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_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         /* HAS_RADIO_10MW */
  87         public int              radio_10mw;
  88
  89         public int              report_feet;
  90
  91         /* Storage info replies */
  92         public int      storage_size;
  93         public int      storage_erase_unit;
  94
  95         /* Log listing replies */
  96         public int      stored_flight;
  97         public AltosEepromFlight[] flights;
  98
  99         /* HAS_TRACKER */
 100         public int      tracker_motion;
 101         public int      tracker_interval;
 102
 103         /* HAS_GYRO */
 104         public int      accel_zero_along, accel_zero_across, accel_zero_through;
 105
 106         /* ms5607 data */
 107         AltosMs5607     ms5607;
 108
 109         public AltosMs5607 ms5607() {
 110                 if (ms5607 == null)
 111                         ms5607 = new AltosMs5607();
 112                 return ms5607;
 113         }
 114
 115         public static String get_string(String line, String label) throws  ParseException {
 116                 if (line.startsWith(label)) {
 117                         String  quoted = line.substring(label.length()).trim();
 118
 119                         if (quoted.startsWith("\""))
 120                                 quoted = quoted.substring(1);
 121                         if (quoted.endsWith("\""))
 122                                 quoted = quoted.substring(0,quoted.length()-1);
 123                         return quoted;
 124                 }
 125                 throw new ParseException("mismatch", 0);
 126         }
 127
 128         public static int get_int(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 > 0)
 133                                 return  Integer.parseInt(tokens[0]);
 134                 }
 135                 throw new ParseException("mismatch", 0);
 136         }
 137
 138         public static int[] get_values(String line, String label) throws NumberFormatException, ParseException {
 139                 if (line.startsWith(label)) {
 140                         String tail = line.substring(label.length()).trim();
 141                         String[] tokens = tail.split("\\s+");
 142                         if (tokens.length > 1) {
 143                                 int[]   values = new int[2];
 144                                 values[0] = Integer.parseInt(tokens[0]);
 145                                 values[1] = Integer.parseInt(tokens[1]);
 146                                 return values;
 147                         }
 148                 }
 149                 throw new ParseException("mismatch", 0);
 150         }
 151
 152         public int log_space() {
 153                 if (log_space != AltosLib.MISSING)
 154                         return log_space;
 155
 156                 if (storage_size != AltosLib.MISSING) {
 157                         int     space = storage_size;
 158
 159                         if (storage_erase_unit != AltosLib.MISSING && use_flash_for_config())
 160                                 space -= storage_erase_unit;
 161
 162                         if (space != AltosLib.MISSING)
 163                                 return space;
 164                 }
 165                 return 0;
 166         }
 167
 168         public int log_available() {
 169                 switch (log_format) {
 170                 case AltosLib.AO_LOG_FORMAT_TINY:
 171                         if (flights == null)
 172                                 return 1;
 173                         return 0;
 174                 case AltosLib.AO_LOG_FORMAT_TELEMETRY:
 175                 case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
 176                         return 1;
 177                 default:
 178                         if (flight_log_max <= 0)
 179                                 return 1;
 180                         int     log_max = flight_log_max * 1024;
 181                         int     log_space = log_space();
 182                         int     log_used;
 183
 184                         if (flights == null)
 185                                 log_used = 0;
 186                         else
 187                                 log_used = flights.length * log_max;
 188                         int     log_avail;
 189
 190                         if (log_used >= log_space)
 191                                 log_avail = 0;
 192                         else
 193                                 log_avail = (log_space - log_used) / log_max;
 194
 195                         return log_avail;
 196                 }
 197         }
 198
 199         public int invert_accel_value(int value) {
 200                 if (value == AltosLib.MISSING)
 201                         return AltosLib.MISSING;
 202
 203                 switch (log_format) {
 204                 case AltosLib.AO_LOG_FORMAT_FULL:
 205                         return 0x7fff - value;
 206                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 207                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 208                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 209                         return 4095 - value;
 210                 case AltosLib.AO_LOG_FORMAT_TELEMETRUM:
 211                         /*
 212                          * TeleMetrum v2 and later use the same log format, but
 213                          * have different accelerometers. This is the only place
 214                          * it matters in altoslib.
 215                          */
 216                         if (product.startsWith("TeleMetrum-v2"))
 217                                 return 4095 - value;
 218                         /* fall through */
 219                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 220                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
 221                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_6:
 222                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 223                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_3:
 224                 case AltosLib.AO_LOG_FORMAT_EASYMOTOR:
 225                         /* ADXL375 */
 226                         return -value;
 227                 case AltosLib.AO_LOG_FORMAT_EASYTIMER_2:
 228                         /* BMI088 */
 229                         return -value;
 230                 default:
 231                         if (product.startsWith("EasyTimer-"))
 232                                 return -value;
 233                         return AltosLib.MISSING;
 234                 }
 235         }
 236
 237         public boolean has_monitor_battery() {
 238                 if (product == null)
 239                         return false;
 240                 if (product.startsWith("TeleBT"))
 241                         return true;
 242                 return false;
 243         }
 244
 245         int[] parse_version(String v) {
 246                 String[] parts = v.split("\\.");
 247                 int r[] = new int[parts.length];
 248
 249                 for (int i = 0; i < parts.length; i++) {
 250                         try {
 251                                 r[i] = (int) AltosLib.fromdec(parts[i]);
 252                         } catch (NumberFormatException n) {
 253                                 r[i] = 0;
 254                         }
 255                 }
 256
 257                 return r;
 258         }
 259
 260         public boolean altitude_32() {
 261                 return altitude_32 == 1;
 262         }
 263
 264         public int compare_version(String other) {
 265                 int[]   me = parse_version(version);
 266                 int[]   them = parse_version(other);
 267
 268                 int     l = Math.min(me.length, them.length);
 269
 270                 for (int i = 0; i < l; i++) {
 271                         int     d = me[i] - them[i];
 272                         if (d != 0)
 273                                 return d;
 274                 }
 275                 if (me.length > l)
 276                         return 1;
 277                 if (them.length > l)
 278                         return -1;
 279                 return 0;
 280         }
 281
 282         public void reset() {
 283                 manufacturer = null;
 284                 product = null;
 285                 serial = AltosLib.MISSING;
 286                 flight = AltosLib.MISSING;
 287                 log_format = AltosLib.AO_LOG_FORMAT_UNKNOWN;
 288                 log_space = AltosLib.MISSING;
 289                 version = "unknown";
 290                 config_major = AltosLib.MISSING;
 291                 config_minor = AltosLib.MISSING;
 292
 293                 main_deploy = AltosLib.MISSING;
 294                 apogee_delay = AltosLib.MISSING;
 295                 apogee_lockout = AltosLib.MISSING;
 296
 297                 radio_frequency = AltosLib.MISSING;
 298                 callsign = null;
 299                 radio_enable = AltosLib.MISSING;
 300                 radio_calibration = AltosLib.MISSING;
 301                 radio_channel = AltosLib.MISSING;
 302                 radio_setting = AltosLib.MISSING;
 303                 telemetry_rate = AltosLib.MISSING;
 304
 305                 accel_cal_plus_cooked = AltosLib.MISSING;
 306                 accel_cal_minus_cooked = AltosLib.MISSING;
 307                 accel_cal_plus = AltosLib.MISSING;
 308                 accel_cal_minus = AltosLib.MISSING;
 309                 pad_orientation = AltosLib.MISSING;
 310                 accel_cal_adjusted = false;
 311
 312                 flight_log_max = AltosLib.MISSING;
 313                 log_fixed = AltosLib.MISSING;
 314                 ignite_mode = AltosLib.MISSING;
 315
 316                 aes_key = null;
 317
 318                 pyro = AltosLib.MISSING;
 319                 npyro = AltosLib.MISSING;
 320                 pyros = null;
 321                 pyro_firing_time = AltosLib.MISSING;
 322
 323                 aprs_interval = AltosLib.MISSING;
 324                 aprs_ssid = AltosLib.MISSING;
 325                 aprs_format = AltosLib.MISSING;
 326                 aprs_offset = AltosLib.MISSING;
 327
 328                 beep = AltosLib.MISSING;
 329
 330                 radio_10mw = AltosLib.MISSING;
 331
 332                 report_feet = AltosLib.MISSING;
 333
 334                 tracker_motion = AltosLib.MISSING;
 335                 tracker_interval = AltosLib.MISSING;
 336
 337                 storage_size = AltosLib.MISSING;
 338                 storage_erase_unit = AltosLib.MISSING;
 339                 stored_flight = 0;
 340                 flights = null;
 341
 342                 accel_zero_along = AltosLib.MISSING;
 343                 accel_zero_across = AltosLib.MISSING;
 344                 accel_zero_through = AltosLib.MISSING;
 345         }
 346
 347         /* Return + accel calibration relative to a specific pad orientation */
 348         public int accel_cal_plus(int pad_orientation) {
 349                 adjust_accel_cal();
 350                 if (!accel_cal_adjusted)
 351                         return AltosLib.MISSING;
 352
 353                 switch (pad_orientation) {
 354                 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
 355                 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
 356                 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
 357                         return accel_cal_plus_cooked;
 358                 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
 359                 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
 360                 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
 361                         return invert_accel_value(accel_cal_minus_cooked);
 362                 default:
 363                         return AltosLib.MISSING;
 364                 }
 365         }
 366
 367         /* Return - accel calibration relative to a specific pad orientation */
 368         public int accel_cal_minus(int pad_orientation) {
 369                 adjust_accel_cal();
 370                 if (!accel_cal_adjusted)
 371                         return AltosLib.MISSING;
 372
 373                 switch (pad_orientation) {
 374                 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
 375                 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
 376                 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
 377                         return accel_cal_minus_cooked;
 378                 case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
 379                 case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
 380                 case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
 381                         return invert_accel_value(accel_cal_plus_cooked);
 382                 default:
 383                         return AltosLib.MISSING;
 384                 }
 385         }
 386
 387         /* Once we have all of the values from the config data, compute the
 388          * accel cal values relative to Antenna Up orientation.
 389          */
 390         private void adjust_accel_cal() {
 391                 if (!accel_cal_adjusted &&
 392                     product != null &&
 393                     pad_orientation != AltosLib.MISSING &&
 394                     accel_cal_plus != AltosLib.MISSING &&
 395                     accel_cal_minus != AltosLib.MISSING)
 396                 {
 397                         switch (pad_orientation) {
 398                         case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
 399                         case AltosLib.AO_PAD_ORIENTATION_WORDS_UPRIGHT:
 400                         case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_UP:
 401                                 accel_cal_plus_cooked = accel_cal_plus;
 402                                 accel_cal_minus_cooked = accel_cal_minus;
 403                                 accel_cal_adjusted = true;
 404                                 break;
 405                         case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
 406                         case AltosLib.AO_PAD_ORIENTATION_WORDS_UPSIDEDOWN:
 407                         case AltosLib.AO_PAD_ORIENTATION_BIG_PARTS_DOWN:
 408                                 accel_cal_plus_cooked = invert_accel_value(accel_cal_minus);
 409                                 accel_cal_minus_cooked = invert_accel_value(accel_cal_plus);
 410                                 accel_cal_adjusted = true;
 411                                 break;
 412                         default:
 413                                 break;
 414                         }
 415                 }
 416         }
 417
 418         public void parse_line(String line) {
 419
 420                 /* Version replies */
 421                 try { manufacturer = get_string(line, "manufacturer"); } catch (Exception e) {}
 422                 try { product = get_string(line, "product"); } catch (Exception e) {}
 423                 try { serial = get_int(line, "serial-number"); } catch (Exception e) {}
 424                 try { flight = get_int(line, "current-flight"); } catch (Exception e) {}
 425                 try { log_format = get_int(line, "log-format"); } catch (Exception e) {}
 426                 try { log_space = get_int(line, "log-space"); } catch (Exception e) {}
 427                 try { altitude_32 = get_int(line, "altitude-32"); } catch (Exception e) {}
 428                 try { version = get_string(line, "software-version"); } catch (Exception e) {}
 429
 430                 /* Version also contains MS5607 info, which we ignore here */
 431
 432                 try { ms5607().reserved = get_int(line, "ms5607 reserved:"); } catch (Exception e) {}
 433                 try { ms5607().sens = get_int(line, "ms5607 sens:"); } catch (Exception e) {}
 434                 try { ms5607().off = get_int(line, "ms5607 off:"); } catch (Exception e) {}
 435                 try { ms5607().tcs = get_int(line, "ms5607 tcs:"); } catch (Exception e) {}
 436                 try { ms5607().tco = get_int(line, "ms5607 tco:"); } catch (Exception e) {}
 437                 try { ms5607().tref = get_int(line, "ms5607 tref:"); } catch (Exception e) {}
 438                 try { ms5607().tempsens = get_int(line, "ms5607 tempsens:"); } catch (Exception e) {}
 439                 try { ms5607().crc = get_int(line, "ms5607 crc:"); } catch (Exception e) {}
 440
 441                 /* Config show replies */
 442
 443                 try {
 444                         if (line.startsWith("Config version")) {
 445                                 String[] bits = line.split("\\s+");
 446                                 if (bits.length >= 3) {
 447                                         String[] cfg = bits[2].split("\\.");
 448
 449                                         if (cfg.length >= 2) {
 450                                                 config_major = Integer.parseInt(cfg[0]);
 451                                                 config_minor = Integer.parseInt(cfg[1]);
 452                                         }
 453                                 }
 454                         }
 455                 } catch (Exception e) {}
 456
 457                 /* HAS_FLIGHT */
 458                 try { main_deploy = get_int(line, "Main deploy:"); } catch (Exception e) {}
 459                 try { apogee_delay = get_int(line, "Apogee delay:"); } catch (Exception e) {}
 460                 try { apogee_lockout = get_int(line, "Apogee lockout:"); } catch (Exception e) {}
 461
 462                 /* HAS_RADIO */
 463                 try {
 464                         radio_frequency = get_int(line, "Frequency:");
 465                         if (radio_frequency < 0)
 466                                 radio_frequency = 434550;
 467                 } catch (Exception e) {}
 468                 try { callsign = get_string(line, "Callsign:"); } catch (Exception e) {}
 469                 try { radio_enable = get_int(line, "Radio enable:"); } catch (Exception e) {}
 470                 try { radio_calibration = get_int(line, "Radio cal:"); } catch (Exception e) {}
 471                 try { telemetry_rate = get_int(line, "Telemetry rate:"); } catch (Exception e) {}
 472
 473                 /* Old HAS_RADIO values */
 474                 try { radio_channel = get_int(line, "Radio channel:"); } catch (Exception e) {}
 475                 try { radio_setting = get_int(line, "Radio setting:"); } catch (Exception e) {}
 476
 477                 /* HAS_ACCEL */
 478                 try {
 479                         if (line.startsWith("Accel cal")) {
 480                                 String[] bits = line.split("\\s+");
 481                                 if (bits.length >= 6) {
 482                                         accel_cal_plus = Integer.parseInt(bits[3]);
 483                                         accel_cal_minus = Integer.parseInt(bits[5]);
 484                                         accel_cal_adjusted = false;
 485                                 }
 486                         }
 487                 } catch (Exception e) {}
 488                 try { pad_orientation = get_int(line, "Pad orientation:"); } catch (Exception e) {}
 489
 490                 /* HAS_LOG */
 491                 try { flight_log_max = get_int(line, "Max flight log:"); } catch (Exception e) {}
 492                 try { log_fixed = get_int(line, "Log fixed:"); } catch (Exception e) {}
 493
 494                 /* HAS_IGNITE */
 495                 try { ignite_mode = get_int(line, "Ignite mode:"); } catch (Exception e) {}
 496
 497                 /* HAS_AES */
 498                 try { aes_key = get_string(line, "AES key:"); } catch (Exception e) {}
 499
 500                 /* AO_PYRO_NUM */
 501                 try {
 502                         npyro = get_int(line, "Pyro-count:");
 503                         pyros = new AltosPyro[npyro];
 504                         pyro = 0;
 505                 } catch (Exception e) {}
 506                 if (npyro != AltosLib.MISSING) {
 507                         try {
 508                                 AltosPyro p = new AltosPyro(pyro, line);
 509                                 if (pyro < npyro)
 510                                         pyros[pyro++] = p;
 511                         } catch (Exception e) {}
 512                 }
 513                 try { pyro_firing_time = get_int(line, "Pyro time:") / 100.0; } catch (Exception e) {}
 514
 515                 /* HAS_APRS */
 516                 try { aprs_interval = get_int(line, "APRS interval:"); } catch (Exception e) {}
 517                 try { aprs_ssid = get_int(line, "APRS SSID:"); } catch (Exception e) {}
 518                 try { aprs_format = get_int(line, "APRS format:"); } catch (Exception e) {}
 519                 try { aprs_offset = get_int(line, "APRS offset:"); } catch (Exception e) {}
 520
 521                 /* HAS_BEEP */
 522                 try { beep = get_int(line, "Beeper setting:"); } catch (Exception e) {}
 523
 524                 /* HAS_RADIO_10MW */
 525                 try { radio_10mw = get_int(line, "Radio 10mw limit:"); } catch (Exception e) {}
 526
 527                 try { report_feet = get_int(line, "Report in feet:"); } catch (Exception e) {}
 528
 529                 /* HAS_TRACKER */
 530                 try {
 531                         int[] values = get_values(line, "Tracker setting:");
 532                         tracker_motion = values[0];
 533                         tracker_interval = values[1];
 534                 } catch (Exception e) {}
 535
 536                 /* Storage info replies */
 537                 try { storage_size = get_int(line, "Storage size:"); } catch (Exception e) {}
 538                 try { storage_erase_unit = get_int(line, "Storage erase unit:"); } catch (Exception e) {}
 539
 540                 /* Log listing replies */
 541                 try {
 542                         int flight = get_int(line, "flight");
 543                         String[] tokens = line.split("\\s+");
 544                         if (tokens.length >= 6) {
 545                                 int     start = -1, end = -1;
 546                                 try {
 547                                         if (tokens[2].equals("start"))
 548                                                 start = AltosParse.parse_hex(tokens[3]);
 549                                         if (tokens[4].equals("end"))
 550                                                 end = AltosParse.parse_hex(tokens[5]);
 551                                         if (flight != 0 && start >= 0 && end > 0) {
 552                                                 int len;
 553                                                 if (flights == null)
 554                                                         len = 0;
 555                                                 else
 556                                                         len = flights.length;
 557                                                 AltosEepromFlight [] new_flights = new AltosEepromFlight[len + 1];
 558                                                 for (int i = 0; i < len; i++)
 559                                                         new_flights[i] = flights[i];
 560                                                 new_flights[len] = new AltosEepromFlight(flight, start, end);
 561                                                 flights = new_flights;
 562                                                 stored_flight = flights.length;
 563                                         }
 564                                 } catch (ParseException pe) { System.out.printf("Parse error %s\n", pe.toString()); }
 565                         }
 566                 }  catch (Exception e) {}
 567
 568                 /* HAS_GYRO */
 569                 try {
 570                         if (line.startsWith("IMU cal along")) {
 571                                 String[] bits = line.split("\\s+");
 572                                 if (bits.length >= 8) {
 573                                         accel_zero_along = Integer.parseInt(bits[3]);
 574                                         accel_zero_across = Integer.parseInt(bits[5]);
 575                                         accel_zero_through = Integer.parseInt(bits[7]);
 576                                 }
 577                         }
 578                 } catch (Exception e) {}
 579         }
 580
 581         public AltosConfigData() {
 582                 reset();
 583         }
 584
 585         private void read_link(AltosLink link, String finished) throws InterruptedException, TimeoutException {
 586                 for (;;) {
 587                         String line = link.get_reply();
 588                         if (line == null)
 589                                 throw new TimeoutException();
 590                         if (line.contains("Syntax error"))
 591                                 continue;
 592                         this.parse_line(line);
 593
 594                         /* signals the end of the version info */
 595                         if (line.startsWith(finished))
 596                                 break;
 597                 }
 598         }
 599
 600         public boolean has_frequency() {
 601                 return radio_frequency != AltosLib.MISSING || radio_setting != AltosLib.MISSING || radio_channel != AltosLib.MISSING;
 602         }
 603
 604         public boolean has_telemetry_rate() {
 605                 return telemetry_rate != AltosLib.MISSING;
 606         }
 607
 608         public void set_frequency(double freq) {
 609                 int     frequency = radio_frequency;
 610                 int     setting = radio_setting;
 611
 612                 if (frequency != AltosLib.MISSING) {
 613                         radio_frequency = (int) Math.floor (freq * 1000 + 0.5);
 614                         radio_channel = AltosLib.MISSING;
 615                 } else if (setting != AltosLib.MISSING) {
 616                         radio_setting =AltosConvert.radio_frequency_to_setting(freq, radio_calibration);
 617                         radio_channel = AltosLib.MISSING;
 618                 } else {
 619                         radio_channel = AltosConvert.radio_frequency_to_channel(freq);
 620                 }
 621         }
 622
 623         public double frequency() {
 624                 int     channel = radio_channel;
 625                 int     setting = radio_setting;
 626
 627                 if (radio_frequency == AltosLib.MISSING && channel == AltosLib.MISSING && setting == AltosLib.MISSING)
 628                         return AltosLib.MISSING;
 629
 630                 if (channel == AltosLib.MISSING)
 631                         channel = 0;
 632                 if (setting == AltosLib.MISSING)
 633                         setting = 0;
 634
 635                 return AltosConvert.radio_to_frequency(radio_frequency,
 636                                                        setting,
 637                                                        radio_calibration,
 638                                                        channel);
 639         }
 640
 641         boolean use_flash_for_config() {
 642                 if (product.startsWith("TeleMega"))
 643                         return false;
 644                 if (product.startsWith("TeleMetrum-v2"))
 645                         return false;
 646                 if (product.startsWith("TeleMetrum-v3"))
 647                         return false;
 648                 if (product.startsWith("TeleMetrum-v4"))
 649                         return true;
 650                 if (product.startsWith("EasyMega"))
 651                         return false;
 652                 return true;
 653         }
 654
 655
 656         public boolean mma655x_inverted() throws AltosUnknownProduct {
 657                 if (product != null) {
 658                         if (product.startsWith("EasyMega-v1"))
 659                                 return false;
 660                         if (product.startsWith("TeleMetrum-v2"))
 661                                 return true;
 662                         if (product.startsWith("TeleMega-v2"))
 663                                 return false;
 664                         if (product.startsWith("TeleMega-v1"))
 665                                 return false;
 666                 }
 667                 throw new AltosUnknownProduct(product);
 668         }
 669
 670         public boolean adxl375_inverted() throws AltosUnknownProduct {
 671                 if (product != null) {
 672                         if (product.startsWith("EasyMega-v2"))
 673                                 return true;
 674                         if (product.startsWith("TeleMetrum-v3"))
 675                                 return true;
 676                         if (product.startsWith("TeleMetrum-v4"))
 677                                 return true;
 678                         if (product.startsWith("TeleMega-v4"))
 679                                 return true;
 680                         if (product.startsWith("TeleMega-v5"))
 681                                 return true;
 682                         if (product.startsWith("TeleMega-v6"))
 683                                 return true;
 684                         if (product.startsWith("EasyMotor-v2"))
 685                                 return true;
 686                         if (product.startsWith("EasyMotor-v3"))
 687                                 return true;
 688                 }
 689                 throw new AltosUnknownProduct(product);
 690         }
 691
 692         public int adxl375_axis() throws AltosUnknownProduct {
 693                 if (product != null) {
 694                         if (product.startsWith("EasyMega-v2"))
 695                                 return AltosAdxl375.X_AXIS;
 696                         if (product.startsWith("TeleMetrum-v3"))
 697                                 return AltosAdxl375.X_AXIS;
 698                         if (product.startsWith("TeleMetrum-v4"))
 699                                 return AltosAdxl375.X_AXIS;
 700                         if (product.startsWith("TeleMega-v4"))
 701                                 return AltosAdxl375.X_AXIS;
 702                         if (product.startsWith("TeleMega-v5"))
 703                                 return AltosAdxl375.X_AXIS;
 704                         if (product.startsWith("TeleMega-v6"))
 705                                 return AltosAdxl375.X_AXIS;
 706                         if (product.startsWith("EasyMotor-v2"))
 707                                 return AltosAdxl375.X_AXIS;
 708                         if (product.startsWith("EasyMotor-v3"))
 709                                 return AltosAdxl375.X_AXIS;
 710
 711                 }
 712                 throw new AltosUnknownProduct(product);
 713         }
 714
 715         public void get_values(AltosConfigValues source) throws AltosConfigDataException {
 716
 717                 /* HAS_FLIGHT */
 718                 if (main_deploy != AltosLib.MISSING)
 719                         main_deploy = source.main_deploy();
 720                 if (apogee_delay != AltosLib.MISSING)
 721                         apogee_delay = source.apogee_delay();
 722                 if (apogee_lockout != AltosLib.MISSING)
 723                         apogee_lockout = source.apogee_lockout();
 724
 725                 /* HAS_RADIO */
 726                 if (has_frequency())
 727                         set_frequency(source.radio_frequency());
 728                 if (radio_enable != AltosLib.MISSING)
 729                         radio_enable = source.radio_enable();
 730                 if (callsign != null)
 731                         callsign = source.callsign();
 732                 if (telemetry_rate != AltosLib.MISSING)
 733                         telemetry_rate = source.telemetry_rate();
 734
 735                 /* HAS_ACCEL */
 736                 if (pad_orientation != AltosLib.MISSING)
 737                         pad_orientation = source.pad_orientation();
 738
 739                 if (accel_cal_plus_cooked != AltosLib.MISSING)
 740                         accel_cal_plus_cooked = source.accel_cal_plus();
 741
 742                 if (accel_cal_minus_cooked != AltosLib.MISSING)
 743                         accel_cal_minus_cooked = source.accel_cal_minus();
 744
 745                 /* HAS_LOG */
 746                 if (flight_log_max != AltosLib.MISSING)
 747                         flight_log_max = source.flight_log_max();
 748
 749                 /* HAS_IGNITE */
 750                 if (ignite_mode != AltosLib.MISSING)
 751                         ignite_mode = source.ignite_mode();
 752
 753                 /* AO_PYRO_NUM */
 754                 if (npyro != AltosLib.MISSING)
 755                         pyros = source.pyros();
 756                 if (pyro_firing_time != AltosLib.MISSING)
 757                         pyro_firing_time = source.pyro_firing_time();
 758
 759                 /* HAS_APRS */
 760                 if (aprs_interval != AltosLib.MISSING)
 761                         aprs_interval = source.aprs_interval();
 762                 if (aprs_ssid != AltosLib.MISSING)
 763                         aprs_ssid = source.aprs_ssid();
 764                 if (aprs_format != AltosLib.MISSING)
 765                         aprs_format = source.aprs_format();
 766                 if (aprs_offset != AltosLib.MISSING)
 767                         aprs_offset = source.aprs_offset();
 768
 769                 /* HAS_BEEP */
 770                 if (beep != AltosLib.MISSING)
 771                         beep = source.beep();
 772
 773                 /* HAS_RADIO_10MW */
 774                 if (radio_10mw != AltosLib.MISSING)
 775                         radio_10mw = source.radio_10mw();
 776
 777                 if (report_feet != AltosLib.MISSING)
 778                         report_feet = source.report_feet();
 779
 780                 /* HAS_TRACKER */
 781                 if (tracker_motion != AltosLib.MISSING)
 782                         tracker_motion = source.tracker_motion();
 783                 if (tracker_interval != AltosLib.MISSING)
 784                         tracker_interval = source.tracker_interval();
 785         }
 786
 787         public void set_values(AltosConfigValues dest) {
 788                 dest.set_serial(serial);
 789                 dest.set_product(product);
 790                 dest.set_version(version);
 791                 dest.set_altitude_32(altitude_32);
 792                 dest.set_main_deploy(main_deploy);
 793                 dest.set_apogee_delay(apogee_delay);
 794                 dest.set_apogee_lockout(apogee_lockout);
 795                 dest.set_radio_calibration(radio_calibration);
 796                 dest.set_radio_frequency(frequency());
 797                 dest.set_telemetry_rate(telemetry_rate);
 798                 boolean max_enabled = true;
 799
 800                 if (log_space() == 0)
 801                         max_enabled = false;
 802
 803                 if (log_fixed != AltosLib.MISSING)
 804                         max_enabled = false;
 805
 806                 switch (log_format) {
 807                 case AltosLib.AO_LOG_FORMAT_TINY:
 808                         max_enabled = false;
 809                         break;
 810                 default:
 811                         if (flights != null)
 812                                 max_enabled = false;
 813                         break;
 814                 }
 815
 816                 dest.set_flight_log_max_enabled(max_enabled);
 817                 dest.set_radio_enable(radio_enable);
 818                 dest.set_flight_log_max_limit(log_space() >> 10, storage_erase_unit >> 10);
 819                 dest.set_flight_log_max(flight_log_max);
 820                 dest.set_ignite_mode(ignite_mode);
 821                 dest.set_pad_orientation(pad_orientation);
 822                 dest.set_accel_cal(accel_cal_plus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP),
 823                                    accel_cal_minus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP));
 824                 dest.set_callsign(callsign);
 825                 if (npyro != AltosLib.MISSING)
 826                         dest.set_pyros(pyros);
 827                 else
 828                         dest.set_pyros(null);
 829                 dest.set_pyro_firing_time(pyro_firing_time);
 830                 dest.set_aprs_interval(aprs_interval);
 831                 dest.set_aprs_ssid(aprs_ssid);
 832                 dest.set_aprs_format(aprs_format);
 833                 dest.set_aprs_offset(aprs_offset);
 834                 dest.set_beep(beep);
 835                 dest.set_radio_10mw(radio_10mw);
 836                 dest.set_report_feet(report_feet);
 837                 dest.set_tracker_motion(tracker_motion);
 838                 dest.set_tracker_interval(tracker_interval);
 839         }
 840
 841         public boolean log_has_state() {
 842                 switch (log_format) {
 843                 case AltosLib.AO_LOG_FORMAT_TELEGPS:
 844                         return false;
 845                 }
 846                 return true;
 847         }
 848
 849         public void save(AltosLink link, boolean remote) throws InterruptedException, TimeoutException {
 850
 851                 /* HAS_FLIGHT */
 852                 if (main_deploy != AltosLib.MISSING)
 853                         link.printf("c m %d\n", main_deploy);
 854                 if (apogee_delay != AltosLib.MISSING)
 855                         link.printf("c d %d\n", apogee_delay);
 856                 if (apogee_lockout != AltosLib.MISSING)
 857                         link.printf("c L %d\n", apogee_lockout);
 858
 859                 /* HAS_RADIO */
 860                 if (has_frequency()) {
 861                         boolean has_frequency = radio_frequency != AltosLib.MISSING;
 862                         boolean has_setting = radio_setting != AltosLib.MISSING;
 863                         double frequency = frequency();
 864                         link.set_radio_frequency(frequency,
 865                                                         has_frequency,
 866                                                         has_setting,
 867                                                         radio_calibration);
 868                         /* When remote, reset the dongle frequency at the same time */
 869                         if (remote && frequency != link.frequency) {
 870                                 link.stop_remote();
 871                                 link.set_radio_frequency(frequency);
 872                                 link.start_remote();
 873                         }
 874                 }
 875
 876                 if (telemetry_rate != AltosLib.MISSING) {
 877                         link.printf("c T %d\n", telemetry_rate);
 878                         if (remote && telemetry_rate != link.telemetry_rate) {
 879                                 link.stop_remote();
 880                                 link.set_telemetry_rate(telemetry_rate);
 881                                 link.start_remote();
 882                         }
 883                 }
 884
 885                 if (callsign != null) {
 886                         link.printf("c c %s\n", callsign);
 887                         if (remote && !callsign.equals(link.callsign)) {
 888                                 System.out.printf("changing link callsign from %s to %s\n", link.callsign, callsign);
 889                                 link.stop_remote();
 890                                 link.set_callsign(callsign);
 891                                 link.start_remote();
 892                         }
 893                 }
 894
 895                 if (radio_enable != AltosLib.MISSING)
 896                         link.printf("c e %d\n", radio_enable);
 897
 898                 /* HAS_ACCEL */
 899                 /* set orientation first so that we know how to set the accel cal */
 900                 if (pad_orientation != AltosLib.MISSING)
 901                         link.printf("c o %d\n", pad_orientation);
 902                 int plus = accel_cal_plus(pad_orientation);
 903                 int minus = accel_cal_minus(pad_orientation);
 904                 if (plus != AltosLib.MISSING && minus != AltosLib.MISSING) {
 905                         if (plus < 0)
 906                                 plus = 65536 + plus;
 907                         if (minus < 0)
 908                                 minus = 65536 + minus;
 909                         if (accel_zero_along != AltosLib.MISSING &&
 910                             accel_zero_across != AltosLib.MISSING &&
 911                             accel_zero_through != AltosLib.MISSING)
 912                                 link.printf("c a %d %d %d %d %d\n",
 913                                             plus, minus,
 914                                             accel_zero_along,
 915                                             accel_zero_across,
 916                                             accel_zero_through);
 917                         else
 918                                 link.printf("c a %d %d\n", plus, minus);
 919                 }
 920
 921                 /* HAS_LOG */
 922                 if (flight_log_max != 0 && flight_log_max != AltosLib.MISSING)
 923                         link.printf("c l %d\n", flight_log_max);
 924
 925                 /* HAS_IGNITE */
 926                 if (ignite_mode != AltosLib.MISSING)
 927                         link.printf("c i %d\n", ignite_mode);
 928
 929                 /* HAS_AES */
 930                 /* UI doesn't support AES key config */
 931
 932                 /* AO_PYRO_NUM */
 933                 if (npyro != AltosLib.MISSING) {
 934                         for (int p = 0; p < pyros.length; p++) {
 935                                 link.printf("c P %s\n",
 936                                                    pyros[p].toString());
 937                         }
 938                 }
 939                 if (pyro_firing_time != AltosLib.MISSING)
 940                         link.printf("c I %d\n", (int) (pyro_firing_time * 100.0 + 0.5));
 941
 942                 /* HAS_APRS */
 943                 if (aprs_interval != AltosLib.MISSING)
 944                         link.printf("c A %d\n", aprs_interval);
 945                 if (aprs_ssid != AltosLib.MISSING)
 946                         link.printf("c S %d\n", aprs_ssid);
 947                 if (aprs_format != AltosLib.MISSING)
 948                         link.printf("c C %d\n", aprs_format);
 949                 if (aprs_offset != AltosLib.MISSING)
 950                         link.printf("c O %d\n", aprs_offset);
 951
 952                 /* HAS_BEEP */
 953                 if (beep != AltosLib.MISSING)
 954                         link.printf("c b %d\n", beep);
 955
 956                 /* HAS_RADIO_10MW */
 957                 if (radio_10mw != AltosLib.MISSING)
 958                         link.printf("c p %d\n", radio_10mw);
 959
 960                 /* HAS_RADIO_10MW */
 961                 if (report_feet != AltosLib.MISSING)
 962                         link.printf("c u %d\n", report_feet);
 963
 964                 /* HAS_TRACKER */
 965                 if (tracker_motion != AltosLib.MISSING && tracker_interval != AltosLib.MISSING)
 966                         link.printf("c t %d %d\n", tracker_motion, tracker_interval);
 967
 968                 /* HAS_GYRO */
 969                 /* UI doesn't support accel cal */
 970
 971                 link.printf("c w\n");
 972                 read_link(link, "Saved");
 973         }
 974
 975         public AltosConfigData(AltosLink link) throws InterruptedException, TimeoutException {
 976                 reset();
 977                 link.printf("c s\nf\nv\n");
 978                 read_link(link, "software-version");
 979                 switch (log_format) {
 980                 case AltosLib.AO_LOG_FORMAT_UNKNOWN:
 981                 case AltosLib.AO_LOG_FORMAT_NONE:
 982                         break;
 983                 default:
 984                         link.printf("l\n");
 985                         read_link(link, "done");
 986                         break;
 987                 }
 988                 adjust_accel_cal();
 989         }
 990 }