altoslib: Support TeleMega v5.0

[fw/altos] / altoslib / AltosEepromRecordMega.java

diff --git a/altoslib/AltosEepromRecordMega.java b/altoslib/AltosEepromRecordMega.java
index b61a6fa0f6d30178b589446b8335b951101473aa..57de0a4137406a38b9ca54f9fedd10d8ecc27b1f 100644 (file)
--- a/altoslib/AltosEepromRecordMega.java
+++ b/altoslib/AltosEepromRecordMega.java
@@ -12,7 +12,7 @@
  * General Public License for more details.
  */
 
-package org.altusmetrum.altoslib_13;
+package org.altusmetrum.altoslib_14;
 
 public class AltosEepromRecordMega extends AltosEepromRecord {
        public static final int record_length = 32;
@@ -33,6 +33,8 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
                case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
                        return data32(16);
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
                        return data16(14);
@@ -45,6 +47,8 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
                case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
                        return data32(20);
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
                        return data16(16);
@@ -57,6 +61,8 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
                case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
                        return data32(24);
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
                        return data16(18);
@@ -82,13 +88,69 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
        private int mag_z() { return data16(22); }
        private int mag_y() { return data16(24); }
 
+       /* normalized log data */
+       private int norm_accel_along() { return data16(8); }
+       private int norm_accel_across() { return data16(10); }
+       private int norm_accel_through() { return data16(12); }
+       private int norm_gyro_roll() { return data16(14); }
+       private int norm_gyro_pitch() { return data16(16); }
+       private int norm_gyro_yaw() { return data16(18); }
+       private int norm_mag_along() { return data16(20); }
+       private int norm_mag_across() { return data16(22); }
+       private int norm_mag_through() { return data16(24); }
+
+       private int imu_type() {
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+                       return AltosIMU.imu_type_telemega_v1_v2;
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+                       return AltosIMU.imu_type_telemega_v3;
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+                       return AltosIMU.imu_type_easymega_v2;
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+                       return AltosIMU.imu_type_telemega_v4;
+               default:
+                       return AltosLib.MISSING;
+               }
+       }
+
+       private int imu_model() {
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
+                       return AltosLib.model_mpu6000;
+               }
+               return AltosLib.MISSING;
+       }
+
+       private boolean sensor_normalized() {
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
+                       return true;
+               }
+               return false;
+       }
+
+       private int mag_model() {
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_5:
+                       return AltosLib.model_mmc5983;
+               }
+               return AltosLib.MISSING;
+       }
+
        private int accel_across() {
+               if (sensor_normalized()) {
+                       return norm_accel_across();
+               }
+
                switch (log_format) {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
                        return accel_x();
                case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
                        return -accel_y();
                default:
                        return AltosLib.MISSING;
@@ -96,12 +158,17 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
        }
 
        private int accel_along(){
+               if (sensor_normalized()) {
+                       return norm_accel_along();
+               }
+
                switch (log_format) {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
                        return accel_y();
                case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
                        return accel_x();
                default:
                        return AltosLib.MISSING;
@@ -109,10 +176,18 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
        }
 
        private int accel_through() {
+               if (sensor_normalized()) {
+                       return norm_accel_through();
+               }
+
                return accel_z();
        }
 
        private int gyro_pitch() {
+               if (sensor_normalized()) {
+                       return norm_gyro_pitch();
+               }
+
                switch (log_format) {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
@@ -120,18 +195,25 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                        return gyro_x();
                case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
                        return -gyro_y();
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+                       return -gyro_y();
                default:
                        return AltosLib.MISSING;
                }
        }
 
        private int gyro_roll() {
+               if (sensor_normalized()) {
+                       return norm_gyro_roll();
+               }
+
                switch (log_format) {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
                        return gyro_y();
                case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
                        return gyro_x();
                default:
                        return AltosLib.MISSING;
@@ -139,10 +221,18 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
        }
 
        private int gyro_yaw() {
+               if (sensor_normalized()) {
+                       return norm_gyro_yaw();
+               }
+
                return gyro_z();
        }
 
        private int mag_across() {
+               if (sensor_normalized()) {
+                       return norm_mag_across();
+               }
+
                switch (log_format) {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
@@ -150,18 +240,25 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                        return mag_x();
                case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
                        return -mag_y();
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
+                       return mag_y();
                default:
                        return AltosLib.MISSING;
                }
        }
 
        private int mag_along() {
+               if (sensor_normalized()) {
+                       return norm_mag_along();
+               }
+
                switch (log_format) {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
                        return mag_y();
                case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_4:
                        return mag_x();
                default:
                        return AltosLib.MISSING;
@@ -169,6 +266,10 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
        }
 
        private int mag_through() {
+               if (sensor_normalized()) {
+                       return norm_mag_through();
+               }
+
                return mag_z();
        }
 
@@ -212,6 +313,10 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
 
                AltosGPS        gps;
 
+               cal_data.set_imu_type(imu_type());
+               cal_data.set_imu_model(imu_model());
+               cal_data.set_mag_model(mag_model());
+
                switch (cmd()) {
                case AltosLib.AO_LOG_FLIGHT:
                        cal_data.set_flight(flight());
@@ -258,16 +363,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                                         cal_data.mag_across(mag_across),
                                         cal_data.mag_through(mag_through));
 
-
-                       final double lsb_per_g = 1920.0/105.5;
-
-                       double acceleration = AltosConvert.acceleration_from_sensor(
-                               accel(),
-                               cal_data.ground_accel,
-                               cal_data.ground_accel + 2 * lsb_per_g,
-                               cal_data.ground_accel);
-
-                       listener.set_acceleration(acceleration);
+                       listener.set_acceleration(cal_data.acceleration(accel()));
                        break;
                case AltosLib.AO_LOG_TEMP_VOLT:
                        listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));