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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_13;
  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                         return data32(16);
  36                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  37                         return data16(14);
  38                 default:
  39                         return AltosLib.MISSING;
  40                 }
  41         }
  42         private int ground_pitch() {
  43                 switch (log_format) {
  44                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
  45                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
  46                         return data32(20);
  47                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  48                         return data16(16);
  49                 default:
  50                         return AltosLib.MISSING;
  51                 }
  52         }
  53         private int ground_yaw() {
  54                 switch (log_format) {
  55                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
  56                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
  57                         return data32(24);
  58                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  59                         return data16(18);
  60                 default:
  61                         return AltosLib.MISSING;
  62                 }
  63         }
  64
  65         /* AO_LOG_STATE elements */
  66         private int state() { return data16(0); }
  67         private int reason() { return data16(2); }
  68
  69         /* AO_LOG_SENSOR elements */
  70         private int pres() { return data32(0); }
  71         private int temp() { return data32(4); }
  72         private int accel_x() { return data16(8); }
  73         private int accel_y() { return data16(10); }
  74         private int accel_z() { return data16(12); }
  75         private int gyro_x() { return data16(14); }
  76         private int gyro_y() { return data16(16); }
  77         private int gyro_z() { return data16(18); }
  78         private int mag_x() { return data16(20); }
  79         private int mag_z() { return data16(22); }
  80         private int mag_y() { return data16(24); }
  81         private int accel() { return data16(26); }
  82
  83         /* AO_LOG_TEMP_VOLT elements */
  84         private int v_batt() { return data16(0); }
  85         private int v_pbatt() { return data16(2); }
  86         private int nsense() { return data16(4); }
  87         private int sense(int i) { return data16(6 + i * 2); }
  88         private int pyro() { return data16(26); }
  89
  90         /* AO_LOG_GPS_TIME elements */
  91         private int latitude() { return data32(0); }
  92         private int longitude() { return data32(4); }
  93         private int altitude_low() { return data16(8); }
  94         private int hour() { return data8(10); }
  95         private int minute() { return data8(11); }
  96         private int second() { return data8(12); }
  97         private int flags() { return data8(13); }
  98         private int year() { return data8(14); }
  99         private int month() { return data8(15); }
 100         private int day() { return data8(16); }
 101         private int course() { return data8(17); }
 102         private int ground_speed() { return data16(18); }
 103         private int climb_rate() { return data16(20); }
 104         private int pdop() { return data8(22); }
 105         private int hdop() { return data8(23); }
 106         private int vdop() { return data8(24); }
 107         private int mode() { return data8(25); }
 108         private int altitude_high() { return data16(26); }
 109
 110         /* AO_LOG_GPS_SAT elements */
 111         private int nsat() { return data16(0); }
 112         private int svid(int n) { return data8(2 + n * 2); }
 113         private int c_n(int n) { return data8(2 + n * 2 + 1); }
 114
 115         public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
 116                 super.provide_data(listener, cal_data);
 117
 118                 AltosGPS        gps;
 119
 120                 switch (cmd()) {
 121                 case AltosLib.AO_LOG_FLIGHT:
 122                         cal_data.set_flight(flight());
 123                         cal_data.set_ground_accel(ground_accel());
 124                         cal_data.set_ground_pressure(ground_pres());
 125                         listener.set_accel_ground(ground_accel_along(),
 126                                                   ground_accel_across(),
 127                                                   ground_accel_through());
 128                         cal_data.set_gyro_zero(ground_roll() / 512.0,
 129                                                ground_pitch() / 512.0,
 130                                                ground_yaw() / 512.0);
 131                         break;
 132                 case AltosLib.AO_LOG_STATE:
 133                         listener.set_state(state());
 134                         break;
 135                 case AltosLib.AO_LOG_SENSOR:
 136                         AltosConfigData config_data = eeprom.config_data();
 137                         AltosPresTemp pt = config_data.ms5607().pres_temp(pres(), temp());;
 138                         listener.set_pressure(pt.pres);
 139                         listener.set_temperature(pt.temp);
 140
 141                         int     accel_along = accel_y();
 142                         int     accel_across = accel_x();
 143                         int     accel_through = accel_z();
 144                         int     gyro_roll = gyro_y();
 145                         int     gyro_pitch = gyro_x();
 146                         int     gyro_yaw = gyro_z();
 147
 148                         int     mag_along = mag_y();
 149                         int     mag_across = mag_x();
 150                         int     mag_through = mag_z();
 151
 152                         if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
 153                                 cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw);
 154
 155                         listener.set_accel(cal_data.accel_along(accel_along),
 156                                            cal_data.accel_across(accel_across),
 157                                            cal_data.accel_through(accel_through));
 158                         listener.set_gyro(cal_data.gyro_roll(gyro_roll),
 159                                           cal_data.gyro_pitch(gyro_pitch),
 160                                           cal_data.gyro_yaw(gyro_yaw));
 161
 162                         listener.set_mag(cal_data.mag_along(mag_along),
 163                                          cal_data.mag_across(mag_across),
 164                                          cal_data.mag_through(mag_through));
 165
 166
 167                         final double lsb_per_g = 1920.0/105.5;
 168
 169                         double acceleration = AltosConvert.acceleration_from_sensor(
 170                                 accel(),
 171                                 cal_data.ground_accel,
 172                                 cal_data.ground_accel + 2 * lsb_per_g,
 173                                 cal_data.ground_accel);
 174
 175                         listener.set_acceleration(acceleration);
 176                         break;
 177                 case AltosLib.AO_LOG_TEMP_VOLT:
 178                         listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
 179                         listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
 180
 181                         int nsense = nsense();
 182
 183                         listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
 184                         listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
 185
 186                         double voltages[] = new double[nsense-2];
 187                         for (int i = 0; i < nsense-2; i++)
 188                                 voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
 189
 190                         listener.set_igniter_voltage(voltages);
 191                         listener.set_pyro_fired(pyro());
 192                         break;
 193                 case AltosLib.AO_LOG_GPS_TIME:
 194                         gps = listener.make_temp_gps(false);
 195                         gps.lat = latitude() / 1e7;
 196                         gps.lon = longitude() / 1e7;
 197
 198                         if (config_data().altitude_32())
 199                                 gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
 200                         else
 201                                 gps.alt = altitude_low();
 202
 203                         gps.hour = hour();
 204                         gps.minute = minute();
 205                         gps.second = second();
 206
 207                         int flags = flags();
 208
 209                         gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 210                         gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 211                         gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 212                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 213
 214                         gps.year = 2000 + year();
 215                         gps.month = month();
 216                         gps.day = day();
 217                         gps.ground_speed = ground_speed() * 1.0e-2;
 218                         gps.course = course() * 2;
 219                         gps.climb_rate = climb_rate() * 1.0e-2;
 220                         if (config_data().compare_version("1.4.9") >= 0) {
 221                                 gps.pdop = pdop() / 10.0;
 222                                 gps.hdop = hdop() / 10.0;
 223                                 gps.vdop = vdop() / 10.0;
 224                         } else {
 225                                 gps.pdop = pdop() / 100.0;
 226                                 if (gps.pdop < 0.8)
 227                                         gps.pdop += 2.56;
 228                                 gps.hdop = hdop() / 100.0;
 229                                 if (gps.hdop < 0.8)
 230                                         gps.hdop += 2.56;
 231                                 gps.vdop = vdop() / 100.0;
 232                                 if (gps.vdop < 0.8)
 233                                         gps.vdop += 2.56;
 234                         }
 235                         break;
 236                 case AltosLib.AO_LOG_GPS_SAT:
 237                         gps = listener.make_temp_gps(true);
 238
 239                         int n = nsat();
 240                         if (n > max_sat)
 241                                 n = max_sat;
 242                         for (int i = 0; i < n; i++)
 243                                 gps.add_sat(svid(i), c_n(i));
 244                         break;
 245                 }
 246         }
 247
 248         public AltosEepromRecord next() {
 249                 int     s = next_start();
 250                 if (s < 0)
 251                         return null;
 252                 return new AltosEepromRecordMega(eeprom, s);
 253         }
 254
 255         public AltosEepromRecordMega(AltosEeprom eeprom, int start) {
 256                 super(eeprom, start, record_length);
 257                 log_format = eeprom.config_data().log_format;
 258         }
 259
 260         public AltosEepromRecordMega(AltosEeprom eeprom) {
 261                 this(eeprom, 0);
 262         }
 263 }