--- /dev/null
+/*
+ * Copyright © 2017 Keith Packard <keithp@keithp.com>
+ *
+ * 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_11;
+
+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:
+ 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:
+ 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:
+ 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_y() { return data16(22); }
+ private int mag_z() { return data16(24); }
+ 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 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;
+ }
+ }
+
+ switch (cmd()) {
+ case AltosLib.AO_LOG_FLIGHT:
+ state.set_flight(flight());
+ state.set_ground_accel(ground_accel());
+ state.set_ground_pressure(ground_pres());
+ state.set_accel_ground(ground_accel_along(),
+ ground_accel_across(),
+ ground_accel_through());
+ state.set_gyro_zero(ground_roll() / 512.0,
+ ground_pitch() / 512.0,
+ ground_yaw() / 512.0);
+ break;
+ case AltosLib.AO_LOG_STATE:
+ state.set_state(state());
+ break;
+ case AltosLib.AO_LOG_SENSOR:
+ state.set_ms5607(pres(), temp());
+
+ AltosIMU imu = new AltosIMU(accel_y(), /* along */
+ accel_x(), /* across */
+ accel_z(), /* through */
+ gyro_y(), /* roll */
+ gyro_x(), /* pitch */
+ gyro_z()); /* yaw */
+
+ if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
+ state.check_imu_wrap(imu);
+
+ state.set_imu(imu);
+
+ state.set_mag(new AltosMag(mag_x(),
+ mag_y(),
+ mag_z()));
+
+ 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:
+ gps = state.make_temp_gps(false);
+ gps.lat = latitude() / 1e7;
+ gps.lon = longitude() / 1e7;
+
+ if (state.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 (state.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 = 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 AltosEepromRecord next() {
+ if (start + length + length < eeprom.data.size())
+ return new AltosEepromRecordMega(eeprom, start + length);
+ return null;
+ }
+
+ public AltosEepromRecordMega(AltosEepromNew eeprom, int start) {
+ super(eeprom, start, record_length);
+ log_format = eeprom.config_data().log_format;
+ }
+
+ public AltosEepromRecordMega(AltosEepromNew eeprom) {
+ this(eeprom, 0);
+ }
+}
projects / fw / altos / blobdiff