X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosEepromGPS.java;h=8c991a6e392a822a5094c406a77f27967f158437;hp=43ed3392c2fa8b27c9a37ae6d49c8abc6c20778c;hb=57f0ae384f3c206ea777dc7c93b594ae3901f354;hpb=5b976a6651f4eb05d30afc08b9e1f27c7e52ae00 diff --git a/altoslib/AltosEepromGPS.java b/altoslib/AltosEepromGPS.java index 43ed3392..8c991a6e 100644 --- a/altoslib/AltosEepromGPS.java +++ b/altoslib/AltosEepromGPS.java @@ -1,5 +1,5 @@ /* - * Copyright © 2011 Keith Packard + * Copyright © 2014 Keith Packard * * 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 @@ -15,58 +15,57 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_2; +package org.altusmetrum.altoslib_5; import java.io.*; import java.util.*; import java.text.*; public class AltosEepromGPS extends AltosEeprom { - public static final int record_length = 16; + public static final int record_length = 32; + + public static final int max_sat = 12; public int record_length() { return record_length; } /* AO_LOG_FLIGHT elements */ public int flight() { return data16(0); } - public int ground_accel() { return data16(2); } - public int ground_pres() { return data32(4); } - public int ground_temp() { return data32(8); } - - /* AO_LOG_STATE elements */ - public int state() { return data16(0); } - public int reason() { return data16(2); } - - /* AO_LOG_SENSOR elements */ - public int pres() { return data32(0); } - public int temp() { return data32(4); } - public int accel() { return data16(8); } + public int start_altitude() { return data16(2); } + public int start_latitude() { return data32(4); } + public int start_longitude() { return data32(8); } - /* AO_LOG_TEMP_VOLT elements */ - public int v_batt() { return data16(0); } - public int sense_a() { return data16(2); } - public int sense_m() { return data16(4); } - - /* AO_LOG_GPS_POS elements */ + /* AO_LOG_GPS_TIME elements */ public int latitude() { return data32(0); } public int longitude() { return data32(4); } - public int altitude() { return data16(8); } + public int altitude_low() { return data16(8); } + public int hour() { return data8(10); } + public int minute() { return data8(11); } + public int second() { return data8(12); } + public int flags() { return data8(13); } + public int year() { return data8(14); } + public int month() { return data8(15); } + public int day() { return data8(16); } + public int course() { return data8(17); } + public int ground_speed() { return data16(18); } + public int climb_rate() { return data16(20); } + public int pdop() { return data8(22); } + public int hdop() { return data8(23); } + public int vdop() { return data8(24); } + public int mode() { return data8(25); } + public int altitude_high() { return data16(26); } + + public boolean has_seconds() { return cmd == AltosLib.AO_LOG_GPS_TIME; } + + public int seconds() { + switch (cmd) { + case AltosLib.AO_LOG_GPS_TIME: + return second() + 60 * (minute() + 60 * (hour() + 24 * (day() + 31 * month()))); + default: + return 0; + } + } - /* AO_LOG_GPS_TIME elements */ - public int hour() { return data8(0); } - public int minute() { return data8(1); } - public int second() { return data8(2); } - public int flags() { return data8(3); } - public int year() { return data8(4); } - public int month() { return data8(5); } - public int day() { return data8(6); } - - /* AO_LOG_GPS_SAT elements */ - public int nsat() { return data8(0); } - public int more() { return data8(1); } - public int svid(int n) { return data8(2 + n * 2); } - public int c_n(int n) { return data8(2 + n * 2 + 1); } - - public AltosEepromMetrum2 (AltosEepromChunk chunk, int start) throws ParseException { + public AltosEepromGPS (AltosEepromChunk chunk, int start) throws ParseException { parse_chunk(chunk, start); } @@ -78,7 +77,6 @@ public class AltosEepromGPS extends AltosEeprom { /* Flush any pending GPS changes */ if (state.gps_pending) { switch (cmd) { - case AltosLib.AO_LOG_GPS_POS: case AltosLib.AO_LOG_GPS_LAT: case AltosLib.AO_LOG_GPS_LON: case AltosLib.AO_LOG_GPS_ALT: @@ -93,34 +91,21 @@ public class AltosEepromGPS extends AltosEeprom { switch (cmd) { case AltosLib.AO_LOG_FLIGHT: - state.set_flight(flight()); - state.set_ground_accel(ground_accel()); - state.set_ground_pressure(ground_pres()); -// state.set_temperature(ground_temp() / 100.0); - break; - case AltosLib.AO_LOG_STATE: - state.set_state(state()); - break; - case AltosLib.AO_LOG_SENSOR: - state.set_ms5607(pres(), temp()); - state.set_accel(accel()); - - break; - case AltosLib.AO_LOG_TEMP_VOLT: - state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt())); - - state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense_a())); - state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense_m())); - + if (state.flight == AltosLib.MISSING) { + state.set_boost_tick(tick); + state.set_flight(flight()); + } + /* no place to log start lat/lon yet */ break; - case AltosLib.AO_LOG_GPS_POS: - gps = state.make_temp_gps(); + case AltosLib.AO_LOG_GPS_TIME: + state.set_tick(tick); + gps = state.make_temp_gps(false); gps.lat = latitude() / 1e7; gps.lon = longitude() / 1e7; - gps.alt = altitude(); - break; - case AltosLib.AO_LOG_GPS_TIME: - gps = state.make_temp_gps(); + if (state.altitude_32()) + gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16); + else + gps.alt = altitude_low(); gps.hour = hour(); gps.minute = minute(); @@ -133,26 +118,37 @@ public class AltosEepromGPS extends AltosEeprom { gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> AltosLib.AO_GPS_NUM_SAT_SHIFT; - gps.year = year(); + gps.year = 2000 + year(); gps.month = month(); gps.day = day(); - break; - case AltosLib.AO_LOG_GPS_SAT: - gps = state.make_temp_gps(); - - int n = nsat(); - for (int i = 0; i < n; i++) - gps.add_sat(svid(i), c_n(i)); + gps.ground_speed = ground_speed() * 1.0e-2; + gps.course = course() * 2; + gps.climb_rate = climb_rate() * 1.0e-2; + if (state.compare_version("1.4.9") >= 0) { + gps.pdop = pdop() / 10.0; + gps.hdop = hdop() / 10.0; + gps.vdop = vdop() / 10.0; + } else { + gps.pdop = pdop() / 100.0; + if (gps.pdop < 0.8) + gps.pdop += 2.56; + gps.hdop = hdop() / 100.0; + if (gps.hdop < 0.8) + gps.hdop += 2.56; + gps.vdop = vdop() / 100.0; + if (gps.vdop < 0.8) + gps.vdop += 2.56; + } break; } } - public AltosEepromMetrum2 (String line) { + public AltosEepromGPS (String line) { parse_string(line); } static public LinkedList read(FileInputStream input) { - LinkedList megas = new LinkedList(); + LinkedList tgpss = new LinkedList(); for (;;) { try { @@ -160,9 +156,9 @@ public class AltosEepromGPS extends AltosEeprom { if (line == null) break; try { - AltosEepromMetrum2 mega = new AltosEepromMetrum2(line); - if (mega.cmd != AltosLib.AO_LOG_INVALID) - megas.add(mega); + AltosEepromGPS tgps = new AltosEepromGPS(line); + if (tgps.cmd != AltosLib.AO_LOG_INVALID) + tgpss.add(tgps); } catch (Exception e) { System.out.printf ("exception\n"); } @@ -171,6 +167,6 @@ public class AltosEepromGPS extends AltosEeprom { } } - return megas; + return tgpss; } }