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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_3;
  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_temp() { return data32(8); }
  36
  37         /* AO_LOG_STATE elements */
  38         public int state() { return data16(0); }
  39         public int reason() { return data16(2); }
  40
  41         /* AO_LOG_SENSOR elements */
  42         public int pres() { return data32(0); }
  43         public int temp() { return data32(4); }
  44         public int accel_x() { return data16(8); }
  45         public int accel_y() { return data16(10); }
  46         public int accel_z() { return data16(12); }
  47         public int gyro_x() { return data16(14); }
  48         public int gyro_y() { return data16(16); }
  49         public int gyro_z() { return data16(18); }
  50         public int mag_x() { return data16(20); }
  51         public int mag_y() { return data16(22); }
  52         public int mag_z() { return data16(24); }
  53         public int accel() { return data16(26); }
  54
  55         /* AO_LOG_TEMP_VOLT elements */
  56         public int v_batt() { return data16(0); }
  57         public int v_pbatt() { return data16(2); }
  58         public int nsense() { return data16(4); }
  59         public int sense(int i) { return data16(6 + i * 2); }
  60         public int pyro() { return data16(26); }
  61
  62         /* AO_LOG_GPS_TIME elements */
  63         public int latitude() { return data32(0); }
  64         public int longitude() { return data32(4); }
  65         public int altitude() { return data16(8); }
  66         public int hour() { return data8(10); }
  67         public int minute() { return data8(11); }
  68         public int second() { return data8(12); }
  69         public int flags() { return data8(13); }
  70         public int year() { return data8(14); }
  71         public int month() { return data8(15); }
  72         public int day() { return data8(16); }
  73
  74         /* AO_LOG_GPS_SAT elements */
  75         public int nsat() { return data16(0); }
  76         public int svid(int n) { return data8(2 + n * 2); }
  77         public int c_n(int n) { return data8(2 + n * 2 + 1); }
  78
  79         public AltosEepromMega (AltosEepromChunk chunk, int start) throws ParseException {
  80                 parse_chunk(chunk, start);
  81         }
  82
  83         public void update_state(AltosState state) {
  84                 super.update_state(state);
  85
  86                 AltosGPS        gps;
  87
  88                 /* Flush any pending GPS changes */
  89                 if (state.gps_pending) {
  90                         switch (cmd) {
  91                         case AltosLib.AO_LOG_GPS_LAT:
  92                         case AltosLib.AO_LOG_GPS_LON:
  93                         case AltosLib.AO_LOG_GPS_ALT:
  94                         case AltosLib.AO_LOG_GPS_SAT:
  95                         case AltosLib.AO_LOG_GPS_DATE:
  96                                 break;
  97                         default:
  98                                 state.set_temp_gps();
  99                                 break;
 100                         }
 101                 }
 102
 103                 switch (cmd) {
 104                 case AltosLib.AO_LOG_FLIGHT:
 105                         state.set_boost_tick(tick);
 106                         state.set_flight(flight());
 107                         state.set_ground_accel(ground_accel());
 108                         state.set_ground_pressure(ground_pres());
 109                         state.set_temperature(ground_temp() / 100.0);
 110                         break;
 111                 case AltosLib.AO_LOG_STATE:
 112                         state.set_tick(tick);
 113                         state.set_state(state());
 114                         break;
 115                 case AltosLib.AO_LOG_SENSOR:
 116                         state.set_tick(tick);
 117                         state.set_ms5607(pres(), temp());
 118
 119                         AltosIMU imu = new AltosIMU();
 120                         imu.accel_x = AltosIMU.convert_accel(accel_x());
 121                         imu.accel_y = AltosIMU.convert_accel(accel_y());
 122                         imu.accel_z = AltosIMU.convert_accel(accel_z());
 123
 124                         imu.gyro_x = AltosIMU.convert_gyro(gyro_x());
 125                         imu.gyro_y = AltosIMU.convert_gyro(gyro_y());
 126                         imu.gyro_z = AltosIMU.convert_gyro(gyro_z());
 127                         state.imu = imu;
 128
 129                         AltosMag mag = new AltosMag();
 130                         mag.x = AltosMag.convert_gauss(mag_x());
 131                         mag.y = AltosMag.convert_gauss(mag_y());
 132                         mag.z = AltosMag.convert_gauss(mag_z());
 133
 134                         state.mag = mag;
 135
 136                         state.set_accel(accel());
 137
 138                         break;
 139                 case AltosLib.AO_LOG_TEMP_VOLT:
 140                         state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
 141                         state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
 142
 143                         int nsense = nsense();
 144
 145                         state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
 146                         state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
 147
 148                         double voltages[] = new double[nsense-2];
 149                         for (int i = 0; i < nsense-2; i++)
 150                                 voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
 151
 152                         state.set_ignitor_voltage(voltages);
 153                         break;
 154                 case AltosLib.AO_LOG_GPS_TIME:
 155                         state.set_tick(tick);
 156                         gps = state.make_temp_gps(false);
 157                         gps.lat = latitude() / 1e7;
 158                         gps.lon = longitude() / 1e7;
 159                         gps.alt = altitude();
 160
 161                         gps.hour = hour();
 162                         gps.minute = minute();
 163                         gps.second = second();
 164
 165                         int flags = flags();
 166
 167                         gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 168                         gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 169                         gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 170                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 171
 172                         gps.year = 2000 + year();
 173                         gps.month = month();
 174                         gps.day = day();
 175                         break;
 176                 case AltosLib.AO_LOG_GPS_SAT:
 177                         state.set_tick(tick);
 178                         gps = state.make_temp_gps(true);
 179
 180                         int n = nsat();
 181                         if (n > max_sat)
 182                                 n = max_sat;
 183                         for (int i = 0; i < n; i++)
 184                                 gps.add_sat(svid(i), c_n(i));
 185                         break;
 186                 }
 187         }
 188
 189         public AltosEepromMega (String line) {
 190                 parse_string(line);
 191         }
 192
 193         static public LinkedList<AltosEeprom> read(FileInputStream input) {
 194                 LinkedList<AltosEeprom> megas = new LinkedList<AltosEeprom>();
 195
 196                 for (;;) {
 197                         try {
 198                                 String line = AltosLib.gets(input);
 199                                 if (line == null)
 200                                         break;
 201                                 try {
 202                                         AltosEepromMega mega = new AltosEepromMega(line);
 203                                         if (mega.cmd != AltosLib.AO_LOG_INVALID)
 204                                                 megas.add(mega);
 205                                 } catch (Exception e) {
 206                                         System.out.printf ("exception\n");
 207                                 }
 208                         } catch (IOException ie) {
 209                                 break;
 210                         }
 211                 }
 212
 213                 return megas;
 214         }
 215 }