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

   1 /*
   2  * Copyright © 2010 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; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 package org.altusmetrum.AltosLib;
  19
  20 import java.lang.*;
  21 import java.text.*;
  22 import java.util.HashMap;
  23 import java.io.*;
  24
  25 public class AltosRecord implements Comparable <AltosRecord> {
  26         public final static int MISSING = 0x7fffffff;
  27
  28         public static final int seen_flight = 1;
  29         public static final int seen_sensor = 2;
  30         public static final int seen_temp_volt = 4;
  31         public static final int seen_deploy = 8;
  32         public static final int seen_gps_time = 16;
  33         public static final int seen_gps_lat = 32;
  34         public static final int seen_gps_lon = 64;
  35         public static final int seen_companion = 128;
  36         public int                      seen;
  37
  38         public int      version;
  39         public String   callsign;
  40         public int      serial;
  41         public int      flight;
  42         public int      rssi;
  43         public int      status;
  44         public int      state;
  45         public int      tick;
  46
  47         public int      accel;
  48         public int      pres;
  49         public int      temp;
  50         public int      batt;
  51         public int      drogue;
  52         public int      main;
  53
  54         public int      ground_accel;
  55         public int      ground_pres;
  56         public int      accel_plus_g;
  57         public int      accel_minus_g;
  58
  59         public double   acceleration;
  60         public double   speed;
  61         public double   height;
  62
  63         public int      flight_accel;
  64         public int      flight_vel;
  65         public int      flight_pres;
  66
  67         public AltosGPS gps;
  68         public boolean          new_gps;
  69
  70         public AltosIMU imu;
  71         public AltosMag mag;
  72
  73         public double   time;   /* seconds since boost */
  74
  75         public int      device_type;
  76         public int      config_major;
  77         public int      config_minor;
  78         public int      apogee_delay;
  79         public int      main_deploy;
  80         public int      flight_log_max;
  81         public String   firmware_version;
  82
  83         public AltosRecordCompanion companion;
  84
  85 >>>>>>> 5a249bc... altosui: Complete split out of separate java library
  86         /*
  87          * Values for our MP3H6115A pressure sensor
  88          *
  89          * From the data sheet:
  90          *
  91          * Pressure range: 15-115 kPa
  92          * Voltage at 115kPa: 2.82
  93          * Output scale: 27mV/kPa
  94          *
  95          *
  96          * 27 mV/kPa * 2047 / 3300 counts/mV = 16.75 counts/kPa
  97          * 2.82V * 2047 / 3.3 counts/V = 1749 counts/115 kPa
  98          */
  99
 100         public static final double counts_per_kPa = 27 * 2047 / 3300;
 101         public static final double counts_at_101_3kPa = 1674.0;
 102
 103         public static double
 104         barometer_to_pressure(double count)
 105         {
 106                 return ((count / 16.0) / 2047.0 + 0.095) / 0.009 * 1000.0;
 107         }
 108
 109         public double raw_pressure() {
 110                 if (pres == MISSING)
 111                         return MISSING;
 112                 return barometer_to_pressure(pres);
 113         }
 114
 115         public double filtered_pressure() {
 116                 if (flight_pres == MISSING)
 117                         return MISSING;
 118                 return barometer_to_pressure(flight_pres);
 119         }
 120
 121         public double ground_pressure() {
 122                 if (ground_pres == MISSING)
 123                         return MISSING;
 124                 return barometer_to_pressure(ground_pres);
 125         }
 126
 127         public double raw_altitude() {
 128                 double p = raw_pressure();
 129                 if (p == MISSING)
 130                         return MISSING;
 131                 return AltosConvert.pressure_to_altitude(p);
 132         }
 133
 134         public double ground_altitude() {
 135                 double p = ground_pressure();
 136                 if (p == MISSING)
 137                         return MISSING;
 138                 return AltosConvert.pressure_to_altitude(p);
 139         }
 140
 141         public double filtered_altitude() {
 142                 if (height != MISSING && ground_pres != MISSING)
 143                         return height + ground_altitude();
 144
 145                 double  p = filtered_pressure();
 146                 if (p == MISSING)
 147                         return MISSING;
 148                 return AltosConvert.pressure_to_altitude(p);
 149         }
 150
 151         public double filtered_height() {
 152                 if (height != MISSING)
 153                         return height;
 154
 155                 double f = filtered_altitude();
 156                 double g = ground_altitude();
 157                 if (f == MISSING || g == MISSING)
 158                         return MISSING;
 159                 return f - g;
 160         }
 161
 162         public double raw_height() {
 163                 double r = raw_altitude();
 164                 double g = ground_altitude();
 165
 166                 if (r == MISSING || g == MISSING)
 167                         return height;
 168                 return r - g;
 169         }
 170
 171         public double battery_voltage() {
 172                 if (batt == MISSING)
 173                         return MISSING;
 174                 return AltosConvert.cc_battery_to_voltage(batt);
 175         }
 176
 177         public double main_voltage() {
 178                 if (main == MISSING)
 179                         return MISSING;
 180                 return AltosConvert.cc_ignitor_to_voltage(main);
 181         }
 182
 183         public double drogue_voltage() {
 184                 if (drogue == MISSING)
 185                         return MISSING;
 186                 return AltosConvert.cc_ignitor_to_voltage(drogue);
 187         }
 188
 189         /* Value for the CC1111 built-in temperature sensor
 190          * Output voltage at 0°C = 0.755V
 191          * Coefficient = 0.00247V/°C
 192          * Reference voltage = 1.25V
 193          *
 194          * temp = ((value / 32767) * 1.25 - 0.755) / 0.00247
 195          *      = (value - 19791.268) / 32768 * 1.25 / 0.00247
 196          */
 197
 198         public static double
 199         thermometer_to_temperature(double thermo)
 200         {
 201                 return (thermo - 19791.268) / 32728.0 * 1.25 / 0.00247;
 202         }
 203
 204         public double temperature() {
 205                 if (temp == MISSING)
 206                         return MISSING;
 207                 return thermometer_to_temperature(temp);
 208         }
 209
 210         public double accel_counts_per_mss() {
 211                 double  counts_per_g = Math.abs(accel_minus_g - accel_plus_g) / 2;
 212
 213                 return counts_per_g / 9.80665;
 214         }
 215
 216         public double acceleration() {
 217                 if (acceleration != MISSING)
 218                         return acceleration;
 219
 220                 if (ground_accel == MISSING || accel == MISSING)
 221                         return MISSING;
 222                 return (ground_accel - accel) / accel_counts_per_mss();
 223         }
 224
 225         public double accel_speed() {
 226                 if (speed != MISSING)
 227                         return speed;
 228                 if (flight_vel == MISSING)
 229                         return MISSING;
 230                 return flight_vel / (accel_counts_per_mss() * 100.0);
 231         }
 232
 233         public String state() {
 234                 return AltosLib.state_name(state);
 235         }
 236
 237         public static String gets(FileInputStream s) throws IOException {
 238                 int c;
 239                 String  line = "";
 240
 241                 while ((c = s.read()) != -1) {
 242                         if (c == '\r')
 243                                 continue;
 244                         if (c == '\n') {
 245                                 return line;
 246                         }
 247                         line = line + (char) c;
 248                 }
 249                 return null;
 250         }
 251
 252         public int compareTo(AltosRecord o) {
 253                 return tick - o.tick;
 254         }
 255
 256         public AltosRecord(AltosRecord old) {
 257                 version = old.version;
 258                 seen = old.seen;
 259                 callsign = old.callsign;
 260                 serial = old.serial;
 261                 flight = old.flight;
 262                 rssi = old.rssi;
 263                 status = old.status;
 264                 state = old.state;
 265                 tick = old.tick;
 266                 accel = old.accel;
 267                 pres = old.pres;
 268                 temp = old.temp;
 269                 batt = old.batt;
 270                 drogue = old.drogue;
 271                 main = old.main;
 272                 flight_accel = old.flight_accel;
 273                 ground_accel = old.ground_accel;
 274                 flight_vel = old.flight_vel;
 275                 flight_pres = old.flight_pres;
 276                 ground_pres = old.ground_pres;
 277                 accel_plus_g = old.accel_plus_g;
 278                 accel_minus_g = old.accel_minus_g;
 279                 acceleration = old.acceleration;
 280                 speed = old.speed;
 281                 height = old.height;
 282                 gps = new AltosGPS(old.gps);
 283                 new_gps = false;
 284                 companion = old.companion;
 285                 imu = old.imu;
 286                 mag = old.mag;
 287         }
 288
 289         public AltosRecord() {
 290                 version = 0;
 291                 seen = 0;
 292                 callsign = "N0CALL";
 293                 serial = 0;
 294                 flight = 0;
 295                 rssi = 0;
 296                 status = 0;
 297                 state = AltosLib.ao_flight_startup;
 298                 tick = 0;
 299                 accel = MISSING;
 300                 pres = MISSING;
 301                 temp = MISSING;
 302                 batt = MISSING;
 303                 drogue = MISSING;
 304                 main = MISSING;
 305                 flight_accel = 0;
 306                 ground_accel = 0;
 307                 flight_vel = 0;
 308                 flight_pres = 0;
 309                 ground_pres = 0;
 310                 accel_plus_g = 0;
 311                 accel_minus_g = 0;
 312                 acceleration = MISSING;
 313                 speed = MISSING;
 314                 height = MISSING;
 315                 gps = new AltosGPS();
 316                 new_gps = false;
 317                 companion = null;
 318         }
 319 }