altos/stm: Block interrupts while reprogramming flash

[fw/altos] / altoslib / AltosEepromMega.java

diff --git a/altoslib/AltosEepromMega.java b/altoslib/AltosEepromMega.java
index e8f9b1fc585af7ff71af6be8a8b65933fb8ac240..b8a1b9e86dc61ad09403b33c9de4ec54274a3150 100644 (file)
--- a/altoslib/AltosEepromMega.java
+++ b/altoslib/AltosEepromMega.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_3;
 
 import java.io.*;
 import java.util.*;
@@ -24,6 +24,8 @@ import java.text.*;
 public class AltosEepromMega extends AltosEeprom {
        public static final int record_length = 32;
 
+       public static final int max_sat = 12;
+
        public int record_length() { return record_length; }
 
        /* AO_LOG_FLIGHT elements */
@@ -79,6 +81,8 @@ public class AltosEepromMega extends AltosEeprom {
        }
 
        public void update_state(AltosState state) {
+               super.update_state(state);
+
                AltosGPS        gps;
 
                /* Flush any pending GPS changes */
@@ -113,19 +117,19 @@ public class AltosEepromMega extends AltosEeprom {
                        state.set_ms5607(pres(), temp());
 
                        AltosIMU imu = new AltosIMU();
-                       imu.accel_x = accel_x();
-                       imu.accel_y = accel_y();
-                       imu.accel_z = accel_z();
+                       imu.accel_x = AltosIMU.convert_accel(accel_x());
+                       imu.accel_y = AltosIMU.convert_accel(accel_y());
+                       imu.accel_z = AltosIMU.convert_accel(accel_z());
 
-                       imu.gyro_x = gyro_x();
-                       imu.gyro_y = gyro_y();
-                       imu.gyro_z = gyro_z();
+                       imu.gyro_x = AltosIMU.convert_gyro(gyro_x());
+                       imu.gyro_y = AltosIMU.convert_gyro(gyro_y());
+                       imu.gyro_z = AltosIMU.convert_gyro(gyro_z());
                        state.imu = imu;
 
                        AltosMag mag = new AltosMag();
-                       mag.x = mag_x();
-                       mag.y = mag_y();
-                       mag.z = mag_z();
+                       mag.x = AltosMag.convert_gauss(mag_x());
+                       mag.y = AltosMag.convert_gauss(mag_y());
+                       mag.z = AltosMag.convert_gauss(mag_z());
 
                        state.mag = mag;
 
@@ -149,7 +153,7 @@ public class AltosEepromMega extends AltosEeprom {
                        break;
                case AltosLib.AO_LOG_GPS_TIME:
                        state.set_tick(tick);
-                       gps = state.make_temp_gps();
+                       gps = state.make_temp_gps(false);
                        gps.lat = latitude() / 1e7;
                        gps.lon = longitude() / 1e7;
                        gps.alt = altitude();
@@ -165,15 +169,17 @@ public class AltosEepromMega extends AltosEeprom {
                        gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
                                AltosLib.AO_GPS_NUM_SAT_SHIFT;
 
-                       gps.year = year();
+                       gps.year = 2000 + year();
                        gps.month = month();
                        gps.day = day();
                        break;
                case AltosLib.AO_LOG_GPS_SAT:
                        state.set_tick(tick);
-                       gps = state.make_temp_gps();
+                       gps = state.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;