* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_11;
+package org.altusmetrum.altoslib_13;
import java.util.*;
import java.text.*;
import java.util.concurrent.*;
-public class AltosConfigData implements Iterable<String> {
+/* Don't change the field names in this structure; they're part of all .eeprom files */
+public class AltosConfigData {
/* Version information */
public String manufacturer;
public int log_space;
public String version;
public int altitude_32;
-
- /* Strings returned */
- public LinkedList<String> lines;
+ public int config_major, config_minor;
/* Config information */
/* HAS_FLIGHT*/
/* 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 accel_zero_along, accel_zero_across, accel_zero_through;
/* ms5607 data */
- public int ms5607_reserved;
- public int ms5607_sens;
- public int ms5607_off;
- public int ms5607_tcs;
- public int ms5607_tco;
- public int ms5607_tref;
- public int ms5607_tempsens;
- public int ms5607_crc;
+ AltosMs5607 ms5607;
+
+ public AltosMs5607 ms5607() {
+ if (ms5607 == null)
+ ms5607 = new AltosMs5607();
+ return ms5607;
+ }
public static String get_string(String line, String label) throws ParseException {
if (line.startsWith(label)) {
throw new ParseException("mismatch", 0);
}
- public Iterator<String> iterator() {
- return lines.iterator();
- }
-
public int log_space() {
- if (log_space > 0)
+ if (log_space != AltosLib.MISSING)
return log_space;
- if (storage_size > 0) {
+ if (storage_size != AltosLib.MISSING) {
int space = storage_size;
- if (storage_erase_unit > 0 && use_flash_for_config())
+ if (storage_erase_unit != AltosLib.MISSING && use_flash_for_config())
space -= storage_erase_unit;
- if (space > 0)
+ if (space != AltosLib.MISSING)
return space;
}
return 0;
}
}
+ 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:
+ return 4095 - value;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
public boolean has_monitor_battery() {
if (product.startsWith("TeleBT"))
return true;
return r;
}
+ public boolean altitude_32() {
+ return altitude_32 == 1;
+ }
+
public int compare_version(String other) {
int[] me = parse_version(version);
int[] them = parse_version(other);
}
public void reset() {
- lines = new LinkedList<String>();
-
- manufacturer = "unknown";
- product = "unknown";
- serial = 0;
- flight = 0;
+ manufacturer = null;
+ product = null;
+ serial = AltosLib.MISSING;
+ flight = AltosLib.MISSING;
log_format = AltosLib.AO_LOG_FORMAT_UNKNOWN;
- log_space = -1;
+ log_space = AltosLib.MISSING;
version = "unknown";
+ config_major = AltosLib.MISSING;
+ config_minor = AltosLib.MISSING;
- main_deploy = -1;
- apogee_delay = -1;
- apogee_lockout = -1;
+ main_deploy = AltosLib.MISSING;
+ apogee_delay = AltosLib.MISSING;
+ apogee_lockout = AltosLib.MISSING;
- radio_frequency = -1;
+ radio_frequency = AltosLib.MISSING;
callsign = null;
- radio_enable = -1;
- radio_calibration = -1;
- radio_channel = -1;
- radio_setting = -1;
- telemetry_rate = -1;
-
- accel_cal_plus = -1;
- accel_cal_minus = -1;
- pad_orientation = -1;
+ radio_enable = AltosLib.MISSING;
+ radio_calibration = AltosLib.MISSING;
+ radio_channel = AltosLib.MISSING;
+ 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;
+ ignite_mode = AltosLib.MISSING;
+
+ aes_key = null;
+
+ pyro = AltosLib.MISSING;
+ npyro = AltosLib.MISSING;
+ pyros = null;
+ pyro_firing_time = AltosLib.MISSING;
- flight_log_max = -1;
- log_fixed = -1;
- ignite_mode = -1;
+ aprs_interval = AltosLib.MISSING;
+ aprs_ssid = AltosLib.MISSING;
+ aprs_format = AltosLib.MISSING;
- aes_key = "";
+ beep = AltosLib.MISSING;
- pyro = 0;
- npyro = 0;
- pyros = null;
- pyro_firing_time = -1;
+ tracker_motion = AltosLib.MISSING;
+ tracker_interval = AltosLib.MISSING;
- aprs_interval = -1;
- aprs_ssid = -1;
- aprs_format = -1;
+ storage_size = AltosLib.MISSING;
+ storage_erase_unit = AltosLib.MISSING;
+ stored_flight = AltosLib.MISSING;
- beep = -1;
+ accel_zero_along = AltosLib.MISSING;
+ accel_zero_across = AltosLib.MISSING;
+ accel_zero_through = AltosLib.MISSING;
+ }
- tracker_motion = -1;
- tracker_interval = -1;
+ /* 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;
+ }
+ }
- storage_size = -1;
- storage_erase_unit = -1;
- stored_flight = 0;
+ /* 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;
+ }
+ }
- accel_zero_along = -1;
- accel_zero_across = -1;
- accel_zero_through = -1;
+ /* 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) {
- lines.add(line);
+
/* Version replies */
try { manufacturer = get_string(line, "manufacturer"); } catch (Exception e) {}
try { product = get_string(line, "product"); } catch (Exception e) {}
/* Version also contains MS5607 info, which we ignore here */
- try { ms5607_reserved = get_int(line, "ms5607 reserved:"); } catch (Exception e) {}
- try { ms5607_sens = get_int(line, "ms5607 sens:"); } catch (Exception e) {}
- try { ms5607_off = get_int(line, "ms5607 off:"); } catch (Exception e) {}
- try { ms5607_tcs = get_int(line, "ms5607 tcs:"); } catch (Exception e) {}
- try { ms5607_tco = get_int(line, "ms5607 tco:"); } catch (Exception e) {}
- try { ms5607_tref = get_int(line, "ms5607 tref:"); } catch (Exception e) {}
- try { ms5607_tempsens = get_int(line, "ms5607 tempsens:"); } catch (Exception e) {}
- try { ms5607_crc = get_int(line, "ms5607 crc:"); } catch (Exception e) {}
+ try { ms5607().reserved = get_int(line, "ms5607 reserved:"); } catch (Exception e) {}
+ try { ms5607().sens = get_int(line, "ms5607 sens:"); } catch (Exception e) {}
+ try { ms5607().off = get_int(line, "ms5607 off:"); } catch (Exception e) {}
+ try { ms5607().tcs = get_int(line, "ms5607 tcs:"); } catch (Exception e) {}
+ try { ms5607().tco = get_int(line, "ms5607 tco:"); } catch (Exception e) {}
+ try { ms5607().tref = get_int(line, "ms5607 tref:"); } catch (Exception e) {}
+ try { ms5607().tempsens = get_int(line, "ms5607 tempsens:"); } catch (Exception e) {}
+ try { ms5607().crc = get_int(line, "ms5607 crc:"); } catch (Exception e) {}
/* Config show replies */
+ try {
+ if (line.startsWith("Config version")) {
+ String[] bits = line.split("\\s+");
+ if (bits.length >= 3) {
+ String[] cfg = bits[2].split("\\.");
+
+ if (cfg.length >= 2) {
+ config_major = Integer.parseInt(cfg[0]);
+ config_minor = Integer.parseInt(cfg[1]);
+ }
+ }
+ }
+ } catch (Exception e) {}
+
/* HAS_FLIGHT */
try { main_deploy = get_int(line, "Main deploy:"); } catch (Exception e) {}
try { apogee_delay = get_int(line, "Apogee delay:"); } catch (Exception e) {}
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) {}
pyros = new AltosPyro[npyro];
pyro = 0;
} catch (Exception e) {}
- if (npyro > 0) {
+ if (npyro != AltosLib.MISSING) {
try {
AltosPyro p = new AltosPyro(pyro, line);
if (pyro < npyro)
/* 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() {
}
public boolean has_frequency() {
- return radio_frequency >= 0 || radio_setting >= 0 || radio_channel >= 0;
+ return radio_frequency != AltosLib.MISSING || radio_setting != AltosLib.MISSING || radio_channel != AltosLib.MISSING;
}
public boolean has_telemetry_rate() {
- return telemetry_rate >= 0;
+ return telemetry_rate != AltosLib.MISSING;
}
public void set_frequency(double freq) {
int frequency = radio_frequency;
int setting = radio_setting;
- if (frequency > 0) {
+ if (frequency != AltosLib.MISSING) {
radio_frequency = (int) Math.floor (freq * 1000 + 0.5);
- radio_channel = -1;
- } else if (setting > 0) {
- radio_setting =AltosConvert.radio_frequency_to_setting(freq,
- radio_calibration);
- radio_channel = -1;
+ radio_channel = AltosLib.MISSING;
+ } else if (setting != AltosLib.MISSING) {
+ radio_setting =AltosConvert.radio_frequency_to_setting(freq, radio_calibration);
+ radio_channel = AltosLib.MISSING;
} else {
radio_channel = AltosConvert.radio_frequency_to_channel(freq);
}
int channel = radio_channel;
int setting = radio_setting;
- if (radio_frequency < 0 && channel < 0 && setting < 0)
- return -1;
+ if (radio_frequency == AltosLib.MISSING && channel == AltosLib.MISSING && setting == AltosLib.MISSING)
+ return AltosLib.MISSING;
- if (channel < 0)
+ if (channel == AltosLib.MISSING)
channel = 0;
- if (setting < 0)
+ if (setting == AltosLib.MISSING)
setting = 0;
return AltosConvert.radio_to_frequency(radio_frequency,
public boolean mma655x_inverted() throws AltosUnknownProduct {
- if (product.startsWith("EasyMega-v1"))
- return false;
- if (product.startsWith("TeleMetrum-v2"))
- return true;
- if (product.startsWith("TeleMega-v2"))
- return false;
- if (product.startsWith("TeleMega-v1"))
- return false;
+ if (product != null) {
+ if (product.startsWith("EasyMega-v1"))
+ return false;
+ if (product.startsWith("TeleMetrum-v2"))
+ return true;
+ if (product.startsWith("TeleMega-v2"))
+ return false;
+ if (product.startsWith("TeleMega-v1"))
+ return false;
+ }
throw new AltosUnknownProduct(product);
}
public void get_values(AltosConfigValues source) throws AltosConfigDataException {
/* HAS_FLIGHT */
- if (main_deploy >= 0)
+ if (main_deploy != AltosLib.MISSING)
main_deploy = source.main_deploy();
- if (apogee_delay >= 0)
+ if (apogee_delay != AltosLib.MISSING)
apogee_delay = source.apogee_delay();
- if (apogee_lockout >= 0)
+ if (apogee_lockout != AltosLib.MISSING)
apogee_lockout = source.apogee_lockout();
/* HAS_RADIO */
if (has_frequency())
set_frequency(source.radio_frequency());
- if (radio_enable >= 0)
+ if (radio_enable != AltosLib.MISSING)
radio_enable = source.radio_enable();
if (callsign != null)
callsign = source.callsign();
- if (telemetry_rate >= 0)
+ if (telemetry_rate != AltosLib.MISSING)
telemetry_rate = source.telemetry_rate();
/* HAS_ACCEL */
- if (pad_orientation >= 0)
+ 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 >= 0)
+ if (flight_log_max != AltosLib.MISSING)
flight_log_max = source.flight_log_max();
/* HAS_IGNITE */
- if (ignite_mode >= 0)
+ if (ignite_mode != AltosLib.MISSING)
ignite_mode = source.ignite_mode();
/* AO_PYRO_NUM */
- if (npyro > 0)
+ if (npyro != AltosLib.MISSING)
pyros = source.pyros();
- if (pyro_firing_time >= 0)
+ if (pyro_firing_time != AltosLib.MISSING)
pyro_firing_time = source.pyro_firing_time();
/* HAS_APRS */
- if (aprs_interval >= 0)
+ if (aprs_interval != AltosLib.MISSING)
aprs_interval = source.aprs_interval();
- if (aprs_ssid >= 0)
+ if (aprs_ssid != AltosLib.MISSING)
aprs_ssid = source.aprs_ssid();
- if (aprs_format >= 0)
+ if (aprs_format != AltosLib.MISSING)
aprs_format = source.aprs_format();
/* HAS_BEEP */
- if (beep >= 0)
+ if (beep != AltosLib.MISSING)
beep = source.beep();
/* HAS_TRACKER */
- if (tracker_motion >= 0)
+ if (tracker_motion != AltosLib.MISSING)
tracker_motion = source.tracker_motion();
- if (tracker_interval >= 0)
+ if (tracker_interval != AltosLib.MISSING)
tracker_interval = source.tracker_interval();
}
if (log_space() == 0)
max_enabled = false;
- if (log_fixed > 0)
+ if (log_fixed != AltosLib.MISSING)
max_enabled = false;
switch (log_format) {
max_enabled = false;
break;
default:
- if (stored_flight > 0)
+ if (stored_flight != AltosLib.MISSING)
max_enabled = false;
break;
}
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 > 0)
+ if (npyro != AltosLib.MISSING)
dest.set_pyros(pyros);
else
dest.set_pyros(null);
public void save(AltosLink link, boolean remote) throws InterruptedException, TimeoutException {
/* HAS_FLIGHT */
- if (main_deploy >= 0)
+ if (main_deploy != AltosLib.MISSING)
link.printf("c m %d\n", main_deploy);
- if (apogee_delay >= 0)
+ if (apogee_delay != AltosLib.MISSING)
link.printf("c d %d\n", apogee_delay);
- if (apogee_lockout >= 0)
+ if (apogee_lockout != AltosLib.MISSING)
link.printf("c L %d\n", apogee_lockout);
/* HAS_RADIO */
if (has_frequency()) {
- boolean has_frequency = radio_frequency >= 0;
- boolean has_setting = radio_setting > 0;
+ boolean has_frequency = radio_frequency != AltosLib.MISSING;
+ boolean has_setting = radio_setting != AltosLib.MISSING;
double frequency = frequency();
link.set_radio_frequency(frequency,
has_frequency,
}
}
- if (telemetry_rate >= 0) {
+ if (telemetry_rate != AltosLib.MISSING) {
link.printf("c T %d\n", telemetry_rate);
if (remote) {
link.flush_output();
}
}
- if (radio_enable >= 0)
+ if (radio_enable != AltosLib.MISSING)
link.printf("c e %d\n", radio_enable);
/* HAS_ACCEL */
- /* UI doesn't support accel cal */
- if (pad_orientation >= 0)
+ /* 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 l %d\n", flight_log_max);
/* HAS_IGNITE */
- if (ignite_mode >= 0)
+ if (ignite_mode != AltosLib.MISSING)
link.printf("c i %d\n", ignite_mode);
/* HAS_AES */
/* UI doesn't support AES key config */
/* AO_PYRO_NUM */
- if (npyro > 0) {
+ if (npyro != AltosLib.MISSING) {
for (int p = 0; p < pyros.length; p++) {
link.printf("c P %s\n",
pyros[p].toString());
}
}
- if (pyro_firing_time >= 0)
+ if (pyro_firing_time != AltosLib.MISSING)
link.printf("c I %d\n", (int) (pyro_firing_time * 100.0 + 0.5));
/* HAS_APRS */
- if (aprs_interval >= 0)
+ if (aprs_interval != AltosLib.MISSING)
link.printf("c A %d\n", aprs_interval);
- if (aprs_ssid >= 0)
+ if (aprs_ssid != AltosLib.MISSING)
link.printf("c S %d\n", aprs_ssid);
- if (aprs_format >= 0)
+ if (aprs_format != AltosLib.MISSING)
link.printf("c C %d\n", aprs_format);
/* HAS_BEEP */
- if (beep >= 0)
+ if (beep != AltosLib.MISSING)
link.printf("c b %d\n", beep);
/* HAS_TRACKER */
- if (tracker_motion >= 0 && tracker_interval >= 0)
+ if (tracker_motion != AltosLib.MISSING && tracker_interval != AltosLib.MISSING)
link.printf("c t %d %d\n", tracker_motion, tracker_interval);
/* HAS_GYRO */
break;
}
}
-
}
projects / fw / altos / blobdiff