git.gag.com Git - fw/altos/blob - altoslib/AltosEepromRecordMega.java

   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                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
  37                         return data32(16);
  38                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  39                         return data16(14);
  40                 default:
  41                         return AltosLib.MISSING;
  42                 }
  43         }
  44         private int ground_pitch() {
  45                 switch (log_format) {
  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:
  50                         return data32(20);
  51                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  52                         return data16(16);
  53                 default:
  54                         return AltosLib.MISSING;
  55                 }
  56         }
  57         private int ground_yaw() {
  58                 switch (log_format) {
  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:
  63                         return data32(24);
  64                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
  65                         return data16(18);
  66                 default:
  67                         return AltosLib.MISSING;
  68                 }
  69         }
  70
  71         /* AO_LOG_STATE elements */
  72         private int state() { return data16(0); }
  73         private int reason() { return data16(2); }
  74
  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); }
  87
  88         private int imu_type() {
  89                 switch (log_format) {
  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;
  99                 default:
 100                         return AltosLib.MISSING;
 101                 }
 102         }
 103
 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                         return accel_x();
 110                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 111                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 112                         return -accel_y();
 113                 default:
 114                         return AltosLib.MISSING;
 115                 }
 116         }
 117
 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:
 123                         return accel_y();
 124                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 125                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 126                         return accel_x();
 127                 default:
 128                         return AltosLib.MISSING;
 129                 }
 130         }
 131
 132         private int accel_through() {
 133                 return accel_z();
 134         }
 135
 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:
 141                         return gyro_x();
 142                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 143                         return -gyro_y();
 144                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 145                         return gyro_y();
 146                 default:
 147                         return AltosLib.MISSING;
 148                 }
 149         }
 150
 151         private int gyro_roll() {
 152                 switch (log_format) {
 153                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 154                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 155                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 156                         return gyro_y();
 157                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 158                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 159                         return gyro_x();
 160                 default:
 161                         return AltosLib.MISSING;
 162                 }
 163         }
 164
 165         private int gyro_yaw() {
 166                 return gyro_z();
 167         }
 168
 169         private int mag_across() {
 170                 switch (log_format) {
 171                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 172                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 173                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 174                         return mag_x();
 175                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 176                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 177                         return -mag_y();
 178                 default:
 179                         return AltosLib.MISSING;
 180                 }
 181         }
 182
 183         private int mag_along() {
 184                 switch (log_format) {
 185                 case AltosLib.AO_LOG_FORMAT_TELEMEGA:
 186                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
 187                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
 188                         return mag_y();
 189                 case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
 190                 case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
 191                         return mag_x();
 192                 default:
 193                         return AltosLib.MISSING;
 194                 }
 195         }
 196
 197         private int mag_through() {
 198                 return mag_z();
 199         }
 200
 201
 202         private int accel() { return data16(26); }
 203
 204         /* AO_LOG_TEMP_VOLT elements */
 205         private int v_batt() { return data16(0); }
 206         private int v_pbatt() { return data16(2); }
 207         private int nsense() { return data16(4); }
 208         private int sense(int i) { return data16(6 + i * 2); }
 209         private int pyro() { return data16(26); }
 210
 211         /* AO_LOG_GPS_TIME elements */
 212         private int latitude() { return data32(0); }
 213         private int longitude() { return data32(4); }
 214         private int altitude_low() { return data16(8); }
 215         private int hour() { return data8(10); }
 216         private int minute() { return data8(11); }
 217         private int second() { return data8(12); }
 218         private int flags() { return data8(13); }
 219         private int year() { return data8(14); }
 220         private int month() { return data8(15); }
 221         private int day() { return data8(16); }
 222         private int course() { return data8(17); }
 223         private int ground_speed() { return data16(18); }
 224         private int climb_rate() { return data16(20); }
 225         private int pdop() { return data8(22); }
 226         private int hdop() { return data8(23); }
 227         private int vdop() { return data8(24); }
 228         private int mode() { return data8(25); }
 229         private int altitude_high() { return data16(26); }
 230
 231         /* AO_LOG_GPS_SAT elements */
 232         private int nsat() { return data16(0); }
 233         private int svid(int n) { return data8(2 + n * 2); }
 234         private int c_n(int n) { return data8(2 + n * 2 + 1); }
 235
 236         public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
 237                 super.provide_data(listener, cal_data);
 238
 239                 AltosGPS        gps;
 240
 241                 cal_data.set_imu_type(imu_type());
 242
 243                 switch (cmd()) {
 244                 case AltosLib.AO_LOG_FLIGHT:
 245                         cal_data.set_flight(flight());
 246                         cal_data.set_ground_accel(ground_accel());
 247                         cal_data.set_ground_pressure(ground_pres());
 248                         listener.set_accel_ground(cal_data.accel_along(ground_accel_along()),
 249                                                   cal_data.accel_across(ground_accel_across()),
 250                                                   cal_data.accel_through(ground_accel_through()));
 251                         cal_data.set_gyro_zero(ground_roll() / 512.0,
 252                                                ground_pitch() / 512.0,
 253                                                ground_yaw() / 512.0);
 254                         break;
 255                 case AltosLib.AO_LOG_STATE:
 256                         listener.set_state(state());
 257                         break;
 258                 case AltosLib.AO_LOG_SENSOR:
 259                         AltosConfigData config_data = eeprom.config_data();
 260                         AltosPresTemp pt = config_data.ms5607().pres_temp(pres(), temp());;
 261                         listener.set_pressure(pt.pres);
 262                         listener.set_temperature(pt.temp);
 263
 264                         int     accel_along = accel_along();
 265                         int     accel_across = accel_across();
 266                         int     accel_through = accel_through();
 267                         int     gyro_roll = gyro_roll();
 268                         int     gyro_pitch = gyro_pitch();
 269                         int     gyro_yaw = gyro_yaw();
 270
 271                         int     mag_along = mag_along();
 272                         int     mag_across = mag_across();
 273                         int     mag_through = mag_through();
 274
 275                         if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
 276                                 cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw);
 277
 278                         listener.set_accel(cal_data.accel_along(accel_along),
 279                                            cal_data.accel_across(accel_across),
 280                                            cal_data.accel_through(accel_through));
 281                         listener.set_gyro(cal_data.gyro_roll(gyro_roll),
 282                                           cal_data.gyro_pitch(gyro_pitch),
 283                                           cal_data.gyro_yaw(gyro_yaw));
 284
 285                         listener.set_mag(cal_data.mag_along(mag_along),
 286                                          cal_data.mag_across(mag_across),
 287                                          cal_data.mag_through(mag_through));
 288
 289
 290                         final double lsb_per_g = 1920.0/105.5;
 291
 292                         double acceleration = AltosConvert.acceleration_from_sensor(
 293                                 accel(),
 294                                 cal_data.ground_accel,
 295                                 cal_data.ground_accel + 2 * lsb_per_g,
 296                                 cal_data.ground_accel);
 297
 298                         listener.set_acceleration(acceleration);
 299                         break;
 300                 case AltosLib.AO_LOG_TEMP_VOLT:
 301                         listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
 302                         listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
 303
 304                         int nsense = nsense();
 305
 306                         listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
 307                         listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
 308
 309                         double voltages[] = new double[nsense-2];
 310                         for (int i = 0; i < nsense-2; i++)
 311                                 voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
 312
 313                         listener.set_igniter_voltage(voltages);
 314                         listener.set_pyro_fired(pyro());
 315                         break;
 316                 case AltosLib.AO_LOG_GPS_TIME:
 317                         gps = listener.make_temp_gps(false);
 318                         gps.lat = latitude() / 1e7;
 319                         gps.lon = longitude() / 1e7;
 320
 321                         if (config_data().altitude_32())
 322                                 gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
 323                         else
 324                                 gps.alt = altitude_low();
 325
 326                         gps.hour = hour();
 327                         gps.minute = minute();
 328                         gps.second = second();
 329
 330                         int flags = flags();
 331
 332                         gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
 333                         gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
 334                         gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
 335                                 AltosLib.AO_GPS_NUM_SAT_SHIFT;
 336
 337                         gps.year = 2000 + year();
 338                         gps.month = month();
 339                         gps.day = day();
 340                         gps.ground_speed = ground_speed() * 1.0e-2;
 341                         gps.course = course() * 2;
 342                         gps.climb_rate = climb_rate() * 1.0e-2;
 343                         if (config_data().compare_version("1.4.9") >= 0) {
 344                                 gps.pdop = pdop() / 10.0;
 345                                 gps.hdop = hdop() / 10.0;
 346                                 gps.vdop = vdop() / 10.0;
 347                         } else {
 348                                 gps.pdop = pdop() / 100.0;
 349                                 if (gps.pdop < 0.8)
 350                                         gps.pdop += 2.56;
 351                                 gps.hdop = hdop() / 100.0;
 352                                 if (gps.hdop < 0.8)
 353                                         gps.hdop += 2.56;
 354                                 gps.vdop = vdop() / 100.0;
 355                                 if (gps.vdop < 0.8)
 356                                         gps.vdop += 2.56;
 357                         }
 358                         break;
 359                 case AltosLib.AO_LOG_GPS_SAT:
 360                         gps = listener.make_temp_gps(true);
 361
 362                         int n = nsat();
 363                         if (n > max_sat)
 364                                 n = max_sat;
 365                         for (int i = 0; i < n; i++)
 366                                 gps.add_sat(svid(i), c_n(i));
 367                         break;
 368                 }
 369         }
 370
 371         public AltosEepromRecord next() {
 372                 int     s = next_start();
 373                 if (s < 0)
 374                         return null;
 375                 return new AltosEepromRecordMega(eeprom, s);
 376         }
 377
 378         public AltosEepromRecordMega(AltosEeprom eeprom, int start) {
 379                 super(eeprom, start, record_length);
 380                 log_format = eeprom.config_data().log_format;
 381         }
 382
 383         public AltosEepromRecordMega(AltosEeprom eeprom) {
 384                 this(eeprom, 0);
 385         }
 386 }