } catch (Exception e) {}
 518
 519                 /* Log listing replies */
 520                 try {
 521                         int flight = get_int(line, "flight");
 522                         String[] tokens = line.split("\\s+");
 523                         if (tokens.length >= 6) {
 524                                 int     start = -1, end = -1;
 525                                 try {
 526                                         if (tokens[2].equals("start"))
 527                                                 start = AltosParse.parse_hex(tokens[3]);
 528                                         if (tokens[4].equals("end"))
 529                                                 end = AltosParse.parse_hex(tokens[5]);
 530                                         if (flight != 0 && start >= 0 && end > 0) {
 531                                                 int len;
 532                                                 if (flights == null)
 533                                                         len = 0;
 534                                                 else
 535                                                         len = flights.length;
 536                                                 AltosEepromFlight [] new_flights = new AltosEepromFlight[len + 1];
 537                                                 for (int i = 0; i < len; i++)
 538                                                         new_flights[i] = flights[i];
 539                                                 new_flights[len] = new AltosEepromFlight(flight, start, end);
 540                                                 flights = new_flights;
 541                                                 stored_flight = flights.length;
 542                                         }
 543                                 } catch (ParseException pe) { System.out.printf("Parse error %s\n", pe.toString()); }
 544                         }
 545                 }  catch (Exception e) {}
 546
 547                 /* HAS_GYRO */
 548                 try {
 549                         if (line.startsWith("IMU cal along")) {
 550                                 String[] bits = line.split("\\s+");
 551                                 if (bits.length >= 8) {
 552                                         accel_zero_along = Integer.parseInt(bits[3]);
 553                                         accel_zero_across = Integer.parseInt(bits[5]);
 554                                         accel_zero_through = Integer.parseInt(bits[7]);
 555                                 }
 556                         }
 557                 } catch (Exception e) {}
 558         }
 559
 560         public AltosConfigData() {
 561                 reset();
 562         }
 563
 564         private void read_link(AltosLink link, String finished) throws InterruptedException, TimeoutException {
 565                 for (;;) {
 566                         String line = link.get_reply();
 567                         if (line == null)
 568                                 throw new TimeoutException();
 569                         if (line.contains("Syntax error"))
 570                                 continue;
 571                         this.parse_line(line);
 572
 573                         /* signals the end of the version info */
 574                         if (line.startsWith(finished))
 575                                 break;
 576                 }
 577         }
 578
 579         public boolean has_frequency() {
 580                 return radio_frequency != AltosLib.MISSING || radio_setting != AltosLib.MISSING || radio_channel != AltosLib.MISSING;
 581         }
 582
 583         public boolean has_telemetry_rate() {
 584                 return telemetry_rate != AltosLib.MISSING;
 585         }
 586
 587         public void set_frequency(double freq) {
 588                 int     frequency = radio_frequency;
 589                 int     setting = radio_setting;
 590
 591                 if (frequency != AltosLib.MISSING) {
 592                         radio_frequency = (int) Math.floor (freq * 1000 + 0.5);
 593                         radio_channel = AltosLib.MISSING;
 594                 } else if (setting != AltosLib.MISSING) {
 595                         radio_setting =AltosConvert.radio_frequency_to_setting(freq, radio_calibration);
 596                         radio_channel = AltosLib.MISSING;
 597                 } else {
 598                         radio_channel = AltosConvert.radio_frequency_to_channel(freq);
 599                 }
 600         }
 601
 602         public double frequency() {
 603                 int     channel = radio_channel;
 604                 int     setting = radio_setting;
 605
 606                 if (radio_frequency == AltosLib.MISSING && channel == AltosLib.MISSING && setting == AltosLib.MISSING)
 607                         return AltosLib.MISSING;
 608
 609                 if (channel == AltosLib.MISSING)
 610                         channel = 0;
 611                 if (setting == AltosLib.MISSING)
 612                         setting = 0;
 613
 614                 return AltosConvert.radio_to_frequency(radio_frequency,
 615                                                        setting,
 616                                                        radio_calibration,
 617                                                        channel);
 618         }
 619
 620         boolean use_flash_for_config() {
 621                 if (product.startsWith("TeleMega"))
 622                         return false;
 623                 if (product.startsWith("TeleMetrum-v2"))
 624                         return false;
 625                 if (product.startsWith("TeleMetrum-v3"))
 626                         return false;
 627                 if (product.startsWith("EasyMega"))
 628                         return false;
 629                 return true;
 630         }
 631
 632
 633         public boolean mma655x_inverted() throws AltosUnknownProduct {
 634                 if (product != null) {
 635                         if (product.startsWith("EasyMega-v1"))
 636                                 return false;
 637                         if (product.startsWith("TeleMetrum-v2"))
 638                                 return true;
 639                         if (product.startsWith("TeleMega-v2"))
 640                                 return false;
 641                         if (product.startsWith("TeleMega-v1"))
 642                                 return false;
 643                 }
 644                 throw new AltosUnknownProduct(product);
 645         }
 646
 647         public boolean adxl375_inverted() throws AltosUnknownProduct {
 648                 if (product != null) {
 649                         if (product.startsWith("EasyMega-v2"))
 650                                 return true;
 651                         if (product.startsWith("TeleMetrum-v3"))
 652                                 return true;
 653                         if (product.startsWith("TeleMega-v4"))
 654                                 return true;
 655                         if (product.startsWith("EasyMotor-v2"))
 656                                 return true;
 657                 }
 658                 throw new AltosUnknownProduct(product);
 659         }
 660
 661         public int adxl375_axis() throws AltosUnknownProduct {
 662                 if (product != null) {
 663                         if (product.startsWith("EasyMega-v2"))
 664                                 return AltosAdxl375.X_AXIS;
 665                         if (product.startsWith("TeleMetrum-v3"))
 666                                 return AltosAdxl375.X_AXIS;
 667                         if (product.startsWith("TeleMega-v4"))
 668                                 return AltosAdxl375.X_AXIS;
 669                         if (product.startsWith("EasyMotor-v2"))
 670                                 return AltosAdxl375.X_AXIS;
 671
 672                 }
 673                 throw new AltosUnknownProduct(product);
 674         }
 675
 676         public void get_values(AltosConfigValues source) throws AltosConfigDataException {
 677
 678                 /* HAS_FLIGHT */
 679                 if (main_deploy != AltosLib.MISSING)
 680                         main_deploy = source.main_deploy();
 681                 if (apogee_delay != AltosLib.MISSING)
 682                         apogee_delay = source.apogee_delay();
 683                 if (apogee_lockout != AltosLib.MISSING)
 684                         apogee_lockout = source.apogee_lockout();
 685
 686                 /* HAS_RADIO */
 687                 if (has_frequency())
 688                         set_frequency(source.radio_frequency());
 689                 if (radio_enable != AltosLib.MISSING)
 690                         radio_enable = source.radio_enable();
 691                 if (callsign != null)
 692                         callsign = source.callsign();
 693                 if (telemetry_rate != AltosLib.MISSING)
 694                         telemetry_rate = source.telemetry_rate();
 695
 696                 /* HAS_ACCEL */
 697                 if (pad_orientation != AltosLib.MISSING)
 698                         pad_orientation = source.pad_orientation();
 699
 700                 if (accel_cal_plus_cooked != AltosLib.MISSING)
 701                         accel_cal_plus_cooked = source.accel_cal_plus();
 702
 703                 if (accel_cal_minus_cooked != AltosLib.MISSING)
 704                         accel_cal_minus_cooked = source.accel_cal_minus();
 705
 706                 /* HAS_LOG */
 707                 if (flight_log_max != AltosLib.MISSING)
 708                         flight_log_max = source.flight_log_max();
 709
 710                 /* HAS_IGNITE */
 711                 if (ignite_mode != AltosLib.MISSING)
 712                         ignite_mode = source.ignite_mode();
 713
 714                 /* AO_PYRO_NUM */
 715                 if (npyro != AltosLib.MISSING)
 716                         pyros = source.pyros();
 717                 if (pyro_firing_time != AltosLib.MISSING)
 718                         pyro_firing_time = source.pyro_firing_time();
 719
 720                 /* HAS_APRS */
 721                 if (aprs_interval != AltosLib.MISSING)
 722                         aprs_interval = source.aprs_interval();
 723                 if (aprs_ssid != AltosLib.MISSING)
 724                         aprs_ssid = source.aprs_ssid();
 725                 if (aprs_format != AltosLib.MISSING)
 726                         aprs_format = source.aprs_format();
 727                 if (aprs_offset != AltosLib.MISSING)
 728                         aprs_offset = source.aprs_offset();
 729
 730                 /* HAS_BEEP */
 731                 if (beep != AltosLib.MISSING)
 732                         beep = source.beep();
 733                 /* HAS_TRACKER */
 734                 if (tracker_motion != AltosLib.MISSING)
 735                         tracker_motion = source.tracker_motion();
 736                 if (tracker_interval != AltosLib.MISSING)
 737                         tracker_interval = source.tracker_interval();
 738         }
 739
 740         public void set_values(AltosConfigValues dest) {
 741                 dest.set_serial(serial);
 742                 dest.set_product(product);
 743                 dest.set_version(version);
 744                 dest.set_altitude_32(altitude_32);
 745                 dest.set_main_deploy(main_deploy);
 746                 dest.set_apogee_delay(apogee_delay);
 747                 dest.set_apogee_lockout(apogee_lockout);
 748                 dest.set_radio_calibration(radio_calibration);
 749                 dest.set_radio_frequency(frequency());
 750                 dest.set_telemetry_rate(telemetry_rate);
 751                 boolean max_enabled = true;
 752
 753                 if (log_space() == 0)
 754                         max_enabled = false;
 755
 756                 if (log_fixed != AltosLib.MISSING)
 757                         max_enabled = false;
 758
 759                 switch (log_format) {
 760                 case AltosLib.AO_LOG_FORMAT_TINY:
 761                         max_enabled = false;
 762                         break;
 763                 default:
 764                         if (flights != null)
 765                                 max_enabled = false;
 766                         break;
 767                 }
 768
 769                 dest.set_flight_log_max_enabled(max_enabled);
 770                 dest.set_radio_enable(radio_enable);
 771                 dest.set_flight_log_max_limit(log_space() >> 10, storage_erase_unit >> 10);
 772                 dest.set_flight_log_max(flight_log_max);
 773                 dest.set_ignite_mode(ignite_mode);
 774                 dest.set_pad_orientation(pad_orientation);
 775                 dest.set_accel_cal(accel_cal_plus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP),
 776                                    accel_cal_minus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP));
 777                 dest.set_callsign(callsign);
 778                 if (npyro != AltosLib.MISSING)
 779                         dest.set_pyros(pyros);
 780                 else
 781                         dest.set_pyros(null);
 782                 dest.set_pyro_firing_time(pyro_firing_time);
 783                 dest.set_aprs_interval(aprs_interval);
 784                 dest.set_aprs_ssid(aprs_ssid);
 785                 dest.set_aprs_format(aprs_format);
 786                 dest.set_aprs_offset(aprs_offset);
 787                 dest.set_beep(beep);
 788                 dest.set_tracker_motion(tracker_motion);
 789                 dest.set_tracker_interval(tracker_interval);
 790         }
 791
 792         public boolean log_has_state() {
 793                 switch (log_format) {
 794                 case AltosLib.AO_LOG_FORMAT_TELEGPS:
 795                         return false;
 796                 }
 797                 return true;
 798         }
 799
 800         public void save(AltosLink link, boolean remote) throws InterruptedException, TimeoutException {
 801
 802                 /* HAS_FLIGHT */
 803                 if (main_deploy != AltosLib.MISSING)
 804                         link.printf("c m %d\n", main_deploy);
 805                 if (apogee_delay != AltosLib.MISSING)
 806                         link.printf("c d %d\n", apogee_delay);
 807                 if (apogee_lockout != AltosLib.MISSING)
 808                         link.printf("c L %d\n", apogee_lockout);
 809
 810                 /* HAS_RADIO */
 811                 if (has_frequency()) {
 812                         boolean has_frequency = radio_frequency != AltosLib.MISSING;
 813                         boolean has_setting = radio_setting != AltosLib.MISSING;
 814                         double frequency = frequency();
 815                         link.set_radio_frequency(frequency,
 816                                                         has_frequency,
 817                                                         has_setting,
 818                                                         radio_calibration);
 819                         /* When remote, reset the dongle frequency at the same time */
 820                         if (remote && frequency != link.frequency) {
 821                                 link.stop_remote();
 822                                 link.set_radio_frequency(frequency);
 823                                 link.start_remote();
 824                         }
 825                 }
 826
 827                 if (telemetry_rate != AltosLib.MISSING) {
 828                         link.printf("c T %d\n", telemetry_rate);
 829                         if (remote && telemetry_rate != link.telemetry_rate) {
 830                                 link.stop_remote();
 831                                 link.set_telemetry_rate(telemetry_rate);
 832                                 link.start_remote();
 833                         }
 834                 }
 835
 836                 if (callsign != null) {
 837                         link.printf("c c %s\n", callsign);
 838                         if (remote && !callsign.equals(link.callsign)) {
 839                                 System.out.printf("changing link callsign from %s to %s\n", link.callsign, callsign);
 840                                 link.stop_remote();
 841                                 link.set_callsign(callsign);
 842                                 link.start_remote();
 843                         }
 844                 }
 845
 846                 if (radio_enable != AltosLib.MISSING)
 847                         link.printf("c e %d\n", radio_enable);
 848
 849                 /* HAS_ACCEL */
 850                 /* set orientation first so that we know how to set the accel cal */
 851                 if (pad_orientation != AltosLib.MISSING)
 852                         link.printf("c o %d\n", pad_orientation);
 853                 int plus = accel_cal_plus(pad_orientation);
 854                 int minus = accel_cal_minus(pad_orientation);
 855                 if (plus != AltosLib.MISSING && minus != AltosLib.MISSING) {
 856                         if (plus < 0)
 857                                 plus = 65536 + plus;
 858                         if (minus < 0)
 859                                 minus = 65536 + minus;
 860                         if (accel_zero_along != AltosLib.MISSING &&
 861                             accel_zero_across != AltosLib.MISSING &&
 862                             accel_zero_through != AltosLib.MISSING)
 863                                 link.printf("c a %d %d %d %d %d\n",
 864                                             plus, minus,
 865                                             accel_zero_along,
 866                                             accel_zero_across,
 867                                             accel_zero_through);
 868                         else
 869                                 link.printf("c a %d %d\n", plus, minus);
 870                 }
 871
 872                 /* HAS_LOG */
 873                 if (flight_log_max != 0 && flight_log_max != AltosLib.MISSING)
 874                         link.printf("c l %d\n", flight_log_max);
 875
 876                 /* HAS_IGNITE */
 877                 if (ignite_mode != AltosLib.MISSING)
 878                         link.printf("c i %d\n", ignite_mode);
 879
 880                 /* HAS_AES */
 881                 /* UI doesn't support AES key config */
 882
 883                 /* AO_PYRO_NUM */
 884                 if (npyro != AltosLib.MISSING) {
 885                         for (int p = 0; p < pyros.length; p++) {
 886                                 link.printf("c P %s\n",
 887                                                    pyros[p].toString());
 888                         }
 889                 }
 890                 if (pyro_firing_time != AltosLib.MISSING)
 891                         link.printf("c I %d\n", (int) (pyro_firing_time * 100.0 + 0.5));
 892
 893                 /* HAS_APRS */
 894                 if (aprs_interval != AltosLib.MISSING)
 895                         link.printf("c A %d\n", aprs_interval);
 896                 if (aprs_ssid != AltosLib.MISSING)
 897                         link.printf("c S %d\n", aprs_ssid);
 898                 if (aprs_format != AltosLib.MISSING)
 899                         link.printf("c C %d\n", aprs_format);
 900                 if (aprs_offset != AltosLib.MISSING)
 901                         link.printf("c O %d\n", aprs_offset);
 902
 903                 /* HAS_BEEP */
 904                 if (beep != AltosLib.MISSING)
 905                         link.printf("c b %d\n", beep);
 906
 907                 /* HAS_TRACKER */
 908                 if (tracker_motion != AltosLib.MISSING && tracker_interval != AltosLib.MISSING)
 909                         link.printf("c t %d %d\n", tracker_motion, tracker_interval);
 910
 911                 /* HAS_GYRO */
 912                 /* UI doesn't support accel cal */
 913
 914                 link.printf("c w\n");
 915                 read_link(link, "Saved");
 916         }
 917
 918         public AltosConfigData(AltosLink link) throws InterruptedException, TimeoutException {
 919                 reset();
 920                 link.printf("c s\nf\nv\n");
 921                 read_link(link, "software-version");
 922                 switch (log_format) {
 923                 case AltosLib.AO_LOG_FORMAT_UNKNOWN:
 924                 case AltosLib.AO_LOG_FORMAT_NONE:
 925                         break;
 926                 default:
 927                         link.printf("l\n");
 928                         read_link(link, "done");
 929                         break;
 930                 }
 931                 adjust_accel_cal();
 932         }
 933 }