altosui: Support MM telemetry packets

[fw/altos] / altoslib / AltosTelemetryRecordMegaSensor.java

diff --git a/altoslib/AltosTelemetryRecordMegaSensor.java b/altoslib/AltosTelemetryRecordMegaSensor.java
new file mode 100644 (file)
index 0000000..85a32d1
--- /dev/null
+++ b/altoslib/AltosTelemetryRecordMegaSensor.java
@@ -0,0 +1,98 @@
+/*
+ * Copyright © 2011 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; version 2 of the License.
+ *
+ * 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.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+
+public class AltosTelemetryRecordMegaSensor extends AltosTelemetryRecordRaw {
+       int     accel;
+       int     pres;
+       int     temp;
+
+       int     accel_x;
+       int     accel_y;
+       int     accel_z;
+
+       int     gyro_x;
+       int     gyro_y;
+       int     gyro_z;
+
+       int     mag_x;
+       int     mag_y;
+       int     mag_z;
+
+       int     rssi;
+
+       public AltosTelemetryRecordMegaSensor(int[] in_bytes, int in_rssi) {
+               super(in_bytes);
+
+               accel         = int16(6);
+               pres          = int32(8);
+               temp          = int16(12);
+
+               accel_x       = int16(14);
+               accel_y       = int16(16);
+               accel_z       = int16(18);
+
+               gyro_x        = int16(20);
+               gyro_y        = int16(22);
+               gyro_z        = int16(24);
+
+               mag_x         = int16(26);
+               mag_y         = int16(28);
+               mag_z         = int16(30);
+
+               rssi          = in_rssi;
+               System.out.printf ("telem record accel: %d\n", accel);
+       }
+
+       public AltosRecord update_state(AltosRecord previous) {
+               AltosRecord     n = super.update_state(previous);
+
+               AltosRecordMM   next;
+               if (!(n instanceof AltosRecordMM)) {
+                       System.out.printf("sensor making MM\n");
+                       next = new AltosRecordMM(n);
+               } else {
+                       System.out.printf("sensor has MM\n");
+                       next = (AltosRecordMM) n;
+               }
+
+               System.out.printf("telem update_state accel: %d\n", accel);
+               next.accel = accel;
+               next.pres = pres;
+               next.temp = temp;
+
+               next.imu.accel_x = accel_x;
+               next.imu.accel_y = accel_y;
+               next.imu.accel_z = accel_z;
+
+               next.imu.gyro_x = gyro_x;
+               next.imu.gyro_y = gyro_y;
+               next.imu.gyro_z = gyro_z;
+
+               next.mag.x = mag_x;
+               next.mag.y = mag_y;
+               next.mag.z = mag_z;
+
+               next.rssi = rssi;
+
+               next.seen |= AltosRecord.seen_sensor;
+
+               return next;
+       }
+}