git.gag.com Git - fw/altos/blob - altoslib/AltosConfigData.java

   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_11;
  20
  21 import java.util.*;
  22 import java.text.*;
  23 import java.util.concurrent.*;
  24
  25 public class AltosConfigData {
  26
  27         /* Version information */
  28         public String   manufacturer;
  29         public String   product;
  30         public int      serial;
  31         public int      flight;
  32         public int      log_format;
  33         public int      log_space;
  34         public String   version;
  35         public int      altitude_32;
  36         public int      config_major, config_minor;
  37
  38         /* Config information */
  39         /* HAS_FLIGHT*/
  40         public int      main_deploy;
  41         public int      apogee_delay;
  42         public int      apogee_lockout;
  43
  44         /* HAS_RADIO */
  45         public int      radio_frequency;
  46         public String   callsign;
  47         public int      radio_enable;
  48         public int      radio_calibration;
  49         public int      telemetry_rate;
  50         /* Old HAS_RADIO values */
  51         public int      radio_channel;
  52         public int      radio_setting;
  53
  54         /* HAS_ACCEL */
  55         public int      accel_cal_plus, accel_cal_minus;
  56         public int      pad_orientation;
  57
  58         /* HAS_LOG */
  59         public int      flight_log_max;
  60         public int      log_fixed;
  61
  62         /* HAS_IGNITE */
  63         public int      ignite_mode;
  64
  65         /* HAS_AES */
  66         public String   aes_key;
  67
  68         /* AO_PYRO_NUM */
  69         public AltosPyro[]      pyros;
  70         public int              npyro;
  71         public int              pyro;
  72         public double           pyro_firing_time;
  73
  74         /* HAS_APRS */
  75         public int              aprs_interval;
  76         public int              aprs_ssid;
  77         public int              aprs_format;
  78
  79         /* HAS_BEEP */
  80         public int              beep;
  81
  82         /* Storage info replies */
  83         public int      storage_size;
  84         public int      storage_erase_unit;
  85
  86         /* Log listing replies */
  87         public int      stored_flight;
  88
  89         /* HAS_TRACKER */
  90         public int      tracker_motion;
  91         public int      tracker_interval;
  92
  93         /* HAS_GYRO */
  94         public int      accel_zero_along, accel_zero_across, accel_zero_through;
  95
  96         /* ms5607 data */
  97         AltosMs5607     ms5607;
  98
  99         public AltosMs5607 ms5607() {
 100                 if (ms5607 == null)
 101                         ms5607 = new AltosMs5607();
 102                 return ms5607;
 103         }
 104
 105         public static String get_string(String line, String label) throws  ParseException {
 106                 if (line.startsWith(label)) {
 107                         String  quoted = line.substring(label.length()).trim();
 108
 109                         if (quoted.startsWith("\""))
 110                                 quoted = quoted.substring(1);
 111                         if (quoted.endsWith("\""))
 112                                 quoted = quoted.substring(0,quoted.length()-1);
 113                         return quoted;
 114                 }
 115                 throw new ParseException("mismatch", 0);
 116         }
 117
 118         public static int get_int(String line, String label) throws NumberFormatException, ParseException {
 119                 if (line.startsWith(label)) {
 120                         String tail = line.substring(label.length()).trim();
 121                         String[] tokens = tail.split("\\s+");
 122                         if (tokens.length > 0)
 123                                 return  Integer.parseInt(tokens[0]);
 124                 }
 125                 throw new ParseException("mismatch", 0);
 126         }
 127
 128         public static int[] get_values(String line, String label) throws NumberFormatException, ParseException {
 129                 if (line.startsWith(label)) {
 130                         String tail = line.substring(label.length()).trim();
 131                         String[] tokens = tail.split("\\s+");
 132                         if (tokens.length > 1) {
 133                                 int[]   values = new int[2];
 134                                 values[0] = Integer.parseInt(tokens[0]);
 135                                 values[1] = Integer.parseInt(tokens[1]);
 136                                 return values;
 137                         }
 138                 }
 139                 throw new ParseException("mismatch", 0);
 140         }
 141
 142         public int log_space() {
 143                 if (log_space > 0)
 144                         return log_space;
 145
 146                 if (storage_size > 0) {
 147                         int     space = storage_size;
 148
 149                         if (storage_erase_unit > 0 && use_flash_for_config())
 150                                 space -= storage_erase_unit;
 151
 152                         if (space > 0)
 153                                 return space;
 154                 }
 155                 return 0;
 156         }
 157
 158         public int log_available() {
 159                 switch (log_format) {
 160                 case AltosLib.AO_LOG_FORMAT_TINY:
 161                         if (stored_flight == 0)
 162                                 return 1;
 163                         return 0;
 164                 case AltosLib.AO_LOG_FORMAT_TELEMETRY:
 165                 case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
 166                         return 1;
 167                 default:
 168                         if (flight_log_max <= 0)
 169                                 return 1;
 170                         int     log_max = flight_log_max * 1024;
 171                         int     log_space = log_space();
 172                         int     log_used;
 173
 174                         if (stored_flight <= 0)
 175                                 log_used = 0;
 176                         else
 177                                 log_used = stored_flight * log_max;
 178                         int     log_avail;
 179
 180                         if (log_used >= log_space)
 181                                 log_avail = 0;
 182                         else
 183                                 log_avail = (log_space - log_used) / log_max;
 184
 185                         return log_avail;
 186                 }
 187         }
 188
 189         public boolean has_monitor_battery() {
 190                 if (product.startsWith("TeleBT"))
 191                         return true;
 192                 return false;
 193         }
 194
 195         int[] parse_version(String v) {
 196                 String[] parts = v.split("\\.");
 197                 int r[] = new int[parts.length];
 198
 199                 for (int i = 0; i < parts.length; i++) {
 200                         try {
 201                                 r[i] = (int) AltosLib.fromdec(parts[i]);
 202                         } catch (NumberFormatException n) {
 203                                 r[i] = 0;
 204                         }
 205                 }
 206
 207                 return r;
 208         }
 209
 210         public boolean altitude_32() {
 211                 return altitude_32 == 1;
 212         }
 213
 214         public int compare_version(String other) {
 215                 int[]   me = parse_version(version);
 216                 int[]   them = parse_version(other);
 217
 218                 int     l = Math.min(me.length, them.length);
 219
 220                 for (int i = 0; i < l; i++) {
 221                         int     d = me[i] - them[i];
 222                         if (d != 0)
 223                                 return d;
 224                 }
 225                 if (me.length > l)
 226                         return 1;
 227                 if (them.length > l)
 228                         return -1;
 229                 return 0;
 230         }
 231
 232         public void reset() {
 233                 manufacturer = null;
 234                 product = null;
 235                 serial = AltosLib.MISSING;
 236                 flight = AltosLib.MISSING;
 237                 log_format = AltosLib.AO_LOG_FORMAT_UNKNOWN;
 238                 log_space = AltosLib.MISSING;
 239                 version = "unknown";
 240                 config_major = AltosLib.MISSING;
 241                 config_minor = AltosLib.MISSING;
 242
 243                 main_deploy = AltosLib.MISSING;
 244                 apogee_delay = AltosLib.MISSING;
 245                 apogee_lockout = AltosLib.MISSING;
 246
 247                 radio_frequency = AltosLib.MISSING;
 248                 callsign = null;
 249                 radio_enable = AltosLib.MISSING;
 250                 radio_calibration = AltosLib.MISSING;
 251                 radio_channel = AltosLib.MISSING;
 252                 radio_setting = AltosLib.MISSING;
 253                 telemetry_rate = AltosLib.MISSING;
 254
 255                 accel_cal_plus = AltosLib.MISSING;
 256                 accel_cal_minus = AltosLib.MISSING;
 257                 pad_orientation = AltosLib.MISSING;
 258
 259                 flight_log_max = AltosLib.MISSING;
 260                 log_fixed = AltosLib.MISSING;
 261                 ignite_mode = AltosLib.MISSING;
 262
 263                 aes_key = null;
 264
 265                 pyro = 0;
 266                 npyro = 0;
 267                 pyros = null;
 268                 pyro_firing_time = AltosLib.MISSING;
 269
 270                 aprs_interval = AltosLib.MISSING;
 271                 aprs_ssid = AltosLib.MISSING;
 272                 aprs_format = AltosLib.MISSING;
 273
 274                 beep = AltosLib.MISSING;
 275
 276                 tracker_motion = AltosLib.MISSING;
 277                 tracker_interval = AltosLib.MISSING;
 278
 279                 storage_size = AltosLib.MISSING;
 280                 storage_erase_unit = AltosLib.MISSING;
 281                 stored_flight = AltosLib.MISSING;
 282
 283                 accel_zero_along = AltosLib.MISSING;
 284                 accel_zero_across = AltosLib.MISSING;
 285                 accel_zero_through = AltosLib.MISSING;
 286         }
 287
 288         public void parse_line(String line) {
 289
 290                 /* Version replies */
 291                 try { manufacturer = get_string(line, "manufacturer"); } catch (Exception e) {}
 292                 try { product = get_string(line, "product"); } catch (Exception e) {}
 293                 try { serial = get_int(line, "serial-number"); } catch (Exception e) {}
 294                 try { flight = get_int(line, "current-flight"); } catch (Exception e) {}
 295                 try { log_format = get_int(line, "log-format"); } catch (Exception e) {}
 296                 try { log_space = get_int(line, "log-space"); } catch (Exception e) {}
 297                 try { altitude_32 = get_int(line, "altitude-32"); } catch (Exception e) {}
 298                 try { version = get_string(line, "software-version"); } catch (Exception e) {}
 299
 300                 /* Version also contains MS5607 info, which we ignore here */
 301
 302                 try { ms5607().reserved = get_int(line, "ms5607 reserved:"); } catch (Exception e) {}
 303                 try { ms5607().sens = get_int(line, "ms5607 sens:"); } catch (Exception e) {}
 304                 try { ms5607().off = get_int(line, "ms5607 off:"); } catch (Exception e) {}
 305                 try { ms5607().tcs = get_int(line, "ms5607 tcs:"); } catch (Exception e) {}
 306                 try { ms5607().tco = get_int(line, "ms5607 tco:"); } catch (Exception e) {}
 307                 try { ms5607().tref = get_int(line, "ms5607 tref:"); } catch (Exception e) {}
 308                 try { ms5607().tempsens = get_int(line, "ms5607 tempsens:"); } catch (Exception e) {}
 309                 try { ms5607().crc = get_int(line, "ms5607 crc:"); } catch (Exception e) {}
 310
 311                 /* Config show replies */
 312
 313                 try {
 314                         if (line.startsWith("Config version")) {
 315                                 String[] bits = line.split("\\s+");
 316                                 if (bits.length >= 3) {
 317                                         String[] cfg = bits[2].split("\\.");
 318
 319                                         if (cfg.length >= 2) {
 320                                                 System.out.printf("major %s minor %s\n", cfg[0], cfg[1]);
 321                                                 config_major = Integer.parseInt(cfg[0]);
 322                                                 config_minor = Integer.parseInt(cfg[1]);
 323                                         }
 324                                 }
 325                         }
 326                 } catch (Exception e) {}
 327
 328                 /* HAS_FLIGHT */
 329                 try { main_deploy = get_int(line, "Main deploy:"); } catch (Exception e) {}
 330                 try { apogee_delay = get_int(line, "Apogee delay:"); } catch (Exception e) {}
 331                 try { apogee_lockout = get_int(line, "Apogee lockout:"); } catch (Exception e) {}
 332
 333                 /* HAS_RADIO */
 334                 try {
 335                         radio_frequency = get_int(line, "Frequency:");
 336                         if (radio_frequency < 0)
 337                                 radio_frequency = 434550;
 338                 } catch (Exception e) {}
 339                 try { callsign = get_string(line, "Callsign:"); } catch (Exception e) {}
 340                 try { radio_enable = get_int(line, "Radio enable:"); } catch (Exception e) {}
 341                 try { radio_calibration = get_int(line, "Radio cal:"); } catch (Exception e) {}
 342                 try { telemetry_rate = get_int(line, "Telemetry rate:"); } catch (Exception e) {}
 343
 344                 /* Old HAS_RADIO values */
 345                 try { radio_channel = get_int(line, "Radio channel:"); } catch (Exception e) {}
 346                 try { radio_setting = get_int(line, "Radio setting:"); } catch (Exception e) {}
 347
 348                 /* HAS_ACCEL */
 349                 try {
 350                         if (line.startsWith("Accel cal")) {
 351                                 String[] bits = line.split("\\s+");
 352                                 if (bits.length >= 6) {
 353                                         accel_cal_plus = Integer.parseInt(bits[3]);
 354                                         accel_cal_minus = Integer.parseInt(bits[5]);
 355                                 }
 356                         }
 357                 } catch (Exception e) {}
 358                 try { pad_orientation = get_int(line, "Pad orientation:"); } catch (Exception e) {}
 359
 360                 /* HAS_LOG */
 361                 try { flight_log_max = get_int(line, "Max flight log:"); } catch (Exception e) {}
 362                 try { log_fixed = get_int(line, "Log fixed:"); } catch (Exception e) {}
 363
 364                 /* HAS_IGNITE */
 365                 try { ignite_mode = get_int(line, "Ignite mode:"); } catch (Exception e) {}
 366
 367                 /* HAS_AES */
 368                 try { aes_key = get_string(line, "AES key:"); } catch (Exception e) {}
 369
 370                 /* AO_PYRO_NUM */
 371                 try {
 372                         npyro = get_int(line, "Pyro-count:");
 373                         pyros = new AltosPyro[npyro];
 374                         pyro = 0;
 375                 } catch (Exception e) {}
 376                 if (npyro > 0) {
 377                         try {
 378                                 AltosPyro p = new AltosPyro(pyro, line);
 379                                 if (pyro < npyro)
 380                                         pyros[pyro++] = p;
 381                         } catch (Exception e) {}
 382                 }
 383                 try { pyro_firing_time = get_int(line, "Pyro time:") / 100.0; } catch (Exception e) {}
 384
 385                 /* HAS_APRS */
 386                 try { aprs_interval = get_int(line, "APRS interval:"); } catch (Exception e) {}
 387                 try { aprs_ssid = get_int(line, "APRS SSID:"); } catch (Exception e) {}
 388                 try { aprs_format = get_int(line, "APRS format:"); } catch (Exception e) {}
 389
 390                 /* HAS_BEEP */
 391                 try { beep = get_int(line, "Beeper setting:"); } catch (Exception e) {}
 392
 393                 /* HAS_TRACKER */
 394                 try {
 395                         int[] values = get_values(line, "Tracker setting:");
 396                         tracker_motion = values[0];
 397                         tracker_interval = values[1];
 398                 } catch (Exception e) {}
 399
 400                 /* Storage info replies */
 401                 try { storage_size = get_int(line, "Storage size:"); } catch (Exception e) {}
 402                 try { storage_erase_unit = get_int(line, "Storage erase unit:"); } catch (Exception e) {}
 403
 404                 /* Log listing replies */
 405                 try { get_int(line, "flight"); stored_flight++; }  catch (Exception e) {}
 406
 407                 /* HAS_GYRO */
 408                 try {
 409                         if (line.startsWith("IMU call along")) {
 410                                 String[] bits = line.split("\\s+");
 411                                 if (bits.length >= 8) {
 412                                         accel_zero_along = Integer.parseInt(bits[3]);
 413                                         accel_zero_across = Integer.parseInt(bits[5]);
 414                                         accel_zero_through = Integer.parseInt(bits[7]);
 415                                 }
 416                         }
 417                 } catch (Exception e) {}
 418         }
 419
 420         public AltosConfigData() {
 421                 reset();
 422         }
 423
 424         private void read_link(AltosLink link, String finished) throws InterruptedException, TimeoutException {
 425                 for (;;) {
 426                         String line = link.get_reply();
 427                         if (line == null)
 428                                 throw new TimeoutException();
 429                         if (line.contains("Syntax error"))
 430                                 continue;
 431                         this.parse_line(line);
 432
 433                         /* signals the end of the version info */
 434                         if (line.startsWith(finished))
 435                                 break;
 436                 }
 437         }
 438
 439         public boolean has_frequency() {
 440                 return radio_frequency >= 0 || radio_setting >= 0 || radio_channel >= 0;
 441         }
 442
 443         public boolean has_telemetry_rate() {
 444                 return telemetry_rate >= 0;
 445         }
 446
 447         public void set_frequency(double freq) {
 448                 int     frequency = radio_frequency;
 449                 int     setting = radio_setting;
 450
 451                 if (frequency > 0) {
 452                         radio_frequency = (int) Math.floor (freq * 1000 + 0.5);
 453                         radio_channel = AltosLib.MISSING;
 454                 } else if (setting > 0) {
 455                         radio_setting =AltosConvert.radio_frequency_to_setting(freq,
 456                                                                                     radio_calibration);
 457                         radio_channel = AltosLib.MISSING;
 458                 } else {
 459                         radio_channel = AltosConvert.radio_frequency_to_channel(freq);
 460                 }
 461         }
 462
 463         public double frequency() {
 464                 int     channel = radio_channel;
 465                 int     setting = radio_setting;
 466
 467                 if (radio_frequency < 0 && channel < 0 && setting < 0)
 468                         return AltosLib.MISSING;
 469
 470                 if (channel < 0)
 471                         channel = 0;
 472                 if (setting < 0)
 473                         setting = 0;
 474
 475                 return AltosConvert.radio_to_frequency(radio_frequency,
 476                                                        setting,
 477                                                        radio_calibration,
 478                                                        channel);
 479         }
 480
 481         boolean use_flash_for_config() {
 482                 if (product.startsWith("TeleMega"))
 483                         return false;
 484                 if (product.startsWith("TeleMetrum-v2"))
 485                         return false;
 486                 if (product.startsWith("EasyMega"))
 487                         return false;
 488                 return true;
 489         }
 490
 491
 492         public boolean mma655x_inverted() throws AltosUnknownProduct {
 493                 if (product.startsWith("EasyMega-v1"))
 494                         return false;
 495                 if (product.startsWith("TeleMetrum-v2"))
 496                         return true;
 497                 if (product.startsWith("TeleMega-v2"))
 498                         return false;
 499                 if (product.startsWith("TeleMega-v1"))
 500                         return false;
 501                 throw new AltosUnknownProduct(product);
 502         }
 503
 504         public void get_values(AltosConfigValues source) throws AltosConfigDataException {
 505
 506                 /* HAS_FLIGHT */
 507                 if (main_deploy >= 0)
 508                         main_deploy = source.main_deploy();
 509                 if (apogee_delay >= 0)
 510                         apogee_delay = source.apogee_delay();
 511                 if (apogee_lockout >= 0)
 512                         apogee_lockout = source.apogee_lockout();
 513
 514                 /* HAS_RADIO */
 515                 if (has_frequency())
 516                         set_frequency(source.radio_frequency());
 517                 if (radio_enable >= 0)
 518                         radio_enable = source.radio_enable();
 519                 if (callsign != null)
 520                         callsign = source.callsign();
 521                 if (telemetry_rate >= 0)
 522                         telemetry_rate = source.telemetry_rate();
 523
 524                 /* HAS_ACCEL */
 525                 if (pad_orientation >= 0)
 526                         pad_orientation = source.pad_orientation();
 527
 528                 /* HAS_LOG */
 529                 if (flight_log_max >= 0)
 530                         flight_log_max = source.flight_log_max();
 531
 532                 /* HAS_IGNITE */
 533                 if (ignite_mode >= 0)
 534                         ignite_mode = source.ignite_mode();
 535
 536                 /* AO_PYRO_NUM */
 537                 if (npyro > 0)
 538                         pyros = source.pyros();
 539                 if (pyro_firing_time >= 0)
 540                         pyro_firing_time = source.pyro_firing_time();
 541
 542                 /* HAS_APRS */
 543                 if (aprs_interval >= 0)
 544                         aprs_interval = source.aprs_interval();
 545                 if (aprs_ssid >= 0)
 546                         aprs_ssid = source.aprs_ssid();
 547                 if (aprs_format >= 0)
 548                         aprs_format = source.aprs_format();
 549
 550                 /* HAS_BEEP */
 551                 if (beep >= 0)
 552                         beep = source.beep();
 553                 /* HAS_TRACKER */
 554                 if (tracker_motion >= 0)
 555                         tracker_motion = source.tracker_motion();
 556                 if (tracker_interval >= 0)
 557                         tracker_interval = source.tracker_interval();
 558         }
 559
 560         public void set_values(AltosConfigValues dest) {
 561                 dest.set_serial(serial);
 562                 dest.set_product(product);
 563                 dest.set_version(version);
 564                 dest.set_altitude_32(altitude_32);
 565                 dest.set_main_deploy(main_deploy);
 566                 dest.set_apogee_delay(apogee_delay);
 567                 dest.set_apogee_lockout(apogee_lockout);
 568                 dest.set_radio_calibration(radio_calibration);
 569                 dest.set_radio_frequency(frequency());
 570                 dest.set_telemetry_rate(telemetry_rate);
 571                 boolean max_enabled = true;
 572
 573                 if (log_space() == 0)
 574                         max_enabled = false;
 575
 576                 if (log_fixed > 0)
 577                         max_enabled = false;
 578
 579                 switch (log_format) {
 580                 case AltosLib.AO_LOG_FORMAT_TINY:
 581                         max_enabled = false;
 582                         break;
 583                 default:
 584                         if (stored_flight > 0)
 585                                 max_enabled = false;
 586                         break;
 587                 }
 588
 589                 dest.set_flight_log_max_enabled(max_enabled);
 590                 dest.set_radio_enable(radio_enable);
 591                 dest.set_flight_log_max_limit(log_space() / 1024);
 592                 dest.set_flight_log_max(flight_log_max);
 593                 dest.set_ignite_mode(ignite_mode);
 594                 dest.set_pad_orientation(pad_orientation);
 595                 dest.set_callsign(callsign);
 596                 if (npyro > 0)
 597                         dest.set_pyros(pyros);
 598                 else
 599                         dest.set_pyros(null);
 600                 dest.set_pyro_firing_time(pyro_firing_time);
 601                 dest.set_aprs_interval(aprs_interval);
 602                 dest.set_aprs_ssid(aprs_ssid);
 603                 dest.set_aprs_format(aprs_format);
 604                 dest.set_beep(beep);
 605                 dest.set_tracker_motion(tracker_motion);
 606                 dest.set_tracker_interval(tracker_interval);
 607         }
 608
 609         public boolean log_has_state() {
 610                 switch (log_format) {
 611                 case AltosLib.AO_LOG_FORMAT_TELEGPS:
 612                         return false;
 613                 }
 614                 return true;
 615         }
 616
 617         public void save(AltosLink link, boolean remote) throws InterruptedException, TimeoutException {
 618
 619                 /* HAS_FLIGHT */
 620                 if (main_deploy >= 0)
 621                         link.printf("c m %d\n", main_deploy);
 622                 if (apogee_delay >= 0)
 623                         link.printf("c d %d\n", apogee_delay);
 624                 if (apogee_lockout >= 0)
 625                         link.printf("c L %d\n", apogee_lockout);
 626
 627                 /* HAS_RADIO */
 628                 if (has_frequency()) {
 629                         boolean has_frequency = radio_frequency >= 0;
 630                         boolean has_setting = radio_setting > 0;
 631                         double frequency = frequency();
 632                         link.set_radio_frequency(frequency,
 633                                                         has_frequency,
 634                                                         has_setting,
 635                                                         radio_calibration);
 636                         /* When remote, reset the dongle frequency at the same time */
 637                         if (remote) {
 638                                 link.flush_output();
 639                                 link.stop_remote();
 640                                 link.set_radio_frequency(frequency);
 641                                 link.flush_output();
 642                                 link.start_remote();
 643                         }
 644                 }
 645
 646                 if (telemetry_rate >= 0) {
 647                         link.printf("c T %d\n", telemetry_rate);
 648                         if (remote) {
 649                                 link.flush_output();
 650                                 link.stop_remote();
 651                                 link.set_telemetry_rate(telemetry_rate);
 652                                 link.flush_output();
 653                                 link.start_remote();
 654                         }
 655                 }
 656
 657                 if (callsign != null) {
 658                         link.printf("c c %s\n", callsign);
 659                         if (remote) {
 660                                 link.flush_output();
 661                                 link.stop_remote();
 662                                 link.set_callsign(callsign);
 663                                 link.flush_output();
 664                                 link.start_remote();
 665                         }
 666                 }
 667
 668                 if (radio_enable >= 0)
 669                         link.printf("c e %d\n", radio_enable);
 670
 671                 /* HAS_ACCEL */
 672                 /* UI doesn't support accel cal */
 673                 if (pad_orientation >= 0)
 674                         link.printf("c o %d\n", pad_orientation);
 675
 676                 /* HAS_LOG */
 677                 if (flight_log_max != 0)
 678                         link.printf("c l %d\n", flight_log_max);
 679
 680                 /* HAS_IGNITE */
 681                 if (ignite_mode >= 0)
 682                         link.printf("c i %d\n", ignite_mode);
 683
 684                 /* HAS_AES */
 685                 /* UI doesn't support AES key config */
 686
 687                 /* AO_PYRO_NUM */
 688                 if (npyro > 0) {
 689                         for (int p = 0; p < pyros.length; p++) {
 690                                 link.printf("c P %s\n",
 691                                                    pyros[p].toString());
 692                         }
 693                 }
 694                 if (pyro_firing_time >= 0)
 695                         link.printf("c I %d\n", (int) (pyro_firing_time * 100.0 + 0.5));
 696
 697                 /* HAS_APRS */
 698                 if (aprs_interval >= 0)
 699                         link.printf("c A %d\n", aprs_interval);
 700                 if (aprs_ssid >= 0)
 701                         link.printf("c S %d\n", aprs_ssid);
 702                 if (aprs_format >= 0)
 703                         link.printf("c C %d\n", aprs_format);
 704
 705                 /* HAS_BEEP */
 706                 if (beep >= 0)
 707                         link.printf("c b %d\n", beep);
 708
 709                 /* HAS_TRACKER */
 710                 if (tracker_motion >= 0 && tracker_interval >= 0)
 711                         link.printf("c t %d %d\n", tracker_motion, tracker_interval);
 712
 713                 /* HAS_GYRO */
 714                 /* UI doesn't support accel cal */
 715
 716                 link.printf("c w\n");
 717                 link.flush_output();
 718         }
 719
 720         public AltosConfigData(AltosLink link) throws InterruptedException, TimeoutException {
 721                 reset();
 722                 link.printf("c s\nf\nv\n");
 723                 read_link(link, "software-version");
 724                 switch (log_format) {
 725                 case AltosLib.AO_LOG_FORMAT_UNKNOWN:
 726                 case AltosLib.AO_LOG_FORMAT_NONE:
 727                         break;
 728                 default:
 729                         link.printf("l\n");
 730                         read_link(link, "done");
 731                         break;
 732                 }
 733         }
 734 }