import altosui.AltosVoice;
import altosui.AltosEepromMonitor;
-public class AltosEepromReader {
+/*
+ * AltosRecords with an index field so they can be sorted by tick while preserving
+ * the original ordering for elements with matching ticks
+ */
+class AltosOrderedRecord extends AltosEepromRecord implements Comparable<AltosOrderedRecord> {
+
+ public int index;
+
+ public AltosOrderedRecord(String line, int in_index, int prev_tick)
+ throws ParseException {
+ super(line);
+ int new_tick = tick | (prev_tick & ~0xffff);
+ if (new_tick < prev_tick) {
+ if (prev_tick - new_tick > 0x8000)
+ new_tick += 0x10000;
+ }
+ tick = new_tick;
+ index = in_index;
+ }
+
+ public AltosOrderedRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) {
+ super(in_cmd, in_tick, in_a, in_b);
+ index = in_index;
+ }
+
+ public int compareTo(AltosOrderedRecord o) {
+ int tick_diff = tick - o.tick;
+ if (tick_diff != 0)
+ return tick_diff;
+ return index - o.index;
+ }
+}
+
+public class AltosEepromReader extends AltosReader {
static final int seen_flight = 1;
static final int seen_sensor = 2;
static final int seen_temp_volt = 4;
static final int seen_deploy = 8;
+ static final int seen_gps_time = 16;
+ static final int seen_gps_lat = 32;
+ static final int seen_gps_lon = 64;
static final int seen_basic = seen_flight|seen_sensor|seen_temp_volt|seen_deploy;
- static final int seen_gps_time = 16;
-
AltosRecord state;
- AltosEepromRecord record;
+ AltosOrderedRecord record;
+
+ TreeSet<AltosOrderedRecord> records;
+
+ Iterator<AltosOrderedRecord> record_iterator;
int seen;
- int tick;
+ int index;
+
+ boolean last_reported;
+
+ double ground_pres;
+ double ground_accel;
+
+ int n_pad_samples;
+
+ int gps_tick;
- boolean done;
+ boolean saw_boost;
- FileInputStream input;
+ int boost_tick;
+
+ boolean saw_gps_date;
+
+ boolean missing_gps_time;
public AltosRecord read() throws IOException, ParseException {
for (;;) {
if (record == null) {
- record = new AltosEepromRecord(AltosRecord.gets(input));
- if (record == null) {
- if (done)
+ if (!record_iterator.hasNext()) {
+ if (last_reported)
return null;
+ last_reported = true;
return state;
}
+ record = record_iterator.next();
- /* eeprom only records low 16 bits of tick count */
- int tick = record.tick | (state.tick & ~0xffff);
-
- if (tick < state.tick) {
- if (state.tick - tick > 0x8000)
- tick += 0x10000;
- else
- tick = state.tick;
+ if ((seen & seen_basic) == seen_basic && record.tick != state.tick) {
+ AltosRecord r = new AltosRecord(state);
+ r.time = (r.tick - boost_tick) / 100.0;
+ return r;
}
-
- /* Accumulate data in the state record while
- * the time stamp is not increasing
- */
-
- if ((seen & seen_basic) == seen_basic && tick > state.tick)
- return new AltosRecord(state);
}
- state.tick = tick;
+ state.tick = record.tick;
switch (record.cmd) {
case Altos.AO_LOG_FLIGHT:
state.ground_accel = record.a;
state.flight = record.b;
+ seen |= seen_flight;
break;
case Altos.AO_LOG_SENSOR:
state.accel = record.a;
state.pres = record.b;
+ if (state.state < Altos.ao_flight_boost) {
+ n_pad_samples++;
+ ground_pres += state.pres;
+ state.ground_pres = (int) (ground_pres / n_pad_samples);
+ state.flight_pres = state.ground_pres;
+ ground_accel += state.accel;
+ state.ground_accel = (int) (ground_accel / n_pad_samples);
+ state.flight_accel = state.ground_accel;
+ } else {
+ state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
+ state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
+ state.flight_vel += (state.accel_plus_g - state.accel);
+ }
+ seen |= seen_sensor;
break;
case Altos.AO_LOG_TEMP_VOLT:
state.temp = record.a;
state.batt = record.b;
+ seen |= seen_temp_volt;
break;
case Altos.AO_LOG_DEPLOY:
state.drogue = record.a;
state.main = record.b;
+ seen |= seen_deploy;
+ break;
+ case Altos.AO_LOG_STATE:
+ state.state = record.a;
break;
case Altos.AO_LOG_GPS_TIME:
+ gps_tick = state.tick;
+ state.gps = new AltosGPS();
+ state.gps.hour = (record.a & 0xff);
+ state.gps.minute = (record.a >> 8);
+ state.gps.second = (record.b & 0xff);
+ int flags = (record.b >> 8);
+ state.gps.connected = (flags & Altos.AO_GPS_RUNNING) != 0;
+ state.gps.locked = (flags & Altos.AO_GPS_VALID) != 0;
+ state.gps.date_valid = (flags & Altos.AO_GPS_DATE_VALID) != 0;
+ state.gps.nsat = (flags & Altos.AO_GPS_NUM_SAT_MASK) >>
+ Altos.AO_GPS_NUM_SAT_SHIFT;
+ System.out.printf("GPS %2d:%02d:%02d%s%s%s %d\n",
+ state.gps.hour, state.gps.minute, state.gps.second,
+ state.gps.connected ? " connected" : "",
+ state.gps.locked ? " locked" : "",
+ state.gps.date_valid ? " date_valid" : "",
+ state.gps.nsat);
+ break;
+ case Altos.AO_LOG_GPS_LAT:
+ int lat32 = record.a | (record.b << 16);
+ state.gps.lat = (double) lat32 / 1e7;
+ break;
+ case Altos.AO_LOG_GPS_LON:
+ int lon32 = record.a | (record.b << 16);
+ state.gps.lon = (double) lon32 / 1e7;
+ break;
+ case Altos.AO_LOG_GPS_ALT:
+ state.gps.alt = record.a;
+ break;
+ case Altos.AO_LOG_GPS_SAT:
+ if (state.tick == gps_tick) {
+ int svid = record.a;
+ int c_n0 = record.b >> 8;
+ state.gps.add_sat(svid, c_n0);
+ }
+ break;
+ case Altos.AO_LOG_GPS_DATE:
+ state.gps.year = record.a & 0xff;
+ state.gps.month = record.a >> 8;
+ state.gps.day = record.b & 0xff;
+ break;
+
+ case Altos.AO_LOG_CONFIG_VERSION:
+ break;
+ case Altos.AO_LOG_MAIN_DEPLOY:
+ break;
+ case Altos.AO_LOG_APOGEE_DELAY:
+ break;
+ case Altos.AO_LOG_RADIO_CHANNEL:
+ break;
+ case Altos.AO_LOG_CALLSIGN:
+ state.callsign = record.data;
+ break;
+ case Altos.AO_LOG_ACCEL_CAL:
+ state.accel_plus_g = record.a;
+ state.accel_minus_g = record.b;
+ break;
+ case Altos.AO_LOG_RADIO_CAL:
+ break;
+ case Altos.AO_LOG_MANUFACTURER:
+ break;
+ case Altos.AO_LOG_PRODUCT:
+ break;
+ case Altos.AO_LOG_SERIAL_NUMBER:
+ state.serial = record.a;
+ break;
+ case Altos.AO_LOG_SOFTWARE_VERSION:
break;
}
record = null;
}
}
- public AltosEepromReader (FileInputStream in_input) {
+ public void write_comments(PrintStream out) {
+ Iterator<AltosOrderedRecord> iterator = records.iterator();
+ out.printf("# Comments\n");
+ while (iterator.hasNext()) {
+ AltosOrderedRecord record = iterator.next();
+ switch (record.cmd) {
+ case Altos.AO_LOG_CONFIG_VERSION:
+ out.printf("# Config version: %s\n", record.data);
+ break;
+ case Altos.AO_LOG_MAIN_DEPLOY:
+ out.printf("# Main deploy: %s\n", record.a);
+ break;
+ case Altos.AO_LOG_APOGEE_DELAY:
+ out.printf("# Apogee delay: %s\n", record.a);
+ break;
+ case Altos.AO_LOG_RADIO_CHANNEL:
+ out.printf("# Radio channel: %s\n", record.a);
+ break;
+ case Altos.AO_LOG_CALLSIGN:
+ out.printf("# Callsign: %s\n", record.data);
+ break;
+ case Altos.AO_LOG_ACCEL_CAL:
+ out.printf ("# Accel cal: %d %d\n", record.a, record.b);
+ break;
+ case Altos.AO_LOG_RADIO_CAL:
+ out.printf ("# Radio cal: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_MANUFACTURER:
+ out.printf ("# Manufacturer: %s\n", record.data);
+ break;
+ case Altos.AO_LOG_PRODUCT:
+ out.printf ("# Product: %s\n", record.data);
+ break;
+ case Altos.AO_LOG_SERIAL_NUMBER:
+ out.printf ("# Serial number: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_SOFTWARE_VERSION:
+ out.printf ("# Software version: %s\n", record.data);
+ break;
+ }
+ }
+ }
+
+ /*
+ * Given an AO_LOG_GPS_TIME record with correct time, and one
+ * missing time, rewrite the missing time values with the good
+ * ones, assuming that the difference between them is 'diff' seconds
+ */
+ void update_time(AltosOrderedRecord good, AltosOrderedRecord bad) {
+
+ int diff = (bad.tick - good.tick + 50) / 100;
+
+ int hour = (good.a & 0xff);
+ int minute = (good.a >> 8);
+ int second = (good.b & 0xff);
+ int flags = (good.b >> 8);
+ int seconds = hour * 3600 + minute * 60 + second;
+
+ int new_seconds = seconds + diff;
+ if (new_seconds < 0)
+ new_seconds += 24 * 3600;
+ int new_second = (new_seconds % 60);
+ int new_minutes = (new_seconds / 60);
+ int new_minute = (new_minutes % 60);
+ int new_hours = (new_minutes / 60);
+ int new_hour = (new_hours % 24);
+
+ System.out.printf("Synthesizing time good %2d:%02d:%02d bad %2d:%02d:%02d\n",
+ hour, minute, second,
+ new_hour, new_minute, new_second);
+
+ bad.a = new_hour + (new_minute << 8);
+ bad.b = new_second + (flags << 8);
+ }
+
+ /*
+ * Read the whole file, dumping records into a RB tree so
+ * we can enumerate them in time order -- the eeprom data
+ * are sometimes out of order with GPS data getting timestamps
+ * matching the first packet out of the GPS unit but not
+ * written until the final GPS packet has been received.
+ */
+ public AltosEepromReader (FileInputStream input) {
state = new AltosRecord();
- input = in_input;
+ state.state = Altos.ao_flight_pad;
+ state.accel_plus_g = 15758;
+ state.accel_minus_g = 16294;
seen = 0;
- done = false;
+ records = new TreeSet<AltosOrderedRecord>();
+
+ AltosOrderedRecord last_gps_time = null;
+
+ int index = 0;
+ int tick = 0;
+
+ boolean missing_time = false;
+
+ try {
+ for (;;) {
+ String line = AltosRecord.gets(input);
+ if (line == null)
+ break;
+ AltosOrderedRecord record = new AltosOrderedRecord(line, index++, tick);
+ if (record == null)
+ break;
+ tick = record.tick;
+ if (!saw_boost && record.cmd == Altos.AO_LOG_STATE &&
+ record.a >= Altos.ao_flight_boost)
+ {
+ saw_boost = true;
+ boost_tick = tick;
+ }
+
+ /* Two firmware bugs caused the loss of some GPS data.
+ * The flight date would never be recorded, and often
+ * the flight time would get overwritten by another
+ * record. Detect the loss of the GPS date and fix up the
+ * missing time records
+ */
+ if (record.cmd == Altos.AO_LOG_GPS_DATE)
+ saw_gps_date = true;
+
+ /* go back and fix up any missing time values */
+ if (record.cmd == Altos.AO_LOG_GPS_TIME) {
+ last_gps_time = record;
+ if (missing_time) {
+ System.out.printf("Going back to clean up broken GPS time records\n");
+ Iterator<AltosOrderedRecord> iterator = records.iterator();
+ while (iterator.hasNext()) {
+ AltosOrderedRecord old = iterator.next();
+ if (old.cmd == Altos.AO_LOG_GPS_TIME) {
+ System.out.printf("Old time record %d, %d\n", old.a, old.b);
+ }
+ if (old.cmd == Altos.AO_LOG_GPS_TIME &&
+ old.a == -1 && old.b == -1)
+ {
+ update_time(record, old);
+ }
+ }
+ missing_time = false;
+ }
+ }
+
+ if (record.cmd == Altos.AO_LOG_GPS_LAT) {
+ if (last_gps_time == null || last_gps_time.tick != record.tick) {
+ AltosOrderedRecord add_gps_time = new AltosOrderedRecord(Altos.AO_LOG_GPS_TIME,
+ record.tick,
+ -1, -1, index-1);
+ if (last_gps_time != null)
+ update_time(last_gps_time, add_gps_time);
+ else {
+ System.out.printf("early GPS missing time\n");
+ missing_time = true;
+ }
+ records.add(add_gps_time);
+ record.index = index++;
+ }
+ }
+ records.add(record);
+ }
+ } catch (IOException io) {
+ } catch (ParseException pe) {
+ }
+ record_iterator = records.iterator();
+ try {
+ input.close();
+ } catch (IOException ie) {
+ }
}
}
projects / fw / altos / blobdiff