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; 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         public int record_length() { return record_length; }
  30
  31         /* AO_LOG_FLIGHT elements */
  32         public int flight() { return data16(0); }
  33         public int ground_accel() { return data16(2); }
  34         public int ground_pres() { return data32(4); }
  35         public int ground_accel_along() { return data16(8); }
  36         public int ground_accel_across() { return data16(10); }
  37         public int ground_accel_through() { return data16(12); }
  38         public int ground_roll() { return data16(14); }
  39         public int ground_pitch() { return data16(16); }
  40         public int ground_yaw() { return data16(18); }
  41
  42         /* AO_LOG_STATE elements */
  43         public int state() { return data16(0); }
  44         public int reason() { return data16(2); }
  45
  46         /* AO_LOG_SENSOR elements */
  47         public int pres() { return data32(0); }
  48         public int temp() { return data32(4); }
  49         public int accel_x() { return data16(8); }
  50         public int accel_y() { return data16(10); }
  51         public int accel_z() { return data16(12); }
  52         public int gyro_x() { return data16(14); }
  53         public int gyro_y() { return data16(16); }
  54         public int gyro_z() { return data16(18); }
  55         public int mag_x() { return data16(20); }
  56         public int mag_y() { return data16(22); }
  57         public int mag_z() { return data16(24); }
  58         public int accel() { return data16(26); }
  59
  60         /* AO_LOG_TEMP_VOLT elements */
  61         public int v_batt() { return data16(0); }
  62         public int v_pbatt() { return data16(2); }
  63         public int nsense() { return data16(4); }
  64         public int sense(int i) { return data16(6 + i * 2); }
  65         public int pyro() { return data16(26); }
  66
  67         /* AO_LOG_GPS_TIME elements */
  68         public int latitude() { return data32(0); }
  69         public int longitude() { return data32(4); }
  70         public int altitude_low() { return data16(8); }
  71         public int hour() { return data8(10); }
  72         public int minute() { return data8(11); }
  73         public int second() { return data8(12); }
  74         public int flags() { return data8(13); }
  75         public int year() { return data8(14); }
  76         public int month() { return data8(15); }
  77         public int day() { return data8(16); }
  78         public int course() { return data8(17); }
  79         public int ground_speed() { return data16(18); }
  80         public int climb_rate() { return data16(20); }
  81         public int pdop() { return data8(22); }
  82         public int hdop() { return data8(23); }
  83         public int vdop() { return data8(24); }
  84         public int mode() { return data8(25); }
  85         public int altitude_high() { return data16(26); }
  86
  87         /* AO_LOG_GPS_SAT elements */
  88         public int nsat() { return data16(0); }
  89         public int svid(int n) { return data8(2 + n * 2); }
  90         public int c_n(int n) { return data8(2 + n * 2 + 1); }
  91
  92         public AltosEepromMega (AltosEepromChunk chunk, int start) throws ParseException {
  93                 parse_chunk(chunk, start);
  94         }
  95
  96         public void update_state(AltosState state) {
  97                 super.update_state(state);
  98
  99                 AltosGPS        gps;
 100
 101                 /* Flush any pending GPS changes */
 102                 if (state.gps_pending) {
 103                         switch (cmd) {
 104                         case AltosLib.AO_LOG_GPS_LAT:
 105                         case AltosLib.AO_LOG_GPS_LON:
 106                         case AltosLib.AO_LOG_GPS_ALT:
 107                         case AltosLib.AO_LOG_GPS_SAT:
 108                         case AltosLib.AO_LOG_GPS_DATE:
 109                                 break;
 110                         default:
 111                                 state.set_temp_gps();
 112                                 break;
 113                         }
 114                 }
 115
 116                 switch (cmd) {
 117                 case AltosLib.AO_LOG_FLIGHT:
 118                         state.set_boost_tick(tick);
 119                         state.set_flight(flight());
 120                         state.set_ground_accel(ground_accel());
 121                         state.set_ground_pressure(ground_pres());
 122                         break;
 123                 case AltosLib.AO_LOG_STATE:
 124                         state.set_tick(tick);
 125                         state.set_state(state());
 126                         break;
 127                 case AltosLib.AO_LOG_SENSOR:
 128                         state.set_tick(tick);
 129                         state.set_ms5607(pres(), temp());
 130
 131                         AltosIMU imu = new AltosIMU();
 132                         imu.accel_x = AltosIMU.convert_accel(accel_x());
 133                         imu.accel_y = AltosIMU.convert_accel(accel_y());
 134                         imu.accel_z = AltosIMU.convert_accel(accel_z());
 135
 136                         imu.gyro_x = AltosIMU.convert_gyro(gyro_x());
 137                         imu.gyro_y = AltosIMU.convert_gyro(gyro_y());
 138                         imu.gyro_z = AltosIMU.convert_gyro(gyro_z());
 139                         state.imu = imu;
 140
 141                         AltosMag mag = new AltosMag();
 142                         mag.x = AltosMag.convert_gauss(mag_x());
 143                         mag.y = AltosMag.convert_gauss(mag_y());
 144                         mag.z = AltosMag.convert_gauss(mag_z());
 145
 146                         state.mag = mag;
 147
 148                         state.set_accel(accel());
 149
 150                         break;
 151                 case AltosLib.AO_LOG_TEMP_VOLT:
 152                         state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
 153                         state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
 154
 155                         int nsense = nsense();
 156
 157                         state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
 158                         state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
 159
 160                         double voltages[] = new double[nsense-2];
 161                         for (int i = 0; i < nsense-2; i++)
 162                                 voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
 163
 164                         state.set_ignitor_voltage(voltages);
 165                         state.set_pyro_fired(pyro());
 166                         break;
 167                 case AltosLib.AO_LOG_GPS_TIME:
 168                         state.set_tick(tick);
 169                         gps = state.make_temp_gps(false);
 170                         gps.lat = latitude() / 1e7;
 171                         gps.lon = longitude() / 1e7;
 172
 173                         if (state.altitude_32())
 174                                 gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
 175                         else
 176                                 gps.alt = altitude_low();
 177
 178                         gps.hour = hour();
 179                         gps.minute = minute();
 180                         gps.second = second();
 181
 182                         int flags = flags();
 183
 184                         gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 185                         gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 186                         gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 187                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 188
 189                         gps.year = 2000 + year();
 190                         gps.month = month();
 191                         gps.day = day();
 192                         gps.ground_speed = ground_speed() * 1.0e-2;
 193                         gps.course = course() * 2;
 194                         gps.climb_rate = climb_rate() * 1.0e-2;
 195                         if (state.compare_version("1.4.9") >= 0) {
 196                                 gps.pdop = pdop() / 10.0;
 197                                 gps.hdop = hdop() / 10.0;
 198                                 gps.vdop = vdop() / 10.0;
 199                         } else {
 200                                 gps.pdop = pdop() / 100.0;
 201                                 if (gps.pdop < 0.8)
 202                                         gps.pdop += 2.56;
 203                                 gps.hdop = hdop() / 100.0;
 204                                 if (gps.hdop < 0.8)
 205                                         gps.hdop += 2.56;
 206                                 gps.vdop = vdop() / 100.0;
 207                                 if (gps.vdop < 0.8)
 208                                         gps.vdop += 2.56;
 209                         }
 210                         break;
 211                 case AltosLib.AO_LOG_GPS_SAT:
 212                         state.set_tick(tick);
 213                         gps = state.make_temp_gps(true);
 214
 215                         int n = nsat();
 216                         if (n > max_sat)
 217                                 n = max_sat;
 218                         for (int i = 0; i < n; i++)
 219                                 gps.add_sat(svid(i), c_n(i));
 220                         break;
 221                 }
 222         }
 223
 224         public AltosEepromMega (String line) {
 225                 parse_string(line);
 226         }
 227
 228         static public LinkedList<AltosEeprom> read(FileInputStream input) {
 229                 LinkedList<AltosEeprom> megas = new LinkedList<AltosEeprom>();
 230
 231                 for (;;) {
 232                         try {
 233                                 String line = AltosLib.gets(input);
 234                                 if (line == null)
 235                                         break;
 236                                 try {
 237                                         AltosEepromMega mega = new AltosEepromMega(line);
 238                                         if (mega.cmd != AltosLib.AO_LOG_INVALID)
 239                                                 megas.add(mega);
 240                                 } catch (Exception e) {
 241                                         System.out.printf ("exception\n");
 242                                 }
 243                         } catch (IOException ie) {
 244                                 break;
 245                         }
 246                 }
 247
 248                 return megas;
 249         }
 250 }