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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_1;
  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 int record_length() { return record_length; }
  28
  29         /* AO_LOG_FLIGHT elements */
  30         public int flight() { return data16(0); }
  31         public int ground_accel() { return data16(2); }
  32         public int ground_pres() { return data32(4); }
  33         public int ground_temp() { return data32(8); }
  34
  35         /* AO_LOG_STATE elements */
  36         public int state() { return data16(0); }
  37         public int reason() { return data16(2); }
  38
  39         /* AO_LOG_SENSOR elements */
  40         public int pres() { return data32(0); }
  41         public int temp() { return data32(4); }
  42         public int accel_x() { return data16(8); }
  43         public int accel_y() { return data16(10); }
  44         public int accel_z() { return data16(12); }
  45         public int gyro_x() { return data16(14); }
  46         public int gyro_y() { return data16(16); }
  47         public int gyro_z() { return data16(18); }
  48         public int mag_x() { return data16(20); }
  49         public int mag_y() { return data16(22); }
  50         public int mag_z() { return data16(24); }
  51         public int accel() { return data16(26); }
  52
  53         /* AO_LOG_TEMP_VOLT elements */
  54         public int v_batt() { return data16(0); }
  55         public int v_pbatt() { return data16(2); }
  56         public int nsense() { return data16(4); }
  57         public int sense(int i) { return data16(6 + i * 2); }
  58         public int pyro() { return data16(26); }
  59
  60         /* AO_LOG_GPS_TIME elements */
  61         public int latitude() { return data32(0); }
  62         public int longitude() { return data32(4); }
  63         public int altitude() { return data16(8); }
  64         public int hour() { return data8(10); }
  65         public int minute() { return data8(11); }
  66         public int second() { return data8(12); }
  67         public int flags() { return data8(13); }
  68         public int year() { return data8(14); }
  69         public int month() { return data8(15); }
  70         public int day() { return data8(16); }
  71
  72         /* AO_LOG_GPS_SAT elements */
  73         public int nsat() { return data16(0); }
  74         public int svid(int n) { return data8(2 + n * 2); }
  75         public int c_n(int n) { return data8(2 + n * 2 + 1); }
  76
  77         public AltosEepromMega (AltosEepromChunk chunk, int start) throws ParseException {
  78                 parse_chunk(chunk, start);
  79         }
  80
  81         public void update_state(AltosState state) {
  82                 AltosGPS        gps;
  83
  84                 /* Flush any pending GPS changes */
  85                 if (state.gps_pending) {
  86                         switch (cmd) {
  87                         case AltosLib.AO_LOG_GPS_LAT:
  88                         case AltosLib.AO_LOG_GPS_LON:
  89                         case AltosLib.AO_LOG_GPS_ALT:
  90                         case AltosLib.AO_LOG_GPS_SAT:
  91                         case AltosLib.AO_LOG_GPS_DATE:
  92                                 break;
  93                         default:
  94                                 state.set_temp_gps();
  95                                 break;
  96                         }
  97                 }
  98
  99                 switch (cmd) {
 100                 case AltosLib.AO_LOG_FLIGHT:
 101                         state.set_boost_tick(tick);
 102                         state.set_flight(flight());
 103                         state.set_ground_accel(ground_accel());
 104                         state.set_ground_pressure(ground_pres());
 105                         state.set_temperature(ground_temp() / 100.0);
 106                         break;
 107                 case AltosLib.AO_LOG_STATE:
 108                         state.set_tick(tick);
 109                         state.set_state(state());
 110                         break;
 111                 case AltosLib.AO_LOG_SENSOR:
 112                         state.set_tick(tick);
 113                         state.set_ms5607(pres(), temp());
 114
 115                         AltosIMU imu = new AltosIMU();
 116                         imu.accel_x = accel_x();
 117                         imu.accel_y = accel_y();
 118                         imu.accel_z = accel_z();
 119
 120                         imu.gyro_x = gyro_x();
 121                         imu.gyro_y = gyro_y();
 122                         imu.gyro_z = gyro_z();
 123                         state.imu = imu;
 124
 125                         AltosMag mag = new AltosMag();
 126                         mag.x = mag_x();
 127                         mag.y = mag_y();
 128                         mag.z = mag_z();
 129
 130                         state.mag = mag;
 131
 132                         state.set_accel(accel());
 133
 134                         break;
 135                 case AltosLib.AO_LOG_TEMP_VOLT:
 136                         state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
 137                         state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
 138
 139                         int nsense = nsense();
 140
 141                         state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
 142                         state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
 143
 144                         double voltages[] = new double[nsense-2];
 145                         for (int i = 0; i < nsense-2; i++)
 146                                 voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
 147
 148                         state.set_ignitor_voltage(voltages);
 149                         break;
 150                 case AltosLib.AO_LOG_GPS_TIME:
 151                         state.set_tick(tick);
 152                         gps = state.make_temp_gps();
 153                         gps.lat = latitude() / 1e7;
 154                         gps.lon = longitude() / 1e7;
 155                         gps.alt = altitude();
 156
 157                         gps.hour = hour();
 158                         gps.minute = minute();
 159                         gps.second = second();
 160
 161                         int flags = flags();
 162
 163                         gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 164                         gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 165                         gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 166                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 167
 168                         gps.year = year();
 169                         gps.month = month();
 170                         gps.day = day();
 171                         break;
 172                 case AltosLib.AO_LOG_GPS_SAT:
 173                         state.set_tick(tick);
 174                         gps = state.make_temp_gps();
 175
 176                         int n = nsat();
 177                         for (int i = 0; i < n; i++)
 178                                 gps.add_sat(svid(i), c_n(i));
 179                         break;
 180                 }
 181         }
 182
 183         public AltosEepromMega (String line) {
 184                 parse_string(line);
 185         }
 186
 187         static public LinkedList<AltosEeprom> read(FileInputStream input) {
 188                 LinkedList<AltosEeprom> megas = new LinkedList<AltosEeprom>();
 189
 190                 for (;;) {
 191                         try {
 192                                 String line = AltosLib.gets(input);
 193                                 if (line == null)
 194                                         break;
 195                                 try {
 196                                         AltosEepromMega mega = new AltosEepromMega(line);
 197                                         if (mega.cmd != AltosLib.AO_LOG_INVALID)
 198                                                 megas.add(mega);
 199                                 } catch (Exception e) {
 200                                         System.out.printf ("exception\n");
 201                                 }
 202                         } catch (IOException ie) {
 203                                 break;
 204                         }
 205                 }
 206
 207                 return megas;
 208         }
 209 }