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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_5;
  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                         break;
 153                 case AltosLib.AO_LOG_STATE:
 154                         state.set_tick(tick);
 155                         state.set_state(state());
 156                         break;
 157                 case AltosLib.AO_LOG_SENSOR:
 158                         state.set_tick(tick);
 159                         state.set_ms5607(pres(), temp());
 160
 161                         AltosIMU imu = new AltosIMU();
 162                         imu.accel_x = AltosIMU.convert_accel(accel_x());
 163                         imu.accel_y = AltosIMU.convert_accel(accel_y());
 164                         imu.accel_z = AltosIMU.convert_accel(accel_z());
 165
 166                         imu.gyro_x = AltosIMU.convert_gyro(gyro_x());
 167                         imu.gyro_y = AltosIMU.convert_gyro(gyro_y());
 168                         imu.gyro_z = AltosIMU.convert_gyro(gyro_z());
 169                         state.imu = imu;
 170
 171                         AltosMag mag = new AltosMag();
 172                         mag.x = AltosMag.convert_gauss(mag_x());
 173                         mag.y = AltosMag.convert_gauss(mag_y());
 174                         mag.z = AltosMag.convert_gauss(mag_z());
 175
 176                         state.mag = mag;
 177
 178                         state.set_accel(accel());
 179
 180                         break;
 181                 case AltosLib.AO_LOG_TEMP_VOLT:
 182                         state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
 183                         state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
 184
 185                         int nsense = nsense();
 186
 187                         state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
 188                         state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
 189
 190                         double voltages[] = new double[nsense-2];
 191                         for (int i = 0; i < nsense-2; i++)
 192                                 voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
 193
 194                         state.set_ignitor_voltage(voltages);
 195                         state.set_pyro_fired(pyro());
 196                         break;
 197                 case AltosLib.AO_LOG_GPS_TIME:
 198                         state.set_tick(tick);
 199                         gps = state.make_temp_gps(false);
 200                         gps.lat = latitude() / 1e7;
 201                         gps.lon = longitude() / 1e7;
 202
 203                         if (state.altitude_32())
 204                                 gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
 205                         else
 206                                 gps.alt = altitude_low();
 207
 208                         gps.hour = hour();
 209                         gps.minute = minute();
 210                         gps.second = second();
 211
 212                         int flags = flags();
 213
 214                         gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 215                         gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 216                         gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 217                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 218
 219                         gps.year = 2000 + year();
 220                         gps.month = month();
 221                         gps.day = day();
 222                         gps.ground_speed = ground_speed() * 1.0e-2;
 223                         gps.course = course() * 2;
 224                         gps.climb_rate = climb_rate() * 1.0e-2;
 225                         if (state.compare_version("1.4.9") >= 0) {
 226                                 gps.pdop = pdop() / 10.0;
 227                                 gps.hdop = hdop() / 10.0;
 228                                 gps.vdop = vdop() / 10.0;
 229                         } else {
 230                                 gps.pdop = pdop() / 100.0;
 231                                 if (gps.pdop < 0.8)
 232                                         gps.pdop += 2.56;
 233                                 gps.hdop = hdop() / 100.0;
 234                                 if (gps.hdop < 0.8)
 235                                         gps.hdop += 2.56;
 236                                 gps.vdop = vdop() / 100.0;
 237                                 if (gps.vdop < 0.8)
 238                                         gps.vdop += 2.56;
 239                         }
 240                         break;
 241                 case AltosLib.AO_LOG_GPS_SAT:
 242                         state.set_tick(tick);
 243                         gps = state.make_temp_gps(true);
 244
 245                         int n = nsat();
 246                         if (n > max_sat)
 247                                 n = max_sat;
 248                         for (int i = 0; i < n; i++)
 249                                 gps.add_sat(svid(i), c_n(i));
 250                         break;
 251                 }
 252         }
 253
 254         public AltosEepromMega (String line, int log_format) {
 255                 this.log_format = log_format;
 256                 parse_string(line);
 257         }
 258
 259         static public LinkedList<AltosEeprom> read(FileInputStream input, int log_format) {
 260                 LinkedList<AltosEeprom> megas = new LinkedList<AltosEeprom>();
 261
 262                 for (;;) {
 263                         try {
 264                                 String line = AltosLib.gets(input);
 265                                 if (line == null)
 266                                         break;
 267                                 try {
 268                                         AltosEepromMega mega = new AltosEepromMega(line, log_format);
 269                                         if (mega.cmd != AltosLib.AO_LOG_INVALID)
 270                                                 megas.add(mega);
 271                                 } catch (Exception e) {
 272                                         System.out.printf ("exception\n");
 273                                 }
 274                         } catch (IOException ie) {
 275                                 break;
 276                         }
 277                 }
 278
 279                 return megas;
 280         }
 281 }