X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosConfigData.java;h=48dab421b148c391e74fb03ed2240e7f0140cc18;hp=a0e9a29278989750e5af6a89c89edad000e72763;hb=297eb795b24ec31f6599f48bc8c3769557a7ec6f;hpb=ffbacb4ba9fc52de18bc54eb0d4b9e4f015ad1a4 diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java index a0e9a292..48dab421 100644 --- a/altoslib/AltosConfigData.java +++ b/altoslib/AltosConfigData.java @@ -16,12 +16,13 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_11; +package org.altusmetrum.altoslib_13; import java.util.*; import java.text.*; import java.util.concurrent.*; +/* Don't change the field names in this structure; they're part of all .eeprom files */ public class AltosConfigData { /* Version information */ @@ -53,6 +54,8 @@ public class AltosConfigData { /* HAS_ACCEL */ public int accel_cal_plus, accel_cal_minus; + private int accel_cal_plus_cooked, accel_cal_minus_cooked; + private boolean accel_cal_adjusted; public int pad_orientation; /* HAS_LOG */ @@ -186,6 +189,23 @@ public class AltosConfigData { } } + public int invert_accel_value(int value) { + if (value == AltosLib.MISSING) + return AltosLib.MISSING; + + switch (log_format) { + case AltosLib.AO_LOG_FORMAT_FULL: + return 0x7fff - value; + case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD: + case AltosLib.AO_LOG_FORMAT_TELEMETRUM: + case AltosLib.AO_LOG_FORMAT_TELEMEGA: + case AltosLib.AO_LOG_FORMAT_TELEMEGA_3: + return 4095 - value; + default: + return AltosLib.MISSING; + } + } + public boolean has_monitor_battery() { if (product.startsWith("TeleBT")) return true; @@ -252,9 +272,12 @@ public class AltosConfigData { radio_setting = AltosLib.MISSING; telemetry_rate = AltosLib.MISSING; + accel_cal_plus_cooked = AltosLib.MISSING; + accel_cal_minus_cooked = AltosLib.MISSING; accel_cal_plus = AltosLib.MISSING; accel_cal_minus = AltosLib.MISSING; pad_orientation = AltosLib.MISSING; + accel_cal_adjusted = false; flight_log_max = AltosLib.MISSING; log_fixed = AltosLib.MISSING; @@ -285,6 +308,59 @@ public class AltosConfigData { accel_zero_through = AltosLib.MISSING; } + /* Return + accel calibration relative to a specific pad orientation */ + public int accel_cal_plus(int pad_orientation) { + adjust_accel_cal(); + switch (pad_orientation) { + case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP: + return accel_cal_plus_cooked; + case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN: + return invert_accel_value(accel_cal_minus_cooked); + default: + return AltosLib.MISSING; + } + } + + /* Return - accel calibration relative to a specific pad orientation */ + public int accel_cal_minus(int pad_orientation) { + adjust_accel_cal(); + switch (pad_orientation) { + case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP: + return accel_cal_minus_cooked; + case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN: + return invert_accel_value(accel_cal_plus_cooked); + default: + return AltosLib.MISSING; + } + } + + /* Once we have all of the values from the config data, compute the + * accel cal values relative to Antenna Up orientation. + */ + private void adjust_accel_cal() { + if (!accel_cal_adjusted && + pad_orientation != AltosLib.MISSING && + accel_cal_plus != AltosLib.MISSING && + accel_cal_minus != AltosLib.MISSING && + log_format != AltosLib.AO_LOG_FORMAT_UNKNOWN) + { + switch (pad_orientation) { + case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP: + accel_cal_plus_cooked = accel_cal_plus; + accel_cal_minus_cooked = accel_cal_minus; + accel_cal_adjusted = true; + break; + case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN: + accel_cal_plus_cooked = invert_accel_value(accel_cal_minus); + accel_cal_minus_cooked = invert_accel_value(accel_cal_plus); + accel_cal_adjusted = true; + break; + default: + break; + } + } + } + public void parse_line(String line) { /* Version replies */ @@ -351,6 +427,7 @@ public class AltosConfigData { if (bits.length >= 6) { accel_cal_plus = Integer.parseInt(bits[3]); accel_cal_minus = Integer.parseInt(bits[5]); + accel_cal_adjusted = false; } } } catch (Exception e) {} @@ -405,7 +482,7 @@ public class AltosConfigData { /* HAS_GYRO */ try { - if (line.startsWith("IMU call along")) { + if (line.startsWith("IMU cal along")) { String[] bits = line.split("\\s+"); if (bits.length >= 8) { accel_zero_along = Integer.parseInt(bits[3]); @@ -414,6 +491,9 @@ public class AltosConfigData { } } } catch (Exception e) {} + + /* Fix accel cal as soon as all of the necessary values appear */ + adjust_accel_cal(); } public AltosConfigData() { @@ -488,14 +568,16 @@ public class AltosConfigData { public boolean mma655x_inverted() throws AltosUnknownProduct { - if (product.startsWith("EasyMega-v1")) - return false; - if (product.startsWith("TeleMetrum-v2")) - return true; - if (product.startsWith("TeleMega-v2")) - return false; - if (product.startsWith("TeleMega-v1")) - return false; + if (product != null) { + if (product.startsWith("EasyMega-v1")) + return false; + if (product.startsWith("TeleMetrum-v2")) + return true; + if (product.startsWith("TeleMega-v2")) + return false; + if (product.startsWith("TeleMega-v1")) + return false; + } throw new AltosUnknownProduct(product); } @@ -523,6 +605,12 @@ public class AltosConfigData { if (pad_orientation != AltosLib.MISSING) pad_orientation = source.pad_orientation(); + if (accel_cal_plus_cooked != AltosLib.MISSING) + accel_cal_plus_cooked = source.accel_cal_plus(); + + if (accel_cal_minus_cooked != AltosLib.MISSING) + accel_cal_minus_cooked = source.accel_cal_minus(); + /* HAS_LOG */ if (flight_log_max != AltosLib.MISSING) flight_log_max = source.flight_log_max(); @@ -590,6 +678,8 @@ public class AltosConfigData { dest.set_flight_log_max(flight_log_max); dest.set_ignite_mode(ignite_mode); dest.set_pad_orientation(pad_orientation); + dest.set_accel_cal(accel_cal_plus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP), + accel_cal_minus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP)); dest.set_callsign(callsign); if (npyro != AltosLib.MISSING) dest.set_pyros(pyros); @@ -667,9 +757,13 @@ public class AltosConfigData { link.printf("c e %d\n", radio_enable); /* HAS_ACCEL */ - /* UI doesn't support accel cal */ + /* set orientation first so that we know how to set the accel cal */ if (pad_orientation != AltosLib.MISSING) link.printf("c o %d\n", pad_orientation); + int plus = accel_cal_plus(pad_orientation); + int minus = accel_cal_minus(pad_orientation); + if (plus != AltosLib.MISSING && minus != AltosLib.MISSING) + link.printf("c a %d %d\n", plus, minus); /* HAS_LOG */ if (flight_log_max != 0)