X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosEepromMega.java;h=f9bfb4a74f335267be931f1ac6c663866552ec9b;hp=b077e26cefd582d104963478d7eab42c633d06bd;hb=8a2be4d36a3b116d82529805430c5fb665688267;hpb=8d1d8d2a3c129cdbd55427bcda0f26715b02f1ee

diff --git a/altoslib/AltosEepromMega.java b/altoslib/AltosEepromMega.java
index b077e26c..f9bfb4a7 100644
--- a/altoslib/AltosEepromMega.java
+++ b/altoslib/AltosEepromMega.java
@@ -15,40 +15,58 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_5;
 
+import java.io.*;
+import java.util.*;
 import java.text.*;
 
-public class AltosEepromMega {
-	public int	cmd;
-	public int	tick;
-	public boolean	valid;
-	public String	data;
-	public int	config_a, config_b;
-
-	public int	data8[];
-
+public class AltosEepromMega extends AltosEeprom {
 	public static final int	record_length = 32;
-	static final int	header_length = 4;
-	static final int	data_length = record_length - header_length;
 
-	public int data8(int i) {
-		return data8[i];
-	}
+	public static final int max_sat = 12;
 
-	public int data16(int i) {
-		return ((data8[i] | (data8[i+1] << 8)) << 16) >> 16;
-	}
+	private int log_format;
 
-	public int data32(int i) {
-		return data8[i] | (data8[i+1] << 8) | (data8[i+2] << 16) | (data8[i+3] << 24);
-	}
+	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); }
+	public int ground_accel_along() { return data16(8); }
+	public int ground_accel_across() { return data16(10); }
+	public int ground_accel_through() { return data16(12); }
+	public int ground_roll() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+			return data32(16);
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return data16(14);
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+	public int ground_pitch() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+			return data32(20);
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return data16(16);
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+	public int ground_yaw() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+			return data32(24);
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return data16(18);
+		default:
+			return AltosLib.MISSING;
+		}
+	}
 
 	/* AO_LOG_STATE elements */
 	public int state() { return data16(0); }
@@ -68,16 +86,17 @@ public class AltosEepromMega {
 	public int mag_z() { return data16(24); }
 	public int accel() { return data16(26); }
 
-	/* AO_LOG_VOLT elements */
+	/* AO_LOG_TEMP_VOLT elements */
 	public int v_batt() { return data16(0); }
 	public int v_pbatt() { return data16(2); }
 	public int nsense() { return data16(4); }
 	public int sense(int i) { return data16(6 + i * 2); }
+	public int pyro() { return data16(26); }
 
 	/* 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); }
@@ -85,136 +104,183 @@ public class AltosEepromMega {
 	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); }
+
 	/* AO_LOG_GPS_SAT elements */
 	public int nsat() { return data16(0); }
 	public int svid(int n) { return data8(2 + n * 2); }
 	public int c_n(int n) { return data8(2 + n * 2 + 1); }
-	public AltosEepromMega (AltosEepromChunk chunk, int start) throws ParseException {
-		cmd = chunk.data(start);
-
-		valid = !chunk.erased(start, record_length);
-		if (valid) {
-			if (AltosConvert.checksum(chunk.data, start, record_length) != 0)
-				throw new ParseException(String.format("invalid checksum at 0x%x",
-								       chunk.address + start), 0);
-		} else {
-			cmd = AltosLib.AO_LOG_INVALID;
+
+	public AltosEepromMega (AltosEepromChunk chunk, int start, int log_format) throws ParseException {
+		this.log_format = log_format;
+		parse_chunk(chunk, start);
+	}
+
+	public void update_state(AltosState state) {
+		super.update_state(state);
+
+		AltosGPS	gps;
+
+		/* Flush any pending GPS changes */
+		if (state.gps_pending) {
+			switch (cmd) {
+			case AltosLib.AO_LOG_GPS_LAT:
+			case AltosLib.AO_LOG_GPS_LON:
+			case AltosLib.AO_LOG_GPS_ALT:
+			case AltosLib.AO_LOG_GPS_SAT:
+			case AltosLib.AO_LOG_GPS_DATE:
+				break;
+			default:
+				state.set_temp_gps();
+				break;
+			}
 		}
 
-		tick = chunk.data16(start+2);
+		switch (cmd) {
+		case AltosLib.AO_LOG_FLIGHT:
+			state.set_boost_tick(tick);
+			state.set_flight(flight());
+			state.set_ground_accel(ground_accel());
+			state.set_ground_pressure(ground_pres());
+			state.set_accel_ground(ground_accel_along(),
+					       ground_accel_across(),
+					       ground_accel_through());
+			state.set_gyro_zero(ground_roll() / 512.0,
+					    ground_pitch() / 512.0,
+					    ground_yaw() / 512.0);
+			break;
+		case AltosLib.AO_LOG_STATE:
+			state.set_tick(tick);
+			state.set_state(state());
+			break;
+		case AltosLib.AO_LOG_SENSOR:
+			state.set_tick(tick);
+			state.set_ms5607(pres(), temp());
+
+			AltosIMU	imu = new AltosIMU(accel_y(),	/* along */
+							   accel_x(),	/* across */
+							   accel_z(),	/* through */
+							   gyro_y(),	/* roll */
+							   gyro_x(),	/* pitch */
+							   gyro_z());	/* yaw */
 
-		data8 = new int[data_length];
-		for (int i = 0; i < data_length; i++)
-			data8[i] = chunk.data(start + header_length + i);
+			if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
+				state.check_imu_wrap(imu);
+
+			state.set_imu(imu);
+
+			state.set_mag(new AltosMag(mag_x(),
+						   mag_y(),
+						   mag_z()));
+
+			state.set_accel(accel());
+
+			break;
+		case AltosLib.AO_LOG_TEMP_VOLT:
+			state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
+			state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
+
+			int nsense = nsense();
+
+			state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
+			state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1)));
+
+			double voltages[] = new double[nsense-2];
+			for (int i = 0; i < nsense-2; i++)
+				voltages[i] = AltosConvert.mega_pyro_voltage(sense(i));
+
+			state.set_ignitor_voltage(voltages);
+			state.set_pyro_fired(pyro());
+			break;
+		case AltosLib.AO_LOG_GPS_TIME:
+			state.set_tick(tick);
+			gps = state.make_temp_gps(false);
+			gps.lat = latitude() / 1e7;
+			gps.lon = longitude() / 1e7;
+
+			if (state.altitude_32())
+				gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
+			else
+				gps.alt = altitude_low();
+
+			gps.hour = hour();
+			gps.minute = minute();
+			gps.second = second();
+
+			int flags = flags();
+
+			gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
+			gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
+			gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
+				AltosLib.AO_GPS_NUM_SAT_SHIFT;
+
+			gps.year = 2000 + year();
+			gps.month = month();
+			gps.day = day();
+			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;
+		case AltosLib.AO_LOG_GPS_SAT:
+			state.set_tick(tick);
+			gps = state.make_temp_gps(true);
+
+			int n = nsat();
+			if (n > max_sat)
+				n = max_sat;
+			for (int i = 0; i < n; i++)
+				gps.add_sat(svid(i), c_n(i));
+			break;
+		}
+	}
+
+	public AltosEepromMega (String line, int log_format) {
+		this.log_format = log_format;
+		parse_string(line);
 	}
 
-	public AltosEepromMega (String line) {
-		valid = false;
-		tick = 0;
+	static public LinkedList<AltosEeprom> read(FileInputStream input, int log_format) {
+		LinkedList<AltosEeprom> megas = new LinkedList<AltosEeprom>();
 
-		if (line == null) {
-			cmd = AltosLib.AO_LOG_INVALID;
-			line = "";
-		} else {
+		for (;;) {
 			try {
-				String[] tokens = line.split("\\s+");
-
-				if (tokens[0].length() == 1) {
-					if (tokens.length != 2 + data_length) {
-						cmd = AltosLib.AO_LOG_INVALID;
-						data = line;
-					} else {
-						cmd = tokens[0].codePointAt(0);
-						tick = Integer.parseInt(tokens[1],16);
-						valid = true;
-						data8 = new int[data_length];
-						for (int i = 0; i < data_length; i++)
-							data8[i] = Integer.parseInt(tokens[2 + i],16);
-					}
-				} else if (tokens[0].equals("Config") && tokens[1].equals("version:")) {
-					cmd = AltosLib.AO_LOG_CONFIG_VERSION;
-					data = tokens[2];
-				} else if (tokens[0].equals("Main") && tokens[1].equals("deploy:")) {
-					cmd = AltosLib.AO_LOG_MAIN_DEPLOY;
-					config_a = Integer.parseInt(tokens[2]);
-				} else if (tokens[0].equals("Apogee") && tokens[1].equals("delay:")) {
-					cmd = AltosLib.AO_LOG_APOGEE_DELAY;
-					config_a = Integer.parseInt(tokens[2]);
-				} else if (tokens[0].equals("Radio") && tokens[1].equals("channel:")) {
-					cmd = AltosLib.AO_LOG_RADIO_CHANNEL;
-					config_a = Integer.parseInt(tokens[2]);
-				} else if (tokens[0].equals("Callsign:")) {
-					cmd = AltosLib.AO_LOG_CALLSIGN;
-					data = tokens[1].replaceAll("\"","");
-				} else if (tokens[0].equals("Accel") && tokens[1].equals("cal")) {
-					cmd = AltosLib.AO_LOG_ACCEL_CAL;
-					config_a = Integer.parseInt(tokens[3]);
-					config_b = Integer.parseInt(tokens[5]);
-				} else if (tokens[0].equals("Radio") && tokens[1].equals("cal:")) {
-					cmd = AltosLib.AO_LOG_RADIO_CAL;
-					config_a = Integer.parseInt(tokens[2]);
-				} else if (tokens[0].equals("Max") && tokens[1].equals("flight") && tokens[2].equals("log:")) {
-					cmd = AltosLib.AO_LOG_MAX_FLIGHT_LOG;
-					config_a = Integer.parseInt(tokens[3]);
-				} else if (tokens[0].equals("manufacturer")) {
-					cmd = AltosLib.AO_LOG_MANUFACTURER;
-					data = tokens[1];
-				} else if (tokens[0].equals("product")) {
-					cmd = AltosLib.AO_LOG_PRODUCT;
-					data = tokens[1];
-				} else if (tokens[0].equals("serial-number")) {
-					cmd = AltosLib.AO_LOG_SERIAL_NUMBER;
-					config_a = Integer.parseInt(tokens[1]);
-				} else if (tokens[0].equals("log-format")) {
-					cmd = AltosLib.AO_LOG_LOG_FORMAT;
-					config_a = Integer.parseInt(tokens[1]);
-				} else if (tokens[0].equals("software-version")) {
-					cmd = AltosLib.AO_LOG_SOFTWARE_VERSION;
-					data = tokens[1];
-				} else if (tokens[0].equals("ms5607")) {
-					if (tokens[1].equals("reserved:")) {
-						cmd = AltosLib.AO_LOG_BARO_RESERVED;
-						config_a = Integer.parseInt(tokens[2]);
-					} else if (tokens[1].equals("sens:")) {
-						cmd = AltosLib.AO_LOG_BARO_SENS;
-						config_a = Integer.parseInt(tokens[2]);
-					} else if (tokens[1].equals("off:")) {
-						cmd = AltosLib.AO_LOG_BARO_OFF;
-						config_a = Integer.parseInt(tokens[2]);
-					} else if (tokens[1].equals("tcs:")) {
-						cmd = AltosLib.AO_LOG_BARO_TCS;
-						config_a = Integer.parseInt(tokens[2]);
-					} else if (tokens[1].equals("tco:")) {
-						cmd = AltosLib.AO_LOG_BARO_TCO;
-						config_a = Integer.parseInt(tokens[2]);
-					} else if (tokens[1].equals("tref:")) {
-						cmd = AltosLib.AO_LOG_BARO_TREF;
-						config_a = Integer.parseInt(tokens[2]);
-					} else if (tokens[1].equals("tempsens:")) {
-						cmd = AltosLib.AO_LOG_BARO_TEMPSENS;
-						config_a = Integer.parseInt(tokens[2]);
-					} else if (tokens[1].equals("crc:")) {
-						cmd = AltosLib.AO_LOG_BARO_CRC;
-						config_a = Integer.parseInt(tokens[2]);
-					} else {
-						cmd = AltosLib.AO_LOG_INVALID;
-						data = line;
-					}
-				} else {
-					cmd = AltosLib.AO_LOG_INVALID;
-					data = line;
+				String line = AltosLib.gets(input);
+				if (line == null)
+					break;
+				try {
+					AltosEepromMega mega = new AltosEepromMega(line, log_format);
+					if (mega.cmd != AltosLib.AO_LOG_INVALID)
+						megas.add(mega);
+				} catch (Exception e) {
+					System.out.printf ("exception\n");
 				}
-			} catch (NumberFormatException ne) {
-				cmd = AltosLib.AO_LOG_INVALID;
-				data = line;
+			} catch (IOException ie) {
+				break;
 			}
 		}
-	}
 
-	public AltosEepromMega(int in_cmd, int in_tick) {
-		cmd = in_cmd;
-		tick = in_tick;
-		valid = true;
+		return megas;
 	}
 }