* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_12;
+package org.altusmetrum.altoslib_14;
import java.util.*;
import java.text.*;
import java.util.concurrent.*;
+/* Don't change the field names in this structure; they're part of all .eeprom files */
public class AltosConfigData {
/* Version information */
/* HAS_ACCEL */
public int accel_cal_plus, accel_cal_minus;
+ private int accel_cal_plus_cooked, accel_cal_minus_cooked;
+ private boolean accel_cal_adjusted;
public int pad_orientation;
/* HAS_LOG */
public int aprs_interval;
public int aprs_ssid;
public int aprs_format;
+ public int aprs_offset;
/* HAS_BEEP */
public int beep;
}
}
+ public int invert_accel_value(int value) {
+ if (value == AltosLib.MISSING)
+ return AltosLib.MISSING;
+
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_FULL:
+ return 0x7fff - value;
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+ case AltosLib.AO_LOG_FORMAT_TELEMETRUM:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+ return 4095 - value;
+ case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+ return -value;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
public boolean has_monitor_battery() {
if (product.startsWith("TeleBT"))
return true;
radio_setting = AltosLib.MISSING;
telemetry_rate = AltosLib.MISSING;
+ accel_cal_plus_cooked = AltosLib.MISSING;
+ accel_cal_minus_cooked = AltosLib.MISSING;
accel_cal_plus = AltosLib.MISSING;
accel_cal_minus = AltosLib.MISSING;
pad_orientation = AltosLib.MISSING;
+ accel_cal_adjusted = false;
flight_log_max = AltosLib.MISSING;
log_fixed = AltosLib.MISSING;
aprs_interval = AltosLib.MISSING;
aprs_ssid = AltosLib.MISSING;
aprs_format = AltosLib.MISSING;
+ aprs_offset = AltosLib.MISSING;
beep = AltosLib.MISSING;
accel_zero_through = AltosLib.MISSING;
}
+ /* Return + accel calibration relative to a specific pad orientation */
+ public int accel_cal_plus(int pad_orientation) {
+ adjust_accel_cal();
+ switch (pad_orientation) {
+ case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
+ return accel_cal_plus_cooked;
+ case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
+ return invert_accel_value(accel_cal_minus_cooked);
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ /* Return - accel calibration relative to a specific pad orientation */
+ public int accel_cal_minus(int pad_orientation) {
+ adjust_accel_cal();
+ switch (pad_orientation) {
+ case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
+ return accel_cal_minus_cooked;
+ case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
+ return invert_accel_value(accel_cal_plus_cooked);
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ /* Once we have all of the values from the config data, compute the
+ * accel cal values relative to Antenna Up orientation.
+ */
+ private void adjust_accel_cal() {
+ if (!accel_cal_adjusted &&
+ pad_orientation != AltosLib.MISSING &&
+ accel_cal_plus != AltosLib.MISSING &&
+ accel_cal_minus != AltosLib.MISSING &&
+ log_format != AltosLib.AO_LOG_FORMAT_UNKNOWN)
+ {
+ switch (pad_orientation) {
+ case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
+ accel_cal_plus_cooked = accel_cal_plus;
+ accel_cal_minus_cooked = accel_cal_minus;
+ accel_cal_adjusted = true;
+ break;
+ case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
+ accel_cal_plus_cooked = invert_accel_value(accel_cal_minus);
+ accel_cal_minus_cooked = invert_accel_value(accel_cal_plus);
+ accel_cal_adjusted = true;
+ break;
+ default:
+ break;
+ }
+ }
+ }
+
public void parse_line(String line) {
/* Version replies */
if (bits.length >= 6) {
accel_cal_plus = Integer.parseInt(bits[3]);
accel_cal_minus = Integer.parseInt(bits[5]);
+ accel_cal_adjusted = false;
}
}
} catch (Exception e) {}
try { aprs_interval = get_int(line, "APRS interval:"); } catch (Exception e) {}
try { aprs_ssid = get_int(line, "APRS SSID:"); } catch (Exception e) {}
try { aprs_format = get_int(line, "APRS format:"); } catch (Exception e) {}
+ try { aprs_offset = get_int(line, "APRS offset:"); } catch (Exception e) {}
/* HAS_BEEP */
try { beep = get_int(line, "Beeper setting:"); } catch (Exception e) {}
/* HAS_GYRO */
try {
- if (line.startsWith("IMU call along")) {
+ if (line.startsWith("IMU cal along")) {
String[] bits = line.split("\\s+");
if (bits.length >= 8) {
accel_zero_along = Integer.parseInt(bits[3]);
}
}
} catch (Exception e) {}
+
+ /* Fix accel cal as soon as all of the necessary values appear */
+ adjust_accel_cal();
}
public AltosConfigData() {
return false;
if (product.startsWith("TeleMetrum-v2"))
return false;
+ if (product.startsWith("TeleMetrum-v3"))
+ return false;
if (product.startsWith("EasyMega"))
return false;
return true;
throw new AltosUnknownProduct(product);
}
+ public boolean adxl375_inverted() throws AltosUnknownProduct {
+ if (product != null) {
+ if (product.startsWith("EasyMega-v2"))
+ return true;
+ if (product.startsWith("TeleMetrum-v3"))
+ return true;
+ if (product.startsWith("TeleMega-v4"))
+ return true;
+ }
+ throw new AltosUnknownProduct(product);
+ }
+
+ public int adxl375_axis() throws AltosUnknownProduct {
+ if (product != null) {
+ if (product.startsWith("EasyMega-v2"))
+ return AltosAdxl375.X_AXIS;
+ if (product.startsWith("TeleMetrum-v3"))
+ return AltosAdxl375.X_AXIS;
+ if (product.startsWith("TeleMega-v4"))
+ return AltosAdxl375.X_AXIS;
+ }
+ throw new AltosUnknownProduct(product);
+ }
+
public void get_values(AltosConfigValues source) throws AltosConfigDataException {
/* HAS_FLIGHT */
if (pad_orientation != AltosLib.MISSING)
pad_orientation = source.pad_orientation();
+ if (accel_cal_plus_cooked != AltosLib.MISSING)
+ accel_cal_plus_cooked = source.accel_cal_plus();
+
+ if (accel_cal_minus_cooked != AltosLib.MISSING)
+ accel_cal_minus_cooked = source.accel_cal_minus();
+
/* HAS_LOG */
if (flight_log_max != AltosLib.MISSING)
flight_log_max = source.flight_log_max();
aprs_ssid = source.aprs_ssid();
if (aprs_format != AltosLib.MISSING)
aprs_format = source.aprs_format();
+ if (aprs_offset != AltosLib.MISSING)
+ aprs_offset = source.aprs_offset();
/* HAS_BEEP */
if (beep != AltosLib.MISSING)
dest.set_flight_log_max(flight_log_max);
dest.set_ignite_mode(ignite_mode);
dest.set_pad_orientation(pad_orientation);
+ dest.set_accel_cal(accel_cal_plus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP),
+ accel_cal_minus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP));
dest.set_callsign(callsign);
if (npyro != AltosLib.MISSING)
dest.set_pyros(pyros);
dest.set_aprs_interval(aprs_interval);
dest.set_aprs_ssid(aprs_ssid);
dest.set_aprs_format(aprs_format);
+ dest.set_aprs_offset(aprs_offset);
dest.set_beep(beep);
dest.set_tracker_motion(tracker_motion);
dest.set_tracker_interval(tracker_interval);
link.printf("c e %d\n", radio_enable);
/* HAS_ACCEL */
- /* UI doesn't support accel cal */
+ /* set orientation first so that we know how to set the accel cal */
if (pad_orientation != AltosLib.MISSING)
link.printf("c o %d\n", pad_orientation);
+ int plus = accel_cal_plus(pad_orientation);
+ int minus = accel_cal_minus(pad_orientation);
+ if (plus != AltosLib.MISSING && minus != AltosLib.MISSING)
+ link.printf("c a %d %d\n", plus, minus);
/* HAS_LOG */
if (flight_log_max != 0)
link.printf("c S %d\n", aprs_ssid);
if (aprs_format != AltosLib.MISSING)
link.printf("c C %d\n", aprs_format);
+ if (aprs_offset != AltosLib.MISSING)
+ link.printf("c O %d\n", aprs_offset);
/* HAS_BEEP */
if (beep != AltosLib.MISSING)
projects / fw / altos / blobdiff