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

   1 /*
   2  * Copyright © 2011 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 package org.altusmetrum.altoslib_11;
  20
  21 import java.io.*;
  22 import java.util.*;
  23 import java.text.*;
  24
  25 public class AltosEepromMega extends AltosEeprom {
  26         public static final int record_length = 32;
  27
  28         public static final int max_sat = 12;
  29
  30         private int log_format;
  31
  32         public int record_length() { return record_length; }
  33
  34         /* AO_LOG_FLIGHT elements */
  35         public int flight() { return data16(0); }
  36         public int ground_accel() { return data16(2); }
  37         public int ground_pres() { return data32(4); }
  38         public int ground_accel_along() { return data16(8); }
  39         public int ground_accel_across() { return data16(10); }
  40         public int ground_accel_through() { return data16(12); }
  41         public int ground_roll() {
  42                 switch (log_format) {
  43                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
  44                         return data32(16);
  45                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  46                         return data16(14);
  47                 default:
  48                         return AltosLib.MISSING;
  49                 }
  50         }
  51         public int ground_pitch() {
  52                 switch (log_format) {
  53                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
  54                         return data32(20);
  55                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  56                         return data16(16);
  57                 default:
  58                         return AltosLib.MISSING;
  59                 }
  60         }
  61         public int ground_yaw() {
  62                 switch (log_format) {
  63                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
  64                         return data32(24);
  65                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  66                         return data16(18);
  67                 default:
  68                         return AltosLib.MISSING;
  69                 }
  70         }
  71
  72         /* AO_LOG_STATE elements */
  73         public int state() { return data16(0); }
  74         public int reason() { return data16(2); }
  75
  76         /* AO_LOG_SENSOR elements */
  77         public int pres() { return data32(0); }
  78         public int temp() { return data32(4); }
  79         public int accel_x() { return data16(8); }
  80         public int accel_y() { return data16(10); }
  81         public int accel_z() { return data16(12); }
  82         public int gyro_x() { return data16(14); }
  83         public int gyro_y() { return data16(16); }
  84         public int gyro_z() { return data16(18); }
  85         public int mag_x() { return data16(20); }
  86         public int mag_y() { return data16(22); }
  87         public int mag_z() { return data16(24); }
  88         public int accel() { return data16(26); }
  89
  90         /* AO_LOG_TEMP_VOLT elements */
  91         public int v_batt() { return data16(0); }
  92         public int v_pbatt() { return data16(2); }
  93         public int nsense() { return data16(4); }
  94         public int sense(int i) { return data16(6 + i * 2); }
  95         public int pyro() { return data16(26); }
  96
  97         /* AO_LOG_GPS_TIME elements */
  98         public int latitude() { return data32(0); }
  99         public int longitude() { return data32(4); }
 100         public int altitude_low() { return data16(8); }
 101         public int hour() { return data8(10); }
 102         public int minute() { return data8(11); }
 103         public int second() { return data8(12); }
 104         public int flags() { return data8(13); }
 105         public int year() { return data8(14); }
 106         public int month() { return data8(15); }
 107         public int day() { return data8(16); }
 108         public int course() { return data8(17); }
 109         public int ground_speed() { return data16(18); }
 110         public int climb_rate() { return data16(20); }
 111         public int pdop() { return data8(22); }
 112         public int hdop() { return data8(23); }
 113         public int vdop() { return data8(24); }
 114         public int mode() { return data8(25); }
 115         public int altitude_high() { return data16(26); }
 116
 117         /* AO_LOG_GPS_SAT elements */
 118         public int nsat() { return data16(0); }
 119         public int svid(int n) { return data8(2 + n * 2); }
 120         public int c_n(int n) { return data8(2 + n * 2 + 1); }
 121
 122         public AltosEepromMega (AltosEepromChunk chunk, int start, int log_format) throws ParseException {
 123                 this.log_format = log_format;
 124                 parse_chunk(chunk, start);
 125         }
 126
 127         public void update_state(AltosState state) {
 128                 super.update_state(state);
 129
 130                 AltosGPS        gps;
 131
 132                 /* Flush any pending GPS changes */
 133                 if (state.gps_pending) {
 134                         switch (cmd) {
 135                         case AltosLib.AO_LOG_GPS_LAT:
 136                         case AltosLib.AO_LOG_GPS_LON:
 137                         case AltosLib.AO_LOG_GPS_ALT:
 138                         case AltosLib.AO_LOG_GPS_SAT:
 139                         case AltosLib.AO_LOG_GPS_DATE:
 140                                 break;
 141                         default:
 142                                 state.set_temp_gps();
 143                                 break;
 144                         }
 145                 }
 146
 147                 switch (cmd) {
 148                 case AltosLib.AO_LOG_FLIGHT:
 149                         state.set_boost_tick(tick);
 150                         state.set_flight(flight());
 151                         state.set_ground_accel(ground_accel());
 152                         state.set_ground_pressure(ground_pres());
 153                         state.set_accel_ground(ground_accel_along(),
 154                                                ground_accel_across(),
 155                                                ground_accel_through());
 156                         state.set_gyro_zero(ground_roll() / 512.0,
 157                                             ground_pitch() / 512.0,
 158                                             ground_yaw() / 512.0);
 159                         break;
 160                 case AltosLib.AO_LOG_STATE:
 161                         state.set_tick(tick);
 162                         state.set_state(state());
 163                         break;
 164                 case AltosLib.AO_LOG_SENSOR:
 165                         state.set_tick(tick);
 166                         state.set_ms5607(pres(), temp());
 167
 168                         AltosIMU        imu = new AltosIMU(accel_y(),   /* along */
 169                                                            accel_x(),   /* across */
 170                                                            accel_z(),   /* through */
 171                                                            gyro_y(),    /* roll */
 172                                                            gyro_x(),    /* pitch */
 173                                                            gyro_z());   /* yaw */
 174
 175                         if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
 176                                 state.check_imu_wrap(imu);
 177
 178                         state.set_imu(imu);
 179
 180                         state.set_mag(new AltosMag(mag_x(),
 181                                                    mag_y(),
 182                                                    mag_z()));
 183
 184                         state.set_accel(accel());
 185
 186                         break;
 187                 case AltosLib.AO_LOG_TEMP_VOLT:
 188                         state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
 189                         state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
 190
 191                         int nsense = nsense();
 192
 193                         state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
 194                         state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
 195
 196                         double voltages[] = new double[nsense-2];
 197                         for (int i = 0; i < nsense-2; i++)
 198                                 voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
 199
 200                         state.set_ignitor_voltage(voltages);
 201                         state.set_pyro_fired(pyro());
 202                         break;
 203                 case AltosLib.AO_LOG_GPS_TIME:
 204                         state.set_tick(tick);
 205                         gps = state.make_temp_gps(false);
 206                         gps.lat = latitude() / 1e7;
 207                         gps.lon = longitude() / 1e7;
 208
 209                         if (state.altitude_32())
 210                                 gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
 211                         else
 212                                 gps.alt = altitude_low();
 213
 214                         gps.hour = hour();
 215                         gps.minute = minute();
 216                         gps.second = second();
 217
 218                         int flags = flags();
 219
 220                         gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 221                         gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 222                         gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 223                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 224
 225                         gps.year = 2000 + year();
 226                         gps.month = month();
 227                         gps.day = day();
 228                         gps.ground_speed = ground_speed() * 1.0e-2;
 229                         gps.course = course() * 2;
 230                         gps.climb_rate = climb_rate() * 1.0e-2;
 231                         if (state.compare_version("1.4.9") >= 0) {
 232                                 gps.pdop = pdop() / 10.0;
 233                                 gps.hdop = hdop() / 10.0;
 234                                 gps.vdop = vdop() / 10.0;
 235                         } else {
 236                                 gps.pdop = pdop() / 100.0;
 237                                 if (gps.pdop < 0.8)
 238                                         gps.pdop += 2.56;
 239                                 gps.hdop = hdop() / 100.0;
 240                                 if (gps.hdop < 0.8)
 241                                         gps.hdop += 2.56;
 242                                 gps.vdop = vdop() / 100.0;
 243                                 if (gps.vdop < 0.8)
 244                                         gps.vdop += 2.56;
 245                         }
 246                         break;
 247                 case AltosLib.AO_LOG_GPS_SAT:
 248                         state.set_tick(tick);
 249                         gps = state.make_temp_gps(true);
 250
 251                         int n = nsat();
 252                         if (n > max_sat)
 253                                 n = max_sat;
 254                         for (int i = 0; i < n; i++)
 255                                 gps.add_sat(svid(i), c_n(i));
 256                         break;
 257                 }
 258         }
 259
 260         public AltosEepromMega (String line, int log_format) {
 261                 this.log_format = log_format;
 262                 parse_string(line);
 263         }
 264
 265         static public LinkedList<AltosEeprom> read(FileInputStream input, int log_format) {
 266                 LinkedList<AltosEeprom> megas = new LinkedList<AltosEeprom>();
 267
 268                 for (;;) {
 269                         try {
 270                                 String line = AltosLib.gets(input);
 271                                 if (line == null)
 272                                         break;
 273                                 try {
 274                                         AltosEepromMega mega = new AltosEepromMega(line, log_format);
 275                                         if (mega.cmd != AltosLib.AO_LOG_INVALID)
 276                                                 megas.add(mega);
 277                                 } catch (Exception e) {
 278                                         System.out.printf ("exception\n");
 279                                 }
 280                         } catch (IOException ie) {
 281                                 break;
 282                         }
 283                 }
 284
 285                 return megas;
 286         }
 287 }