2 * Copyright © 2017 Keith Packard <keithp@keithp.com>
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, either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
15 package org.altusmetrum.altoslib_13;
17 public class AltosEepromRecordMega extends AltosEepromRecord {
18 public static final int record_length = 32;
20 public static final int max_sat = 12;
22 private int log_format;
24 /* AO_LOG_FLIGHT elements */
25 private int flight() { return data16(0); }
26 private int ground_accel() { return data16(2); }
27 private int ground_pres() { return data32(4); }
28 private int ground_accel_along() { return data16(8); }
29 private int ground_accel_across() { return data16(10); }
30 private int ground_accel_through() { return data16(12); }
31 private int ground_roll() {
33 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
34 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
35 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
36 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
38 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
41 return AltosLib.MISSING;
44 private int ground_pitch() {
46 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
47 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
48 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
49 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
51 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
54 return AltosLib.MISSING;
57 private int ground_yaw() {
59 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
60 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
61 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
62 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
64 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
67 return AltosLib.MISSING;
71 /* AO_LOG_STATE elements */
72 private int state() { return data16(0); }
73 private int reason() { return data16(2); }
75 /* AO_LOG_SENSOR elements */
76 private int pres() { return data32(0); }
77 private int temp() { return data32(4); }
78 private int accel_x() { return data16(8); }
79 private int accel_y() { return data16(10); }
80 private int accel_z() { return data16(12); }
81 private int gyro_x() { return data16(14); }
82 private int gyro_y() { return data16(16); }
83 private int gyro_z() { return data16(18); }
84 private int mag_x() { return data16(20); }
85 private int mag_z() { return data16(22); }
86 private int mag_y() { return data16(24); }
88 private int imu_type() {
90 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
91 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
92 return AltosIMU.imu_type_telemega_v1_v2;
93 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
94 return AltosIMU.imu_type_telemega_v3;
95 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
96 return AltosIMU.imu_type_easymega_v2;
97 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
98 return AltosIMU.imu_type_telemega_v4;
100 return AltosLib.MISSING;
104 private int accel_across() {
105 switch (log_format) {
106 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
107 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
108 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
109 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
111 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
114 return AltosLib.MISSING;
118 private int accel_along(){
119 switch (log_format) {
120 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
121 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
122 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
124 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
125 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
128 return AltosLib.MISSING;
132 private int accel_through() {
136 private int gyro_pitch() {
137 switch (log_format) {
138 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
139 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
140 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
142 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
145 return AltosLib.MISSING;
149 private int gyro_roll() {
150 switch (log_format) {
151 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
152 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
153 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
155 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
156 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
159 return AltosLib.MISSING;
163 private int gyro_yaw() {
167 private int mag_across() {
168 switch (log_format) {
169 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
170 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
171 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
173 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
174 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
177 return AltosLib.MISSING;
181 private int mag_along() {
182 switch (log_format) {
183 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
184 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
185 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
187 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
188 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
191 return AltosLib.MISSING;
195 private int mag_through() {
200 private int accel() { return data16(26); }
202 /* AO_LOG_TEMP_VOLT elements */
203 private int v_batt() { return data16(0); }
204 private int v_pbatt() { return data16(2); }
205 private int nsense() { return data16(4); }
206 private int sense(int i) { return data16(6 + i * 2); }
207 private int pyro() { return data16(26); }
209 /* AO_LOG_GPS_TIME elements */
210 private int latitude() { return data32(0); }
211 private int longitude() { return data32(4); }
212 private int altitude_low() { return data16(8); }
213 private int hour() { return data8(10); }
214 private int minute() { return data8(11); }
215 private int second() { return data8(12); }
216 private int flags() { return data8(13); }
217 private int year() { return data8(14); }
218 private int month() { return data8(15); }
219 private int day() { return data8(16); }
220 private int course() { return data8(17); }
221 private int ground_speed() { return data16(18); }
222 private int climb_rate() { return data16(20); }
223 private int pdop() { return data8(22); }
224 private int hdop() { return data8(23); }
225 private int vdop() { return data8(24); }
226 private int mode() { return data8(25); }
227 private int altitude_high() { return data16(26); }
229 /* AO_LOG_GPS_SAT elements */
230 private int nsat() { return data16(0); }
231 private int svid(int n) { return data8(2 + n * 2); }
232 private int c_n(int n) { return data8(2 + n * 2 + 1); }
234 public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
235 super.provide_data(listener, cal_data);
239 cal_data.set_imu_type(imu_type());
242 case AltosLib.AO_LOG_FLIGHT:
243 cal_data.set_flight(flight());
244 cal_data.set_ground_accel(ground_accel());
245 cal_data.set_ground_pressure(ground_pres());
246 listener.set_accel_ground(cal_data.accel_along(ground_accel_along()),
247 cal_data.accel_across(ground_accel_across()),
248 cal_data.accel_through(ground_accel_through()));
249 cal_data.set_gyro_zero(ground_roll() / 512.0,
250 ground_pitch() / 512.0,
251 ground_yaw() / 512.0);
253 case AltosLib.AO_LOG_STATE:
254 listener.set_state(state());
256 case AltosLib.AO_LOG_SENSOR:
257 AltosConfigData config_data = eeprom.config_data();
258 AltosPresTemp pt = config_data.ms5607().pres_temp(pres(), temp());;
259 listener.set_pressure(pt.pres);
260 listener.set_temperature(pt.temp);
262 int accel_along = accel_along();
263 int accel_across = accel_across();
264 int accel_through = accel_through();
265 int gyro_roll = gyro_roll();
266 int gyro_pitch = gyro_pitch();
267 int gyro_yaw = gyro_yaw();
269 int mag_along = mag_along();
270 int mag_across = mag_across();
271 int mag_through = mag_through();
273 if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
274 cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw);
276 listener.set_accel(cal_data.accel_along(accel_along),
277 cal_data.accel_across(accel_across),
278 cal_data.accel_through(accel_through));
279 listener.set_gyro(cal_data.gyro_roll(gyro_roll),
280 cal_data.gyro_pitch(gyro_pitch),
281 cal_data.gyro_yaw(gyro_yaw));
283 listener.set_mag(cal_data.mag_along(mag_along),
284 cal_data.mag_across(mag_across),
285 cal_data.mag_through(mag_through));
288 final double lsb_per_g = 1920.0/105.5;
290 double acceleration = AltosConvert.acceleration_from_sensor(
292 cal_data.ground_accel,
293 cal_data.ground_accel + 2 * lsb_per_g,
294 cal_data.ground_accel);
296 listener.set_acceleration(acceleration);
298 case AltosLib.AO_LOG_TEMP_VOLT:
299 listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
300 listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
302 int nsense = nsense();
304 listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
305 listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
307 double voltages[] = new double[nsense-2];
308 for (int i = 0; i < nsense-2; i++)
309 voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
311 listener.set_igniter_voltage(voltages);
312 listener.set_pyro_fired(pyro());
314 case AltosLib.AO_LOG_GPS_TIME:
315 gps = listener.make_temp_gps(false);
316 gps.lat = latitude() / 1e7;
317 gps.lon = longitude() / 1e7;
319 if (config_data().altitude_32())
320 gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
322 gps.alt = altitude_low();
325 gps.minute = minute();
326 gps.second = second();
330 gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
331 gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
332 gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
333 AltosLib.AO_GPS_NUM_SAT_SHIFT;
335 gps.year = 2000 + year();
338 gps.ground_speed = ground_speed() * 1.0e-2;
339 gps.course = course() * 2;
340 gps.climb_rate = climb_rate() * 1.0e-2;
341 if (config_data().compare_version("1.4.9") >= 0) {
342 gps.pdop = pdop() / 10.0;
343 gps.hdop = hdop() / 10.0;
344 gps.vdop = vdop() / 10.0;
346 gps.pdop = pdop() / 100.0;
349 gps.hdop = hdop() / 100.0;
352 gps.vdop = vdop() / 100.0;
357 case AltosLib.AO_LOG_GPS_SAT:
358 gps = listener.make_temp_gps(true);
363 for (int i = 0; i < n; i++)
364 gps.add_sat(svid(i), c_n(i));
369 public AltosEepromRecord next() {
370 int s = next_start();
373 return new AltosEepromRecordMega(eeprom, s);
376 public AltosEepromRecordMega(AltosEeprom eeprom, int start) {
377 super(eeprom, start, record_length);
378 log_format = eeprom.config_data().log_format;
381 public AltosEepromRecordMega(AltosEeprom eeprom) {