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