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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_11;
  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                         return data32(16);
  35                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  36                         return data16(14);
  37                 default:
  38                         return AltosLib.MISSING;
  39                 }
  40         }
  41         private int ground_pitch() {
  42                 switch (log_format) {
  43                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
  44                         return data32(20);
  45                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  46                         return data16(16);
  47                 default:
  48                         return AltosLib.MISSING;
  49                 }
  50         }
  51         private int ground_yaw() {
  52                 switch (log_format) {
  53                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
  54                         return data32(24);
  55                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  56                         return data16(18);
  57                 default:
  58                         return AltosLib.MISSING;
  59                 }
  60         }
  61
  62         /* AO_LOG_STATE elements */
  63         private int state() { return data16(0); }
  64         private int reason() { return data16(2); }
  65
  66         /* AO_LOG_SENSOR elements */
  67         private int pres() { return data32(0); }
  68         private int temp() { return data32(4); }
  69         private int accel_x() { return data16(8); }
  70         private int accel_y() { return data16(10); }
  71         private int accel_z() { return data16(12); }
  72         private int gyro_x() { return data16(14); }
  73         private int gyro_y() { return data16(16); }
  74         private int gyro_z() { return data16(18); }
  75         private int mag_x() { return data16(20); }
  76         private int mag_y() { return data16(22); }
  77         private int mag_z() { return data16(24); }
  78         private int accel() { return data16(26); }
  79
  80         /* AO_LOG_TEMP_VOLT elements */
  81         private int v_batt() { return data16(0); }
  82         private int v_pbatt() { return data16(2); }
  83         private int nsense() { return data16(4); }
  84         private int sense(int i) { return data16(6 + i * 2); }
  85         private int pyro() { return data16(26); }
  86
  87         /* AO_LOG_GPS_TIME elements */
  88         private int latitude() { return data32(0); }
  89         private int longitude() { return data32(4); }
  90         private int altitude_low() { return data16(8); }
  91         private int hour() { return data8(10); }
  92         private int minute() { return data8(11); }
  93         private int second() { return data8(12); }
  94         private int flags() { return data8(13); }
  95         private int year() { return data8(14); }
  96         private int month() { return data8(15); }
  97         private int day() { return data8(16); }
  98         private int course() { return data8(17); }
  99         private int ground_speed() { return data16(18); }
 100         private int climb_rate() { return data16(20); }
 101         private int pdop() { return data8(22); }
 102         private int hdop() { return data8(23); }
 103         private int vdop() { return data8(24); }
 104         private int mode() { return data8(25); }
 105         private int altitude_high() { return data16(26); }
 106
 107         /* AO_LOG_GPS_SAT elements */
 108         private int nsat() { return data16(0); }
 109         private int svid(int n) { return data8(2 + n * 2); }
 110         private int c_n(int n) { return data8(2 + n * 2 + 1); }
 111
 112         public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
 113                 super.provide_data(listener, cal_data);
 114
 115                 AltosGPS        gps;
 116
 117                 /* Flush any pending GPS changes */
 118                 if (cal_data.gps_pending()) {
 119                         switch (cmd()) {
 120                         case AltosLib.AO_LOG_GPS_LAT:
 121                         case AltosLib.AO_LOG_GPS_LON:
 122                         case AltosLib.AO_LOG_GPS_ALT:
 123                         case AltosLib.AO_LOG_GPS_SAT:
 124                         case AltosLib.AO_LOG_GPS_DATE:
 125                                 break;
 126                         default:
 127                                 listener.set_gps(cal_data.temp_gps());
 128                                 cal_data.reset_temp_gps();
 129                                 break;
 130                         }
 131                 }
 132
 133                 switch (cmd()) {
 134                 case AltosLib.AO_LOG_FLIGHT:
 135                         cal_data.set_flight(flight());
 136                         cal_data.set_ground_accel(ground_accel());
 137                         cal_data.set_ground_pressure(ground_pres());
 138                         listener.set_accel_ground(ground_accel_along(),
 139                                                   ground_accel_across(),
 140                                                   ground_accel_through());
 141                         cal_data.set_gyro_zero(ground_roll() / 512.0,
 142                                                ground_pitch() / 512.0,
 143                                                ground_yaw() / 512.0);
 144                         break;
 145                 case AltosLib.AO_LOG_STATE:
 146                         System.out.printf("log state %s\n", AltosLib.state_name(state()));
 147                         listener.set_state(state());
 148                         break;
 149                 case AltosLib.AO_LOG_SENSOR:
 150                         AltosConfigData config_data = eeprom.config_data();
 151                         AltosPresTemp pt = config_data.ms5607().pres_temp(pres(), temp());;
 152                         listener.set_pressure(pt.pres);
 153                         listener.set_temperature(pt.temp);
 154
 155                         int     accel_along = accel_y();
 156                         int     accel_across = accel_x();
 157                         int     accel_through = accel_z();
 158                         int     gyro_roll = gyro_y();
 159                         int     gyro_pitch = gyro_x();
 160                         int     gyro_yaw = gyro_z();
 161
 162                         int     mag_along = mag_x();
 163                         int     mag_across = mag_y();
 164                         int     mag_through = mag_z();
 165
 166                         if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
 167                                 cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw);
 168
 169                         listener.set_accel(cal_data.accel_along(accel_along),
 170                                            cal_data.accel_across(accel_across),
 171                                            cal_data.accel_through(accel_through));
 172                         listener.set_gyro(cal_data.gyro_roll(gyro_roll),
 173                                           cal_data.gyro_pitch(gyro_pitch),
 174                                           cal_data.gyro_yaw(gyro_yaw));
 175
 176                         listener.set_mag(cal_data.mag_along(mag_along),
 177                                          cal_data.mag_across(mag_across),
 178                                          cal_data.mag_through(mag_through));
 179
 180
 181                         double acceleration = AltosConvert.acceleration_from_sensor(
 182                                 accel(),
 183                                 config_data.accel_cal_plus,
 184                                 config_data.accel_cal_minus,
 185                                 AltosLib.MISSING);
 186
 187                         listener.set_acceleration(acceleration);
 188                         break;
 189                 case AltosLib.AO_LOG_TEMP_VOLT:
 190                         listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
 191                         listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
 192
 193                         int nsense = nsense();
 194
 195                         listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
 196                         listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
 197
 198                         double voltages[] = new double[nsense-2];
 199                         for (int i = 0; i < nsense-2; i++)
 200                                 voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
 201
 202                         listener.set_igniter_voltage(voltages);
 203                         listener.set_pyro_fired(pyro());
 204                         break;
 205                 case AltosLib.AO_LOG_GPS_TIME:
 206                         gps = cal_data.make_temp_gps(tick(), false);
 207                         gps.lat = latitude() / 1e7;
 208                         gps.lon = longitude() / 1e7;
 209
 210                         if (config_data().altitude_32())
 211                                 gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
 212                         else
 213                                 gps.alt = altitude_low();
 214
 215                         gps.hour = hour();
 216                         gps.minute = minute();
 217                         gps.second = second();
 218
 219                         int flags = flags();
 220
 221                         gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 222                         gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 223                         gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 224                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 225
 226                         gps.year = 2000 + year();
 227                         gps.month = month();
 228                         gps.day = day();
 229                         gps.ground_speed = ground_speed() * 1.0e-2;
 230                         gps.course = course() * 2;
 231                         gps.climb_rate = climb_rate() * 1.0e-2;
 232                         if (config_data().compare_version("1.4.9") >= 0) {
 233                                 gps.pdop = pdop() / 10.0;
 234                                 gps.hdop = hdop() / 10.0;
 235                                 gps.vdop = vdop() / 10.0;
 236                         } else {
 237                                 gps.pdop = pdop() / 100.0;
 238                                 if (gps.pdop < 0.8)
 239                                         gps.pdop += 2.56;
 240                                 gps.hdop = hdop() / 100.0;
 241                                 if (gps.hdop < 0.8)
 242                                         gps.hdop += 2.56;
 243                                 gps.vdop = vdop() / 100.0;
 244                                 if (gps.vdop < 0.8)
 245                                         gps.vdop += 2.56;
 246                         }
 247                         break;
 248                 case AltosLib.AO_LOG_GPS_SAT:
 249                         gps = cal_data.make_temp_gps(tick(), true);
 250
 251                         int n = nsat();
 252                         if (n > max_sat)
 253                                 n = max_sat;
 254                         for (int i = 0; i < n; i++)
 255                                 gps.add_sat(svid(i), c_n(i));
 256                         break;
 257                 }
 258         }
 259
 260         public AltosEepromRecord next() {
 261                 int     s = next_start();
 262                 if (s < 0)
 263                         return null;
 264                 return new AltosEepromRecordMega(eeprom, s);
 265         }
 266
 267         public AltosEepromRecordMega(AltosEepromNew eeprom, int start) {
 268                 super(eeprom, start, record_length);
 269                 log_format = eeprom.config_data().log_format;
 270         }
 271
 272         public AltosEepromRecordMega(AltosEepromNew eeprom) {
 273                 this(eeprom, 0);
 274         }
 275 }