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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                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
  36                         return data32(16);
  37                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  38                         return data16(14);
  39                 default:
  40                         return AltosLib.MISSING;
  41                 }
  42         }
  43         private int ground_pitch() {
  44                 switch (log_format) {
  45                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
  46                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
  47                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
  48                         return data32(20);
  49                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  50                         return data16(16);
  51                 default:
  52                         return AltosLib.MISSING;
  53                 }
  54         }
  55         private int ground_yaw() {
  56                 switch (log_format) {
  57                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
  58                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
  59                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
  60                         return data32(24);
  61                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  62                         return data16(18);
  63                 default:
  64                         return AltosLib.MISSING;
  65                 }
  66         }
  67
  68         /* AO_LOG_STATE elements */
  69         private int state() { return data16(0); }
  70         private int reason() { return data16(2); }
  71
  72         /* AO_LOG_SENSOR elements */
  73         private int pres() { return data32(0); }
  74         private int temp() { return data32(4); }
  75         private int accel_x() { return data16(8); }
  76         private int accel_y() { return data16(10); }
  77         private int accel_z() { return data16(12); }
  78         private int gyro_x() { return data16(14); }
  79         private int gyro_y() { return data16(16); }
  80         private int gyro_z() { return data16(18); }
  81         private int mag_x() { return data16(20); }
  82         private int mag_z() { return data16(22); }
  83         private int mag_y() { return data16(24); }
  84
  85         private int accel_across() {
  86                 switch (log_format) {
  87                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
  88                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
  89                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  90                         return accel_x();
  91                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
  92                         return -accel_y();
  93                 default:
  94                         return AltosLib.MISSING;
  95                 }
  96         }
  97
  98         private int accel_along(){
  99                 switch (log_format) {
 100                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 101                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 102                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 103                         return accel_y();
 104                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 105                         return accel_x();
 106                 default:
 107                         return AltosLib.MISSING;
 108                 }
 109         }
 110
 111         private int accel_through() {
 112                 return accel_z();
 113         }
 114
 115         private int gyro_pitch() {
 116                 switch (log_format) {
 117                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 118                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 119                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 120                         return gyro_x();
 121                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 122                         return -gyro_y();
 123                 default:
 124                         return AltosLib.MISSING;
 125                 }
 126         }
 127
 128         private int gyro_roll() {
 129                 switch (log_format) {
 130                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 131                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 132                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 133                         return gyro_y();
 134                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 135                         return gyro_x();
 136                 default:
 137                         return AltosLib.MISSING;
 138                 }
 139         }
 140
 141         private int gyro_yaw() {
 142                 return gyro_z();
 143         }
 144
 145         private int mag_across() {
 146                 switch (log_format) {
 147                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 148                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 149                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 150                         return mag_x();
 151                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 152                         return -mag_y();
 153                 default:
 154                         return AltosLib.MISSING;
 155                 }
 156         }
 157
 158         private int mag_along() {
 159                 switch (log_format) {
 160                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 161                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 162                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 163                         return mag_y();
 164                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 165                         return mag_y();
 166                 default:
 167                         return AltosLib.MISSING;
 168                 }
 169         }
 170
 171         private int mag_through() {
 172                 return mag_z();
 173         }
 174
 175
 176         private int accel() { return data16(26); }
 177
 178         /* AO_LOG_TEMP_VOLT elements */
 179         private int v_batt() { return data16(0); }
 180         private int v_pbatt() { return data16(2); }
 181         private int nsense() { return data16(4); }
 182         private int sense(int i) { return data16(6 + i * 2); }
 183         private int pyro() { return data16(26); }
 184
 185         /* AO_LOG_GPS_TIME elements */
 186         private int latitude() { return data32(0); }
 187         private int longitude() { return data32(4); }
 188         private int altitude_low() { return data16(8); }
 189         private int hour() { return data8(10); }
 190         private int minute() { return data8(11); }
 191         private int second() { return data8(12); }
 192         private int flags() { return data8(13); }
 193         private int year() { return data8(14); }
 194         private int month() { return data8(15); }
 195         private int day() { return data8(16); }
 196         private int course() { return data8(17); }
 197         private int ground_speed() { return data16(18); }
 198         private int climb_rate() { return data16(20); }
 199         private int pdop() { return data8(22); }
 200         private int hdop() { return data8(23); }
 201         private int vdop() { return data8(24); }
 202         private int mode() { return data8(25); }
 203         private int altitude_high() { return data16(26); }
 204
 205         /* AO_LOG_GPS_SAT elements */
 206         private int nsat() { return data16(0); }
 207         private int svid(int n) { return data8(2 + n * 2); }
 208         private int c_n(int n) { return data8(2 + n * 2 + 1); }
 209
 210         public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
 211                 super.provide_data(listener, cal_data);
 212
 213                 AltosGPS        gps;
 214
 215                 switch (cmd()) {
 216                 case AltosLib.AO_LOG_FLIGHT:
 217                         cal_data.set_flight(flight());
 218                         cal_data.set_ground_accel(ground_accel());
 219                         cal_data.set_ground_pressure(ground_pres());
 220                         listener.set_accel_ground(ground_accel_along(),
 221                                                   ground_accel_across(),
 222                                                   ground_accel_through());
 223                         cal_data.set_gyro_zero(ground_roll() / 512.0,
 224                                                ground_pitch() / 512.0,
 225                                                ground_yaw() / 512.0);
 226                         break;
 227                 case AltosLib.AO_LOG_STATE:
 228                         listener.set_state(state());
 229                         break;
 230                 case AltosLib.AO_LOG_SENSOR:
 231                         AltosConfigData config_data = eeprom.config_data();
 232                         AltosPresTemp pt = config_data.ms5607().pres_temp(pres(), temp());;
 233                         listener.set_pressure(pt.pres);
 234                         listener.set_temperature(pt.temp);
 235
 236                         int     accel_along = accel_along();
 237                         int     accel_across = accel_across();
 238                         int     accel_through = accel_through();
 239                         int     gyro_roll = gyro_roll();
 240                         int     gyro_pitch = gyro_pitch();
 241                         int     gyro_yaw = gyro_yaw();
 242
 243                         int     mag_along = mag_along();
 244                         int     mag_across = mag_across();
 245                         int     mag_through = mag_through();
 246
 247                         if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
 248                                 cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw);
 249
 250                         listener.set_accel(cal_data.accel_along(accel_along),
 251                                            cal_data.accel_across(accel_across),
 252                                            cal_data.accel_through(accel_through));
 253                         listener.set_gyro(cal_data.gyro_roll(gyro_roll),
 254                                           cal_data.gyro_pitch(gyro_pitch),
 255                                           cal_data.gyro_yaw(gyro_yaw));
 256
 257                         listener.set_mag(cal_data.mag_along(mag_along),
 258                                          cal_data.mag_across(mag_across),
 259                                          cal_data.mag_through(mag_through));
 260
 261
 262                         final double lsb_per_g = 1920.0/105.5;
 263
 264                         double acceleration = AltosConvert.acceleration_from_sensor(
 265                                 accel(),
 266                                 cal_data.ground_accel,
 267                                 cal_data.ground_accel + 2 * lsb_per_g,
 268                                 cal_data.ground_accel);
 269
 270                         listener.set_acceleration(acceleration);
 271                         break;
 272                 case AltosLib.AO_LOG_TEMP_VOLT:
 273                         listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
 274                         listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
 275
 276                         int nsense = nsense();
 277
 278                         listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
 279                         listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
 280
 281                         double voltages[] = new double[nsense-2];
 282                         for (int i = 0; i < nsense-2; i++)
 283                                 voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
 284
 285                         listener.set_igniter_voltage(voltages);
 286                         listener.set_pyro_fired(pyro());
 287                         break;
 288                 case AltosLib.AO_LOG_GPS_TIME:
 289                         gps = listener.make_temp_gps(false);
 290                         gps.lat = latitude() / 1e7;
 291                         gps.lon = longitude() / 1e7;
 292
 293                         if (config_data().altitude_32())
 294                                 gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
 295                         else
 296                                 gps.alt = altitude_low();
 297
 298                         gps.hour = hour();
 299                         gps.minute = minute();
 300                         gps.second = second();
 301
 302                         int flags = flags();
 303
 304                         gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 305                         gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 306                         gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 307                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 308
 309                         gps.year = 2000 + year();
 310                         gps.month = month();
 311                         gps.day = day();
 312                         gps.ground_speed = ground_speed() * 1.0e-2;
 313                         gps.course = course() * 2;
 314                         gps.climb_rate = climb_rate() * 1.0e-2;
 315                         if (config_data().compare_version("1.4.9") >= 0) {
 316                                 gps.pdop = pdop() / 10.0;
 317                                 gps.hdop = hdop() / 10.0;
 318                                 gps.vdop = vdop() / 10.0;
 319                         } else {
 320                                 gps.pdop = pdop() / 100.0;
 321                                 if (gps.pdop < 0.8)
 322                                         gps.pdop += 2.56;
 323                                 gps.hdop = hdop() / 100.0;
 324                                 if (gps.hdop < 0.8)
 325                                         gps.hdop += 2.56;
 326                                 gps.vdop = vdop() / 100.0;
 327                                 if (gps.vdop < 0.8)
 328                                         gps.vdop += 2.56;
 329                         }
 330                         break;
 331                 case AltosLib.AO_LOG_GPS_SAT:
 332                         gps = listener.make_temp_gps(true);
 333
 334                         int n = nsat();
 335                         if (n > max_sat)
 336                                 n = max_sat;
 337                         for (int i = 0; i < n; i++)
 338                                 gps.add_sat(svid(i), c_n(i));
 339                         break;
 340                 }
 341         }
 342
 343         public AltosEepromRecord next() {
 344                 int     s = next_start();
 345                 if (s < 0)
 346                         return null;
 347                 return new AltosEepromRecordMega(eeprom, s);
 348         }
 349
 350         public AltosEepromRecordMega(AltosEeprom eeprom, int start) {
 351                 super(eeprom, start, record_length);
 352                 log_format = eeprom.config_data().log_format;
 353         }
 354
 355         public AltosEepromRecordMega(AltosEeprom eeprom) {
 356                 this(eeprom, 0);
 357         }
 358 }