X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosRecord.java;fp=altoslib%2FAltosRecord.java;h=e4915af0039818e8eaf7ed005a0ff7f7fa102e8d;hp=0000000000000000000000000000000000000000;hb=69e6df07976a56b49e07c242cd6e5b2cbd2a578d;hpb=9b659904109f992b8a3e61efb94e81cdb19af1c9 diff --git a/altoslib/AltosRecord.java b/altoslib/AltosRecord.java new file mode 100644 index 00000000..e4915af0 --- /dev/null +++ b/altoslib/AltosRecord.java @@ -0,0 +1,319 @@ +/* + * Copyright © 2010 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 + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.AltosLib; + +import java.lang.*; +import java.text.*; +import java.util.HashMap; +import java.io.*; + +public class AltosRecord implements Comparable { + public final static int MISSING = 0x7fffffff; + + public static final int seen_flight = 1; + public static final int seen_sensor = 2; + public static final int seen_temp_volt = 4; + public static final int seen_deploy = 8; + public static final int seen_gps_time = 16; + public static final int seen_gps_lat = 32; + public static final int seen_gps_lon = 64; + public static final int seen_companion = 128; + public int seen; + + public int version; + public String callsign; + public int serial; + public int flight; + public int rssi; + public int status; + public int state; + public int tick; + + public int accel; + public int pres; + public int temp; + public int batt; + public int drogue; + public int main; + + public int ground_accel; + public int ground_pres; + public int accel_plus_g; + public int accel_minus_g; + + public double acceleration; + public double speed; + public double height; + + public int flight_accel; + public int flight_vel; + public int flight_pres; + + public AltosGPS gps; + public boolean new_gps; + + public AltosIMU imu; + public AltosMag mag; + + public double time; /* seconds since boost */ + + public int device_type; + public int config_major; + public int config_minor; + public int apogee_delay; + public int main_deploy; + public int flight_log_max; + public String firmware_version; + + public AltosRecordCompanion companion; + +>>>>>>> 5a249bc... altosui: Complete split out of separate java library + /* + * Values for our MP3H6115A pressure sensor + * + * From the data sheet: + * + * Pressure range: 15-115 kPa + * Voltage at 115kPa: 2.82 + * Output scale: 27mV/kPa + * + * + * 27 mV/kPa * 2047 / 3300 counts/mV = 16.75 counts/kPa + * 2.82V * 2047 / 3.3 counts/V = 1749 counts/115 kPa + */ + + public static final double counts_per_kPa = 27 * 2047 / 3300; + public static final double counts_at_101_3kPa = 1674.0; + + public static double + barometer_to_pressure(double count) + { + return ((count / 16.0) / 2047.0 + 0.095) / 0.009 * 1000.0; + } + + public double raw_pressure() { + if (pres == MISSING) + return MISSING; + return barometer_to_pressure(pres); + } + + public double filtered_pressure() { + if (flight_pres == MISSING) + return MISSING; + return barometer_to_pressure(flight_pres); + } + + public double ground_pressure() { + if (ground_pres == MISSING) + return MISSING; + return barometer_to_pressure(ground_pres); + } + + public double raw_altitude() { + double p = raw_pressure(); + if (p == MISSING) + return MISSING; + return AltosConvert.pressure_to_altitude(p); + } + + public double ground_altitude() { + double p = ground_pressure(); + if (p == MISSING) + return MISSING; + return AltosConvert.pressure_to_altitude(p); + } + + public double filtered_altitude() { + if (height != MISSING && ground_pres != MISSING) + return height + ground_altitude(); + + double p = filtered_pressure(); + if (p == MISSING) + return MISSING; + return AltosConvert.pressure_to_altitude(p); + } + + public double filtered_height() { + if (height != MISSING) + return height; + + double f = filtered_altitude(); + double g = ground_altitude(); + if (f == MISSING || g == MISSING) + return MISSING; + return f - g; + } + + public double raw_height() { + double r = raw_altitude(); + double g = ground_altitude(); + + if (r == MISSING || g == MISSING) + return height; + return r - g; + } + + public double battery_voltage() { + if (batt == MISSING) + return MISSING; + return AltosConvert.cc_battery_to_voltage(batt); + } + + public double main_voltage() { + if (main == MISSING) + return MISSING; + return AltosConvert.cc_ignitor_to_voltage(main); + } + + public double drogue_voltage() { + if (drogue == MISSING) + return MISSING; + return AltosConvert.cc_ignitor_to_voltage(drogue); + } + + /* Value for the CC1111 built-in temperature sensor + * Output voltage at 0°C = 0.755V + * Coefficient = 0.00247V/°C + * Reference voltage = 1.25V + * + * temp = ((value / 32767) * 1.25 - 0.755) / 0.00247 + * = (value - 19791.268) / 32768 * 1.25 / 0.00247 + */ + + public static double + thermometer_to_temperature(double thermo) + { + return (thermo - 19791.268) / 32728.0 * 1.25 / 0.00247; + } + + public double temperature() { + if (temp == MISSING) + return MISSING; + return thermometer_to_temperature(temp); + } + + public double accel_counts_per_mss() { + double counts_per_g = Math.abs(accel_minus_g - accel_plus_g) / 2; + + return counts_per_g / 9.80665; + } + + public double acceleration() { + if (acceleration != MISSING) + return acceleration; + + if (ground_accel == MISSING || accel == MISSING) + return MISSING; + return (ground_accel - accel) / accel_counts_per_mss(); + } + + public double accel_speed() { + if (speed != MISSING) + return speed; + if (flight_vel == MISSING) + return MISSING; + return flight_vel / (accel_counts_per_mss() * 100.0); + } + + public String state() { + return AltosLib.state_name(state); + } + + public static String gets(FileInputStream s) throws IOException { + int c; + String line = ""; + + while ((c = s.read()) != -1) { + if (c == '\r') + continue; + if (c == '\n') { + return line; + } + line = line + (char) c; + } + return null; + } + + public int compareTo(AltosRecord o) { + return tick - o.tick; + } + + public AltosRecord(AltosRecord old) { + version = old.version; + seen = old.seen; + callsign = old.callsign; + serial = old.serial; + flight = old.flight; + rssi = old.rssi; + status = old.status; + state = old.state; + tick = old.tick; + accel = old.accel; + pres = old.pres; + temp = old.temp; + batt = old.batt; + drogue = old.drogue; + main = old.main; + flight_accel = old.flight_accel; + ground_accel = old.ground_accel; + flight_vel = old.flight_vel; + flight_pres = old.flight_pres; + ground_pres = old.ground_pres; + accel_plus_g = old.accel_plus_g; + accel_minus_g = old.accel_minus_g; + acceleration = old.acceleration; + speed = old.speed; + height = old.height; + gps = new AltosGPS(old.gps); + new_gps = false; + companion = old.companion; + imu = old.imu; + mag = old.mag; + } + + public AltosRecord() { + version = 0; + seen = 0; + callsign = "N0CALL"; + serial = 0; + flight = 0; + rssi = 0; + status = 0; + state = AltosLib.ao_flight_startup; + tick = 0; + accel = MISSING; + pres = MISSING; + temp = MISSING; + batt = MISSING; + drogue = MISSING; + main = MISSING; + flight_accel = 0; + ground_accel = 0; + flight_vel = 0; + flight_pres = 0; + ground_pres = 0; + accel_plus_g = 0; + accel_minus_g = 0; + acceleration = MISSING; + speed = MISSING; + height = MISSING; + gps = new AltosGPS(); + new_gps = false; + companion = null; + } +}