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

   1 /*
   2  * Copyright © 2024 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 AltosEepromRecordTimer extends AltosEepromRecord {
  18         public static final int record_length = 32;
  19
  20         private int log_format;
  21
  22         private int imu_type() {
  23                 switch (log_format) {
  24                 case AltosLib.AO_LOG_FORMAT_EASYTIMER_2:
  25                         return AltosIMU.imu_type_easytimer_v2;
  26                 default:
  27                         return AltosLib.MISSING;
  28                 }
  29         }
  30
  31         private int imu_model() {
  32                 switch (log_format) {
  33                 case AltosLib.AO_LOG_FORMAT_EASYTIMER_2:
  34                         return AltosLib.model_bmi088;
  35                 }
  36                 return AltosLib.MISSING;
  37         }
  38
  39         private boolean sensor_normalized() {
  40                 switch (log_format) {
  41                 case AltosLib.AO_LOG_FORMAT_EASYTIMER_2:
  42                         return true;
  43                 }
  44                 return false;
  45         }
  46
  47         private int mag_model() {
  48                 switch (log_format) {
  49                 case AltosLib.AO_LOG_FORMAT_EASYTIMER_2:
  50                         return AltosLib.model_mmc5983;
  51                 }
  52                 return AltosLib.MISSING;
  53         }
  54
  55         /* AO_LOG_FLIGHT elements */
  56         private int flight() { return data16(0); }
  57         private int ground_accel() { return data16(2); }
  58         private int ground_pres() { return AltosLib.MISSING; }
  59         private int ground_accel_along() { return data16(4); }
  60         private int ground_accel_across() { return data16(6); }
  61         private int ground_accel_through() { return data16(8); }
  62         private int ground_roll() { return data32(12); }
  63         private int ground_pitch() { return data32(16); }
  64         private int ground_yaw() { return data32(20); }
  65
  66         /* AO_LOG_STATE elements */
  67         private int state() { return data16(0); }
  68         private int reason() { return data16(2); }
  69
  70         /* AO_LOG_SENSOR elements */
  71
  72         private int accel_along() { return data16(0); }
  73         private int accel_across() { return data16(2); }
  74         private int accel_through() { return data16(4); }
  75         private int gyro_roll() { return data16(6); }
  76         private int gyro_pitch() { return data16(8); }
  77         private int gyro_yaw() { return data16(10); }
  78         private int mag_along() { return data16(12); }
  79         private int mag_across() { return data16(14); }
  80         private int mag_through() { return data16(16); }
  81
  82         private int accel() { return -accel_along(); }
  83
  84         private int v_batt() { return data16(18); }
  85         private int v_pbatt() { return data16(20); }
  86         private int nsense() { return 2; }
  87         private int sense(int i) { return data16(22 + i * 2); }
  88         private int pyro() { return data16(26); }
  89
  90         public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
  91                 super.provide_data(listener, cal_data);
  92
  93                 cal_data.set_imu_type(imu_type());
  94                 cal_data.set_imu_model(imu_model());
  95                 cal_data.set_mag_model(mag_model());
  96
  97                 switch (cmd()) {
  98                 case AltosLib.AO_LOG_FLIGHT:
  99                         cal_data.set_flight(flight());
 100                         cal_data.set_ground_accel(ground_accel());
 101                         listener.set_accel_ground(cal_data.accel_along(ground_accel_along()),
 102                                                   cal_data.accel_across(ground_accel_across()),
 103                                                   cal_data.accel_through(ground_accel_through()));
 104                         cal_data.set_gyro_zero(ground_roll() / 512.0,
 105                                                ground_pitch() / 512.0,
 106                                                ground_yaw() / 512.0);
 107                         break;
 108                 case AltosLib.AO_LOG_STATE:
 109                         listener.set_state(state());
 110                         break;
 111                 case AltosLib.AO_LOG_SENSOR:
 112                         AltosConfigData config_data = eeprom.config_data();
 113
 114                         int     accel_along = accel_along();
 115                         int     accel_across = accel_across();
 116                         int     accel_through = accel_through();
 117                         int     gyro_roll = gyro_roll();
 118                         int     gyro_pitch = gyro_pitch();
 119                         int     gyro_yaw = gyro_yaw();
 120
 121                         int     mag_along = mag_along();
 122                         int     mag_across = mag_across();
 123                         int     mag_through = mag_through();
 124
 125                         listener.set_accel(cal_data.accel_along(accel_along),
 126                                            cal_data.accel_across(accel_across),
 127                                            cal_data.accel_through(accel_through));
 128                         listener.set_gyro(cal_data.gyro_roll(gyro_roll),
 129                                           cal_data.gyro_pitch(gyro_pitch),
 130                                           cal_data.gyro_yaw(gyro_yaw));
 131
 132                         listener.set_mag(cal_data.mag_along(mag_along),
 133                                          cal_data.mag_across(mag_across),
 134                                          cal_data.mag_through(mag_through));
 135
 136                         listener.set_acceleration(cal_data.acceleration(accel()));
 137
 138                         listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
 139                         listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
 140
 141                         int nsense = nsense();
 142
 143                         listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
 144                         listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
 145
 146                         double voltages[] = new double[nsense-2];
 147                         for (int i = 0; i < nsense-2; i++)
 148                                 voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
 149
 150                         listener.set_igniter_voltage(voltages);
 151                         listener.set_pyro_fired(pyro());
 152                         break;
 153                 }
 154         }
 155
 156         public AltosEepromRecord next() {
 157                 int     s = next_start();
 158                 if (s < 0)
 159                         return null;
 160                 return new AltosEepromRecordTimer(eeprom, s);
 161         }
 162
 163         public AltosEepromRecordTimer(AltosEeprom eeprom, int start) {
 164                 super(eeprom, start, record_length);
 165                 log_format = eeprom.config_data().log_format;
 166         }
 167
 168         public AltosEepromRecordTimer(AltosEeprom eeprom) {
 169                 this(eeprom, 0);
 170         }
 171 }