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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; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 package org.altusmetrum.altoslib_7;
  19
  20 import java.io.*;
  21 import java.util.*;
  22 import java.text.*;
  23
  24 public class AltosEepromMega extends AltosEeprom {
  25         public static final int record_length = 32;
  26
  27         public static final int max_sat = 12;
  28
  29         private int log_format;
  30
  31         public int record_length() { return record_length; }
  32
  33         /* AO_LOG_FLIGHT elements */
  34         public int flight() { return data16(0); }
  35         public int ground_accel() { return data16(2); }
  36         public int ground_pres() { return data32(4); }
  37         public int ground_accel_along() { return data16(8); }
  38         public int ground_accel_across() { return data16(10); }
  39         public int ground_accel_through() { return data16(12); }
  40         public int ground_roll() {
  41                 switch (log_format) {
  42                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
  43                         return data32(16);
  44                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  45                         return data16(14);
  46                 default:
  47                         return AltosLib.MISSING;
  48                 }
  49         }
  50         public int ground_pitch() {
  51                 switch (log_format) {
  52                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
  53                         return data32(20);
  54                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  55                         return data16(16);
  56                 default:
  57                         return AltosLib.MISSING;
  58                 }
  59         }
  60         public int ground_yaw() {
  61                 switch (log_format) {
  62                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
  63                         return data32(24);
  64                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  65                         return data16(18);
  66                 default:
  67                         return AltosLib.MISSING;
  68                 }
  69         }
  70
  71         /* AO_LOG_STATE elements */
  72         public int state() { return data16(0); }
  73         public int reason() { return data16(2); }
  74
  75         /* AO_LOG_SENSOR elements */
  76         public int pres() { return data32(0); }
  77         public int temp() { return data32(4); }
  78         public int accel_x() { return data16(8); }
  79         public int accel_y() { return data16(10); }
  80         public int accel_z() { return data16(12); }
  81         public int gyro_x() { return data16(14); }
  82         public int gyro_y() { return data16(16); }
  83         public int gyro_z() { return data16(18); }
  84         public int mag_x() { return data16(20); }
  85         public int mag_y() { return data16(22); }
  86         public int mag_z() { return data16(24); }
  87         public int accel() { return data16(26); }
  88
  89         /* AO_LOG_TEMP_VOLT elements */
  90         public int v_batt() { return data16(0); }
  91         public int v_pbatt() { return data16(2); }
  92         public int nsense() { return data16(4); }
  93         public int sense(int i) { return data16(6 + i * 2); }
  94         public int pyro() { return data16(26); }
  95
  96         /* AO_LOG_GPS_TIME elements */
  97         public int latitude() { return data32(0); }
  98         public int longitude() { return data32(4); }
  99         public int altitude_low() { return data16(8); }
 100         public int hour() { return data8(10); }
 101         public int minute() { return data8(11); }
 102         public int second() { return data8(12); }
 103         public int flags() { return data8(13); }
 104         public int year() { return data8(14); }
 105         public int month() { return data8(15); }
 106         public int day() { return data8(16); }
 107         public int course() { return data8(17); }
 108         public int ground_speed() { return data16(18); }
 109         public int climb_rate() { return data16(20); }
 110         public int pdop() { return data8(22); }
 111         public int hdop() { return data8(23); }
 112         public int vdop() { return data8(24); }
 113         public int mode() { return data8(25); }
 114         public int altitude_high() { return data16(26); }
 115
 116         /* AO_LOG_GPS_SAT elements */
 117         public int nsat() { return data16(0); }
 118         public int svid(int n) { return data8(2 + n * 2); }
 119         public int c_n(int n) { return data8(2 + n * 2 + 1); }
 120
 121         public AltosEepromMega (AltosEepromChunk chunk, int start, int log_format) throws ParseException {
 122                 this.log_format = log_format;
 123                 parse_chunk(chunk, start);
 124         }
 125
 126         public void update_state(AltosState state) {
 127                 super.update_state(state);
 128
 129                 AltosGPS        gps;
 130
 131                 /* Flush any pending GPS changes */
 132                 if (state.gps_pending) {
 133                         switch (cmd) {
 134                         case AltosLib.AO_LOG_GPS_LAT:
 135                         case AltosLib.AO_LOG_GPS_LON:
 136                         case AltosLib.AO_LOG_GPS_ALT:
 137                         case AltosLib.AO_LOG_GPS_SAT:
 138                         case AltosLib.AO_LOG_GPS_DATE:
 139                                 break;
 140                         default:
 141                                 state.set_temp_gps();
 142                                 break;
 143                         }
 144                 }
 145
 146                 switch (cmd) {
 147                 case AltosLib.AO_LOG_FLIGHT:
 148                         state.set_boost_tick(tick);
 149                         state.set_flight(flight());
 150                         state.set_ground_accel(ground_accel());
 151                         state.set_ground_pressure(ground_pres());
 152                         state.set_accel_ground(ground_accel_along(),
 153                                                ground_accel_across(),
 154                                                ground_accel_through());
 155                         state.set_gyro_zero(ground_roll() / 512.0,
 156                                             ground_pitch() / 512.0,
 157                                             ground_yaw() / 512.0);
 158                         break;
 159                 case AltosLib.AO_LOG_STATE:
 160                         state.set_tick(tick);
 161                         state.set_state(state());
 162                         break;
 163                 case AltosLib.AO_LOG_SENSOR:
 164                         state.set_tick(tick);
 165                         state.set_ms5607(pres(), temp());
 166
 167                         AltosIMU        imu = new AltosIMU(accel_y(),   /* along */
 168                                                            accel_x(),   /* across */
 169                                                            accel_z(),   /* through */
 170                                                            gyro_y(),    /* roll */
 171                                                            gyro_x(),    /* pitch */
 172                                                            gyro_z());   /* yaw */
 173
 174                         if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
 175                                 state.check_imu_wrap(imu);
 176
 177                         state.set_imu(imu);
 178
 179                         state.set_mag(new AltosMag(mag_x(),
 180                                                    mag_y(),
 181                                                    mag_z()));
 182
 183                         state.set_accel(accel());
 184
 185                         break;
 186                 case AltosLib.AO_LOG_TEMP_VOLT:
 187                         state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
 188                         state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
 189
 190                         int nsense = nsense();
 191
 192                         state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
 193                         state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
 194
 195                         double voltages[] = new double[nsense-2];
 196                         for (int i = 0; i < nsense-2; i++)
 197                                 voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
 198
 199                         state.set_ignitor_voltage(voltages);
 200                         state.set_pyro_fired(pyro());
 201                         break;
 202                 case AltosLib.AO_LOG_GPS_TIME:
 203                         state.set_tick(tick);
 204                         gps = state.make_temp_gps(false);
 205                         gps.lat = latitude() / 1e7;
 206                         gps.lon = longitude() / 1e7;
 207
 208                         if (state.altitude_32())
 209                                 gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
 210                         else
 211                                 gps.alt = altitude_low();
 212
 213                         gps.hour = hour();
 214                         gps.minute = minute();
 215                         gps.second = second();
 216
 217                         int flags = flags();
 218
 219                         gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 220                         gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 221                         gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 222                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 223
 224                         gps.year = 2000 + year();
 225                         gps.month = month();
 226                         gps.day = day();
 227                         gps.ground_speed = ground_speed() * 1.0e-2;
 228                         gps.course = course() * 2;
 229                         gps.climb_rate = climb_rate() * 1.0e-2;
 230                         if (state.compare_version("1.4.9") >= 0) {
 231                                 gps.pdop = pdop() / 10.0;
 232                                 gps.hdop = hdop() / 10.0;
 233                                 gps.vdop = vdop() / 10.0;
 234                         } else {
 235                                 gps.pdop = pdop() / 100.0;
 236                                 if (gps.pdop < 0.8)
 237                                         gps.pdop += 2.56;
 238                                 gps.hdop = hdop() / 100.0;
 239                                 if (gps.hdop < 0.8)
 240                                         gps.hdop += 2.56;
 241                                 gps.vdop = vdop() / 100.0;
 242                                 if (gps.vdop < 0.8)
 243                                         gps.vdop += 2.56;
 244                         }
 245                         break;
 246                 case AltosLib.AO_LOG_GPS_SAT:
 247                         state.set_tick(tick);
 248                         gps = state.make_temp_gps(true);
 249
 250                         int n = nsat();
 251                         if (n > max_sat)
 252                                 n = max_sat;
 253                         for (int i = 0; i < n; i++)
 254                                 gps.add_sat(svid(i), c_n(i));
 255                         break;
 256                 }
 257         }
 258
 259         public AltosEepromMega (String line, int log_format) {
 260                 this.log_format = log_format;
 261                 parse_string(line);
 262         }
 263
 264         static public LinkedList<AltosEeprom> read(FileInputStream input, int log_format) {
 265                 LinkedList<AltosEeprom> megas = new LinkedList<AltosEeprom>();
 266
 267                 for (;;) {
 268                         try {
 269                                 String line = AltosLib.gets(input);
 270                                 if (line == null)
 271                                         break;
 272                                 try {
 273                                         AltosEepromMega mega = new AltosEepromMega(line, log_format);
 274                                         if (mega.cmd != AltosLib.AO_LOG_INVALID)
 275                                                 megas.add(mega);
 276                                 } catch (Exception e) {
 277                                         System.out.printf ("exception\n");
 278                                 }
 279                         } catch (IOException ie) {
 280                                 break;
 281                         }
 282                 }
 283
 284                 return megas;
 285         }
 286 }