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