* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_3;
+import java.io.*;
+import java.util.*;
import java.text.*;
-public class AltosEepromMega {
- public int cmd;
- public int tick;
- public boolean valid;
- public String data;
- public int a, b;
-
- public int data8[];
-
+public class AltosEepromMega extends AltosEeprom {
public static final int record_length = 32;
- static final int header_length = 4;
- static final int data_length = record_length - header_length;
- public int data8(int i) {
- return data8[i];
- }
+ public static final int max_sat = 12;
- public int data16(int i) {
- return ((data8[i] | (data8[i+1] << 8)) << 16) >> 16;
- }
-
- public int data32(int i) {
- return data8[i] | (data8[i+1] << 8) | (data8[i+2] << 16) | (data8[i+3] << 24);
- }
+ public int record_length() { return record_length; }
/* AO_LOG_FLIGHT elements */
public int flight() { return data16(0); }
public int ground_accel() { return data16(2); }
public int ground_pres() { return data32(4); }
- public int ground_temp() { return data32(8); }
+ public int ground_accel_along() { return data16(8); }
+ public int ground_accel_across() { return data16(10); }
+ public int ground_accel_through() { return data16(12); }
+ public int ground_roll() { return data16(14); }
+ public int ground_pitch() { return data16(16); }
+ public int ground_yaw() { return data16(18); }
/* AO_LOG_STATE elements */
public int state() { return data16(0); }
public int mag_z() { return data16(24); }
public int accel() { return data16(26); }
- /* AO_LOG_VOLT elements */
+ /* AO_LOG_TEMP_VOLT elements */
public int v_batt() { return data16(0); }
public int v_pbatt() { return data16(2); }
public int nsense() { return data16(4); }
public int sense(int i) { return data16(6 + i * 2); }
+ public int pyro() { return data16(26); }
+
+ /* AO_LOG_GPS_TIME elements */
+ public int latitude() { return data32(0); }
+ public int longitude() { return data32(4); }
+ public int altitude() { return data16(8); }
+ public int hour() { return data8(10); }
+ public int minute() { return data8(11); }
+ public int second() { return data8(12); }
+ public int flags() { return data8(13); }
+ public int year() { return data8(14); }
+ public int month() { return data8(15); }
+ public int day() { return data8(16); }
+ public int course() { return data8(17); }
+ public int ground_speed() { return data16(18); }
+ public int climb_rate() { return data16(20); }
+ public int pdop() { return data8(22); }
+ public int hdop() { return data8(23); }
+ public int vdop() { return data8(24); }
+ public int mode() { return data8(25); }
+
+ /* AO_LOG_GPS_SAT elements */
+ public int nsat() { return data16(0); }
+ public int svid(int n) { return data8(2 + n * 2); }
+ public int c_n(int n) { return data8(2 + n * 2 + 1); }
public AltosEepromMega (AltosEepromChunk chunk, int start) throws ParseException {
- cmd = chunk.data(start);
-
- valid = !chunk.erased(start, record_length);
- if (valid) {
- if (AltosConvert.checksum(chunk.data, start, record_length) != 0)
- throw new ParseException(String.format("invalid checksum at 0x%x",
- chunk.address + start), 0);
- } else {
- cmd = AltosLib.AO_LOG_INVALID;
- }
+ parse_chunk(chunk, start);
+ }
- tick = chunk.data16(start+2);
+ public void update_state(AltosState state) {
+ super.update_state(state);
+
+ AltosGPS gps;
+
+ /* Flush any pending GPS changes */
+ if (state.gps_pending) {
+ switch (cmd) {
+ case AltosLib.AO_LOG_GPS_LAT:
+ case AltosLib.AO_LOG_GPS_LON:
+ case AltosLib.AO_LOG_GPS_ALT:
+ case AltosLib.AO_LOG_GPS_SAT:
+ case AltosLib.AO_LOG_GPS_DATE:
+ break;
+ default:
+ state.set_temp_gps();
+ break;
+ }
+ }
- data8 = new int[data_length];
- for (int i = 0; i < data_length; i++)
- data8[i] = chunk.data(start + header_length + i);
+ switch (cmd) {
+ case AltosLib.AO_LOG_FLIGHT:
+ state.set_boost_tick(tick);
+ state.set_flight(flight());
+ state.set_ground_accel(ground_accel());
+ state.set_ground_pressure(ground_pres());
+ break;
+ case AltosLib.AO_LOG_STATE:
+ state.set_tick(tick);
+ state.set_state(state());
+ break;
+ case AltosLib.AO_LOG_SENSOR:
+ state.set_tick(tick);
+ state.set_ms5607(pres(), temp());
+
+ AltosIMU imu = new AltosIMU();
+ 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 = 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 = AltosMag.convert_gauss(mag_x());
+ mag.y = AltosMag.convert_gauss(mag_y());
+ mag.z = AltosMag.convert_gauss(mag_z());
+
+ state.mag = mag;
+
+ state.set_accel(accel());
+
+ break;
+ case AltosLib.AO_LOG_TEMP_VOLT:
+ state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
+ state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
+
+ int nsense = nsense();
+
+ state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
+ state.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));
+
+ state.set_ignitor_voltage(voltages);
+ state.set_pyro_fired(pyro());
+ break;
+ case AltosLib.AO_LOG_GPS_TIME:
+ state.set_tick(tick);
+ gps = state.make_temp_gps(false);
+ gps.lat = latitude() / 1e7;
+ gps.lon = longitude() / 1e7;
+ gps.alt = altitude();
+
+ 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;
+ gps.hdop = hdop();
+ gps.vdop = vdop();
+ break;
+ case AltosLib.AO_LOG_GPS_SAT:
+ state.set_tick(tick);
+ 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;
+ }
}
public AltosEepromMega (String line) {
- valid = false;
- tick = 0;
+ parse_string(line);
+ }
+
+ static public LinkedList<AltosEeprom> read(FileInputStream input) {
+ LinkedList<AltosEeprom> megas = new LinkedList<AltosEeprom>();
- if (line == null) {
- cmd = AltosLib.AO_LOG_INVALID;
- line = "";
- } else {
+ for (;;) {
try {
- String[] tokens = line.split("\\s+");
-
- if (tokens[0].length() == 1) {
- if (tokens.length != 2 + data_length) {
- cmd = AltosLib.AO_LOG_INVALID;
- data = line;
- } else {
- cmd = tokens[0].codePointAt(0);
- tick = Integer.parseInt(tokens[1],16);
- valid = true;
- data8 = new int[data_length];
- for (int i = 0; i < data_length; i++)
- data8[i] = Integer.parseInt(tokens[2 + i],16);
- }
- } else if (tokens[0].equals("Config") && tokens[1].equals("version:")) {
- cmd = AltosLib.AO_LOG_CONFIG_VERSION;
- data = tokens[2];
- } else if (tokens[0].equals("Main") && tokens[1].equals("deploy:")) {
- cmd = AltosLib.AO_LOG_MAIN_DEPLOY;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Apogee") && tokens[1].equals("delay:")) {
- cmd = AltosLib.AO_LOG_APOGEE_DELAY;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Radio") && tokens[1].equals("channel:")) {
- cmd = AltosLib.AO_LOG_RADIO_CHANNEL;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Callsign:")) {
- cmd = AltosLib.AO_LOG_CALLSIGN;
- data = tokens[1].replaceAll("\"","");
- } else if (tokens[0].equals("Accel") && tokens[1].equals("cal")) {
- cmd = AltosLib.AO_LOG_ACCEL_CAL;
- a = Integer.parseInt(tokens[3]);
- b = Integer.parseInt(tokens[5]);
- } else if (tokens[0].equals("Radio") && tokens[1].equals("cal:")) {
- cmd = AltosLib.AO_LOG_RADIO_CAL;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Max") && tokens[1].equals("flight") && tokens[2].equals("log:")) {
- cmd = AltosLib.AO_LOG_MAX_FLIGHT_LOG;
- a = Integer.parseInt(tokens[3]);
- } else if (tokens[0].equals("manufacturer")) {
- cmd = AltosLib.AO_LOG_MANUFACTURER;
- data = tokens[1];
- } else if (tokens[0].equals("product")) {
- cmd = AltosLib.AO_LOG_PRODUCT;
- data = tokens[1];
- } else if (tokens[0].equals("serial-number")) {
- cmd = AltosLib.AO_LOG_SERIAL_NUMBER;
- a = Integer.parseInt(tokens[1]);
- } else if (tokens[0].equals("log-format")) {
- cmd = AltosLib.AO_LOG_LOG_FORMAT;
- a = Integer.parseInt(tokens[1]);
- } else if (tokens[0].equals("software-version")) {
- cmd = AltosLib.AO_LOG_SOFTWARE_VERSION;
- data = tokens[1];
- } else if (tokens[0].equals("ms5607")) {
- if (tokens[1].equals("reserved:")) {
- cmd = AltosLib.AO_LOG_BARO_RESERVED;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[1].equals("sens:")) {
- cmd = AltosLib.AO_LOG_BARO_SENS;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[1].equals("off:")) {
- cmd = AltosLib.AO_LOG_BARO_OFF;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[1].equals("tcs:")) {
- cmd = AltosLib.AO_LOG_BARO_TCS;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[1].equals("tco:")) {
- cmd = AltosLib.AO_LOG_BARO_TCO;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[1].equals("tref:")) {
- cmd = AltosLib.AO_LOG_BARO_TREF;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[1].equals("tempsens:")) {
- cmd = AltosLib.AO_LOG_BARO_TEMPSENS;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[1].equals("crc:")) {
- cmd = AltosLib.AO_LOG_BARO_CRC;
- a = Integer.parseInt(tokens[2]);
- } else {
- cmd = AltosLib.AO_LOG_INVALID;
- data = line;
- }
- } else {
- cmd = AltosLib.AO_LOG_INVALID;
- data = line;
+ String line = AltosLib.gets(input);
+ if (line == null)
+ break;
+ try {
+ AltosEepromMega mega = new AltosEepromMega(line);
+ if (mega.cmd != AltosLib.AO_LOG_INVALID)
+ megas.add(mega);
+ } catch (Exception e) {
+ System.out.printf ("exception\n");
}
- } catch (NumberFormatException ne) {
- cmd = AltosLib.AO_LOG_INVALID;
- data = line;
+ } catch (IOException ie) {
+ break;
}
}
- }
- public AltosEepromMega(int in_cmd, int in_tick) {
- cmd = in_cmd;
- tick = in_tick;
- valid = true;
+ return megas;
}
}
projects / fw / altos / blobdiff