/* * Copyright © 2017 Keith Packard * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. */ package org.altusmetrum.altoslib_13; public class AltosEepromRecordMega extends AltosEepromRecord { public static final int record_length = 32; public static final int max_sat = 12; private int log_format; /* AO_LOG_FLIGHT elements */ private int flight() { return data16(0); } private int ground_accel() { return data16(2); } private int ground_pres() { return data32(4); } private int ground_accel_along() { return data16(8); } private int ground_accel_across() { return data16(10); } private int ground_accel_through() { return data16(12); } private int ground_roll() { switch (log_format) { case AltosLib.AO_LOG_FORMAT_TELEMEGA: case AltosLib.AO_LOG_FORMAT_TELEMEGA_3: case AltosLib.AO_LOG_FORMAT_EASYMEGA_2: return data32(16); case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: return data16(14); default: return AltosLib.MISSING; } } private int ground_pitch() { switch (log_format) { case AltosLib.AO_LOG_FORMAT_TELEMEGA: case AltosLib.AO_LOG_FORMAT_TELEMEGA_3: case AltosLib.AO_LOG_FORMAT_EASYMEGA_2: return data32(20); case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: return data16(16); default: return AltosLib.MISSING; } } private int ground_yaw() { switch (log_format) { case AltosLib.AO_LOG_FORMAT_TELEMEGA: case AltosLib.AO_LOG_FORMAT_TELEMEGA_3: case AltosLib.AO_LOG_FORMAT_EASYMEGA_2: return data32(24); case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: return data16(18); default: return AltosLib.MISSING; } } /* AO_LOG_STATE elements */ private int state() { return data16(0); } private int reason() { return data16(2); } /* AO_LOG_SENSOR elements */ private int pres() { return data32(0); } private int temp() { return data32(4); } private int accel_x() { return data16(8); } private int accel_y() { return data16(10); } private int accel_z() { return data16(12); } private int gyro_x() { return data16(14); } private int gyro_y() { return data16(16); } private int gyro_z() { return data16(18); } private int mag_x() { return data16(20); } private int mag_z() { return data16(22); } private int mag_y() { return data16(24); } private int accel_across() { switch (log_format) { case AltosLib.AO_LOG_FORMAT_TELEMEGA: case AltosLib.AO_LOG_FORMAT_TELEMEGA_3: case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: return accel_x(); case AltosLib.AO_LOG_FORMAT_EASYMEGA_2: return -accel_y(); default: return AltosLib.MISSING; } } private int accel_along(){ switch (log_format) { case AltosLib.AO_LOG_FORMAT_TELEMEGA: case AltosLib.AO_LOG_FORMAT_TELEMEGA_3: case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: return accel_y(); case AltosLib.AO_LOG_FORMAT_EASYMEGA_2: return accel_x(); default: return AltosLib.MISSING; } } private int accel_through() { return accel_z(); } private int gyro_pitch() { switch (log_format) { case AltosLib.AO_LOG_FORMAT_TELEMEGA: case AltosLib.AO_LOG_FORMAT_TELEMEGA_3: case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: return gyro_x(); case AltosLib.AO_LOG_FORMAT_EASYMEGA_2: return -gyro_y(); default: return AltosLib.MISSING; } } private int gyro_roll() { switch (log_format) { case AltosLib.AO_LOG_FORMAT_TELEMEGA: case AltosLib.AO_LOG_FORMAT_TELEMEGA_3: case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: return gyro_y(); case AltosLib.AO_LOG_FORMAT_EASYMEGA_2: return gyro_x(); default: return AltosLib.MISSING; } } private int gyro_yaw() { return gyro_z(); } private int mag_across() { switch (log_format) { case AltosLib.AO_LOG_FORMAT_TELEMEGA: case AltosLib.AO_LOG_FORMAT_TELEMEGA_3: case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: return mag_x(); case AltosLib.AO_LOG_FORMAT_EASYMEGA_2: return -mag_y(); default: return AltosLib.MISSING; } } private int mag_along() { switch (log_format) { case AltosLib.AO_LOG_FORMAT_TELEMEGA: case AltosLib.AO_LOG_FORMAT_TELEMEGA_3: case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: return mag_y(); case AltosLib.AO_LOG_FORMAT_EASYMEGA_2: return mag_y(); default: return AltosLib.MISSING; } } private int mag_through() { return mag_z(); } private int accel() { return data16(26); } /* AO_LOG_TEMP_VOLT elements */ private int v_batt() { return data16(0); } private int v_pbatt() { return data16(2); } private int nsense() { return data16(4); } private int sense(int i) { return data16(6 + i * 2); } private int pyro() { return data16(26); } /* AO_LOG_GPS_TIME elements */ private int latitude() { return data32(0); } private int longitude() { return data32(4); } private int altitude_low() { return data16(8); } private int hour() { return data8(10); } private int minute() { return data8(11); } private int second() { return data8(12); } private int flags() { return data8(13); } private int year() { return data8(14); } private int month() { return data8(15); } private int day() { return data8(16); } private int course() { return data8(17); } private int ground_speed() { return data16(18); } private int climb_rate() { return data16(20); } private int pdop() { return data8(22); } private int hdop() { return data8(23); } private int vdop() { return data8(24); } private int mode() { return data8(25); } private int altitude_high() { return data16(26); } /* AO_LOG_GPS_SAT elements */ private int nsat() { return data16(0); } private int svid(int n) { return data8(2 + n * 2); } private int c_n(int n) { return data8(2 + n * 2 + 1); } public void provide_data(AltosDataListener listener, AltosCalData cal_data) { super.provide_data(listener, cal_data); AltosGPS gps; switch (cmd()) { case AltosLib.AO_LOG_FLIGHT: cal_data.set_flight(flight()); cal_data.set_ground_accel(ground_accel()); cal_data.set_ground_pressure(ground_pres()); listener.set_accel_ground(ground_accel_along(), ground_accel_across(), ground_accel_through()); cal_data.set_gyro_zero(ground_roll() / 512.0, ground_pitch() / 512.0, ground_yaw() / 512.0); break; case AltosLib.AO_LOG_STATE: listener.set_state(state()); break; case AltosLib.AO_LOG_SENSOR: AltosConfigData config_data = eeprom.config_data(); AltosPresTemp pt = config_data.ms5607().pres_temp(pres(), temp());; listener.set_pressure(pt.pres); listener.set_temperature(pt.temp); int accel_along = accel_along(); int accel_across = accel_across(); int accel_through = accel_through(); int gyro_roll = gyro_roll(); int gyro_pitch = gyro_pitch(); int gyro_yaw = gyro_yaw(); int mag_along = mag_along(); int mag_across = mag_across(); int mag_through = mag_through(); if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD) cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw); listener.set_accel(cal_data.accel_along(accel_along), cal_data.accel_across(accel_across), cal_data.accel_through(accel_through)); listener.set_gyro(cal_data.gyro_roll(gyro_roll), cal_data.gyro_pitch(gyro_pitch), cal_data.gyro_yaw(gyro_yaw)); listener.set_mag(cal_data.mag_along(mag_along), cal_data.mag_across(mag_across), cal_data.mag_through(mag_through)); final double lsb_per_g = 1920.0/105.5; double acceleration = AltosConvert.acceleration_from_sensor( accel(), cal_data.ground_accel, cal_data.ground_accel + 2 * lsb_per_g, cal_data.ground_accel); listener.set_acceleration(acceleration); break; case AltosLib.AO_LOG_TEMP_VOLT: listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt())); listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt())); int nsense = nsense(); listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2))); listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1))); double voltages[] = new double[nsense-2]; for (int i = 0; i < nsense-2; i++) voltages[i] = AltosConvert.mega_pyro_voltage(sense(i)); listener.set_igniter_voltage(voltages); listener.set_pyro_fired(pyro()); break; case AltosLib.AO_LOG_GPS_TIME: gps = listener.make_temp_gps(false); gps.lat = latitude() / 1e7; gps.lon = longitude() / 1e7; if (config_data().altitude_32()) gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16); else gps.alt = altitude_low(); gps.hour = hour(); gps.minute = minute(); gps.second = second(); int flags = flags(); gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0; gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0; gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> AltosLib.AO_GPS_NUM_SAT_SHIFT; gps.year = 2000 + year(); gps.month = month(); gps.day = day(); gps.ground_speed = ground_speed() * 1.0e-2; gps.course = course() * 2; gps.climb_rate = climb_rate() * 1.0e-2; if (config_data().compare_version("1.4.9") >= 0) { gps.pdop = pdop() / 10.0; gps.hdop = hdop() / 10.0; gps.vdop = vdop() / 10.0; } else { gps.pdop = pdop() / 100.0; if (gps.pdop < 0.8) gps.pdop += 2.56; gps.hdop = hdop() / 100.0; if (gps.hdop < 0.8) gps.hdop += 2.56; gps.vdop = vdop() / 100.0; if (gps.vdop < 0.8) gps.vdop += 2.56; } break; case AltosLib.AO_LOG_GPS_SAT: gps = listener.make_temp_gps(true); int n = nsat(); if (n > max_sat) n = max_sat; for (int i = 0; i < n; i++) gps.add_sat(svid(i), c_n(i)); break; } } public AltosEepromRecord next() { int s = next_start(); if (s < 0) return null; return new AltosEepromRecordMega(eeprom, s); } public AltosEepromRecordMega(AltosEeprom eeprom, int start) { super(eeprom, start, record_length); log_format = eeprom.config_data().log_format; } public AltosEepromRecordMega(AltosEeprom eeprom) { this(eeprom, 0); } }