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   1 /*
   2  * Copyright © 2017 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, either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   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.
  13  */
  14
  15 package org.altusmetrum.altoslib_14;
  16
  17 public class AltosEepromRecordMega extends AltosEepromRecord {
  18         public static final int record_length = 32;
  19
  20         public static final int max_sat = 12;
  21
  22         private int log_format;
  23
  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() {
  32                 switch (log_format) {
  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:
  37                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
  38                         return data32(16);
  39                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  40                         return data16(14);
  41                 default:
  42                         return AltosLib.MISSING;
  43                 }
  44         }
  45         private int ground_pitch() {
  46                 switch (log_format) {
  47                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
  48                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
  49                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
  50                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
  51                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
  52                         return data32(20);
  53                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  54                         return data16(16);
  55                 default:
  56                         return AltosLib.MISSING;
  57                 }
  58         }
  59         private int ground_yaw() {
  60                 switch (log_format) {
  61                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
  62                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
  63                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
  64                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
  65                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
  66                         return data32(24);
  67                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  68                         return data16(18);
  69                 default:
  70                         return AltosLib.MISSING;
  71                 }
  72         }
  73
  74         /* AO_LOG_STATE elements */
  75         private int state() { return data16(0); }
  76         private int reason() { return data16(2); }
  77
  78         /* AO_LOG_SENSOR elements */
  79         private int pres() { return data32(0); }
  80         private int temp() { return data32(4); }
  81         private int accel_x() { return data16(8); }
  82         private int accel_y() { return data16(10); }
  83         private int accel_z() { return data16(12); }
  84         private int gyro_x() { return data16(14); }
  85         private int gyro_y() { return data16(16); }
  86         private int gyro_z() { return data16(18); }
  87         private int mag_x() { return data16(20); }
  88         private int mag_z() { return data16(22); }
  89         private int mag_y() { return data16(24); }
  90
  91         /* normalized log data */
  92         private int norm_accel_along() { return data16(8); }
  93         private int norm_accel_across() { return data16(10); }
  94         private int norm_accel_through() { return data16(12); }
  95         private int norm_gyro_roll() { return data16(14); }
  96         private int norm_gyro_pitch() { return data16(16); }
  97         private int norm_gyro_yaw() { return data16(18); }
  98         private int norm_mag_along() { return data16(20); }
  99         private int norm_mag_across() { return data16(22); }
 100         private int norm_mag_through() { return data16(24); }
 101
 102         private int imu_type() {
 103                 switch (log_format) {
 104                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 105                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 106                         return AltosIMU.imu_type_telemega_v1_v2;
 107                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 108                         return AltosIMU.imu_type_telemega_v3;
 109                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 110                         return AltosIMU.imu_type_easymega_v2;
 111                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 112                         return AltosIMU.imu_type_telemega_v4;
 113                 default:
 114                         return AltosLib.MISSING;
 115                 }
 116         }
 117
 118         private int imu_model() {
 119                 switch (log_format) {
 120                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
 121                         return AltosLib.model_mpu6000;
 122                 }
 123                 return AltosLib.MISSING;
 124         }
 125
 126         private boolean sensor_normalized() {
 127                 switch (log_format) {
 128                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
 129                         return true;
 130                 }
 131                 return false;
 132         }
 133
 134         private int mag_model() {
 135                 switch (log_format) {
 136                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
 137                         return AltosLib.model_mmc5983;
 138                 }
 139                 return AltosLib.MISSING;
 140         }
 141
 142         private int accel_across() {
 143                 if (sensor_normalized()) {
 144                         return norm_accel_across();
 145                 }
 146
 147                 switch (log_format) {
 148                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 149                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 150                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 151                         return accel_x();
 152                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 153                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 154                         return -accel_y();
 155                 default:
 156                         return AltosLib.MISSING;
 157                 }
 158         }
 159
 160         private int accel_along(){
 161                 if (sensor_normalized()) {
 162                         return norm_accel_along();
 163                 }
 164
 165                 switch (log_format) {
 166                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 167                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 168                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 169                         return accel_y();
 170                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 171                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 172                         return accel_x();
 173                 default:
 174                         return AltosLib.MISSING;
 175                 }
 176         }
 177
 178         private int accel_through() {
 179                 if (sensor_normalized()) {
 180                         return norm_accel_through();
 181                 }
 182
 183                 return accel_z();
 184         }
 185
 186         private int gyro_pitch() {
 187                 if (sensor_normalized()) {
 188                         return norm_gyro_pitch();
 189                 }
 190
 191                 switch (log_format) {
 192                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 193                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 194                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 195                         return gyro_x();
 196                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 197                         return -gyro_y();
 198                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 199                         return -gyro_y();
 200                 default:
 201                         return AltosLib.MISSING;
 202                 }
 203         }
 204
 205         private int gyro_roll() {
 206                 if (sensor_normalized()) {
 207                         return norm_gyro_roll();
 208                 }
 209
 210                 switch (log_format) {
 211                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 212                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 213                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 214                         return gyro_y();
 215                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 216                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 217                         return gyro_x();
 218                 default:
 219                         return AltosLib.MISSING;
 220                 }
 221         }
 222
 223         private int gyro_yaw() {
 224                 if (sensor_normalized()) {
 225                         return norm_gyro_yaw();
 226                 }
 227
 228                 return gyro_z();
 229         }
 230
 231         private int mag_across() {
 232                 if (sensor_normalized()) {
 233                         return norm_mag_across();
 234                 }
 235
 236                 switch (log_format) {
 237                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 238                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 239                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 240                         return mag_x();
 241                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 242                         return -mag_y();
 243                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 244                         return mag_y();
 245                 default:
 246                         return AltosLib.MISSING;
 247                 }
 248         }
 249
 250         private int mag_along() {
 251                 if (sensor_normalized()) {
 252                         return norm_mag_along();
 253                 }
 254
 255                 switch (log_format) {
 256                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 257                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 258                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 259                         return mag_y();
 260                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 261                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 262                         return mag_x();
 263                 default:
 264                         return AltosLib.MISSING;
 265                 }
 266         }
 267
 268         private int mag_through() {
 269                 if (sensor_normalized()) {
 270                         return norm_mag_through();
 271                 }
 272
 273                 return mag_z();
 274         }
 275
 276
 277         private int accel() { return data16(26); }
 278
 279         /* AO_LOG_TEMP_VOLT elements */
 280         private int v_batt() { return data16(0); }
 281         private int v_pbatt() { return data16(2); }
 282         private int nsense() { return data16(4); }
 283         private int sense(int i) { return data16(6 + i * 2); }
 284         private int pyro() { return data16(26); }
 285
 286         /* AO_LOG_GPS_TIME elements */
 287         private int latitude() { return data32(0); }
 288         private int longitude() { return data32(4); }
 289         private int altitude_low() { return data16(8); }
 290         private int hour() { return data8(10); }
 291         private int minute() { return data8(11); }
 292         private int second() { return data8(12); }
 293         private int flags() { return data8(13); }
 294         private int year() { return data8(14); }
 295         private int month() { return data8(15); }
 296         private int day() { return data8(16); }
 297         private int course() { return data8(17); }
 298         private int ground_speed() { return data16(18); }
 299         private int climb_rate() { return data16(20); }
 300         private int pdop() { return data8(22); }
 301         private int hdop() { return data8(23); }
 302         private int vdop() { return data8(24); }
 303         private int mode() { return data8(25); }
 304         private int altitude_high() { return data16(26); }
 305
 306         /* AO_LOG_GPS_SAT elements */
 307         private int nsat() { return data16(0); }
 308         private int svid(int n) { return data8(2 + n * 2); }
 309         private int c_n(int n) { return data8(2 + n * 2 + 1); }
 310
 311         public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
 312                 super.provide_data(listener, cal_data);
 313
 314                 AltosGPS        gps;
 315
 316                 cal_data.set_imu_type(imu_type());
 317                 cal_data.set_imu_model(imu_model());
 318                 cal_data.set_mag_model(mag_model());
 319
 320                 switch (cmd()) {
 321                 case AltosLib.AO_LOG_FLIGHT:
 322                         cal_data.set_flight(flight());
 323                         cal_data.set_ground_accel(ground_accel());
 324                         cal_data.set_ground_pressure(ground_pres());
 325                         listener.set_accel_ground(cal_data.accel_along(ground_accel_along()),
 326                                                   cal_data.accel_across(ground_accel_across()),
 327                                                   cal_data.accel_through(ground_accel_through()));
 328                         cal_data.set_gyro_zero(ground_roll() / 512.0,
 329                                                ground_pitch() / 512.0,
 330                                                ground_yaw() / 512.0);
 331                         break;
 332                 case AltosLib.AO_LOG_STATE:
 333                         listener.set_state(state());
 334                         break;
 335                 case AltosLib.AO_LOG_SENSOR:
 336                         AltosConfigData config_data = eeprom.config_data();
 337                         AltosPresTemp pt = config_data.ms5607().pres_temp(pres(), temp());;
 338                         listener.set_pressure(pt.pres);
 339                         listener.set_temperature(pt.temp);
 340
 341                         int     accel_along = accel_along();
 342                         int     accel_across = accel_across();
 343                         int     accel_through = accel_through();
 344                         int     gyro_roll = gyro_roll();
 345                         int     gyro_pitch = gyro_pitch();
 346                         int     gyro_yaw = gyro_yaw();
 347
 348                         int     mag_along = mag_along();
 349                         int     mag_across = mag_across();
 350                         int     mag_through = mag_through();
 351
 352                         if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
 353                                 cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw);
 354
 355                         listener.set_accel(cal_data.accel_along(accel_along),
 356                                            cal_data.accel_across(accel_across),
 357                                            cal_data.accel_through(accel_through));
 358                         listener.set_gyro(cal_data.gyro_roll(gyro_roll),
 359                                           cal_data.gyro_pitch(gyro_pitch),
 360                                           cal_data.gyro_yaw(gyro_yaw));
 361
 362                         listener.set_mag(cal_data.mag_along(mag_along),
 363                                          cal_data.mag_across(mag_across),
 364                                          cal_data.mag_through(mag_through));
 365
 366                         listener.set_acceleration(cal_data.acceleration(accel()));
 367                         break;
 368                 case AltosLib.AO_LOG_TEMP_VOLT:
 369                         listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
 370                         listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
 371
 372                         int nsense = nsense();
 373
 374                         listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
 375                         listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
 376
 377                         double voltages[] = new double[nsense-2];
 378                         for (int i = 0; i < nsense-2; i++)
 379                                 voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
 380
 381                         listener.set_igniter_voltage(voltages);
 382                         listener.set_pyro_fired(pyro());
 383                         break;
 384                 case AltosLib.AO_LOG_GPS_TIME:
 385                         gps = listener.make_temp_gps(false);
 386                         gps.lat = latitude() / 1e7;
 387                         gps.lon = longitude() / 1e7;
 388
 389                         if (config_data().altitude_32())
 390                                 gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
 391                         else
 392                                 gps.alt = altitude_low();
 393
 394                         gps.hour = hour();
 395                         gps.minute = minute();
 396                         gps.second = second();
 397
 398                         int flags = flags();
 399
 400                         gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 401                         gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 402                         gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 403                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 404
 405                         gps.year = 2000 + year();
 406                         gps.month = month();
 407                         gps.day = day();
 408                         gps.ground_speed = ground_speed() * 1.0e-2;
 409                         gps.course = course() * 2;
 410                         gps.climb_rate = climb_rate() * 1.0e-2;
 411                         if (config_data().compare_version("1.4.9") >= 0) {
 412                                 gps.pdop = pdop() / 10.0;
 413                                 gps.hdop = hdop() / 10.0;
 414                                 gps.vdop = vdop() / 10.0;
 415                         } else {
 416                                 gps.pdop = pdop() / 100.0;
 417                                 if (gps.pdop < 0.8)
 418                                         gps.pdop += 2.56;
 419                                 gps.hdop = hdop() / 100.0;
 420                                 if (gps.hdop < 0.8)
 421                                         gps.hdop += 2.56;
 422                                 gps.vdop = vdop() / 100.0;
 423                                 if (gps.vdop < 0.8)
 424                                         gps.vdop += 2.56;
 425                         }
 426                         break;
 427                 case AltosLib.AO_LOG_GPS_SAT:
 428                         gps = listener.make_temp_gps(true);
 429
 430                         int n = nsat();
 431                         if (n > max_sat)
 432                                 n = max_sat;
 433                         for (int i = 0; i < n; i++)
 434                                 gps.add_sat(svid(i), c_n(i));
 435                         break;
 436                 }
 437         }
 438
 439         public AltosEepromRecord next() {
 440                 int     s = next_start();
 441                 if (s < 0)
 442                         return null;
 443                 return new AltosEepromRecordMega(eeprom, s);
 444         }
 445
 446         public AltosEepromRecordMega(AltosEeprom eeprom, int start) {
 447                 super(eeprom, start, record_length);
 448                 log_format = eeprom.config_data().log_format;
 449         }
 450
 451         public AltosEepromRecordMega(AltosEeprom eeprom) {
 452                 this(eeprom, 0);
 453         }
 454 }