X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosConfigData.java;h=48dab421b148c391e74fb03ed2240e7f0140cc18;hp=cb46b6c6349924e2db04109005a278eb9cd66b8d;hb=297eb795b24ec31f6599f48bc8c3769557a7ec6f;hpb=9e1295ff74d03f940fc68e6795bf30687162a440

diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java
index cb46b6c6..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 */
@@ -140,16 +143,16 @@ public class AltosConfigData {
 	}
 
 	public int log_space() {
-		if (log_space > 0)
+		if (log_space != AltosLib.MISSING)
 			return log_space;
 
-		if (storage_size > 0) {
+		if (storage_size != AltosLib.MISSING) {
 			int	space = storage_size;
 
-			if (storage_erase_unit > 0 && use_flash_for_config())
+			if (storage_erase_unit != AltosLib.MISSING && use_flash_for_config())
 				space -= storage_erase_unit;
 
-			if (space > 0)
+			if (space != AltosLib.MISSING)
 				return space;
 		}
 		return 0;
@@ -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;
@@ -262,8 +285,8 @@ public class AltosConfigData {
 
 		aes_key = null;
 
-		pyro = 0;
-		npyro = 0;
+		pyro = AltosLib.MISSING;
+		npyro = AltosLib.MISSING;
 		pyros = null;
 		pyro_firing_time = 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 */
@@ -317,7 +393,6 @@ public class AltosConfigData {
 					String[] cfg = bits[2].split("\\.");
 
 					if (cfg.length >= 2) {
-						System.out.printf("major %s minor %s\n", cfg[0], cfg[1]);
 						config_major = Integer.parseInt(cfg[0]);
 						config_minor = Integer.parseInt(cfg[1]);
 					}
@@ -352,6 +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) {}
@@ -373,7 +449,7 @@ public class AltosConfigData {
 			pyros = new AltosPyro[npyro];
 			pyro = 0;
 		} catch (Exception e) {}
-		if (npyro > 0) {
+		if (npyro != AltosLib.MISSING) {
 			try {
 				AltosPyro p = new AltosPyro(pyro, line);
 				if (pyro < npyro)
@@ -406,7 +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]);
@@ -415,6 +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() {
@@ -437,23 +516,22 @@ public class AltosConfigData {
 	}
 
 	public boolean has_frequency() {
-		return radio_frequency >= 0 || radio_setting >= 0 || radio_channel >= 0;
+		return radio_frequency != AltosLib.MISSING || radio_setting != AltosLib.MISSING || radio_channel != AltosLib.MISSING;
 	}
 
 	public boolean has_telemetry_rate() {
-		return telemetry_rate >= 0;
+		return telemetry_rate != AltosLib.MISSING;
 	}
 
 	public void set_frequency(double freq) {
 		int	frequency = radio_frequency;
 		int	setting = radio_setting;
 
-		if (frequency > 0) {
+		if (frequency != AltosLib.MISSING) {
 			radio_frequency = (int) Math.floor (freq * 1000 + 0.5);
 			radio_channel = AltosLib.MISSING;
-		} else if (setting > 0) {
-			radio_setting =AltosConvert.radio_frequency_to_setting(freq,
-										    radio_calibration);
+		} else if (setting != AltosLib.MISSING) {
+			radio_setting =AltosConvert.radio_frequency_to_setting(freq, radio_calibration);
 			radio_channel = AltosLib.MISSING;
 		} else {
 			radio_channel = AltosConvert.radio_frequency_to_channel(freq);
@@ -464,12 +542,12 @@ public class AltosConfigData {
 		int	channel = radio_channel;
 		int	setting = radio_setting;
 
-		if (radio_frequency < 0 && channel < 0 && setting < 0)
+		if (radio_frequency == AltosLib.MISSING && channel == AltosLib.MISSING && setting == AltosLib.MISSING)
 			return AltosLib.MISSING;
 
-		if (channel < 0)
+		if (channel == AltosLib.MISSING)
 			channel = 0;
-		if (setting < 0)
+		if (setting == AltosLib.MISSING)
 			setting = 0;
 
 		return AltosConvert.radio_to_frequency(radio_frequency,
@@ -490,70 +568,78 @@ 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);
 	}
 
 	public void get_values(AltosConfigValues source) throws AltosConfigDataException {
 
 		/* HAS_FLIGHT */
-		if (main_deploy >= 0)
+		if (main_deploy != AltosLib.MISSING)
 			main_deploy = source.main_deploy();
-		if (apogee_delay >= 0)
+		if (apogee_delay != AltosLib.MISSING)
 			apogee_delay = source.apogee_delay();
-		if (apogee_lockout >= 0)
+		if (apogee_lockout != AltosLib.MISSING)
 			apogee_lockout = source.apogee_lockout();
 
 		/* HAS_RADIO */
 		if (has_frequency())
 			set_frequency(source.radio_frequency());
-		if (radio_enable >= 0)
+		if (radio_enable != AltosLib.MISSING)
 			radio_enable = source.radio_enable();
 		if (callsign != null)
 			callsign = source.callsign();
-		if (telemetry_rate >= 0)
+		if (telemetry_rate != AltosLib.MISSING)
 			telemetry_rate = source.telemetry_rate();
 
 		/* HAS_ACCEL */
-		if (pad_orientation >= 0)
+		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 >= 0)
+		if (flight_log_max != AltosLib.MISSING)
 			flight_log_max = source.flight_log_max();
 
 		/* HAS_IGNITE */
-		if (ignite_mode >= 0)
+		if (ignite_mode != AltosLib.MISSING)
 			ignite_mode = source.ignite_mode();
 
 		/* AO_PYRO_NUM */
-		if (npyro > 0)
+		if (npyro != AltosLib.MISSING)
 			pyros = source.pyros();
-		if (pyro_firing_time >= 0)
+		if (pyro_firing_time != AltosLib.MISSING)
 			pyro_firing_time = source.pyro_firing_time();
 
 		/* HAS_APRS */
-		if (aprs_interval >= 0)
+		if (aprs_interval != AltosLib.MISSING)
 			aprs_interval = source.aprs_interval();
-		if (aprs_ssid >= 0)
+		if (aprs_ssid != AltosLib.MISSING)
 			aprs_ssid = source.aprs_ssid();
-		if (aprs_format >= 0)
+		if (aprs_format != AltosLib.MISSING)
 			aprs_format = source.aprs_format();
 
 		/* HAS_BEEP */
-		if (beep >= 0)
+		if (beep != AltosLib.MISSING)
 			beep = source.beep();
 		/* HAS_TRACKER */
-		if (tracker_motion >= 0)
+		if (tracker_motion != AltosLib.MISSING)
 			tracker_motion = source.tracker_motion();
-		if (tracker_interval >= 0)
+		if (tracker_interval != AltosLib.MISSING)
 			tracker_interval = source.tracker_interval();
 	}
 
@@ -573,7 +659,7 @@ public class AltosConfigData {
 		if (log_space() == 0)
 			max_enabled = false;
 
-		if (log_fixed > 0)
+		if (log_fixed != AltosLib.MISSING)
 			max_enabled = false;
 
 		switch (log_format) {
@@ -581,7 +667,7 @@ public class AltosConfigData {
 			max_enabled = false;
 			break;
 		default:
-			if (stored_flight > 0)
+			if (stored_flight != AltosLib.MISSING)
 				max_enabled = false;
 			break;
 		}
@@ -592,8 +678,10 @@ 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 > 0)
+		if (npyro != AltosLib.MISSING)
 			dest.set_pyros(pyros);
 		else
 			dest.set_pyros(null);
@@ -617,17 +705,17 @@ public class AltosConfigData {
 	public void save(AltosLink link, boolean remote) throws InterruptedException, TimeoutException {
 
 		/* HAS_FLIGHT */
-		if (main_deploy >= 0)
+		if (main_deploy != AltosLib.MISSING)
 			link.printf("c m %d\n", main_deploy);
-		if (apogee_delay >= 0)
+		if (apogee_delay != AltosLib.MISSING)
 			link.printf("c d %d\n", apogee_delay);
-		if (apogee_lockout >= 0)
+		if (apogee_lockout != AltosLib.MISSING)
 			link.printf("c L %d\n", apogee_lockout);
 
 		/* HAS_RADIO */
 		if (has_frequency()) {
-			boolean has_frequency = radio_frequency >= 0;
-			boolean has_setting = radio_setting > 0;
+			boolean has_frequency = radio_frequency != AltosLib.MISSING;
+			boolean has_setting = radio_setting != AltosLib.MISSING;
 			double frequency = frequency();
 			link.set_radio_frequency(frequency,
 							has_frequency,
@@ -643,7 +731,7 @@ public class AltosConfigData {
 			}
 		}
 
-		if (telemetry_rate >= 0) {
+		if (telemetry_rate != AltosLib.MISSING) {
 			link.printf("c T %d\n", telemetry_rate);
 			if (remote) {
 				link.flush_output();
@@ -665,49 +753,53 @@ public class AltosConfigData {
 			}
 		}
 
-		if (radio_enable >= 0)
+		if (radio_enable != AltosLib.MISSING)
 			link.printf("c e %d\n", radio_enable);
 
 		/* HAS_ACCEL */
-		/* UI doesn't support accel cal */
-		if (pad_orientation >= 0)
+		/* 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)
 			link.printf("c l %d\n", flight_log_max);
 
 		/* HAS_IGNITE */
-		if (ignite_mode >= 0)
+		if (ignite_mode != AltosLib.MISSING)
 			link.printf("c i %d\n", ignite_mode);
 
 		/* HAS_AES */
 		/* UI doesn't support AES key config */
 
 		/* AO_PYRO_NUM */
-		if (npyro > 0) {
+		if (npyro != AltosLib.MISSING) {
 			for (int p = 0; p < pyros.length; p++) {
 				link.printf("c P %s\n",
 						   pyros[p].toString());
 			}
 		}
-		if (pyro_firing_time >= 0)
+		if (pyro_firing_time != AltosLib.MISSING)
 			link.printf("c I %d\n", (int) (pyro_firing_time * 100.0 + 0.5));
 
 		/* HAS_APRS */
-		if (aprs_interval >= 0)
+		if (aprs_interval != AltosLib.MISSING)
 			link.printf("c A %d\n", aprs_interval);
-		if (aprs_ssid >= 0)
+		if (aprs_ssid != AltosLib.MISSING)
 			link.printf("c S %d\n", aprs_ssid);
-		if (aprs_format >= 0)
+		if (aprs_format != AltosLib.MISSING)
 			link.printf("c C %d\n", aprs_format);
 
 		/* HAS_BEEP */
-		if (beep >= 0)
+		if (beep != AltosLib.MISSING)
 			link.printf("c b %d\n", beep);
 
 		/* HAS_TRACKER */
-		if (tracker_motion >= 0 && tracker_interval >= 0)
+		if (tracker_motion != AltosLib.MISSING && tracker_interval != AltosLib.MISSING)
 			link.printf("c t %d %d\n", tracker_motion, tracker_interval);
 
 		/* HAS_GYRO */