X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosTelemetry.java;h=54dd04dac4c2695f006f4b73528a47d556ac98f4;hp=e93e6601ea417bece40a9f68c9a08c6e67228558;hb=db950e97caefdd3257c1a2de3547ab88a2bd2344;hpb=a61217f0a6d0ef48b6471f632c4600255867e831

diff --git a/altoslib/AltosTelemetry.java b/altoslib/AltosTelemetry.java
index e93e6601..54dd04da 100644
--- a/altoslib/AltosTelemetry.java
+++ b/altoslib/AltosTelemetry.java
@@ -16,7 +16,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_12;
+package org.altusmetrum.altoslib_14;
 
 import java.text.*;
 
@@ -28,8 +28,11 @@ public abstract class AltosTelemetry implements AltosDataProvider {
 	int[]	bytes;
 
 	/* All telemetry packets have these fields */
-	public int rssi() { return AltosConvert.telem_to_rssi(AltosLib.int8(bytes, bytes.length - 3)); }
-	public int status() { return AltosLib.uint8(bytes, bytes.length - 2); }
+	static public int rssi(int[] bytes) { return AltosConvert.telem_to_rssi(AltosLib.int8(bytes, bytes.length - 3)); }
+	static public int status(int[] bytes) { return AltosLib.uint8(bytes, bytes.length - 2); }
+
+	public int rssi() { return rssi(bytes); }
+	public int status() { return status(bytes); }
 
 	/* All telemetry packets report these fields in some form */
 	public abstract int serial();
@@ -38,6 +41,9 @@ public abstract class AltosTelemetry implements AltosDataProvider {
 	/* Mark when we received the packet */
 	long		received_time;
 
+	/* Mark frequency packet was received on */
+	public double		frequency = AltosLib.MISSING;
+
 	static boolean cksum(int[] bytes) {
 		int	sum = 0x5a;
 		for (int i = 1; i < bytes.length - 1; i++)
@@ -46,12 +52,13 @@ public abstract class AltosTelemetry implements AltosDataProvider {
 		return sum == bytes[bytes.length - 1];
 	}
 
-	public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
-		cal_data.set_serial(serial());
-		if (listener.state == AltosLib.ao_flight_invalid)
+	public void provide_data(AltosDataListener listener) {
+		listener.set_serial(serial());
+		if (listener.state() == AltosLib.ao_flight_invalid)
 			listener.set_state(AltosLib.ao_flight_startup);
-		cal_data.set_tick(tick());
-		listener.set_time(cal_data.time());
+		if (frequency != AltosLib.MISSING)
+			listener.set_frequency(frequency);
+		listener.set_tick(tick());
 		listener.set_rssi(rssi(), status());
 		listener.set_received_time(received_time);
 	}
@@ -67,12 +74,14 @@ public abstract class AltosTelemetry implements AltosDataProvider {
 	final static int packet_type_location = 0x05;
 	final static int packet_type_satellite = 0x06;
 	final static int packet_type_companion = 0x07;
-	final static int packet_type_mega_sensor = 0x08;
+	final static int packet_type_mega_sensor_mpu = 0x08;
 	final static int packet_type_mega_data = 0x09;
 	final static int packet_type_metrum_sensor = 0x0a;
 	final static int packet_type_metrum_data = 0x0b;
 	final static int packet_type_mini2 = 0x10;
 	final static int packet_type_mini3 = 0x11;
+	final static int packet_type_mega_sensor_bmx160 = 0x12;
+	final static int packet_type_mega_norm_mpu6000_mmc5983 = 0x13;
 
 	static AltosTelemetry parse_hex(String hex)  throws ParseException, AltosCRCException {
 		AltosTelemetry	telem = null;
@@ -92,6 +101,9 @@ public abstract class AltosTelemetry implements AltosDataProvider {
 		if (!cksum(bytes))
 			throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
 
+		if ((status(bytes) & PKT_APPEND_STATUS_1_CRC_OK) == 0)
+			throw new AltosCRCException(rssi(bytes));
+
 		/* length, data ..., rssi, status, checksum -- 4 bytes extra */
 		switch (bytes.length) {
 		case AltosLib.ao_telemetry_standard_len + 4:
@@ -109,6 +121,10 @@ public abstract class AltosTelemetry implements AltosDataProvider {
 		return telem;
 	}
 
+	public void set_frequency(double frequency) {
+		this.frequency = frequency;
+	}
+
 	public AltosTelemetry() {
 		this.received_time = System.currentTimeMillis();
 	}