--- /dev/null
+/*
+ * Copyright © 2024 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 AltosEepromRecordTimer extends AltosEepromRecord {
+ public static final int record_length = 32;
+
+ private int log_format;
+
+ private int imu_type() {
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_EASYTIMER_2:
+ return AltosIMU.imu_type_easytimer_v2;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int imu_model() {
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_EASYTIMER_2:
+ return AltosLib.model_bmi088;
+ }
+ return AltosLib.MISSING;
+ }
+
+ private boolean sensor_normalized() {
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_EASYTIMER_2:
+ return true;
+ }
+ return false;
+ }
+
+ private int mag_model() {
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_EASYTIMER_2:
+ return AltosLib.model_mmc5983;
+ }
+ return AltosLib.MISSING;
+ }
+
+ /* AO_LOG_FLIGHT elements */
+ private int flight() { return data16(0); }
+ private int ground_accel() { return data16(2); }
+ private int ground_pres() { return AltosLib.MISSING; }
+ private int ground_accel_along() { return data16(4); }
+ private int ground_accel_across() { return data16(6); }
+ private int ground_accel_through() { return data16(8); }
+ private int ground_roll() { return data32(12); }
+ private int ground_pitch() { return data32(16); }
+ private int ground_yaw() { return data32(20); }
+
+ /* AO_LOG_STATE elements */
+ private int state() { return data16(0); }
+ private int reason() { return data16(2); }
+
+ /* AO_LOG_SENSOR elements */
+
+ private int accel_along() { return data16(0); }
+ private int accel_across() { return data16(2); }
+ private int accel_through() { return data16(4); }
+ private int gyro_roll() { return data16(6); }
+ private int gyro_pitch() { return data16(8); }
+ private int gyro_yaw() { return data16(10); }
+ private int mag_along() { return data16(12); }
+ private int mag_across() { return data16(14); }
+ private int mag_through() { return data16(16); }
+
+ private int accel() { return -accel_along(); }
+
+ private int v_batt() { return data16(18); }
+ private int v_pbatt() { return data16(20); }
+ private int nsense() { return 2; }
+ private int sense(int i) { return data16(22 + i * 2); }
+ private int pyro() { return data16(26); }
+
+ public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
+ super.provide_data(listener, cal_data);
+
+ 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());
+ 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()));
+ cal_data.set_gyro_zero(ground_roll() / 512.0,
+ ground_pitch() / 512.0,
+ ground_yaw() / 512.0);
+ break;
+ case AltosLib.AO_LOG_STATE:
+ listener.set_state(state());
+ break;
+ case AltosLib.AO_LOG_SENSOR:
+ AltosConfigData config_data = eeprom.config_data();
+
+ int accel_along = accel_along();
+ int accel_across = accel_across();
+ int accel_through = accel_through();
+ int gyro_roll = gyro_roll();
+ int gyro_pitch = gyro_pitch();
+ int gyro_yaw = gyro_yaw();
+
+ int mag_along = mag_along();
+ int mag_across = mag_across();
+ int mag_through = mag_through();
+
+ listener.set_accel(cal_data.accel_along(accel_along),
+ cal_data.accel_across(accel_across),
+ cal_data.accel_through(accel_through));
+ listener.set_gyro(cal_data.gyro_roll(gyro_roll),
+ cal_data.gyro_pitch(gyro_pitch),
+ cal_data.gyro_yaw(gyro_yaw));
+
+ listener.set_mag(cal_data.mag_along(mag_along),
+ cal_data.mag_across(mag_across),
+ cal_data.mag_through(mag_through));
+
+ listener.set_acceleration(cal_data.acceleration(accel()));
+
+ listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
+ listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
+
+ int nsense = nsense();
+
+ listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
+ listener.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));
+
+ listener.set_igniter_voltage(voltages);
+ listener.set_pyro_fired(pyro());
+ break;
+ }
+ }
+
+ public AltosEepromRecord next() {
+ int s = next_start();
+ if (s < 0)
+ return null;
+ return new AltosEepromRecordTimer(eeprom, s);
+ }
+
+ public AltosEepromRecordTimer(AltosEeprom eeprom, int start) {
+ super(eeprom, start, record_length);
+ log_format = eeprom.config_data().log_format;
+ }
+
+ public AltosEepromRecordTimer(AltosEeprom eeprom) {
+ this(eeprom, 0);
+ }
+}
projects / fw / altos / blobdiff