altoslib: Add EasyMotor EEPROM support

[fw/altos] / altoslib / AltosEepromRecordMotor.java

diff --git a/altoslib/AltosEepromRecordMotor.java b/altoslib/AltosEepromRecordMotor.java
new file mode 100644 (file)
index 0000000..656feb9
--- /dev/null
+++ b/altoslib/AltosEepromRecordMotor.java
@@ -0,0 +1,101 @@
+/*
+ * Copyright © 2020 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_14;
+
+public class AltosEepromRecordMotor extends AltosEepromRecord {
+       public static final int record_length = 16;
+
+       private int log_format;
+
+       /* AO_LOG_FLIGHT elements */
+       private int flight() { return data16(0); }
+       private int ground_accel() { return data16(2); }
+       private int ground_accel_along() { return data16(4); }
+       private int ground_accel_across() { return data16(6); }
+       private int ground_accel_through() { return data16(8); }
+
+       /* AO_LOG_STATE elements */
+       private int state() { return data16(0); }
+       private int reason() { return data16(2); }
+
+       /* AO_LOG_SENSOR elements */
+       private int motor_pres() { return data16(0); }
+       private int v_batt() { return data16(2); }
+       private int accel() { return data16(4); }
+       private int accel_across() { return data16(6); }
+       private int accel_along() { return data16(8); }
+       private int accel_through() { return data16(10); }
+
+       private int imu_type() {
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_EASYMOTOR:
+                       return AltosIMU.imu_type_easymotor_v2;
+               default:
+                       return AltosLib.MISSING;
+               }
+       }
+
+       public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
+               super.provide_data(listener, cal_data);
+
+               cal_data.set_imu_type(imu_type());
+
+               switch (cmd()) {
+               case AltosLib.AO_LOG_FLIGHT:
+                       cal_data.set_flight(flight());
+                       cal_data.set_ground_accel(ground_accel());
+                       listener.set_accel_ground(cal_data.accel_along(ground_accel_along()),
+                                                 cal_data.accel_across(ground_accel_across()),
+                                                 cal_data.accel_through(ground_accel_through()));
+                       break;
+               case AltosLib.AO_LOG_STATE:
+                       listener.set_state(state());
+                       break;
+               case AltosLib.AO_LOG_SENSOR:
+                       AltosConfigData config_data = eeprom.config_data();
+
+                       listener.set_battery_voltage(AltosConvert.easy_mini_2_voltage(v_batt()));
+                       double pa = AltosConvert.easy_motor_2_motor_pressure(motor_pres());
+                       listener.set_motor_pressure(pa);
+
+                       int     accel_along = accel_along();
+                       int     accel_across = accel_across();
+                       int     accel_through = accel_through();
+
+                       listener.set_accel(cal_data.accel_along(accel_along),
+                                          cal_data.accel_across(accel_across),
+                                          cal_data.accel_through(accel_through));
+
+                       listener.set_acceleration(cal_data.acceleration(accel()));
+                       break;
+               }
+       }
+
+       public AltosEepromRecord next() {
+               int     s = next_start();
+               if (s < 0)
+                       return null;
+               return new AltosEepromRecordMotor(eeprom, s);
+       }
+
+       public AltosEepromRecordMotor(AltosEeprom eeprom, int start) {
+               super(eeprom, start, record_length);
+               log_format = eeprom.config_data().log_format;
+       }
+
+       public AltosEepromRecordMotor(AltosEeprom eeprom) {
+               this(eeprom, 0);
+       }
+}