import libaltosJNI.*;
-public class Altos {
- /* EEProm command letters */
- static final int AO_LOG_FLIGHT = 'F';
- static final int AO_LOG_SENSOR = 'A';
- static final int AO_LOG_TEMP_VOLT = 'T';
- static final int AO_LOG_DEPLOY = 'D';
- static final int AO_LOG_STATE = 'S';
- static final int AO_LOG_GPS_TIME = 'G';
- static final int AO_LOG_GPS_LAT = 'N';
- static final int AO_LOG_GPS_LON = 'W';
- static final int AO_LOG_GPS_ALT = 'H';
- static final int AO_LOG_GPS_SAT = 'V';
- static final int AO_LOG_GPS_DATE = 'Y';
- static final int AO_LOG_PRESSURE = 'P';
+import org.altusmetrum.AltosLib.*;
+
+public class Altos extends AltosLib {
/* Added for header fields in eeprom files */
static final int AO_LOG_CONFIG_VERSION = 1000;
static boolean map_initialized = false;
static final int tab_elt_pad = 5;
-
static Font label_font;
static Font value_font;
static Font status_font;
+++ /dev/null
-/*
- * Copyright © 2010 Keith Packard <keithp@keithp.com>
- *
- * 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 altosui;
-
-public class AltosCRCException extends Exception {
- public int rssi;
-
- public AltosCRCException (int in_rssi) {
- rssi = in_rssi;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2010 Keith Packard <keithp@keithp.com>
- *
- * 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.
- */
-
-/*
- * Sensor data conversion functions
- */
-package altosui;
-
-public class AltosConvert {
- /*
- * Pressure Sensor Model, version 1.1
- *
- * written by Holly Grimes
- *
- * Uses the International Standard Atmosphere as described in
- * "A Quick Derivation relating altitude to air pressure" (version 1.03)
- * from the Portland State Aerospace Society, except that the atmosphere
- * is divided into layers with each layer having a different lapse rate.
- *
- * Lapse rate data for each layer was obtained from Wikipedia on Sept. 1, 2007
- * at site <http://en.wikipedia.org/wiki/International_Standard_Atmosphere
- *
- * Height measurements use the local tangent plane. The postive z-direction is up.
- *
- * All measurements are given in SI units (Kelvin, Pascal, meter, meters/second^2).
- * The lapse rate is given in Kelvin/meter, the gas constant for air is given
- * in Joules/(kilogram-Kelvin).
- */
-
- static final double GRAVITATIONAL_ACCELERATION = -9.80665;
- static final double AIR_GAS_CONSTANT = 287.053;
- static final double NUMBER_OF_LAYERS = 7;
- static final double MAXIMUM_ALTITUDE = 84852.0;
- static final double MINIMUM_PRESSURE = 0.3734;
- static final double LAYER0_BASE_TEMPERATURE = 288.15;
- static final double LAYER0_BASE_PRESSURE = 101325;
-
- /* lapse rate and base altitude for each layer in the atmosphere */
- static final double[] lapse_rate = {
- -0.0065, 0.0, 0.001, 0.0028, 0.0, -0.0028, -0.002
- };
-
- static final int[] base_altitude = {
- 0, 11000, 20000, 32000, 47000, 51000, 71000
- };
-
- /* outputs atmospheric pressure associated with the given altitude.
- * altitudes are measured with respect to the mean sea level
- */
- static double
- altitude_to_pressure(double altitude)
- {
- double base_temperature = LAYER0_BASE_TEMPERATURE;
- double base_pressure = LAYER0_BASE_PRESSURE;
-
- double pressure;
- double base; /* base for function to determine pressure */
- double exponent; /* exponent for function to determine pressure */
- int layer_number; /* identifies layer in the atmosphere */
- double delta_z; /* difference between two altitudes */
-
- if (altitude > MAXIMUM_ALTITUDE) /* FIX ME: use sensor data to improve model */
- return 0;
-
- /* calculate the base temperature and pressure for the atmospheric layer
- associated with the inputted altitude */
- for(layer_number = 0; layer_number < NUMBER_OF_LAYERS - 1 && altitude > base_altitude[layer_number + 1]; layer_number++) {
- delta_z = base_altitude[layer_number + 1] - base_altitude[layer_number];
- if (lapse_rate[layer_number] == 0.0) {
- exponent = GRAVITATIONAL_ACCELERATION * delta_z
- / AIR_GAS_CONSTANT / base_temperature;
- base_pressure *= Math.exp(exponent);
- }
- else {
- base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
- exponent = GRAVITATIONAL_ACCELERATION /
- (AIR_GAS_CONSTANT * lapse_rate[layer_number]);
- base_pressure *= Math.pow(base, exponent);
- }
- base_temperature += delta_z * lapse_rate[layer_number];
- }
-
- /* calculate the pressure at the inputted altitude */
- delta_z = altitude - base_altitude[layer_number];
- if (lapse_rate[layer_number] == 0.0) {
- exponent = GRAVITATIONAL_ACCELERATION * delta_z
- / AIR_GAS_CONSTANT / base_temperature;
- pressure = base_pressure * Math.exp(exponent);
- }
- else {
- base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
- exponent = GRAVITATIONAL_ACCELERATION /
- (AIR_GAS_CONSTANT * lapse_rate[layer_number]);
- pressure = base_pressure * Math.pow(base, exponent);
- }
-
- return pressure;
- }
-
-
-/* outputs the altitude associated with the given pressure. the altitude
- returned is measured with respect to the mean sea level */
- static double
- pressure_to_altitude(double pressure)
- {
-
- double next_base_temperature = LAYER0_BASE_TEMPERATURE;
- double next_base_pressure = LAYER0_BASE_PRESSURE;
-
- double altitude;
- double base_pressure;
- double base_temperature;
- double base; /* base for function to determine base pressure of next layer */
- double exponent; /* exponent for function to determine base pressure
- of next layer */
- double coefficient;
- int layer_number; /* identifies layer in the atmosphere */
- int delta_z; /* difference between two altitudes */
-
- if (pressure < 0) /* illegal pressure */
- return -1;
- if (pressure < MINIMUM_PRESSURE) /* FIX ME: use sensor data to improve model */
- return MAXIMUM_ALTITUDE;
-
- /* calculate the base temperature and pressure for the atmospheric layer
- associated with the inputted pressure. */
- layer_number = -1;
- do {
- layer_number++;
- base_pressure = next_base_pressure;
- base_temperature = next_base_temperature;
- delta_z = base_altitude[layer_number + 1] - base_altitude[layer_number];
- if (lapse_rate[layer_number] == 0.0) {
- exponent = GRAVITATIONAL_ACCELERATION * delta_z
- / AIR_GAS_CONSTANT / base_temperature;
- next_base_pressure *= Math.exp(exponent);
- }
- else {
- base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
- exponent = GRAVITATIONAL_ACCELERATION /
- (AIR_GAS_CONSTANT * lapse_rate[layer_number]);
- next_base_pressure *= Math.pow(base, exponent);
- }
- next_base_temperature += delta_z * lapse_rate[layer_number];
- }
- while(layer_number < NUMBER_OF_LAYERS - 1 && pressure < next_base_pressure);
-
- /* calculate the altitude associated with the inputted pressure */
- if (lapse_rate[layer_number] == 0.0) {
- coefficient = (AIR_GAS_CONSTANT / GRAVITATIONAL_ACCELERATION)
- * base_temperature;
- altitude = base_altitude[layer_number]
- + coefficient * Math.log(pressure / base_pressure);
- }
- else {
- base = pressure / base_pressure;
- exponent = AIR_GAS_CONSTANT * lapse_rate[layer_number]
- / GRAVITATIONAL_ACCELERATION;
- coefficient = base_temperature / lapse_rate[layer_number];
- altitude = base_altitude[layer_number]
- + coefficient * (Math.pow(base, exponent) - 1);
- }
-
- return altitude;
- }
-
- static double
- cc_battery_to_voltage(double battery)
- {
- return battery / 32767.0 * 5.0;
- }
-
- static double
- cc_ignitor_to_voltage(double ignite)
- {
- return ignite / 32767 * 15.0;
- }
-
- static double radio_to_frequency(int freq, int setting, int cal, int channel) {
- double f;
-
- if (freq > 0)
- f = freq / 1000.0;
- else {
- if (setting <= 0)
- setting = cal;
- f = 434.550 * setting / cal;
- /* Round to nearest 50KHz */
- f = Math.floor (20.0 * f + 0.5) / 20.0;
- }
- return f + channel * 0.100;
- }
-
- static int radio_frequency_to_setting(double frequency, int cal) {
- double set = frequency / 434.550 * cal;
-
- return (int) Math.floor (set + 0.5);
- }
-
- static int radio_frequency_to_channel(double frequency) {
- int channel = (int) Math.floor ((frequency - 434.550) / 0.100 + 0.5);
-
- if (channel < 0)
- channel = 0;
- if (channel > 9)
- channel = 9;
- return channel;
- }
-
- static double radio_channel_to_frequency(int channel) {
- return 434.550 + channel * 0.100;
- }
-
- static int[] ParseHex(String line) {
- String[] tokens = line.split("\\s+");
- int[] array = new int[tokens.length];
-
- for (int i = 0; i < tokens.length; i++)
- try {
- array[i] = Integer.parseInt(tokens[i], 16);
- } catch (NumberFormatException ne) {
- return null;
- }
- return array;
- }
-
- static double meters_to_feet(double meters) {
- return meters * (100 / (2.54 * 12));
- }
-
- static double meters_to_mach(double meters) {
- return meters / 343; /* something close to mach at usual rocket sites */
- }
-
- static double meters_to_g(double meters) {
- return meters / 9.80665;
- }
-
- static int checksum(int[] data, int start, int length) {
- int csum = 0x5a;
- for (int i = 0; i < length; i++)
- csum += data[i + start];
- return csum & 0xff;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * 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 altosui;
-
-public interface AltosFontListener {
- void font_size_changed(int font_size);
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * 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 altosui;
-
-import java.awt.*;
-import java.awt.event.*;
-import javax.swing.*;
-import javax.swing.filechooser.FileNameExtensionFilter;
-import javax.swing.table.*;
-import javax.swing.event.*;
-import javax.swing.plaf.basic.*;
-import java.io.*;
-import java.util.*;
-import java.text.*;
-import java.util.prefs.*;
-import java.util.concurrent.*;
-
-public class AltosFrequency {
- double frequency;
- String description;
-
- public String toString() {
- return String.format("%7.3f MHz %-20s",
- frequency, description);
- }
-
- public String toShortString() {
- return String.format("%7.3f MHz %s",
- frequency, description);
- }
-
- public boolean close(double f) {
- double diff = Math.abs(frequency - f);
-
- return diff < 0.010;
- }
-
- public AltosFrequency(double f, String d) {
- frequency = f;
- description = d;
- }
-}
\ No newline at end of file
+++ /dev/null
-/*
- * Copyright © 2010 Keith Packard <keithp@keithp.com>
- *
- * 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 altosui;
-
-import java.lang.*;
-import java.text.*;
-
-public class AltosGPS {
-
- final static int MISSING = AltosRecord.MISSING;
-
- int nsat;
- boolean locked;
- boolean connected;
- double lat; /* degrees (+N -S) */
- double lon; /* degrees (+E -W) */
- int alt; /* m */
- int year;
- int month;
- int day;
- int hour;
- int minute;
- int second;
-
- double ground_speed; /* m/s */
- int course; /* degrees */
- double climb_rate; /* m/s */
- double hdop; /* unitless */
- double vdop; /* unitless */
- int h_error; /* m */
- int v_error; /* m */
-
- AltosGPSSat[] cc_gps_sat; /* tracking data */
-
- void ParseGPSDate(String date) throws ParseException {
- String[] ymd = date.split("-");
- if (ymd.length != 3)
- throw new ParseException("error parsing GPS date " + date + " got " + ymd.length, 0);
- year = AltosParse.parse_int(ymd[0]);
- month = AltosParse.parse_int(ymd[1]);
- day = AltosParse.parse_int(ymd[2]);
- }
-
- void ParseGPSTime(String time) throws ParseException {
- String[] hms = time.split(":");
- if (hms.length != 3)
- throw new ParseException("Error parsing GPS time " + time + " got " + hms.length, 0);
- hour = AltosParse.parse_int(hms[0]);
- minute = AltosParse.parse_int(hms[1]);
- second = AltosParse.parse_int(hms[2]);
- }
-
- void ClearGPSTime() {
- year = month = day = 0;
- hour = minute = second = 0;
- }
-
- public AltosGPS(AltosTelemetryMap map) throws ParseException {
- String state = map.get_string(AltosTelemetry.AO_TELEM_GPS_STATE,
- AltosTelemetry.AO_TELEM_GPS_STATE_ERROR);
-
- nsat = map.get_int(AltosTelemetry.AO_TELEM_GPS_NUM_SAT, 0);
- if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_LOCKED)) {
- connected = true;
- locked = true;
- lat = map.get_double(AltosTelemetry.AO_TELEM_GPS_LATITUDE, MISSING, 1.0e-7);
- lon = map.get_double(AltosTelemetry.AO_TELEM_GPS_LONGITUDE, MISSING, 1.0e-7);
- alt = map.get_int(AltosTelemetry.AO_TELEM_GPS_ALTITUDE, MISSING);
- year = map.get_int(AltosTelemetry.AO_TELEM_GPS_YEAR, MISSING);
- if (year != MISSING)
- year += 2000;
- month = map.get_int(AltosTelemetry.AO_TELEM_GPS_MONTH, MISSING);
- day = map.get_int(AltosTelemetry.AO_TELEM_GPS_DAY, MISSING);
-
- hour = map.get_int(AltosTelemetry.AO_TELEM_GPS_HOUR, 0);
- minute = map.get_int(AltosTelemetry.AO_TELEM_GPS_MINUTE, 0);
- second = map.get_int(AltosTelemetry.AO_TELEM_GPS_SECOND, 0);
-
- ground_speed = map.get_double(AltosTelemetry.AO_TELEM_GPS_HORIZONTAL_SPEED,
- AltosRecord.MISSING, 1/100.0);
- course = map.get_int(AltosTelemetry.AO_TELEM_GPS_COURSE,
- AltosRecord.MISSING);
- hdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_HDOP, MISSING, 1.0);
- vdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_VDOP, MISSING, 1.0);
- h_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_HERROR, MISSING);
- v_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_VERROR, MISSING);
- } else if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_UNLOCKED)) {
- connected = true;
- locked = false;
- } else {
- connected = false;
- locked = false;
- }
- }
-
- public AltosGPS(String[] words, int i, int version) throws ParseException {
- AltosParse.word(words[i++], "GPS");
- nsat = AltosParse.parse_int(words[i++]);
- AltosParse.word(words[i++], "sat");
-
- connected = false;
- locked = false;
- lat = lon = 0;
- alt = 0;
- ClearGPSTime();
- if ((words[i]).equals("unlocked")) {
- connected = true;
- i++;
- } else if ((words[i]).equals("not-connected")) {
- i++;
- } else if (words.length >= 40) {
- locked = true;
- connected = true;
-
- if (version > 1)
- ParseGPSDate(words[i++]);
- else
- year = month = day = 0;
- ParseGPSTime(words[i++]);
- lat = AltosParse.parse_coord(words[i++]);
- lon = AltosParse.parse_coord(words[i++]);
- alt = AltosParse.parse_int(words[i++]);
- if (version > 1 || (i < words.length && !words[i].equals("SAT"))) {
- ground_speed = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(H)"));
- course = AltosParse.parse_int(words[i++]);
- climb_rate = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(V)"));
- hdop = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "(hdop)"));
- h_error = AltosParse.parse_int(words[i++]);
- v_error = AltosParse.parse_int(words[i++]);
- }
- } else {
- i++;
- }
- if (i < words.length) {
- AltosParse.word(words[i++], "SAT");
- int tracking_channels = 0;
- if (words[i].equals("not-connected"))
- tracking_channels = 0;
- else
- tracking_channels = AltosParse.parse_int(words[i]);
- i++;
- cc_gps_sat = new AltosGPSSat[tracking_channels];
- for (int chan = 0; chan < tracking_channels; chan++) {
- cc_gps_sat[chan] = new AltosGPSSat();
- cc_gps_sat[chan].svid = AltosParse.parse_int(words[i++]);
- /* Older versions included SiRF status bits */
- if (version < 2)
- i++;
- cc_gps_sat[chan].c_n0 = AltosParse.parse_int(words[i++]);
- }
- } else
- cc_gps_sat = new AltosGPSSat[0];
- }
-
- public void set_latitude(int in_lat) {
- lat = in_lat / 10.0e7;
- }
-
- public void set_longitude(int in_lon) {
- lon = in_lon / 10.0e7;
- }
-
- public void set_time(int hour, int minute, int second) {
- hour = hour;
- minute = minute;
- second = second;
- }
-
- public void set_date(int year, int month, int day) {
- year = year;
- month = month;
- day = day;
- }
-
- public void set_flags(int flags) {
- flags = flags;
- }
-
- public void set_altitude(int altitude) {
- altitude = altitude;
- }
-
- public void add_sat(int svid, int c_n0) {
- if (cc_gps_sat == null) {
- cc_gps_sat = new AltosGPSSat[1];
- } else {
- AltosGPSSat[] new_gps_sat = new AltosGPSSat[cc_gps_sat.length + 1];
- for (int i = 0; i < cc_gps_sat.length; i++)
- new_gps_sat[i] = cc_gps_sat[i];
- cc_gps_sat = new_gps_sat;
- }
- AltosGPSSat sat = new AltosGPSSat();
- sat.svid = svid;
- sat.c_n0 = c_n0;
- cc_gps_sat[cc_gps_sat.length - 1] = sat;
- }
-
- public AltosGPS() {
- ClearGPSTime();
- cc_gps_sat = null;
- }
-
- public AltosGPS(AltosGPS old) {
- nsat = old.nsat;
- locked = old.locked;
- connected = old.connected;
- lat = old.lat; /* degrees (+N -S) */
- lon = old.lon; /* degrees (+E -W) */
- alt = old.alt; /* m */
- year = old.year;
- month = old.month;
- day = old.day;
- hour = old.hour;
- minute = old.minute;
- second = old.second;
-
- ground_speed = old.ground_speed; /* m/s */
- course = old.course; /* degrees */
- climb_rate = old.climb_rate; /* m/s */
- hdop = old.hdop; /* unitless? */
- h_error = old.h_error; /* m */
- v_error = old.v_error; /* m */
-
- if (old.cc_gps_sat != null) {
- cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
- for (int i = 0; i < old.cc_gps_sat.length; i++) {
- cc_gps_sat[i] = new AltosGPSSat();
- cc_gps_sat[i].svid = old.cc_gps_sat[i].svid;
- cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0;
- }
- }
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * 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 altosui;
-
-public class AltosGPSSat {
- int svid;
- int c_n0;
-
- public AltosGPSSat(int s, int c) {
- svid = s;
- c_n0= c;
- }
-
- public AltosGPSSat() {
- }
-}
-
+++ /dev/null
-/*
- * Copyright © 2010 Keith Packard <keithp@keithp.com>
- *
- * 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 altosui;
-
-public class AltosLine {
- public String line;
-
- public AltosLine() {
- line = null;
- }
-
- public AltosLine(String s) {
- line = s;
- }
-}
\ No newline at end of file
+++ /dev/null
-/*
- * Copyright © 2010 Keith Packard <keithp@keithp.com>
- *
- * 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 altosui;
-
-import java.text.*;
-import java.lang.*;
-
-public class AltosParse {
- static boolean isdigit(char c) {
- return '0' <= c && c <= '9';
- }
-
- static int parse_int(String v) throws ParseException {
- try {
- return Altos.fromdec(v);
- } catch (NumberFormatException e) {
- throw new ParseException("error parsing int " + v, 0);
- }
- }
-
- static int parse_hex(String v) throws ParseException {
- try {
- return Altos.fromhex(v);
- } catch (NumberFormatException e) {
- throw new ParseException("error parsing hex " + v, 0);
- }
- }
-
- static double parse_double(String v) throws ParseException {
- try {
- return Double.parseDouble(v);
- } catch (NumberFormatException e) {
- throw new ParseException("error parsing double " + v, 0);
- }
- }
-
- static double parse_coord(String coord) throws ParseException {
- String[] dsf = coord.split("\\D+");
-
- if (dsf.length != 3) {
- throw new ParseException("error parsing coord " + coord, 0);
- }
- int deg = parse_int(dsf[0]);
- int min = parse_int(dsf[1]);
- int frac = parse_int(dsf[2]);
-
- double r = deg + (min + frac / 10000.0) / 60.0;
- if (coord.endsWith("S") || coord.endsWith("W"))
- r = -r;
- return r;
- }
-
- static String strip_suffix(String v, String suffix) {
- if (v.endsWith(suffix))
- return v.substring(0, v.length() - suffix.length());
- return v;
- }
-
- static void word(String v, String m) throws ParseException {
- if (!v.equals(m)) {
- throw new ParseException("error matching '" + v + "' '" + m + "'", 0);
- }
- }
-}
+++ /dev/null
-/*
- * Copyright © 2010 Keith Packard <keithp@keithp.com>
- *
- * 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 altosui;
-
-import java.lang.*;
-import java.text.*;
-import java.util.HashMap;
-import java.io.*;
-
-public class AltosRecord implements Comparable <AltosRecord> {
- final static int MISSING = 0x7fffffff;
-
- static final int seen_flight = 1;
- static final int seen_sensor = 2;
- static final int seen_temp_volt = 4;
- static final int seen_deploy = 8;
- static final int seen_gps_time = 16;
- static final int seen_gps_lat = 32;
- static final int seen_gps_lon = 64;
- static final int seen_companion = 128;
- int seen;
-
- int version;
- String callsign;
- int serial;
- int flight;
- int rssi;
- int status;
- int state;
- int tick;
-
- int accel;
- int pres;
- int temp;
- int batt;
- int drogue;
- int main;
-
- int ground_accel;
- int ground_pres;
- int accel_plus_g;
- int accel_minus_g;
-
- double acceleration;
- double speed;
- double height;
-
- int flight_accel;
- int flight_vel;
- int flight_pres;
-
- AltosGPS gps;
- boolean new_gps;
-
- AltosIMU imu;
- AltosMag mag;
-
- double time; /* seconds since boost */
-
- int device_type;
- int config_major;
- int config_minor;
- int apogee_delay;
- int main_deploy;
- int flight_log_max;
- String firmware_version;
-
- AltosRecordCompanion companion;
- /*
- * 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
- */
-
- static final double counts_per_kPa = 27 * 2047 / 3300;
- static final double counts_at_101_3kPa = 1674.0;
-
- 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
- */
-
- 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);
- }
-
- 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 Altos.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 = Altos.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;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * 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 altosui;
-
-public class AltosRecordCompanion {
- final static int board_id_telescience = 0x0a;
- final static int MAX_CHANNELS = 12;
-
- int tick;
- int board_id;
- int update_period;
- int channels;
- int[] companion_data;
-
- public AltosRecordCompanion(int in_channels) {
- channels = in_channels;
- if (channels < 0)
- channels = 0;
- if (channels > MAX_CHANNELS)
- channels = MAX_CHANNELS;
- companion_data = new int[channels];
- }
-}
+++ /dev/null
-/*
- * Copyright © 2010 Keith Packard <keithp@keithp.com>
- *
- * 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 altosui;
-
-import java.awt.*;
-import java.awt.event.*;
-import javax.swing.*;
-import javax.swing.filechooser.FileNameExtensionFilter;
-import javax.swing.table.*;
-import java.io.*;
-import java.util.*;
-import java.text.*;
-import java.util.prefs.*;
-import java.util.concurrent.LinkedBlockingQueue;
-
-public abstract class AltosRecordIterable implements Iterable<AltosRecord> {
- public abstract Iterator<AltosRecord> iterator();
- public void write_comments(PrintStream out) { }
- public boolean has_accel() { return false; }
- public boolean has_gps() { return false; }
- public boolean has_ignite() { return false; };
-}
+++ /dev/null
-/*
- * Copyright © 2010 Keith Packard <keithp@keithp.com>
- *
- * 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 altosui;
-
-import java.lang.*;
-import java.text.*;
-import java.util.HashMap;
-
-/*
- * Telemetry data contents
- */
-
-
-/*
- * The packet format is a simple hex dump of the raw telemetry frame.
- * It starts with 'TELEM', then contains hex digits with a checksum as the last
- * byte on the line.
- *
- * Version 4 is a replacement with consistent syntax. Each telemetry line
- * contains a sequence of space-separated names and values, the values are
- * either integers or strings. The names are all unique. All values are
- * optional
- *
- * VERSION 4 c KD7SQG n 236 f 18 r -25 s pad t 513 r_a 15756 r_b 26444 r_t 20944
- * r_v 26640 r_d 512 r_m 208 c_a 15775 c_b 26439 c_p 15749 c_m 16281 a_a 15764
- * a_s 0 a_b 26439 g_s u g_n 0 s_n 0
- *
- * VERSION 4 c KD7SQG n 19 f 0 r -23 s pad t 513 r_b 26372 r_t 21292 r_v 26788
- * r_d 136 r_m 140 c_b 26370 k_h 0 k_s 0 k_a 0
- *
- * General header fields
- *
- * Name Value
- *
- * VERSION Telemetry version number (4 or more). Must be first.
- * c Callsign (string, no spaces allowed)
- * n Flight unit serial number (integer)
- * f Flight number (integer)
- * r Packet RSSI value (integer)
- * s Flight computer state (string, no spaces allowed)
- * t Flight computer clock (integer in centiseconds)
- *
- * Version 3 is Version 2 with fixed RSSI numbers -- the radio reports
- * in 1/2dB increments while this protocol provides only integers. So,
- * the syntax didn't change just the interpretation of the RSSI
- * values.
- *
- * Version 2 of the telemetry data stream is a bit of a mess, with no
- * consistent formatting. In particular, the GPS data is formatted for
- * viewing instead of parsing. However, the key feature is that every
- * telemetry line contains all of the information necessary to
- * describe the current rocket state, including the calibration values
- * for accelerometer and barometer.
- *
- * GPS unlocked:
- *
- * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -68 STATUS ff STATE pad 1001 \
- * a: 16032 p: 21232 t: 20284 v: 25160 d: 204 m: 204 fa: 16038 ga: 16032 fv: 0 \
- * fp: 21232 gp: 21230 a+: 16049 a-: 16304 GPS 0 sat unlocked SAT 1 15 30
- *
- * GPS locked:
- *
- * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -71 STATUS ff STATE pad 2504 \
- * a: 16028 p: 21220 t: 20360 v: 25004 d: 208 m: 200 fa: 16031 ga: 16032 fv: 330 \
- * fp: 21231 gp: 21230 a+: 16049 a-: 16304 \
- * GPS 9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W 1790m \
- * 0.00m/s(H) 0° 0.00m/s(V) 1.0(hdop) 0(herr) 0(verr) \
- * SAT 10 29 30 24 28 5 25 21 20 15 33 1 23 30 24 18 26 10 29 2 26
- *
- */
-
-public class AltosTelemetry extends AltosRecord {
-
- /*
- * General header fields
- *
- * Name Value
- *
- * VERSION Telemetry version number (4 or more). Must be first.
- * c Callsign (string, no spaces allowed)
- * n Flight unit serial number (integer)
- * f Flight number (integer)
- * r Packet RSSI value (integer)
- * s Flight computer state (string, no spaces allowed)
- * t Flight computer clock (integer in centiseconds)
- */
-
- final static String AO_TELEM_VERSION = "VERSION";
- final static String AO_TELEM_CALL = "c";
- final static String AO_TELEM_SERIAL = "n";
- final static String AO_TELEM_FLIGHT = "f";
- final static String AO_TELEM_RSSI = "r";
- final static String AO_TELEM_STATE = "s";
- final static String AO_TELEM_TICK = "t";
-
- /*
- * Raw sensor values
- *
- * Name Value
- * r_a Accelerometer reading (integer)
- * r_b Barometer reading (integer)
- * r_t Thermometer reading (integer)
- * r_v Battery reading (integer)
- * r_d Drogue continuity (integer)
- * r_m Main continuity (integer)
- */
-
- final static String AO_TELEM_RAW_ACCEL = "r_a";
- final static String AO_TELEM_RAW_BARO = "r_b";
- final static String AO_TELEM_RAW_THERMO = "r_t";
- final static String AO_TELEM_RAW_BATT = "r_v";
- final static String AO_TELEM_RAW_DROGUE = "r_d";
- final static String AO_TELEM_RAW_MAIN = "r_m";
-
- /*
- * Sensor calibration values
- *
- * Name Value
- * c_a Ground accelerometer reading (integer)
- * c_b Ground barometer reading (integer)
- * c_p Accelerometer reading for +1g
- * c_m Accelerometer reading for -1g
- */
-
- final static String AO_TELEM_CAL_ACCEL_GROUND = "c_a";
- final static String AO_TELEM_CAL_BARO_GROUND = "c_b";
- final static String AO_TELEM_CAL_ACCEL_PLUS = "c_p";
- final static String AO_TELEM_CAL_ACCEL_MINUS = "c_m";
-
- /*
- * Kalman state values
- *
- * Name Value
- * k_h Height above pad (integer, meters)
- * k_s Vertical speeed (integer, m/s * 16)
- * k_a Vertical acceleration (integer, m/s² * 16)
- */
-
- final static String AO_TELEM_KALMAN_HEIGHT = "k_h";
- final static String AO_TELEM_KALMAN_SPEED = "k_s";
- final static String AO_TELEM_KALMAN_ACCEL = "k_a";
-
- /*
- * Ad-hoc flight values
- *
- * Name Value
- * a_a Acceleration (integer, sensor units)
- * a_s Speed (integer, integrated acceleration value)
- * a_b Barometer reading (integer, sensor units)
- */
-
- final static String AO_TELEM_ADHOC_ACCEL = "a_a";
- final static String AO_TELEM_ADHOC_SPEED = "a_s";
- final static String AO_TELEM_ADHOC_BARO = "a_b";
-
- /*
- * GPS values
- *
- * Name Value
- * g_s GPS state (string):
- * l locked
- * u unlocked
- * e error (missing or broken)
- * g_n Number of sats used in solution
- * g_ns Latitude (degrees * 10e7)
- * g_ew Longitude (degrees * 10e7)
- * g_a Altitude (integer meters)
- * g_Y GPS year (integer)
- * g_M GPS month (integer - 1-12)
- * g_D GPS day (integer - 1-31)
- * g_h GPS hour (integer - 0-23)
- * g_m GPS minute (integer - 0-59)
- * g_s GPS second (integer - 0-59)
- * g_v GPS vertical speed (integer, cm/sec)
- * g_s GPS horizontal speed (integer, cm/sec)
- * g_c GPS course (integer, 0-359)
- * g_hd GPS hdop (integer * 10)
- * g_vd GPS vdop (integer * 10)
- * g_he GPS h error (integer)
- * g_ve GPS v error (integer)
- */
-
- final static String AO_TELEM_GPS_STATE = "g";
- final static String AO_TELEM_GPS_STATE_LOCKED = "l";
- final static String AO_TELEM_GPS_STATE_UNLOCKED = "u";
- final static String AO_TELEM_GPS_STATE_ERROR = "e";
- final static String AO_TELEM_GPS_NUM_SAT = "g_n";
- final static String AO_TELEM_GPS_LATITUDE = "g_ns";
- final static String AO_TELEM_GPS_LONGITUDE = "g_ew";
- final static String AO_TELEM_GPS_ALTITUDE = "g_a";
- final static String AO_TELEM_GPS_YEAR = "g_Y";
- final static String AO_TELEM_GPS_MONTH = "g_M";
- final static String AO_TELEM_GPS_DAY = "g_D";
- final static String AO_TELEM_GPS_HOUR = "g_h";
- final static String AO_TELEM_GPS_MINUTE = "g_m";
- final static String AO_TELEM_GPS_SECOND = "g_s";
- final static String AO_TELEM_GPS_VERTICAL_SPEED = "g_v";
- final static String AO_TELEM_GPS_HORIZONTAL_SPEED = "g_g";
- final static String AO_TELEM_GPS_COURSE = "g_c";
- final static String AO_TELEM_GPS_HDOP = "g_hd";
- final static String AO_TELEM_GPS_VDOP = "g_vd";
- final static String AO_TELEM_GPS_HERROR = "g_he";
- final static String AO_TELEM_GPS_VERROR = "g_ve";
-
- /*
- * GPS satellite values
- *
- * Name Value
- * s_n Number of satellites reported (integer)
- * s_v0 Space vehicle ID (integer) for report 0
- * s_c0 C/N0 number (integer) for report 0
- * s_v1 Space vehicle ID (integer) for report 1
- * s_c1 C/N0 number (integer) for report 1
- * ...
- */
-
- final static String AO_TELEM_SAT_NUM = "s_n";
- final static String AO_TELEM_SAT_SVID = "s_v";
- final static String AO_TELEM_SAT_C_N_0 = "s_c";
-
- static public AltosRecord parse(String line, AltosRecord previous) throws ParseException, AltosCRCException {
- AltosTelemetryRecord r = AltosTelemetryRecord.parse(line);
-
- return r.update_state(previous);
- }
-}
+++ /dev/null
-/*
- * Copyright © 2010 Keith Packard <keithp@keithp.com>
- *
- * 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 altosui;
-
-import java.io.*;
-import java.util.*;
-import java.text.*;
-
-public class AltosTelemetryIterable extends AltosRecordIterable {
- TreeSet<AltosRecord> records;
-
- public Iterator<AltosRecord> iterator () {
- return records.iterator();
- }
-
- boolean has_gps = false;
- boolean has_accel = false;
- boolean has_ignite = false;
- public boolean has_gps() { return has_gps; }
- public boolean has_accel() { return has_accel; }
- public boolean has_ignite() { return has_ignite; };
-
- public AltosTelemetryIterable (FileInputStream input) {
- boolean saw_boost = false;
- int current_tick = 0;
- int boost_tick = 0;
-
- AltosRecord previous = null;
- records = new TreeSet<AltosRecord> ();
-
- try {
- for (;;) {
- String line = AltosRecord.gets(input);
- if (line == null) {
- break;
- }
- try {
- AltosRecord record = AltosTelemetry.parse(line, previous);
- if (record == null)
- break;
- if (records.isEmpty()) {
- current_tick = record.tick;
- } else {
- int tick = record.tick;
- while (tick < current_tick - 0x1000)
- tick += 0x10000;
- current_tick = tick;
- record.tick = current_tick;
- }
- if (!saw_boost && record.state >= Altos.ao_flight_boost)
- {
- saw_boost = true;
- boost_tick = record.tick;
- }
- if (record.accel != AltosRecord.MISSING)
- has_accel = true;
- if (record.gps != null)
- has_gps = true;
- if (record.main != AltosRecord.MISSING)
- has_ignite = true;
- if (previous != null && previous.tick != record.tick)
- records.add(previous);
- previous = record;
- } catch (ParseException pe) {
- System.out.printf("parse exception %s\n", pe.getMessage());
- } catch (AltosCRCException ce) {
- }
- }
- } catch (IOException io) {
- System.out.printf("io exception\n");
- }
-
- if (previous != null)
- records.add(previous);
-
- /* Adjust all tick counts to match expected eeprom values,
- * which starts with a 16-bit tick count 16 samples before boost
- */
-
- int tick_adjust = (boost_tick - 16) & 0xffff0000;
- for (AltosRecord r : this)
- r.tick -= tick_adjust;
- boost_tick -= tick_adjust;
-
- /* adjust all tick counts to be relative to boost time */
- for (AltosRecord r : this)
- r.time = (r.tick - boost_tick) / 100.0;
-
- try {
- input.close();
- } catch (IOException ie) {
- }
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * 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 altosui;
-import java.lang.*;
-import java.text.*;
-import java.util.HashMap;
-
-public class AltosTelemetryMap extends HashMap<String,String> {
- public boolean has(String key) {
- return containsKey(key);
- }
-
- public String get_string(String key) throws ParseException {
- if (!has(key))
- throw new ParseException ("missing " + key, 0);
- return (String) get(key);
- }
-
- public String get_string(String key, String def) {
- if (has(key))
- return get(key);
- else
- return def;
- }
-
- public int get_int(String key) throws ParseException {
- return AltosParse.parse_int(get_string(key));
- }
-
- public int get_int(String key, int def) throws ParseException {
- if (has(key))
- return get_int(key);
- else
- return def;
- }
-
- public double get_double(String key, double def, double scale) throws ParseException {
- if (has(key))
- return get_int(key) * scale;
- else
- return def;
- }
-
- public AltosTelemetryMap(String[] words, int start) {
- for (int i = start; i < words.length - 1; i += 2)
- put(words[i], words[i+1]);
- }
-}
+++ /dev/null
-/*
- * Copyright © 2010 Keith Packard <keithp@keithp.com>
- *
- * 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 altosui;
-
-import java.lang.*;
-import java.text.*;
-import java.io.*;
-import java.util.concurrent.*;
-
-class AltosTelemetryReader extends AltosFlightReader {
- AltosDevice device;
- AltosSerial serial;
- AltosLog log;
- AltosRecord previous;
- double frequency;
- int telemetry;
-
- LinkedBlockingQueue<AltosLine> telem;
-
- AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException {
- AltosLine l = telem.take();
- if (l.line == null)
- throw new IOException("IO error");
- AltosRecord next = AltosTelemetry.parse(l.line, previous);
- previous = next;
- return next;
- }
-
- void flush() {
- telem.clear();
- }
-
- void close(boolean interrupted) {
- serial.remove_monitor(telem);
- log.close();
- serial.close();
- }
-
- public void set_frequency(double in_frequency) throws InterruptedException, TimeoutException {
- frequency = in_frequency;
- serial.set_radio_frequency(frequency);
- }
-
- public boolean supports_telemetry(int telemetry) {
-
- try {
- /* Version 1.0 or later firmware supports all telemetry formats */
- if (serial.config_data().compare_version("1.0") >= 0)
- return true;
-
- /* Version 0.9 firmware only supports 0.9 telemetry */
- if (serial.config_data().compare_version("0.9") >= 0) {
- if (telemetry == Altos.ao_telemetry_0_9)
- return true;
- else
- return false;
- }
-
- /* Version 0.8 firmware only supports 0.8 telemetry */
- if (telemetry == Altos.ao_telemetry_0_8)
- return true;
- else
- return false;
- } catch (InterruptedException ie) {
- return true;
- } catch (TimeoutException te) {
- return true;
- }
- }
-
- void save_frequency() {
- AltosUIPreferences.set_frequency(device.getSerial(), frequency);
- }
-
- void set_telemetry(int in_telemetry) {
- telemetry = in_telemetry;
- serial.set_telemetry(telemetry);
- }
-
- void save_telemetry() {
- AltosUIPreferences.set_telemetry(device.getSerial(), telemetry);
- }
-
- File backing_file() {
- return log.file();
- }
-
- public AltosTelemetryReader (AltosDevice in_device)
- throws FileNotFoundException, AltosSerialInUseException, IOException, InterruptedException, TimeoutException {
- device = in_device;
- serial = new AltosSerial(device);
- log = new AltosLog(serial);
- name = device.toShortString();
- previous = null;
-
- telem = new LinkedBlockingQueue<AltosLine>();
- frequency = AltosUIPreferences.frequency(device.getSerial());
- set_frequency(frequency);
- telemetry = AltosUIPreferences.telemetry(device.getSerial());
- set_telemetry(telemetry);
- serial.set_callsign(AltosUIPreferences.callsign());
- serial.add_monitor(telem);
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * 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 altosui;
-import java.lang.*;
-import java.text.*;
-
-public abstract class AltosTelemetryRecord {
-
- long received_time;
- abstract public AltosRecord update_state(AltosRecord previous);
-
- static boolean cksum(int[] bytes) {
- int sum = 0x5a;
- for (int i = 1; i < bytes.length - 1; i++)
- sum += bytes[i];
- sum &= 0xff;
- return sum == bytes[bytes.length - 1];
- }
-
- final static int PKT_APPEND_STATUS_1_CRC_OK = (1 << 7);
- final static int PKT_APPEND_STATUS_1_LQI_MASK = (0x7f);
- final static int PKT_APPEND_STATUS_1_LQI_SHIFT = 0;
-
- final static int packet_type_TM_sensor = 0x01;
- final static int packet_type_Tm_sensor = 0x02;
- final static int packet_type_Tn_sensor = 0x03;
- final static int packet_type_configuration = 0x04;
- final static int packet_type_location = 0x05;
- final static int packet_type_satellite = 0x06;
- final static int packet_type_companion = 0x07;
-
- static AltosTelemetryRecord parse_hex(String hex) throws ParseException, AltosCRCException {
- AltosTelemetryRecord r;
-
- int[] bytes;
- try {
- bytes = Altos.hexbytes(hex);
- } catch (NumberFormatException ne) {
- throw new ParseException(ne.getMessage(), 0);
- }
-
- /* one for length, one for checksum */
- if (bytes[0] != bytes.length - 2)
- throw new ParseException(String.format("invalid length %d != %d\n",
- bytes[0],
- bytes.length - 2), 0);
- if (!cksum(bytes))
- throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
-
- int rssi = Altos.int8(bytes, bytes.length - 3) / 2 - 74;
- int status = Altos.uint8(bytes, bytes.length - 2);
-
- if ((status & PKT_APPEND_STATUS_1_CRC_OK) == 0)
- throw new AltosCRCException(rssi);
-
- /* length, data ..., rssi, status, checksum -- 4 bytes extra */
- switch (bytes.length) {
- case Altos.ao_telemetry_standard_len + 4:
- int type = Altos.uint8(bytes, 4 + 1);
- switch (type) {
- case packet_type_TM_sensor:
- case packet_type_Tm_sensor:
- case packet_type_Tn_sensor:
- r = new AltosTelemetryRecordSensor(bytes, rssi);
- break;
- case packet_type_configuration:
- r = new AltosTelemetryRecordConfiguration(bytes);
- break;
- case packet_type_location:
- r = new AltosTelemetryRecordLocation(bytes);
- break;
- case packet_type_satellite:
- r = new AltosTelemetryRecordSatellite(bytes);
- break;
- case packet_type_companion:
- r = new AltosTelemetryRecordCompanion(bytes);
- break;
- default:
- r = new AltosTelemetryRecordRaw(bytes);
- break;
- }
- break;
- case Altos.ao_telemetry_0_9_len + 4:
- r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
- break;
- case Altos.ao_telemetry_0_8_len + 4:
- r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
- break;
- default:
- throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
- }
- r.received_time = System.currentTimeMillis();
- return r;
- }
-
- public static AltosTelemetryRecord parse(String line) throws ParseException, AltosCRCException {
- AltosTelemetryRecord r;
-
- String[] word = line.split("\\s+");
- int i =0;
- if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
- i += 2;
- AltosParse.word(word[i++], "RSSI");
- throw new AltosCRCException(AltosParse.parse_int(word[i++]));
- }
-
- if (word[i].equals("TELEM"))
- r = parse_hex(word[i+1]);
- else
- r = new AltosTelemetryRecordLegacy(line);
- return r;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * 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 altosui;
-
-public class AltosTelemetryRecordCompanion extends AltosTelemetryRecordRaw {
-
- AltosRecordCompanion companion;
-
- public AltosTelemetryRecordCompanion(int[] in_bytes) {
- super(in_bytes);
-
- int off = 0;
- if (uint8(6) == 0)
- off = 1;
- int channels = uint8(7+off);
-
- if (off != 0 && channels >= 12)
- channels = 11;
-
- companion = new AltosRecordCompanion(channels);
- companion.tick = tick;
- companion.board_id = uint8(5);
- companion.update_period = uint8(6+off);
- for (int i = 0; i < companion.companion_data.length; i++)
- companion.companion_data[i] = uint16(8 + off + i * 2);
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord next = super.update_state(previous);
-
- next.companion = companion;
- next.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt;
-
- companion.tick = tick;
- return next;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * 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 altosui;
-
-
-public class AltosTelemetryRecordConfiguration extends AltosTelemetryRecordRaw {
- int device_type;
- int flight;
- int config_major;
- int config_minor;
- int apogee_delay;
- int main_deploy;
- int flight_log_max;
- String callsign;
- String version;
-
- public AltosTelemetryRecordConfiguration(int[] in_bytes) {
- super(in_bytes);
-
- device_type = uint8(5);
- flight = uint16(6);
- config_major = uint8(8);
- config_minor = uint8(9);
- apogee_delay = uint16(10);
- main_deploy = uint16(12);
- flight_log_max = uint16(14);
- callsign = string(16, 8);
- version = string(24, 8);
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord next = super.update_state(previous);
-
- next.device_type = device_type;
- next.flight = flight;
- next.config_major = config_major;
- next.config_minor = config_minor;
- next.apogee_delay = apogee_delay;
- next.main_deploy = main_deploy;
- next.flight_log_max = flight_log_max;
-
- next.callsign = callsign;
- next.firmware_version = version;
-
- next.seen |= AltosRecord.seen_deploy | AltosRecord.seen_flight;
-
- return next;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2010 Keith Packard <keithp@keithp.com>
- *
- * 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 altosui;
-
-import java.lang.*;
-import java.text.*;
-import java.util.HashMap;
-
-/*
- * Telemetry data contents
- */
-
-
-/*
- * The packet format is a simple hex dump of the raw telemetry frame.
- * It starts with 'TELEM', then contains hex digits with a checksum as the last
- * byte on the line.
- *
- * Version 4 is a replacement with consistent syntax. Each telemetry line
- * contains a sequence of space-separated names and values, the values are
- * either integers or strings. The names are all unique. All values are
- * optional
- *
- * VERSION 4 c KD7SQG n 236 f 18 r -25 s pad t 513 r_a 15756 r_b 26444 r_t 20944
- * r_v 26640 r_d 512 r_m 208 c_a 15775 c_b 26439 c_p 15749 c_m 16281 a_a 15764
- * a_s 0 a_b 26439 g_s u g_n 0 s_n 0
- *
- * VERSION 4 c KD7SQG n 19 f 0 r -23 s pad t 513 r_b 26372 r_t 21292 r_v 26788
- * r_d 136 r_m 140 c_b 26370 k_h 0 k_s 0 k_a 0
- *
- * General header fields
- *
- * Name Value
- *
- * VERSION Telemetry version number (4 or more). Must be first.
- * c Callsign (string, no spaces allowed)
- * n Flight unit serial number (integer)
- * f Flight number (integer)
- * r Packet RSSI value (integer)
- * s Flight computer state (string, no spaces allowed)
- * t Flight computer clock (integer in centiseconds)
- *
- * Version 3 is Version 2 with fixed RSSI numbers -- the radio reports
- * in 1/2dB increments while this protocol provides only integers. So,
- * the syntax didn't change just the interpretation of the RSSI
- * values.
- *
- * Version 2 of the telemetry data stream is a bit of a mess, with no
- * consistent formatting. In particular, the GPS data is formatted for
- * viewing instead of parsing. However, the key feature is that every
- * telemetry line contains all of the information necessary to
- * describe the current rocket state, including the calibration values
- * for accelerometer and barometer.
- *
- * GPS unlocked:
- *
- * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -68 STATUS ff STATE pad 1001 \
- * a: 16032 p: 21232 t: 20284 v: 25160 d: 204 m: 204 fa: 16038 ga: 16032 fv: 0 \
- * fp: 21232 gp: 21230 a+: 16049 a-: 16304 GPS 0 sat unlocked SAT 1 15 30
- *
- * GPS locked:
- *
- * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -71 STATUS ff STATE pad 2504 \
- * a: 16028 p: 21220 t: 20360 v: 25004 d: 208 m: 200 fa: 16031 ga: 16032 fv: 330 \
- * fp: 21231 gp: 21230 a+: 16049 a-: 16304 \
- * GPS 9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W 1790m \
- * 0.00m/s(H) 0° 0.00m/s(V) 1.0(hdop) 0(herr) 0(verr) \
- * SAT 10 29 30 24 28 5 25 21 20 15 33 1 23 30 24 18 26 10 29 2 26
- *
- */
-
-public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord {
- /*
- * General header fields
- *
- * Name Value
- *
- * VERSION Telemetry version number (4 or more). Must be first.
- * c Callsign (string, no spaces allowed)
- * n Flight unit serial number (integer)
- * f Flight number (integer)
- * r Packet RSSI value (integer)
- * s Flight computer state (string, no spaces allowed)
- * t Flight computer clock (integer in centiseconds)
- */
-
- final static String AO_TELEM_VERSION = "VERSION";
- final static String AO_TELEM_CALL = "c";
- final static String AO_TELEM_SERIAL = "n";
- final static String AO_TELEM_FLIGHT = "f";
- final static String AO_TELEM_RSSI = "r";
- final static String AO_TELEM_STATE = "s";
- final static String AO_TELEM_TICK = "t";
-
- /*
- * Raw sensor values
- *
- * Name Value
- * r_a Accelerometer reading (integer)
- * r_b Barometer reading (integer)
- * r_t Thermometer reading (integer)
- * r_v Battery reading (integer)
- * r_d Drogue continuity (integer)
- * r_m Main continuity (integer)
- */
-
- final static String AO_TELEM_RAW_ACCEL = "r_a";
- final static String AO_TELEM_RAW_BARO = "r_b";
- final static String AO_TELEM_RAW_THERMO = "r_t";
- final static String AO_TELEM_RAW_BATT = "r_v";
- final static String AO_TELEM_RAW_DROGUE = "r_d";
- final static String AO_TELEM_RAW_MAIN = "r_m";
-
- /*
- * Sensor calibration values
- *
- * Name Value
- * c_a Ground accelerometer reading (integer)
- * c_b Ground barometer reading (integer)
- * c_p Accelerometer reading for +1g
- * c_m Accelerometer reading for -1g
- */
-
- final static String AO_TELEM_CAL_ACCEL_GROUND = "c_a";
- final static String AO_TELEM_CAL_BARO_GROUND = "c_b";
- final static String AO_TELEM_CAL_ACCEL_PLUS = "c_p";
- final static String AO_TELEM_CAL_ACCEL_MINUS = "c_m";
-
- /*
- * Kalman state values
- *
- * Name Value
- * k_h Height above pad (integer, meters)
- * k_s Vertical speeed (integer, m/s * 16)
- * k_a Vertical acceleration (integer, m/s² * 16)
- */
-
- final static String AO_TELEM_KALMAN_HEIGHT = "k_h";
- final static String AO_TELEM_KALMAN_SPEED = "k_s";
- final static String AO_TELEM_KALMAN_ACCEL = "k_a";
-
- /*
- * Ad-hoc flight values
- *
- * Name Value
- * a_a Acceleration (integer, sensor units)
- * a_s Speed (integer, integrated acceleration value)
- * a_b Barometer reading (integer, sensor units)
- */
-
- final static String AO_TELEM_ADHOC_ACCEL = "a_a";
- final static String AO_TELEM_ADHOC_SPEED = "a_s";
- final static String AO_TELEM_ADHOC_BARO = "a_b";
-
- /*
- * GPS values
- *
- * Name Value
- * g_s GPS state (string):
- * l locked
- * u unlocked
- * e error (missing or broken)
- * g_n Number of sats used in solution
- * g_ns Latitude (degrees * 10e7)
- * g_ew Longitude (degrees * 10e7)
- * g_a Altitude (integer meters)
- * g_Y GPS year (integer)
- * g_M GPS month (integer - 1-12)
- * g_D GPS day (integer - 1-31)
- * g_h GPS hour (integer - 0-23)
- * g_m GPS minute (integer - 0-59)
- * g_s GPS second (integer - 0-59)
- * g_v GPS vertical speed (integer, cm/sec)
- * g_s GPS horizontal speed (integer, cm/sec)
- * g_c GPS course (integer, 0-359)
- * g_hd GPS hdop (integer * 10)
- * g_vd GPS vdop (integer * 10)
- * g_he GPS h error (integer)
- * g_ve GPS v error (integer)
- */
-
- final static String AO_TELEM_GPS_STATE = "g";
- final static String AO_TELEM_GPS_STATE_LOCKED = "l";
- final static String AO_TELEM_GPS_STATE_UNLOCKED = "u";
- final static String AO_TELEM_GPS_STATE_ERROR = "e";
- final static String AO_TELEM_GPS_NUM_SAT = "g_n";
- final static String AO_TELEM_GPS_LATITUDE = "g_ns";
- final static String AO_TELEM_GPS_LONGITUDE = "g_ew";
- final static String AO_TELEM_GPS_ALTITUDE = "g_a";
- final static String AO_TELEM_GPS_YEAR = "g_Y";
- final static String AO_TELEM_GPS_MONTH = "g_M";
- final static String AO_TELEM_GPS_DAY = "g_D";
- final static String AO_TELEM_GPS_HOUR = "g_h";
- final static String AO_TELEM_GPS_MINUTE = "g_m";
- final static String AO_TELEM_GPS_SECOND = "g_s";
- final static String AO_TELEM_GPS_VERTICAL_SPEED = "g_v";
- final static String AO_TELEM_GPS_HORIZONTAL_SPEED = "g_g";
- final static String AO_TELEM_GPS_COURSE = "g_c";
- final static String AO_TELEM_GPS_HDOP = "g_hd";
- final static String AO_TELEM_GPS_VDOP = "g_vd";
- final static String AO_TELEM_GPS_HERROR = "g_he";
- final static String AO_TELEM_GPS_VERROR = "g_ve";
-
- /*
- * GPS satellite values
- *
- * Name Value
- * s_n Number of satellites reported (integer)
- * s_v0 Space vehicle ID (integer) for report 0
- * s_c0 C/N0 number (integer) for report 0
- * s_v1 Space vehicle ID (integer) for report 1
- * s_c1 C/N0 number (integer) for report 1
- * ...
- */
-
- final static String AO_TELEM_SAT_NUM = "s_n";
- final static String AO_TELEM_SAT_SVID = "s_v";
- final static String AO_TELEM_SAT_C_N_0 = "s_c";
-
- AltosRecord record;
-
- private void parse_v4(String[] words, int i) throws ParseException {
- AltosTelemetryMap map = new AltosTelemetryMap(words, i);
-
- record.callsign = map.get_string(AO_TELEM_CALL, "N0CALL");
- record.serial = map.get_int(AO_TELEM_SERIAL, AltosRecord.MISSING);
- record.flight = map.get_int(AO_TELEM_FLIGHT, AltosRecord.MISSING);
- record.rssi = map.get_int(AO_TELEM_RSSI, AltosRecord.MISSING);
- record.state = Altos.state(map.get_string(AO_TELEM_STATE, "invalid"));
- record.tick = map.get_int(AO_TELEM_TICK, 0);
-
- /* raw sensor values */
- record.accel = map.get_int(AO_TELEM_RAW_ACCEL, AltosRecord.MISSING);
- record.pres = map.get_int(AO_TELEM_RAW_BARO, AltosRecord.MISSING);
- record.temp = map.get_int(AO_TELEM_RAW_THERMO, AltosRecord.MISSING);
- record.batt = map.get_int(AO_TELEM_RAW_BATT, AltosRecord.MISSING);
- record.drogue = map.get_int(AO_TELEM_RAW_DROGUE, AltosRecord.MISSING);
- record.main = map.get_int(AO_TELEM_RAW_MAIN, AltosRecord.MISSING);
-
- /* sensor calibration information */
- record.ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, AltosRecord.MISSING);
- record.ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, AltosRecord.MISSING);
- record.accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, AltosRecord.MISSING);
- record.accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, AltosRecord.MISSING);
-
- /* flight computer values */
- record.acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, AltosRecord.MISSING, 1/16.0);
- record.speed = map.get_double(AO_TELEM_KALMAN_SPEED, AltosRecord.MISSING, 1/16.0);
- record.height = map.get_int(AO_TELEM_KALMAN_HEIGHT, AltosRecord.MISSING);
-
- record.flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, AltosRecord.MISSING);
- record.flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, AltosRecord.MISSING);
- record.flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, AltosRecord.MISSING);
-
- if (map.has(AO_TELEM_GPS_STATE)) {
- record.gps = new AltosGPS(map);
- record.new_gps = true;
- }
- else
- record.gps = null;
- }
-
- private void parse_legacy(String[] words, int i) throws ParseException {
-
- AltosParse.word (words[i++], "CALL");
- record.callsign = words[i++];
-
- AltosParse.word (words[i++], "SERIAL");
- record.serial = AltosParse.parse_int(words[i++]);
-
- if (record.version >= 2) {
- AltosParse.word (words[i++], "FLIGHT");
- record.flight = AltosParse.parse_int(words[i++]);
- } else
- record.flight = 0;
-
- AltosParse.word(words[i++], "RSSI");
- record.rssi = AltosParse.parse_int(words[i++]);
-
- /* Older telemetry data had mis-computed RSSI value */
- if (record.version <= 2)
- record.rssi = (record.rssi + 74) / 2 - 74;
-
- AltosParse.word(words[i++], "STATUS");
- record.status = AltosParse.parse_hex(words[i++]);
-
- AltosParse.word(words[i++], "STATE");
- record.state = Altos.state(words[i++]);
-
- record.tick = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "a:");
- record.accel = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "p:");
- record.pres = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "t:");
- record.temp = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "v:");
- record.batt = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "d:");
- record.drogue = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "m:");
- record.main = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "fa:");
- record.flight_accel = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "ga:");
- record.ground_accel = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "fv:");
- record.flight_vel = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "fp:");
- record.flight_pres = AltosParse.parse_int(words[i++]);
-
- /* Old TeleDongle code with kalman-reporting TeleMetrum code */
- if ((record.flight_vel & 0xffff0000) == 0x80000000) {
- record.speed = ((short) record.flight_vel) / 16.0;
- record.acceleration = record.flight_accel / 16.0;
- record.height = record.flight_pres;
- record.flight_vel = AltosRecord.MISSING;
- record.flight_pres = AltosRecord.MISSING;
- record.flight_accel = AltosRecord.MISSING;
- }
-
- AltosParse.word(words[i++], "gp:");
- record.ground_pres = AltosParse.parse_int(words[i++]);
-
- if (record.version >= 1) {
- AltosParse.word(words[i++], "a+:");
- record.accel_plus_g = AltosParse.parse_int(words[i++]);
-
- AltosParse.word(words[i++], "a-:");
- record.accel_minus_g = AltosParse.parse_int(words[i++]);
- } else {
- record.accel_plus_g = record.ground_accel;
- record.accel_minus_g = record.ground_accel + 530;
- }
-
- record.gps = new AltosGPS(words, i, record.version);
- record.new_gps = true;
- }
-
- public AltosTelemetryRecordLegacy(String line) throws ParseException, AltosCRCException {
- String[] words = line.split("\\s+");
- int i = 0;
-
- record = new AltosRecord();
-
- if (words[i].equals("CRC") && words[i+1].equals("INVALID")) {
- i += 2;
- AltosParse.word(words[i++], "RSSI");
- record.rssi = AltosParse.parse_int(words[i++]);
- throw new AltosCRCException(record.rssi);
- }
- if (words[i].equals("CALL")) {
- record.version = 0;
- } else {
- AltosParse.word (words[i++], "VERSION");
- record.version = AltosParse.parse_int(words[i++]);
- }
-
- if (record.version < 4)
- parse_legacy(words, i);
- else
- parse_v4(words, i);
- }
-
- /*
- * Given a hex dump of a legacy telemetry line, construct an AltosRecord from that
- */
-
- int[] bytes;
- int adjust;
-
- private int int8(int i) {
- return Altos.int8(bytes, i + 1 + adjust);
- }
- private int uint8(int i) {
- return Altos.uint8(bytes, i + 1 + adjust);
- }
- private int int16(int i) {
- return Altos.int16(bytes, i + 1 + adjust);
- }
- private int uint16(int i) {
- return Altos.uint16(bytes, i + 1 + adjust);
- }
- private int uint32(int i) {
- return Altos.uint32(bytes, i + 1 + adjust);
- }
- private String string(int i, int l) {
- return Altos.string(bytes, i + 1 + adjust, l);
- }
-
- static final int AO_GPS_NUM_SAT_MASK = (0xf << 0);
- static final int AO_GPS_NUM_SAT_SHIFT = (0);
-
- static final int AO_GPS_VALID = (1 << 4);
- static final int AO_GPS_RUNNING = (1 << 5);
- static final int AO_GPS_DATE_VALID = (1 << 6);
- static final int AO_GPS_COURSE_VALID = (1 << 7);
-
- public AltosTelemetryRecordLegacy(int[] in_bytes, int in_rssi, int in_status) {
- record = new AltosRecord();
-
- bytes = in_bytes;
- record.version = 4;
- adjust = 0;
-
- if (bytes.length == Altos.ao_telemetry_0_8_len + 4) {
- record.serial = uint8(0);
- adjust = -1;
- } else
- record.serial = uint16(0);
-
- record.seen = AltosRecord.seen_flight | AltosRecord.seen_sensor | AltosRecord.seen_temp_volt | AltosRecord.seen_deploy;
-
- record.callsign = string(62, 8);
- record.flight = uint16(2);
- record.rssi = in_rssi;
- record.status = in_status;
- record.state = uint8(4);
- record.tick = uint16(21);
- record.accel = int16(23);
- record.pres = int16(25);
- record.temp = int16(27);
- record.batt = int16(29);
- record.drogue = int16(31);
- record.main = int16(33);
-
- record.ground_accel = int16(7);
- record.ground_pres = int16(15);
- record.accel_plus_g = int16(17);
- record.accel_minus_g = int16(19);
-
- if (uint16(11) == 0x8000) {
- record.acceleration = int16(5);
- record.speed = int16(9);
- record.height = int16(13);
- record.flight_accel = AltosRecord.MISSING;
- record.flight_vel = AltosRecord.MISSING;
- record.flight_pres = AltosRecord.MISSING;
- } else {
- record.flight_accel = int16(5);
- record.flight_vel = uint32(9);
- record.flight_pres = int16(13);
- record.acceleration = AltosRecord.MISSING;
- record.speed = AltosRecord.MISSING;
- record.height = AltosRecord.MISSING;
- }
-
- record.gps = null;
-
- int gps_flags = uint8(41);
-
- if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) {
- record.gps = new AltosGPS();
- record.new_gps = true;
-
- record.seen |= record.seen_gps_time | record.seen_gps_lat | record.seen_gps_lon;
- record.gps.nsat = (gps_flags & AO_GPS_NUM_SAT_MASK);
- record.gps.locked = (gps_flags & AO_GPS_VALID) != 0;
- record.gps.connected = true;
- record.gps.lat = uint32(42) / 1.0e7;
- record.gps.lon = uint32(46) / 1.0e7;
- record.gps.alt = int16(50);
- record.gps.ground_speed = uint16(52) / 100.0;
- record.gps.course = uint8(54) * 2;
- record.gps.hdop = uint8(55) / 5.0;
- record.gps.h_error = uint16(58);
- record.gps.v_error = uint16(60);
-
- int n_tracking_reported = uint8(70);
- if (n_tracking_reported > 12)
- n_tracking_reported = 12;
- int n_tracking_actual = 0;
- for (int i = 0; i < n_tracking_reported; i++) {
- if (uint8(71 + i*2) != 0)
- n_tracking_actual++;
- }
- if (n_tracking_actual > 0) {
- record.gps.cc_gps_sat = new AltosGPSSat[n_tracking_actual];
-
- n_tracking_actual = 0;
- for (int i = 0; i < n_tracking_reported; i++) {
- int svid = uint8(71 + i*2);
- int c_n0 = uint8(72 + i*2);
- if (svid != 0)
- record.gps.cc_gps_sat[n_tracking_actual++] = new AltosGPSSat(svid, c_n0);
- }
- }
- }
-
- record.time = 0.0;
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- return record;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * 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 altosui;
-
-
-public class AltosTelemetryRecordLocation extends AltosTelemetryRecordRaw {
- int flags;
- int altitude;
- int latitude;
- int longitude;
- int year;
- int month;
- int day;
- int hour;
- int minute;
- int second;
- int pdop;
- int hdop;
- int vdop;
- int mode;
- int ground_speed;
- int climb_rate;
- int course;
-
- public AltosTelemetryRecordLocation(int[] in_bytes) {
- super(in_bytes);
-
- flags = uint8(5);
- altitude = int16(6);
- latitude = uint32(8);
- longitude = uint32(12);
- year = uint8(16);
- month = uint8(17);
- day = uint8(18);
- hour = uint8(19);
- minute = uint8(20);
- second = uint8(21);
- pdop = uint8(22);
- hdop = uint8(23);
- vdop = uint8(24);
- mode = uint8(25);
- ground_speed = uint16(26);
- climb_rate = int16(28);
- course = uint8(30);
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord next = super.update_state(previous);
-
- if (next.gps == null)
- next.gps = new AltosGPS();
-
- next.gps.nsat = flags & 0xf;
- next.gps.locked = (flags & (1 << 4)) != 0;
- next.gps.connected = (flags & (1 << 5)) != 0;
-
- if (next.gps.locked) {
- next.gps.lat = latitude * 1.0e-7;
- next.gps.lon = longitude * 1.0e-7;
- next.gps.alt = altitude;
- next.gps.year = 2000 + year;
- next.gps.month = month;
- next.gps.day = day;
- next.gps.hour = hour;
- next.gps.minute = minute;
- next.gps.second = second;
- next.gps.ground_speed = ground_speed * 1.0e-2;
- next.gps.course = course * 2;
- next.gps.climb_rate = climb_rate * 1.0e-2;
- next.gps.hdop = hdop;
- next.gps.vdop = vdop;
- next.seen |= AltosRecord.seen_gps_time | AltosRecord.seen_gps_lat | AltosRecord.seen_gps_lon;
- next.new_gps = true;
- }
-
- return next;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * 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 altosui;
-
-import java.lang.*;
-import java.text.*;
-import java.util.HashMap;
-
-public class AltosTelemetryRecordRaw extends AltosTelemetryRecord {
- int[] bytes;
- int serial;
- int tick;
- int type;
-
- long received_time;
-
- public int int8(int off) {
- return Altos.int8(bytes, off + 1);
- }
-
- public int uint8(int off) {
- return Altos.uint8(bytes, off + 1);
- }
-
- public int int16(int off) {
- return Altos.int16(bytes, off + 1);
- }
-
- public int uint16(int off) {
- return Altos.uint16(bytes, off + 1);
- }
-
- public int uint32(int off) {
- return Altos.uint32(bytes, off + 1);
- }
-
- public String string(int off, int l) {
- return Altos.string(bytes, off + 1, l);
- }
-
- public AltosTelemetryRecordRaw(int[] in_bytes) {
- bytes = in_bytes;
- serial = uint16(0);
- tick = uint16(2);
- type = uint8(4);
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord next;
- if (previous != null)
- next = new AltosRecord(previous);
- else
- next = new AltosRecord();
- next.serial = serial;
- next.tick = tick;
- return next;
- }
-
- public long received_time() {
- return received_time;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * 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 altosui;
-
-public class AltosTelemetryRecordSatellite extends AltosTelemetryRecordRaw {
- int channels;
- AltosGPSSat[] sats;
-
- public AltosTelemetryRecordSatellite(int[] in_bytes) {
- super(in_bytes);
-
- channels = uint8(5);
- if (channels > 12)
- channels = 12;
- if (channels == 0)
- sats = null;
- else {
- sats = new AltosGPSSat[channels];
- for (int i = 0; i < channels; i++) {
- int svid = uint8(6 + i * 2 + 0);
- int c_n_1 = uint8(6 + i * 2 + 1);
- sats[i] = new AltosGPSSat(svid, c_n_1);
- }
- }
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord next = super.update_state(previous);
-
- if (next.gps == null)
- next.gps = new AltosGPS();
-
- next.gps.cc_gps_sat = sats;
-
- return next;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * 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 altosui;
-
-
-public class AltosTelemetryRecordSensor extends AltosTelemetryRecordRaw {
- int state;
- int accel;
- int pres;
- int temp;
- int v_batt;
- int sense_d;
- int sense_m;
-
- int acceleration;
- int speed;
- int height;
-
- int ground_accel;
- int ground_pres;
- int accel_plus_g;
- int accel_minus_g;
-
- int rssi;
-
- public AltosTelemetryRecordSensor(int[] in_bytes, int in_rssi) {
- super(in_bytes);
- state = uint8(5);
-
- accel = int16(6);
- pres = int16(8);
- temp = int16(10);
- v_batt = int16(12);
- sense_d = int16(14);
- sense_m = int16(16);
-
- acceleration = int16(18);
- speed = int16(20);
- height = int16(22);
-
- ground_pres = int16(24);
- ground_accel = int16(26);
- accel_plus_g = int16(28);
- accel_minus_g = int16(30);
-
- rssi = in_rssi;
- }
-
- public AltosRecord update_state(AltosRecord previous) {
- AltosRecord next = super.update_state(previous);
-
- next.state = state;
- if (type == packet_type_TM_sensor)
- next.accel = accel;
- else
- next.accel = AltosRecord.MISSING;
- next.pres = pres;
- next.temp = temp;
- next.batt = v_batt;
- if (type == packet_type_TM_sensor || type == packet_type_Tm_sensor) {
- next.drogue = sense_d;
- next.main = sense_m;
- } else {
- next.drogue = AltosRecord.MISSING;
- next.main = AltosRecord.MISSING;
- }
-
- next.acceleration = acceleration / 16.0;
- next.speed = speed / 16.0;
- next.height = height;
-
- next.ground_pres = ground_pres;
- if (type == packet_type_TM_sensor) {
- next.ground_accel = ground_accel;
- next.accel_plus_g = accel_plus_g;
- next.accel_minus_g = accel_minus_g;
- } else {
- next.ground_accel = AltosRecord.MISSING;
- next.accel_plus_g = AltosRecord.MISSING;
- next.accel_minus_g = AltosRecord.MISSING;
- }
-
- next.rssi = rssi;
-
- next.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt;
-
- return next;
- }
-}
--- /dev/null
+AM_JAVACFLAGS=-encoding UTF-8 -Xlint:deprecation
+
+JAVAROOT=bin
+
+CLASSPATH_ENV=mkdir -p $(JAVAROOT); CLASSPATH="bin:$(FREETTS)/*:/usr/share/java/*"
+
+SRC=src/org/altusmetrum/AltosLib
+BIN=bin/org/altusmetrum/AltosLib
+
+AltosLibdir = $(datadir)/java
+
+AltosLib_JAVA = \
+ $(SRC)/AltosLib.java \
+ $(SRC)/AltosConvert.java \
+ $(SRC)/AltosCRCException.java \
+ $(SRC)/AltosFrequency.java \
+ $(SRC)/AltosGPS.java \
+ $(SRC)/AltosGPSSat.java \
+ $(SRC)/AltosLine.java \
+ $(SRC)/AltosParse.java \
+ $(SRC)/AltosRecordCompanion.java \
+ $(SRC)/AltosRecordIterable.java \
+ $(SRC)/AltosRecord.java \
+ $(SRC)/AltosTelemetryIterable.java \
+ $(SRC)/AltosTelemetry.java \
+ $(SRC)/AltosTelemetryMap.java \
+ $(SRC)/AltosTelemetryRecordCompanion.java \
+ $(SRC)/AltosTelemetryRecordConfiguration.java \
+ $(SRC)/AltosTelemetryRecordGeneral.java \
+ $(SRC)/AltosTelemetryRecord.java \
+ $(SRC)/AltosTelemetryRecordLegacy.java \
+ $(SRC)/AltosTelemetryRecordLocation.java \
+ $(SRC)/AltosTelemetryRecordRaw.java \
+ $(SRC)/AltosTelemetryRecordSatellite.java \
+ $(SRC)/AltosTelemetryRecordSensor.java
+
+JAR=AltosLib.jar
+
+all-local: $(JAR)
+
+clean-local:
+ -rm -rf bin $(JAR)
+
+altosuidir=$(datadir)/java
+
+install-altosuiJAVA: $(JAR)
+ @$(NORMAL_INSTALL)
+ test -z "$(altosuidir)" || $(MKDIR_P) "$(DESTDIR)$(altosuidir)"
+ echo " $(INSTALL_DATA)" "$<" "'$(DESTDIR)$(altosuidir)/$(JAR)"; \
+ $(INSTALL_DATA) "$<" "$(DESTDIR)$(altosuidir)"
+
+bin:
+ mkdir -p bin
+
+$(JAR): classAltosLib.stamp
+ jar cf $@ -C bin org
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+
+public class AltosCRCException extends Exception {
+ public int rssi;
+
+ public AltosCRCException (int in_rssi) {
+ rssi = in_rssi;
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ */
+
+/*
+ * Sensor data conversion functions
+ */
+package altosui;
+
+public class AltosConvert {
+ /*
+ * Pressure Sensor Model, version 1.1
+ *
+ * written by Holly Grimes
+ *
+ * Uses the International Standard Atmosphere as described in
+ * "A Quick Derivation relating altitude to air pressure" (version 1.03)
+ * from the Portland State Aerospace Society, except that the atmosphere
+ * is divided into layers with each layer having a different lapse rate.
+ *
+ * Lapse rate data for each layer was obtained from Wikipedia on Sept. 1, 2007
+ * at site <http://en.wikipedia.org/wiki/International_Standard_Atmosphere
+ *
+ * Height measurements use the local tangent plane. The postive z-direction is up.
+ *
+ * All measurements are given in SI units (Kelvin, Pascal, meter, meters/second^2).
+ * The lapse rate is given in Kelvin/meter, the gas constant for air is given
+ * in Joules/(kilogram-Kelvin).
+ */
+
+ static final double GRAVITATIONAL_ACCELERATION = -9.80665;
+ static final double AIR_GAS_CONSTANT = 287.053;
+ static final double NUMBER_OF_LAYERS = 7;
+ static final double MAXIMUM_ALTITUDE = 84852.0;
+ static final double MINIMUM_PRESSURE = 0.3734;
+ static final double LAYER0_BASE_TEMPERATURE = 288.15;
+ static final double LAYER0_BASE_PRESSURE = 101325;
+
+ /* lapse rate and base altitude for each layer in the atmosphere */
+ static final double[] lapse_rate = {
+ -0.0065, 0.0, 0.001, 0.0028, 0.0, -0.0028, -0.002
+ };
+
+ static final int[] base_altitude = {
+ 0, 11000, 20000, 32000, 47000, 51000, 71000
+ };
+
+ /* outputs atmospheric pressure associated with the given altitude.
+ * altitudes are measured with respect to the mean sea level
+ */
+ static double
+ altitude_to_pressure(double altitude)
+ {
+ double base_temperature = LAYER0_BASE_TEMPERATURE;
+ double base_pressure = LAYER0_BASE_PRESSURE;
+
+ double pressure;
+ double base; /* base for function to determine pressure */
+ double exponent; /* exponent for function to determine pressure */
+ int layer_number; /* identifies layer in the atmosphere */
+ double delta_z; /* difference between two altitudes */
+
+ if (altitude > MAXIMUM_ALTITUDE) /* FIX ME: use sensor data to improve model */
+ return 0;
+
+ /* calculate the base temperature and pressure for the atmospheric layer
+ associated with the inputted altitude */
+ for(layer_number = 0; layer_number < NUMBER_OF_LAYERS - 1 && altitude > base_altitude[layer_number + 1]; layer_number++) {
+ delta_z = base_altitude[layer_number + 1] - base_altitude[layer_number];
+ if (lapse_rate[layer_number] == 0.0) {
+ exponent = GRAVITATIONAL_ACCELERATION * delta_z
+ / AIR_GAS_CONSTANT / base_temperature;
+ base_pressure *= Math.exp(exponent);
+ }
+ else {
+ base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
+ exponent = GRAVITATIONAL_ACCELERATION /
+ (AIR_GAS_CONSTANT * lapse_rate[layer_number]);
+ base_pressure *= Math.pow(base, exponent);
+ }
+ base_temperature += delta_z * lapse_rate[layer_number];
+ }
+
+ /* calculate the pressure at the inputted altitude */
+ delta_z = altitude - base_altitude[layer_number];
+ if (lapse_rate[layer_number] == 0.0) {
+ exponent = GRAVITATIONAL_ACCELERATION * delta_z
+ / AIR_GAS_CONSTANT / base_temperature;
+ pressure = base_pressure * Math.exp(exponent);
+ }
+ else {
+ base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
+ exponent = GRAVITATIONAL_ACCELERATION /
+ (AIR_GAS_CONSTANT * lapse_rate[layer_number]);
+ pressure = base_pressure * Math.pow(base, exponent);
+ }
+
+ return pressure;
+ }
+
+
+/* outputs the altitude associated with the given pressure. the altitude
+ returned is measured with respect to the mean sea level */
+ static double
+ pressure_to_altitude(double pressure)
+ {
+
+ double next_base_temperature = LAYER0_BASE_TEMPERATURE;
+ double next_base_pressure = LAYER0_BASE_PRESSURE;
+
+ double altitude;
+ double base_pressure;
+ double base_temperature;
+ double base; /* base for function to determine base pressure of next layer */
+ double exponent; /* exponent for function to determine base pressure
+ of next layer */
+ double coefficient;
+ int layer_number; /* identifies layer in the atmosphere */
+ int delta_z; /* difference between two altitudes */
+
+ if (pressure < 0) /* illegal pressure */
+ return -1;
+ if (pressure < MINIMUM_PRESSURE) /* FIX ME: use sensor data to improve model */
+ return MAXIMUM_ALTITUDE;
+
+ /* calculate the base temperature and pressure for the atmospheric layer
+ associated with the inputted pressure. */
+ layer_number = -1;
+ do {
+ layer_number++;
+ base_pressure = next_base_pressure;
+ base_temperature = next_base_temperature;
+ delta_z = base_altitude[layer_number + 1] - base_altitude[layer_number];
+ if (lapse_rate[layer_number] == 0.0) {
+ exponent = GRAVITATIONAL_ACCELERATION * delta_z
+ / AIR_GAS_CONSTANT / base_temperature;
+ next_base_pressure *= Math.exp(exponent);
+ }
+ else {
+ base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
+ exponent = GRAVITATIONAL_ACCELERATION /
+ (AIR_GAS_CONSTANT * lapse_rate[layer_number]);
+ next_base_pressure *= Math.pow(base, exponent);
+ }
+ next_base_temperature += delta_z * lapse_rate[layer_number];
+ }
+ while(layer_number < NUMBER_OF_LAYERS - 1 && pressure < next_base_pressure);
+
+ /* calculate the altitude associated with the inputted pressure */
+ if (lapse_rate[layer_number] == 0.0) {
+ coefficient = (AIR_GAS_CONSTANT / GRAVITATIONAL_ACCELERATION)
+ * base_temperature;
+ altitude = base_altitude[layer_number]
+ + coefficient * Math.log(pressure / base_pressure);
+ }
+ else {
+ base = pressure / base_pressure;
+ exponent = AIR_GAS_CONSTANT * lapse_rate[layer_number]
+ / GRAVITATIONAL_ACCELERATION;
+ coefficient = base_temperature / lapse_rate[layer_number];
+ altitude = base_altitude[layer_number]
+ + coefficient * (Math.pow(base, exponent) - 1);
+ }
+
+ return altitude;
+ }
+
+ static double
+ cc_battery_to_voltage(double battery)
+ {
+ return battery / 32767.0 * 5.0;
+ }
+
+ static double
+ cc_ignitor_to_voltage(double ignite)
+ {
+ return ignite / 32767 * 15.0;
+ }
+
+ static double radio_to_frequency(int freq, int setting, int cal, int channel) {
+ double f;
+
+ if (freq > 0)
+ f = freq / 1000.0;
+ else {
+ if (setting <= 0)
+ setting = cal;
+ f = 434.550 * setting / cal;
+ /* Round to nearest 50KHz */
+ f = Math.floor (20.0 * f + 0.5) / 20.0;
+ }
+ return f + channel * 0.100;
+ }
+
+ static int radio_frequency_to_setting(double frequency, int cal) {
+ double set = frequency / 434.550 * cal;
+
+ return (int) Math.floor (set + 0.5);
+ }
+
+ static int radio_frequency_to_channel(double frequency) {
+ int channel = (int) Math.floor ((frequency - 434.550) / 0.100 + 0.5);
+
+ if (channel < 0)
+ channel = 0;
+ if (channel > 9)
+ channel = 9;
+ return channel;
+ }
+
+ static double radio_channel_to_frequency(int channel) {
+ return 434.550 + channel * 0.100;
+ }
+
+ static int[] ParseHex(String line) {
+ String[] tokens = line.split("\\s+");
+ int[] array = new int[tokens.length];
+
+ for (int i = 0; i < tokens.length; i++)
+ try {
+ array[i] = Integer.parseInt(tokens[i], 16);
+ } catch (NumberFormatException ne) {
+ return null;
+ }
+ return array;
+ }
+
+ static double meters_to_feet(double meters) {
+ return meters * (100 / (2.54 * 12));
+ }
+
+ static double meters_to_mach(double meters) {
+ return meters / 343; /* something close to mach at usual rocket sites */
+ }
+
+ static double meters_to_g(double meters) {
+ return meters / 9.80665;
+ }
+
+ static int checksum(int[] data, int start, int length) {
+ int csum = 0x5a;
+ for (int i = 0; i < length; i++)
+ csum += data[i + start];
+ return csum & 0xff;
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+
+public interface AltosFontListener {
+ void font_size_changed(int font_size);
+}
--- /dev/null
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import javax.swing.event.*;
+import javax.swing.plaf.basic.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.*;
+
+public class AltosFrequency {
+ double frequency;
+ String description;
+
+ public String toString() {
+ return String.format("%7.3f MHz %-20s",
+ frequency, description);
+ }
+
+ public String toShortString() {
+ return String.format("%7.3f MHz %s",
+ frequency, description);
+ }
+
+ public boolean close(double f) {
+ double diff = Math.abs(frequency - f);
+
+ return diff < 0.010;
+ }
+
+ public AltosFrequency(double f, String d) {
+ frequency = f;
+ description = d;
+ }
+}
\ No newline at end of file
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+
+import java.lang.*;
+import java.text.*;
+
+public class AltosGPS {
+
+ final static int MISSING = AltosRecord.MISSING;
+
+ int nsat;
+ boolean locked;
+ boolean connected;
+ double lat; /* degrees (+N -S) */
+ double lon; /* degrees (+E -W) */
+ int alt; /* m */
+ int year;
+ int month;
+ int day;
+ int hour;
+ int minute;
+ int second;
+
+ double ground_speed; /* m/s */
+ int course; /* degrees */
+ double climb_rate; /* m/s */
+ double hdop; /* unitless */
+ double vdop; /* unitless */
+ int h_error; /* m */
+ int v_error; /* m */
+
+ AltosGPSSat[] cc_gps_sat; /* tracking data */
+
+ void ParseGPSDate(String date) throws ParseException {
+ String[] ymd = date.split("-");
+ if (ymd.length != 3)
+ throw new ParseException("error parsing GPS date " + date + " got " + ymd.length, 0);
+ year = AltosParse.parse_int(ymd[0]);
+ month = AltosParse.parse_int(ymd[1]);
+ day = AltosParse.parse_int(ymd[2]);
+ }
+
+ void ParseGPSTime(String time) throws ParseException {
+ String[] hms = time.split(":");
+ if (hms.length != 3)
+ throw new ParseException("Error parsing GPS time " + time + " got " + hms.length, 0);
+ hour = AltosParse.parse_int(hms[0]);
+ minute = AltosParse.parse_int(hms[1]);
+ second = AltosParse.parse_int(hms[2]);
+ }
+
+ void ClearGPSTime() {
+ year = month = day = 0;
+ hour = minute = second = 0;
+ }
+
+ public AltosGPS(AltosTelemetryMap map) throws ParseException {
+ String state = map.get_string(AltosTelemetry.AO_TELEM_GPS_STATE,
+ AltosTelemetry.AO_TELEM_GPS_STATE_ERROR);
+
+ nsat = map.get_int(AltosTelemetry.AO_TELEM_GPS_NUM_SAT, 0);
+ if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_LOCKED)) {
+ connected = true;
+ locked = true;
+ lat = map.get_double(AltosTelemetry.AO_TELEM_GPS_LATITUDE, MISSING, 1.0e-7);
+ lon = map.get_double(AltosTelemetry.AO_TELEM_GPS_LONGITUDE, MISSING, 1.0e-7);
+ alt = map.get_int(AltosTelemetry.AO_TELEM_GPS_ALTITUDE, MISSING);
+ year = map.get_int(AltosTelemetry.AO_TELEM_GPS_YEAR, MISSING);
+ if (year != MISSING)
+ year += 2000;
+ month = map.get_int(AltosTelemetry.AO_TELEM_GPS_MONTH, MISSING);
+ day = map.get_int(AltosTelemetry.AO_TELEM_GPS_DAY, MISSING);
+
+ hour = map.get_int(AltosTelemetry.AO_TELEM_GPS_HOUR, 0);
+ minute = map.get_int(AltosTelemetry.AO_TELEM_GPS_MINUTE, 0);
+ second = map.get_int(AltosTelemetry.AO_TELEM_GPS_SECOND, 0);
+
+ ground_speed = map.get_double(AltosTelemetry.AO_TELEM_GPS_HORIZONTAL_SPEED,
+ AltosRecord.MISSING, 1/100.0);
+ course = map.get_int(AltosTelemetry.AO_TELEM_GPS_COURSE,
+ AltosRecord.MISSING);
+ hdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_HDOP, MISSING, 1.0);
+ vdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_VDOP, MISSING, 1.0);
+ h_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_HERROR, MISSING);
+ v_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_VERROR, MISSING);
+ } else if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_UNLOCKED)) {
+ connected = true;
+ locked = false;
+ } else {
+ connected = false;
+ locked = false;
+ }
+ }
+
+ public AltosGPS(String[] words, int i, int version) throws ParseException {
+ AltosParse.word(words[i++], "GPS");
+ nsat = AltosParse.parse_int(words[i++]);
+ AltosParse.word(words[i++], "sat");
+
+ connected = false;
+ locked = false;
+ lat = lon = 0;
+ alt = 0;
+ ClearGPSTime();
+ if ((words[i]).equals("unlocked")) {
+ connected = true;
+ i++;
+ } else if ((words[i]).equals("not-connected")) {
+ i++;
+ } else if (words.length >= 40) {
+ locked = true;
+ connected = true;
+
+ if (version > 1)
+ ParseGPSDate(words[i++]);
+ else
+ year = month = day = 0;
+ ParseGPSTime(words[i++]);
+ lat = AltosParse.parse_coord(words[i++]);
+ lon = AltosParse.parse_coord(words[i++]);
+ alt = AltosParse.parse_int(words[i++]);
+ if (version > 1 || (i < words.length && !words[i].equals("SAT"))) {
+ ground_speed = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(H)"));
+ course = AltosParse.parse_int(words[i++]);
+ climb_rate = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(V)"));
+ hdop = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "(hdop)"));
+ h_error = AltosParse.parse_int(words[i++]);
+ v_error = AltosParse.parse_int(words[i++]);
+ }
+ } else {
+ i++;
+ }
+ if (i < words.length) {
+ AltosParse.word(words[i++], "SAT");
+ int tracking_channels = 0;
+ if (words[i].equals("not-connected"))
+ tracking_channels = 0;
+ else
+ tracking_channels = AltosParse.parse_int(words[i]);
+ i++;
+ cc_gps_sat = new AltosGPSSat[tracking_channels];
+ for (int chan = 0; chan < tracking_channels; chan++) {
+ cc_gps_sat[chan] = new AltosGPSSat();
+ cc_gps_sat[chan].svid = AltosParse.parse_int(words[i++]);
+ /* Older versions included SiRF status bits */
+ if (version < 2)
+ i++;
+ cc_gps_sat[chan].c_n0 = AltosParse.parse_int(words[i++]);
+ }
+ } else
+ cc_gps_sat = new AltosGPSSat[0];
+ }
+
+ public void set_latitude(int in_lat) {
+ lat = in_lat / 10.0e7;
+ }
+
+ public void set_longitude(int in_lon) {
+ lon = in_lon / 10.0e7;
+ }
+
+ public void set_time(int hour, int minute, int second) {
+ hour = hour;
+ minute = minute;
+ second = second;
+ }
+
+ public void set_date(int year, int month, int day) {
+ year = year;
+ month = month;
+ day = day;
+ }
+
+ public void set_flags(int flags) {
+ flags = flags;
+ }
+
+ public void set_altitude(int altitude) {
+ altitude = altitude;
+ }
+
+ public void add_sat(int svid, int c_n0) {
+ if (cc_gps_sat == null) {
+ cc_gps_sat = new AltosGPSSat[1];
+ } else {
+ AltosGPSSat[] new_gps_sat = new AltosGPSSat[cc_gps_sat.length + 1];
+ for (int i = 0; i < cc_gps_sat.length; i++)
+ new_gps_sat[i] = cc_gps_sat[i];
+ cc_gps_sat = new_gps_sat;
+ }
+ AltosGPSSat sat = new AltosGPSSat();
+ sat.svid = svid;
+ sat.c_n0 = c_n0;
+ cc_gps_sat[cc_gps_sat.length - 1] = sat;
+ }
+
+ public AltosGPS() {
+ ClearGPSTime();
+ cc_gps_sat = null;
+ }
+
+ public AltosGPS(AltosGPS old) {
+ nsat = old.nsat;
+ locked = old.locked;
+ connected = old.connected;
+ lat = old.lat; /* degrees (+N -S) */
+ lon = old.lon; /* degrees (+E -W) */
+ alt = old.alt; /* m */
+ year = old.year;
+ month = old.month;
+ day = old.day;
+ hour = old.hour;
+ minute = old.minute;
+ second = old.second;
+
+ ground_speed = old.ground_speed; /* m/s */
+ course = old.course; /* degrees */
+ climb_rate = old.climb_rate; /* m/s */
+ hdop = old.hdop; /* unitless? */
+ h_error = old.h_error; /* m */
+ v_error = old.v_error; /* m */
+
+ if (old.cc_gps_sat != null) {
+ cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
+ for (int i = 0; i < old.cc_gps_sat.length; i++) {
+ cc_gps_sat[i] = new AltosGPSSat();
+ cc_gps_sat[i].svid = old.cc_gps_sat[i].svid;
+ cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0;
+ }
+ }
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+
+public class AltosGPSSat {
+ int svid;
+ int c_n0;
+
+ public AltosGPSSat(int s, int c) {
+ svid = s;
+ c_n0= c;
+ }
+
+ public AltosGPSSat() {
+ }
+}
+
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+
+public class AltosLine {
+ public String line;
+
+ public AltosLine() {
+ line = null;
+ }
+
+ public AltosLine(String s) {
+ line = s;
+ }
+}
\ No newline at end of file
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+
+import java.text.*;
+import java.lang.*;
+
+public class AltosParse {
+ static boolean isdigit(char c) {
+ return '0' <= c && c <= '9';
+ }
+
+ static int parse_int(String v) throws ParseException {
+ try {
+ return Altos.fromdec(v);
+ } catch (NumberFormatException e) {
+ throw new ParseException("error parsing int " + v, 0);
+ }
+ }
+
+ static int parse_hex(String v) throws ParseException {
+ try {
+ return Altos.fromhex(v);
+ } catch (NumberFormatException e) {
+ throw new ParseException("error parsing hex " + v, 0);
+ }
+ }
+
+ static double parse_double(String v) throws ParseException {
+ try {
+ return Double.parseDouble(v);
+ } catch (NumberFormatException e) {
+ throw new ParseException("error parsing double " + v, 0);
+ }
+ }
+
+ static double parse_coord(String coord) throws ParseException {
+ String[] dsf = coord.split("\\D+");
+
+ if (dsf.length != 3) {
+ throw new ParseException("error parsing coord " + coord, 0);
+ }
+ int deg = parse_int(dsf[0]);
+ int min = parse_int(dsf[1]);
+ int frac = parse_int(dsf[2]);
+
+ double r = deg + (min + frac / 10000.0) / 60.0;
+ if (coord.endsWith("S") || coord.endsWith("W"))
+ r = -r;
+ return r;
+ }
+
+ static String strip_suffix(String v, String suffix) {
+ if (v.endsWith(suffix))
+ return v.substring(0, v.length() - suffix.length());
+ return v;
+ }
+
+ static void word(String v, String m) throws ParseException {
+ if (!v.equals(m)) {
+ throw new ParseException("error matching '" + v + "' '" + m + "'", 0);
+ }
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+
+import java.lang.*;
+import java.text.*;
+import java.util.HashMap;
+import java.io.*;
+
+public class AltosRecord implements Comparable <AltosRecord> {
+ final static int MISSING = 0x7fffffff;
+
+ static final int seen_flight = 1;
+ static final int seen_sensor = 2;
+ static final int seen_temp_volt = 4;
+ static final int seen_deploy = 8;
+ static final int seen_gps_time = 16;
+ static final int seen_gps_lat = 32;
+ static final int seen_gps_lon = 64;
+ static final int seen_companion = 128;
+ int seen;
+
+ int version;
+ String callsign;
+ int serial;
+ int flight;
+ int rssi;
+ int status;
+ int state;
+ int tick;
+
+ int accel;
+ int pres;
+ int temp;
+ int batt;
+ int drogue;
+ int main;
+
+ int ground_accel;
+ int ground_pres;
+ int accel_plus_g;
+ int accel_minus_g;
+
+ double acceleration;
+ double speed;
+ double height;
+
+ int flight_accel;
+ int flight_vel;
+ int flight_pres;
+
+ AltosGPS gps;
+ boolean new_gps;
+
+ AltosIMU imu;
+ AltosMag mag;
+
+ double time; /* seconds since boost */
+
+ int device_type;
+ int config_major;
+ int config_minor;
+ int apogee_delay;
+ int main_deploy;
+ int flight_log_max;
+ String firmware_version;
+
+ AltosRecordCompanion companion;
+ /*
+ * 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
+ */
+
+ static final double counts_per_kPa = 27 * 2047 / 3300;
+ static final double counts_at_101_3kPa = 1674.0;
+
+ 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
+ */
+
+ 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);
+ }
+
+ 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 Altos.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 = Altos.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;
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+
+public class AltosRecordCompanion {
+ final static int board_id_telescience = 0x0a;
+ final static int MAX_CHANNELS = 12;
+
+ int tick;
+ int board_id;
+ int update_period;
+ int channels;
+ int[] companion_data;
+
+ public AltosRecordCompanion(int in_channels) {
+ channels = in_channels;
+ if (channels < 0)
+ channels = 0;
+ if (channels > MAX_CHANNELS)
+ channels = MAX_CHANNELS;
+ companion_data = new int[channels];
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.LinkedBlockingQueue;
+
+public abstract class AltosRecordIterable implements Iterable<AltosRecord> {
+ public abstract Iterator<AltosRecord> iterator();
+ public void write_comments(PrintStream out) { }
+ public boolean has_accel() { return false; }
+ public boolean has_gps() { return false; }
+ public boolean has_ignite() { return false; };
+}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+
+import java.lang.*;
+import java.text.*;
+import java.util.HashMap;
+
+/*
+ * Telemetry data contents
+ */
+
+
+/*
+ * The packet format is a simple hex dump of the raw telemetry frame.
+ * It starts with 'TELEM', then contains hex digits with a checksum as the last
+ * byte on the line.
+ *
+ * Version 4 is a replacement with consistent syntax. Each telemetry line
+ * contains a sequence of space-separated names and values, the values are
+ * either integers or strings. The names are all unique. All values are
+ * optional
+ *
+ * VERSION 4 c KD7SQG n 236 f 18 r -25 s pad t 513 r_a 15756 r_b 26444 r_t 20944
+ * r_v 26640 r_d 512 r_m 208 c_a 15775 c_b 26439 c_p 15749 c_m 16281 a_a 15764
+ * a_s 0 a_b 26439 g_s u g_n 0 s_n 0
+ *
+ * VERSION 4 c KD7SQG n 19 f 0 r -23 s pad t 513 r_b 26372 r_t 21292 r_v 26788
+ * r_d 136 r_m 140 c_b 26370 k_h 0 k_s 0 k_a 0
+ *
+ * General header fields
+ *
+ * Name Value
+ *
+ * VERSION Telemetry version number (4 or more). Must be first.
+ * c Callsign (string, no spaces allowed)
+ * n Flight unit serial number (integer)
+ * f Flight number (integer)
+ * r Packet RSSI value (integer)
+ * s Flight computer state (string, no spaces allowed)
+ * t Flight computer clock (integer in centiseconds)
+ *
+ * Version 3 is Version 2 with fixed RSSI numbers -- the radio reports
+ * in 1/2dB increments while this protocol provides only integers. So,
+ * the syntax didn't change just the interpretation of the RSSI
+ * values.
+ *
+ * Version 2 of the telemetry data stream is a bit of a mess, with no
+ * consistent formatting. In particular, the GPS data is formatted for
+ * viewing instead of parsing. However, the key feature is that every
+ * telemetry line contains all of the information necessary to
+ * describe the current rocket state, including the calibration values
+ * for accelerometer and barometer.
+ *
+ * GPS unlocked:
+ *
+ * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -68 STATUS ff STATE pad 1001 \
+ * a: 16032 p: 21232 t: 20284 v: 25160 d: 204 m: 204 fa: 16038 ga: 16032 fv: 0 \
+ * fp: 21232 gp: 21230 a+: 16049 a-: 16304 GPS 0 sat unlocked SAT 1 15 30
+ *
+ * GPS locked:
+ *
+ * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -71 STATUS ff STATE pad 2504 \
+ * a: 16028 p: 21220 t: 20360 v: 25004 d: 208 m: 200 fa: 16031 ga: 16032 fv: 330 \
+ * fp: 21231 gp: 21230 a+: 16049 a-: 16304 \
+ * GPS 9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W 1790m \
+ * 0.00m/s(H) 0° 0.00m/s(V) 1.0(hdop) 0(herr) 0(verr) \
+ * SAT 10 29 30 24 28 5 25 21 20 15 33 1 23 30 24 18 26 10 29 2 26
+ *
+ */
+
+public class AltosTelemetry extends AltosRecord {
+
+ /*
+ * General header fields
+ *
+ * Name Value
+ *
+ * VERSION Telemetry version number (4 or more). Must be first.
+ * c Callsign (string, no spaces allowed)
+ * n Flight unit serial number (integer)
+ * f Flight number (integer)
+ * r Packet RSSI value (integer)
+ * s Flight computer state (string, no spaces allowed)
+ * t Flight computer clock (integer in centiseconds)
+ */
+
+ final static String AO_TELEM_VERSION = "VERSION";
+ final static String AO_TELEM_CALL = "c";
+ final static String AO_TELEM_SERIAL = "n";
+ final static String AO_TELEM_FLIGHT = "f";
+ final static String AO_TELEM_RSSI = "r";
+ final static String AO_TELEM_STATE = "s";
+ final static String AO_TELEM_TICK = "t";
+
+ /*
+ * Raw sensor values
+ *
+ * Name Value
+ * r_a Accelerometer reading (integer)
+ * r_b Barometer reading (integer)
+ * r_t Thermometer reading (integer)
+ * r_v Battery reading (integer)
+ * r_d Drogue continuity (integer)
+ * r_m Main continuity (integer)
+ */
+
+ final static String AO_TELEM_RAW_ACCEL = "r_a";
+ final static String AO_TELEM_RAW_BARO = "r_b";
+ final static String AO_TELEM_RAW_THERMO = "r_t";
+ final static String AO_TELEM_RAW_BATT = "r_v";
+ final static String AO_TELEM_RAW_DROGUE = "r_d";
+ final static String AO_TELEM_RAW_MAIN = "r_m";
+
+ /*
+ * Sensor calibration values
+ *
+ * Name Value
+ * c_a Ground accelerometer reading (integer)
+ * c_b Ground barometer reading (integer)
+ * c_p Accelerometer reading for +1g
+ * c_m Accelerometer reading for -1g
+ */
+
+ final static String AO_TELEM_CAL_ACCEL_GROUND = "c_a";
+ final static String AO_TELEM_CAL_BARO_GROUND = "c_b";
+ final static String AO_TELEM_CAL_ACCEL_PLUS = "c_p";
+ final static String AO_TELEM_CAL_ACCEL_MINUS = "c_m";
+
+ /*
+ * Kalman state values
+ *
+ * Name Value
+ * k_h Height above pad (integer, meters)
+ * k_s Vertical speeed (integer, m/s * 16)
+ * k_a Vertical acceleration (integer, m/s² * 16)
+ */
+
+ final static String AO_TELEM_KALMAN_HEIGHT = "k_h";
+ final static String AO_TELEM_KALMAN_SPEED = "k_s";
+ final static String AO_TELEM_KALMAN_ACCEL = "k_a";
+
+ /*
+ * Ad-hoc flight values
+ *
+ * Name Value
+ * a_a Acceleration (integer, sensor units)
+ * a_s Speed (integer, integrated acceleration value)
+ * a_b Barometer reading (integer, sensor units)
+ */
+
+ final static String AO_TELEM_ADHOC_ACCEL = "a_a";
+ final static String AO_TELEM_ADHOC_SPEED = "a_s";
+ final static String AO_TELEM_ADHOC_BARO = "a_b";
+
+ /*
+ * GPS values
+ *
+ * Name Value
+ * g_s GPS state (string):
+ * l locked
+ * u unlocked
+ * e error (missing or broken)
+ * g_n Number of sats used in solution
+ * g_ns Latitude (degrees * 10e7)
+ * g_ew Longitude (degrees * 10e7)
+ * g_a Altitude (integer meters)
+ * g_Y GPS year (integer)
+ * g_M GPS month (integer - 1-12)
+ * g_D GPS day (integer - 1-31)
+ * g_h GPS hour (integer - 0-23)
+ * g_m GPS minute (integer - 0-59)
+ * g_s GPS second (integer - 0-59)
+ * g_v GPS vertical speed (integer, cm/sec)
+ * g_s GPS horizontal speed (integer, cm/sec)
+ * g_c GPS course (integer, 0-359)
+ * g_hd GPS hdop (integer * 10)
+ * g_vd GPS vdop (integer * 10)
+ * g_he GPS h error (integer)
+ * g_ve GPS v error (integer)
+ */
+
+ final static String AO_TELEM_GPS_STATE = "g";
+ final static String AO_TELEM_GPS_STATE_LOCKED = "l";
+ final static String AO_TELEM_GPS_STATE_UNLOCKED = "u";
+ final static String AO_TELEM_GPS_STATE_ERROR = "e";
+ final static String AO_TELEM_GPS_NUM_SAT = "g_n";
+ final static String AO_TELEM_GPS_LATITUDE = "g_ns";
+ final static String AO_TELEM_GPS_LONGITUDE = "g_ew";
+ final static String AO_TELEM_GPS_ALTITUDE = "g_a";
+ final static String AO_TELEM_GPS_YEAR = "g_Y";
+ final static String AO_TELEM_GPS_MONTH = "g_M";
+ final static String AO_TELEM_GPS_DAY = "g_D";
+ final static String AO_TELEM_GPS_HOUR = "g_h";
+ final static String AO_TELEM_GPS_MINUTE = "g_m";
+ final static String AO_TELEM_GPS_SECOND = "g_s";
+ final static String AO_TELEM_GPS_VERTICAL_SPEED = "g_v";
+ final static String AO_TELEM_GPS_HORIZONTAL_SPEED = "g_g";
+ final static String AO_TELEM_GPS_COURSE = "g_c";
+ final static String AO_TELEM_GPS_HDOP = "g_hd";
+ final static String AO_TELEM_GPS_VDOP = "g_vd";
+ final static String AO_TELEM_GPS_HERROR = "g_he";
+ final static String AO_TELEM_GPS_VERROR = "g_ve";
+
+ /*
+ * GPS satellite values
+ *
+ * Name Value
+ * s_n Number of satellites reported (integer)
+ * s_v0 Space vehicle ID (integer) for report 0
+ * s_c0 C/N0 number (integer) for report 0
+ * s_v1 Space vehicle ID (integer) for report 1
+ * s_c1 C/N0 number (integer) for report 1
+ * ...
+ */
+
+ final static String AO_TELEM_SAT_NUM = "s_n";
+ final static String AO_TELEM_SAT_SVID = "s_v";
+ final static String AO_TELEM_SAT_C_N_0 = "s_c";
+
+ static public AltosRecord parse(String line, AltosRecord previous) throws ParseException, AltosCRCException {
+ AltosTelemetryRecord r = AltosTelemetryRecord.parse(line);
+
+ return r.update_state(previous);
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+
+public class AltosTelemetryIterable extends AltosRecordIterable {
+ TreeSet<AltosRecord> records;
+
+ public Iterator<AltosRecord> iterator () {
+ return records.iterator();
+ }
+
+ boolean has_gps = false;
+ boolean has_accel = false;
+ boolean has_ignite = false;
+ public boolean has_gps() { return has_gps; }
+ public boolean has_accel() { return has_accel; }
+ public boolean has_ignite() { return has_ignite; };
+
+ public AltosTelemetryIterable (FileInputStream input) {
+ boolean saw_boost = false;
+ int current_tick = 0;
+ int boost_tick = 0;
+
+ AltosRecord previous = null;
+ records = new TreeSet<AltosRecord> ();
+
+ try {
+ for (;;) {
+ String line = AltosRecord.gets(input);
+ if (line == null) {
+ break;
+ }
+ try {
+ AltosRecord record = AltosTelemetry.parse(line, previous);
+ if (record == null)
+ break;
+ if (records.isEmpty()) {
+ current_tick = record.tick;
+ } else {
+ int tick = record.tick;
+ while (tick < current_tick - 0x1000)
+ tick += 0x10000;
+ current_tick = tick;
+ record.tick = current_tick;
+ }
+ if (!saw_boost && record.state >= Altos.ao_flight_boost)
+ {
+ saw_boost = true;
+ boost_tick = record.tick;
+ }
+ if (record.accel != AltosRecord.MISSING)
+ has_accel = true;
+ if (record.gps != null)
+ has_gps = true;
+ if (record.main != AltosRecord.MISSING)
+ has_ignite = true;
+ if (previous != null && previous.tick != record.tick)
+ records.add(previous);
+ previous = record;
+ } catch (ParseException pe) {
+ System.out.printf("parse exception %s\n", pe.getMessage());
+ } catch (AltosCRCException ce) {
+ }
+ }
+ } catch (IOException io) {
+ System.out.printf("io exception\n");
+ }
+
+ if (previous != null)
+ records.add(previous);
+
+ /* Adjust all tick counts to match expected eeprom values,
+ * which starts with a 16-bit tick count 16 samples before boost
+ */
+
+ int tick_adjust = (boost_tick - 16) & 0xffff0000;
+ for (AltosRecord r : this)
+ r.tick -= tick_adjust;
+ boost_tick -= tick_adjust;
+
+ /* adjust all tick counts to be relative to boost time */
+ for (AltosRecord r : this)
+ r.time = (r.tick - boost_tick) / 100.0;
+
+ try {
+ input.close();
+ } catch (IOException ie) {
+ }
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+import java.lang.*;
+import java.text.*;
+import java.util.HashMap;
+
+public class AltosTelemetryMap extends HashMap<String,String> {
+ public boolean has(String key) {
+ return containsKey(key);
+ }
+
+ public String get_string(String key) throws ParseException {
+ if (!has(key))
+ throw new ParseException ("missing " + key, 0);
+ return (String) get(key);
+ }
+
+ public String get_string(String key, String def) {
+ if (has(key))
+ return get(key);
+ else
+ return def;
+ }
+
+ public int get_int(String key) throws ParseException {
+ return AltosParse.parse_int(get_string(key));
+ }
+
+ public int get_int(String key, int def) throws ParseException {
+ if (has(key))
+ return get_int(key);
+ else
+ return def;
+ }
+
+ public double get_double(String key, double def, double scale) throws ParseException {
+ if (has(key))
+ return get_int(key) * scale;
+ else
+ return def;
+ }
+
+ public AltosTelemetryMap(String[] words, int start) {
+ for (int i = start; i < words.length - 1; i += 2)
+ put(words[i], words[i+1]);
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+
+import java.lang.*;
+import java.text.*;
+import java.io.*;
+import java.util.concurrent.*;
+
+class AltosTelemetryReader extends AltosFlightReader {
+ AltosDevice device;
+ AltosSerial serial;
+ AltosLog log;
+ AltosRecord previous;
+ double frequency;
+ int telemetry;
+
+ LinkedBlockingQueue<AltosLine> telem;
+
+ AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException {
+ AltosLine l = telem.take();
+ if (l.line == null)
+ throw new IOException("IO error");
+ AltosRecord next = AltosTelemetry.parse(l.line, previous);
+ previous = next;
+ return next;
+ }
+
+ void flush() {
+ telem.clear();
+ }
+
+ void close(boolean interrupted) {
+ serial.remove_monitor(telem);
+ log.close();
+ serial.close();
+ }
+
+ public void set_frequency(double in_frequency) throws InterruptedException, TimeoutException {
+ frequency = in_frequency;
+ serial.set_radio_frequency(frequency);
+ }
+
+ public boolean supports_telemetry(int telemetry) {
+
+ try {
+ /* Version 1.0 or later firmware supports all telemetry formats */
+ if (serial.config_data().compare_version("1.0") >= 0)
+ return true;
+
+ /* Version 0.9 firmware only supports 0.9 telemetry */
+ if (serial.config_data().compare_version("0.9") >= 0) {
+ if (telemetry == Altos.ao_telemetry_0_9)
+ return true;
+ else
+ return false;
+ }
+
+ /* Version 0.8 firmware only supports 0.8 telemetry */
+ if (telemetry == Altos.ao_telemetry_0_8)
+ return true;
+ else
+ return false;
+ } catch (InterruptedException ie) {
+ return true;
+ } catch (TimeoutException te) {
+ return true;
+ }
+ }
+
+ void save_frequency() {
+ AltosUIPreferences.set_frequency(device.getSerial(), frequency);
+ }
+
+ void set_telemetry(int in_telemetry) {
+ telemetry = in_telemetry;
+ serial.set_telemetry(telemetry);
+ }
+
+ void save_telemetry() {
+ AltosUIPreferences.set_telemetry(device.getSerial(), telemetry);
+ }
+
+ File backing_file() {
+ return log.file();
+ }
+
+ public AltosTelemetryReader (AltosDevice in_device)
+ throws FileNotFoundException, AltosSerialInUseException, IOException, InterruptedException, TimeoutException {
+ device = in_device;
+ serial = new AltosSerial(device);
+ log = new AltosLog(serial);
+ name = device.toShortString();
+ previous = null;
+
+ telem = new LinkedBlockingQueue<AltosLine>();
+ frequency = AltosUIPreferences.frequency(device.getSerial());
+ set_frequency(frequency);
+ telemetry = AltosUIPreferences.telemetry(device.getSerial());
+ set_telemetry(telemetry);
+ serial.set_callsign(AltosUIPreferences.callsign());
+ serial.add_monitor(telem);
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+import java.lang.*;
+import java.text.*;
+
+public abstract class AltosTelemetryRecord {
+
+ long received_time;
+ abstract public AltosRecord update_state(AltosRecord previous);
+
+ static boolean cksum(int[] bytes) {
+ int sum = 0x5a;
+ for (int i = 1; i < bytes.length - 1; i++)
+ sum += bytes[i];
+ sum &= 0xff;
+ return sum == bytes[bytes.length - 1];
+ }
+
+ final static int PKT_APPEND_STATUS_1_CRC_OK = (1 << 7);
+ final static int PKT_APPEND_STATUS_1_LQI_MASK = (0x7f);
+ final static int PKT_APPEND_STATUS_1_LQI_SHIFT = 0;
+
+ final static int packet_type_TM_sensor = 0x01;
+ final static int packet_type_Tm_sensor = 0x02;
+ final static int packet_type_Tn_sensor = 0x03;
+ final static int packet_type_configuration = 0x04;
+ final static int packet_type_location = 0x05;
+ final static int packet_type_satellite = 0x06;
+ final static int packet_type_companion = 0x07;
+
+ static AltosTelemetryRecord parse_hex(String hex) throws ParseException, AltosCRCException {
+ AltosTelemetryRecord r;
+
+ int[] bytes;
+ try {
+ bytes = Altos.hexbytes(hex);
+ } catch (NumberFormatException ne) {
+ throw new ParseException(ne.getMessage(), 0);
+ }
+
+ /* one for length, one for checksum */
+ if (bytes[0] != bytes.length - 2)
+ throw new ParseException(String.format("invalid length %d != %d\n",
+ bytes[0],
+ bytes.length - 2), 0);
+ if (!cksum(bytes))
+ throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
+
+ int rssi = Altos.int8(bytes, bytes.length - 3) / 2 - 74;
+ int status = Altos.uint8(bytes, bytes.length - 2);
+
+ if ((status & PKT_APPEND_STATUS_1_CRC_OK) == 0)
+ throw new AltosCRCException(rssi);
+
+ /* length, data ..., rssi, status, checksum -- 4 bytes extra */
+ switch (bytes.length) {
+ case Altos.ao_telemetry_standard_len + 4:
+ int type = Altos.uint8(bytes, 4 + 1);
+ switch (type) {
+ case packet_type_TM_sensor:
+ case packet_type_Tm_sensor:
+ case packet_type_Tn_sensor:
+ r = new AltosTelemetryRecordSensor(bytes, rssi);
+ break;
+ case packet_type_configuration:
+ r = new AltosTelemetryRecordConfiguration(bytes);
+ break;
+ case packet_type_location:
+ r = new AltosTelemetryRecordLocation(bytes);
+ break;
+ case packet_type_satellite:
+ r = new AltosTelemetryRecordSatellite(bytes);
+ break;
+ case packet_type_companion:
+ r = new AltosTelemetryRecordCompanion(bytes);
+ break;
+ default:
+ r = new AltosTelemetryRecordRaw(bytes);
+ break;
+ }
+ break;
+ case Altos.ao_telemetry_0_9_len + 4:
+ r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
+ break;
+ case Altos.ao_telemetry_0_8_len + 4:
+ r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
+ break;
+ default:
+ throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
+ }
+ r.received_time = System.currentTimeMillis();
+ return r;
+ }
+
+ public static AltosTelemetryRecord parse(String line) throws ParseException, AltosCRCException {
+ AltosTelemetryRecord r;
+
+ String[] word = line.split("\\s+");
+ int i =0;
+ if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
+ i += 2;
+ AltosParse.word(word[i++], "RSSI");
+ throw new AltosCRCException(AltosParse.parse_int(word[i++]));
+ }
+
+ if (word[i].equals("TELEM"))
+ r = parse_hex(word[i+1]);
+ else
+ r = new AltosTelemetryRecordLegacy(line);
+ return r;
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+
+public class AltosTelemetryRecordCompanion extends AltosTelemetryRecordRaw {
+
+ AltosRecordCompanion companion;
+
+ public AltosTelemetryRecordCompanion(int[] in_bytes) {
+ super(in_bytes);
+
+ int off = 0;
+ if (uint8(6) == 0)
+ off = 1;
+ int channels = uint8(7+off);
+
+ if (off != 0 && channels >= 12)
+ channels = 11;
+
+ companion = new AltosRecordCompanion(channels);
+ companion.tick = tick;
+ companion.board_id = uint8(5);
+ companion.update_period = uint8(6+off);
+ for (int i = 0; i < companion.companion_data.length; i++)
+ companion.companion_data[i] = uint16(8 + off + i * 2);
+ }
+
+ public AltosRecord update_state(AltosRecord previous) {
+ AltosRecord next = super.update_state(previous);
+
+ next.companion = companion;
+ next.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt;
+
+ companion.tick = tick;
+ return next;
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+
+
+public class AltosTelemetryRecordConfiguration extends AltosTelemetryRecordRaw {
+ int device_type;
+ int flight;
+ int config_major;
+ int config_minor;
+ int apogee_delay;
+ int main_deploy;
+ int flight_log_max;
+ String callsign;
+ String version;
+
+ public AltosTelemetryRecordConfiguration(int[] in_bytes) {
+ super(in_bytes);
+
+ device_type = uint8(5);
+ flight = uint16(6);
+ config_major = uint8(8);
+ config_minor = uint8(9);
+ apogee_delay = uint16(10);
+ main_deploy = uint16(12);
+ flight_log_max = uint16(14);
+ callsign = string(16, 8);
+ version = string(24, 8);
+ }
+
+ public AltosRecord update_state(AltosRecord previous) {
+ AltosRecord next = super.update_state(previous);
+
+ next.device_type = device_type;
+ next.flight = flight;
+ next.config_major = config_major;
+ next.config_minor = config_minor;
+ next.apogee_delay = apogee_delay;
+ next.main_deploy = main_deploy;
+ next.flight_log_max = flight_log_max;
+
+ next.callsign = callsign;
+ next.firmware_version = version;
+
+ next.seen |= AltosRecord.seen_deploy | AltosRecord.seen_flight;
+
+ return next;
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+
+import java.lang.*;
+import java.text.*;
+import java.util.HashMap;
+
+public class AltosTelemetryRecordGeneral {
+
+ static AltosTelemetryRecord parse(String line) throws ParseException, AltosCRCException {
+ AltosTelemetryRecord r;
+
+ String[] word = line.split("\\s+");
+ int i =0;
+ if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
+ i += 2;
+ AltosParse.word(word[i++], "RSSI");
+ throw new AltosCRCException(AltosParse.parse_int(word[i++]));
+ }
+
+ if (word[i].equals("TELEM"))
+ r = AltosTelemetryRecordRaw.parse(word[i+1]);
+ else
+ r = new AltosTelemetryRecordLegacy(line);
+ return r;
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+
+import java.lang.*;
+import java.text.*;
+import java.util.HashMap;
+
+/*
+ * Telemetry data contents
+ */
+
+
+/*
+ * The packet format is a simple hex dump of the raw telemetry frame.
+ * It starts with 'TELEM', then contains hex digits with a checksum as the last
+ * byte on the line.
+ *
+ * Version 4 is a replacement with consistent syntax. Each telemetry line
+ * contains a sequence of space-separated names and values, the values are
+ * either integers or strings. The names are all unique. All values are
+ * optional
+ *
+ * VERSION 4 c KD7SQG n 236 f 18 r -25 s pad t 513 r_a 15756 r_b 26444 r_t 20944
+ * r_v 26640 r_d 512 r_m 208 c_a 15775 c_b 26439 c_p 15749 c_m 16281 a_a 15764
+ * a_s 0 a_b 26439 g_s u g_n 0 s_n 0
+ *
+ * VERSION 4 c KD7SQG n 19 f 0 r -23 s pad t 513 r_b 26372 r_t 21292 r_v 26788
+ * r_d 136 r_m 140 c_b 26370 k_h 0 k_s 0 k_a 0
+ *
+ * General header fields
+ *
+ * Name Value
+ *
+ * VERSION Telemetry version number (4 or more). Must be first.
+ * c Callsign (string, no spaces allowed)
+ * n Flight unit serial number (integer)
+ * f Flight number (integer)
+ * r Packet RSSI value (integer)
+ * s Flight computer state (string, no spaces allowed)
+ * t Flight computer clock (integer in centiseconds)
+ *
+ * Version 3 is Version 2 with fixed RSSI numbers -- the radio reports
+ * in 1/2dB increments while this protocol provides only integers. So,
+ * the syntax didn't change just the interpretation of the RSSI
+ * values.
+ *
+ * Version 2 of the telemetry data stream is a bit of a mess, with no
+ * consistent formatting. In particular, the GPS data is formatted for
+ * viewing instead of parsing. However, the key feature is that every
+ * telemetry line contains all of the information necessary to
+ * describe the current rocket state, including the calibration values
+ * for accelerometer and barometer.
+ *
+ * GPS unlocked:
+ *
+ * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -68 STATUS ff STATE pad 1001 \
+ * a: 16032 p: 21232 t: 20284 v: 25160 d: 204 m: 204 fa: 16038 ga: 16032 fv: 0 \
+ * fp: 21232 gp: 21230 a+: 16049 a-: 16304 GPS 0 sat unlocked SAT 1 15 30
+ *
+ * GPS locked:
+ *
+ * VERSION 2 CALL KB0G SERIAL 51 FLIGHT 2 RSSI -71 STATUS ff STATE pad 2504 \
+ * a: 16028 p: 21220 t: 20360 v: 25004 d: 208 m: 200 fa: 16031 ga: 16032 fv: 330 \
+ * fp: 21231 gp: 21230 a+: 16049 a-: 16304 \
+ * GPS 9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W 1790m \
+ * 0.00m/s(H) 0° 0.00m/s(V) 1.0(hdop) 0(herr) 0(verr) \
+ * SAT 10 29 30 24 28 5 25 21 20 15 33 1 23 30 24 18 26 10 29 2 26
+ *
+ */
+
+public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord {
+ /*
+ * General header fields
+ *
+ * Name Value
+ *
+ * VERSION Telemetry version number (4 or more). Must be first.
+ * c Callsign (string, no spaces allowed)
+ * n Flight unit serial number (integer)
+ * f Flight number (integer)
+ * r Packet RSSI value (integer)
+ * s Flight computer state (string, no spaces allowed)
+ * t Flight computer clock (integer in centiseconds)
+ */
+
+ final static String AO_TELEM_VERSION = "VERSION";
+ final static String AO_TELEM_CALL = "c";
+ final static String AO_TELEM_SERIAL = "n";
+ final static String AO_TELEM_FLIGHT = "f";
+ final static String AO_TELEM_RSSI = "r";
+ final static String AO_TELEM_STATE = "s";
+ final static String AO_TELEM_TICK = "t";
+
+ /*
+ * Raw sensor values
+ *
+ * Name Value
+ * r_a Accelerometer reading (integer)
+ * r_b Barometer reading (integer)
+ * r_t Thermometer reading (integer)
+ * r_v Battery reading (integer)
+ * r_d Drogue continuity (integer)
+ * r_m Main continuity (integer)
+ */
+
+ final static String AO_TELEM_RAW_ACCEL = "r_a";
+ final static String AO_TELEM_RAW_BARO = "r_b";
+ final static String AO_TELEM_RAW_THERMO = "r_t";
+ final static String AO_TELEM_RAW_BATT = "r_v";
+ final static String AO_TELEM_RAW_DROGUE = "r_d";
+ final static String AO_TELEM_RAW_MAIN = "r_m";
+
+ /*
+ * Sensor calibration values
+ *
+ * Name Value
+ * c_a Ground accelerometer reading (integer)
+ * c_b Ground barometer reading (integer)
+ * c_p Accelerometer reading for +1g
+ * c_m Accelerometer reading for -1g
+ */
+
+ final static String AO_TELEM_CAL_ACCEL_GROUND = "c_a";
+ final static String AO_TELEM_CAL_BARO_GROUND = "c_b";
+ final static String AO_TELEM_CAL_ACCEL_PLUS = "c_p";
+ final static String AO_TELEM_CAL_ACCEL_MINUS = "c_m";
+
+ /*
+ * Kalman state values
+ *
+ * Name Value
+ * k_h Height above pad (integer, meters)
+ * k_s Vertical speeed (integer, m/s * 16)
+ * k_a Vertical acceleration (integer, m/s² * 16)
+ */
+
+ final static String AO_TELEM_KALMAN_HEIGHT = "k_h";
+ final static String AO_TELEM_KALMAN_SPEED = "k_s";
+ final static String AO_TELEM_KALMAN_ACCEL = "k_a";
+
+ /*
+ * Ad-hoc flight values
+ *
+ * Name Value
+ * a_a Acceleration (integer, sensor units)
+ * a_s Speed (integer, integrated acceleration value)
+ * a_b Barometer reading (integer, sensor units)
+ */
+
+ final static String AO_TELEM_ADHOC_ACCEL = "a_a";
+ final static String AO_TELEM_ADHOC_SPEED = "a_s";
+ final static String AO_TELEM_ADHOC_BARO = "a_b";
+
+ /*
+ * GPS values
+ *
+ * Name Value
+ * g_s GPS state (string):
+ * l locked
+ * u unlocked
+ * e error (missing or broken)
+ * g_n Number of sats used in solution
+ * g_ns Latitude (degrees * 10e7)
+ * g_ew Longitude (degrees * 10e7)
+ * g_a Altitude (integer meters)
+ * g_Y GPS year (integer)
+ * g_M GPS month (integer - 1-12)
+ * g_D GPS day (integer - 1-31)
+ * g_h GPS hour (integer - 0-23)
+ * g_m GPS minute (integer - 0-59)
+ * g_s GPS second (integer - 0-59)
+ * g_v GPS vertical speed (integer, cm/sec)
+ * g_s GPS horizontal speed (integer, cm/sec)
+ * g_c GPS course (integer, 0-359)
+ * g_hd GPS hdop (integer * 10)
+ * g_vd GPS vdop (integer * 10)
+ * g_he GPS h error (integer)
+ * g_ve GPS v error (integer)
+ */
+
+ final static String AO_TELEM_GPS_STATE = "g";
+ final static String AO_TELEM_GPS_STATE_LOCKED = "l";
+ final static String AO_TELEM_GPS_STATE_UNLOCKED = "u";
+ final static String AO_TELEM_GPS_STATE_ERROR = "e";
+ final static String AO_TELEM_GPS_NUM_SAT = "g_n";
+ final static String AO_TELEM_GPS_LATITUDE = "g_ns";
+ final static String AO_TELEM_GPS_LONGITUDE = "g_ew";
+ final static String AO_TELEM_GPS_ALTITUDE = "g_a";
+ final static String AO_TELEM_GPS_YEAR = "g_Y";
+ final static String AO_TELEM_GPS_MONTH = "g_M";
+ final static String AO_TELEM_GPS_DAY = "g_D";
+ final static String AO_TELEM_GPS_HOUR = "g_h";
+ final static String AO_TELEM_GPS_MINUTE = "g_m";
+ final static String AO_TELEM_GPS_SECOND = "g_s";
+ final static String AO_TELEM_GPS_VERTICAL_SPEED = "g_v";
+ final static String AO_TELEM_GPS_HORIZONTAL_SPEED = "g_g";
+ final static String AO_TELEM_GPS_COURSE = "g_c";
+ final static String AO_TELEM_GPS_HDOP = "g_hd";
+ final static String AO_TELEM_GPS_VDOP = "g_vd";
+ final static String AO_TELEM_GPS_HERROR = "g_he";
+ final static String AO_TELEM_GPS_VERROR = "g_ve";
+
+ /*
+ * GPS satellite values
+ *
+ * Name Value
+ * s_n Number of satellites reported (integer)
+ * s_v0 Space vehicle ID (integer) for report 0
+ * s_c0 C/N0 number (integer) for report 0
+ * s_v1 Space vehicle ID (integer) for report 1
+ * s_c1 C/N0 number (integer) for report 1
+ * ...
+ */
+
+ final static String AO_TELEM_SAT_NUM = "s_n";
+ final static String AO_TELEM_SAT_SVID = "s_v";
+ final static String AO_TELEM_SAT_C_N_0 = "s_c";
+
+ AltosRecord record;
+
+ private void parse_v4(String[] words, int i) throws ParseException {
+ AltosTelemetryMap map = new AltosTelemetryMap(words, i);
+
+ record.callsign = map.get_string(AO_TELEM_CALL, "N0CALL");
+ record.serial = map.get_int(AO_TELEM_SERIAL, AltosRecord.MISSING);
+ record.flight = map.get_int(AO_TELEM_FLIGHT, AltosRecord.MISSING);
+ record.rssi = map.get_int(AO_TELEM_RSSI, AltosRecord.MISSING);
+ record.state = Altos.state(map.get_string(AO_TELEM_STATE, "invalid"));
+ record.tick = map.get_int(AO_TELEM_TICK, 0);
+
+ /* raw sensor values */
+ record.accel = map.get_int(AO_TELEM_RAW_ACCEL, AltosRecord.MISSING);
+ record.pres = map.get_int(AO_TELEM_RAW_BARO, AltosRecord.MISSING);
+ record.temp = map.get_int(AO_TELEM_RAW_THERMO, AltosRecord.MISSING);
+ record.batt = map.get_int(AO_TELEM_RAW_BATT, AltosRecord.MISSING);
+ record.drogue = map.get_int(AO_TELEM_RAW_DROGUE, AltosRecord.MISSING);
+ record.main = map.get_int(AO_TELEM_RAW_MAIN, AltosRecord.MISSING);
+
+ /* sensor calibration information */
+ record.ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, AltosRecord.MISSING);
+ record.ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, AltosRecord.MISSING);
+ record.accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, AltosRecord.MISSING);
+ record.accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, AltosRecord.MISSING);
+
+ /* flight computer values */
+ record.acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, AltosRecord.MISSING, 1/16.0);
+ record.speed = map.get_double(AO_TELEM_KALMAN_SPEED, AltosRecord.MISSING, 1/16.0);
+ record.height = map.get_int(AO_TELEM_KALMAN_HEIGHT, AltosRecord.MISSING);
+
+ record.flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, AltosRecord.MISSING);
+ record.flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, AltosRecord.MISSING);
+ record.flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, AltosRecord.MISSING);
+
+ if (map.has(AO_TELEM_GPS_STATE)) {
+ record.gps = new AltosGPS(map);
+ record.new_gps = true;
+ }
+ else
+ record.gps = null;
+ }
+
+ private void parse_legacy(String[] words, int i) throws ParseException {
+
+ AltosParse.word (words[i++], "CALL");
+ record.callsign = words[i++];
+
+ AltosParse.word (words[i++], "SERIAL");
+ record.serial = AltosParse.parse_int(words[i++]);
+
+ if (record.version >= 2) {
+ AltosParse.word (words[i++], "FLIGHT");
+ record.flight = AltosParse.parse_int(words[i++]);
+ } else
+ record.flight = 0;
+
+ AltosParse.word(words[i++], "RSSI");
+ record.rssi = AltosParse.parse_int(words[i++]);
+
+ /* Older telemetry data had mis-computed RSSI value */
+ if (record.version <= 2)
+ record.rssi = (record.rssi + 74) / 2 - 74;
+
+ AltosParse.word(words[i++], "STATUS");
+ record.status = AltosParse.parse_hex(words[i++]);
+
+ AltosParse.word(words[i++], "STATE");
+ record.state = Altos.state(words[i++]);
+
+ record.tick = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "a:");
+ record.accel = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "p:");
+ record.pres = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "t:");
+ record.temp = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "v:");
+ record.batt = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "d:");
+ record.drogue = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "m:");
+ record.main = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "fa:");
+ record.flight_accel = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "ga:");
+ record.ground_accel = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "fv:");
+ record.flight_vel = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "fp:");
+ record.flight_pres = AltosParse.parse_int(words[i++]);
+
+ /* Old TeleDongle code with kalman-reporting TeleMetrum code */
+ if ((record.flight_vel & 0xffff0000) == 0x80000000) {
+ record.speed = ((short) record.flight_vel) / 16.0;
+ record.acceleration = record.flight_accel / 16.0;
+ record.height = record.flight_pres;
+ record.flight_vel = AltosRecord.MISSING;
+ record.flight_pres = AltosRecord.MISSING;
+ record.flight_accel = AltosRecord.MISSING;
+ }
+
+ AltosParse.word(words[i++], "gp:");
+ record.ground_pres = AltosParse.parse_int(words[i++]);
+
+ if (record.version >= 1) {
+ AltosParse.word(words[i++], "a+:");
+ record.accel_plus_g = AltosParse.parse_int(words[i++]);
+
+ AltosParse.word(words[i++], "a-:");
+ record.accel_minus_g = AltosParse.parse_int(words[i++]);
+ } else {
+ record.accel_plus_g = record.ground_accel;
+ record.accel_minus_g = record.ground_accel + 530;
+ }
+
+ record.gps = new AltosGPS(words, i, record.version);
+ record.new_gps = true;
+ }
+
+ public AltosTelemetryRecordLegacy(String line) throws ParseException, AltosCRCException {
+ String[] words = line.split("\\s+");
+ int i = 0;
+
+ record = new AltosRecord();
+
+ if (words[i].equals("CRC") && words[i+1].equals("INVALID")) {
+ i += 2;
+ AltosParse.word(words[i++], "RSSI");
+ record.rssi = AltosParse.parse_int(words[i++]);
+ throw new AltosCRCException(record.rssi);
+ }
+ if (words[i].equals("CALL")) {
+ record.version = 0;
+ } else {
+ AltosParse.word (words[i++], "VERSION");
+ record.version = AltosParse.parse_int(words[i++]);
+ }
+
+ if (record.version < 4)
+ parse_legacy(words, i);
+ else
+ parse_v4(words, i);
+ }
+
+ /*
+ * Given a hex dump of a legacy telemetry line, construct an AltosRecord from that
+ */
+
+ int[] bytes;
+ int adjust;
+
+ private int int8(int i) {
+ return Altos.int8(bytes, i + 1 + adjust);
+ }
+ private int uint8(int i) {
+ return Altos.uint8(bytes, i + 1 + adjust);
+ }
+ private int int16(int i) {
+ return Altos.int16(bytes, i + 1 + adjust);
+ }
+ private int uint16(int i) {
+ return Altos.uint16(bytes, i + 1 + adjust);
+ }
+ private int uint32(int i) {
+ return Altos.uint32(bytes, i + 1 + adjust);
+ }
+ private String string(int i, int l) {
+ return Altos.string(bytes, i + 1 + adjust, l);
+ }
+
+ static final int AO_GPS_NUM_SAT_MASK = (0xf << 0);
+ static final int AO_GPS_NUM_SAT_SHIFT = (0);
+
+ static final int AO_GPS_VALID = (1 << 4);
+ static final int AO_GPS_RUNNING = (1 << 5);
+ static final int AO_GPS_DATE_VALID = (1 << 6);
+ static final int AO_GPS_COURSE_VALID = (1 << 7);
+
+ public AltosTelemetryRecordLegacy(int[] in_bytes, int in_rssi, int in_status) {
+ record = new AltosRecord();
+
+ bytes = in_bytes;
+ record.version = 4;
+ adjust = 0;
+
+ if (bytes.length == Altos.ao_telemetry_0_8_len + 4) {
+ record.serial = uint8(0);
+ adjust = -1;
+ } else
+ record.serial = uint16(0);
+
+ record.seen = AltosRecord.seen_flight | AltosRecord.seen_sensor | AltosRecord.seen_temp_volt | AltosRecord.seen_deploy;
+
+ record.callsign = string(62, 8);
+ record.flight = uint16(2);
+ record.rssi = in_rssi;
+ record.status = in_status;
+ record.state = uint8(4);
+ record.tick = uint16(21);
+ record.accel = int16(23);
+ record.pres = int16(25);
+ record.temp = int16(27);
+ record.batt = int16(29);
+ record.drogue = int16(31);
+ record.main = int16(33);
+
+ record.ground_accel = int16(7);
+ record.ground_pres = int16(15);
+ record.accel_plus_g = int16(17);
+ record.accel_minus_g = int16(19);
+
+ if (uint16(11) == 0x8000) {
+ record.acceleration = int16(5);
+ record.speed = int16(9);
+ record.height = int16(13);
+ record.flight_accel = AltosRecord.MISSING;
+ record.flight_vel = AltosRecord.MISSING;
+ record.flight_pres = AltosRecord.MISSING;
+ } else {
+ record.flight_accel = int16(5);
+ record.flight_vel = uint32(9);
+ record.flight_pres = int16(13);
+ record.acceleration = AltosRecord.MISSING;
+ record.speed = AltosRecord.MISSING;
+ record.height = AltosRecord.MISSING;
+ }
+
+ record.gps = null;
+
+ int gps_flags = uint8(41);
+
+ if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) {
+ record.gps = new AltosGPS();
+ record.new_gps = true;
+
+ record.seen |= record.seen_gps_time | record.seen_gps_lat | record.seen_gps_lon;
+ record.gps.nsat = (gps_flags & AO_GPS_NUM_SAT_MASK);
+ record.gps.locked = (gps_flags & AO_GPS_VALID) != 0;
+ record.gps.connected = true;
+ record.gps.lat = uint32(42) / 1.0e7;
+ record.gps.lon = uint32(46) / 1.0e7;
+ record.gps.alt = int16(50);
+ record.gps.ground_speed = uint16(52) / 100.0;
+ record.gps.course = uint8(54) * 2;
+ record.gps.hdop = uint8(55) / 5.0;
+ record.gps.h_error = uint16(58);
+ record.gps.v_error = uint16(60);
+
+ int n_tracking_reported = uint8(70);
+ if (n_tracking_reported > 12)
+ n_tracking_reported = 12;
+ int n_tracking_actual = 0;
+ for (int i = 0; i < n_tracking_reported; i++) {
+ if (uint8(71 + i*2) != 0)
+ n_tracking_actual++;
+ }
+ if (n_tracking_actual > 0) {
+ record.gps.cc_gps_sat = new AltosGPSSat[n_tracking_actual];
+
+ n_tracking_actual = 0;
+ for (int i = 0; i < n_tracking_reported; i++) {
+ int svid = uint8(71 + i*2);
+ int c_n0 = uint8(72 + i*2);
+ if (svid != 0)
+ record.gps.cc_gps_sat[n_tracking_actual++] = new AltosGPSSat(svid, c_n0);
+ }
+ }
+ }
+
+ record.time = 0.0;
+ }
+
+ public AltosRecord update_state(AltosRecord previous) {
+ return record;
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+
+
+public class AltosTelemetryRecordLocation extends AltosTelemetryRecordRaw {
+ int flags;
+ int altitude;
+ int latitude;
+ int longitude;
+ int year;
+ int month;
+ int day;
+ int hour;
+ int minute;
+ int second;
+ int pdop;
+ int hdop;
+ int vdop;
+ int mode;
+ int ground_speed;
+ int climb_rate;
+ int course;
+
+ public AltosTelemetryRecordLocation(int[] in_bytes) {
+ super(in_bytes);
+
+ flags = uint8(5);
+ altitude = int16(6);
+ latitude = uint32(8);
+ longitude = uint32(12);
+ year = uint8(16);
+ month = uint8(17);
+ day = uint8(18);
+ hour = uint8(19);
+ minute = uint8(20);
+ second = uint8(21);
+ pdop = uint8(22);
+ hdop = uint8(23);
+ vdop = uint8(24);
+ mode = uint8(25);
+ ground_speed = uint16(26);
+ climb_rate = int16(28);
+ course = uint8(30);
+ }
+
+ public AltosRecord update_state(AltosRecord previous) {
+ AltosRecord next = super.update_state(previous);
+
+ if (next.gps == null)
+ next.gps = new AltosGPS();
+
+ next.gps.nsat = flags & 0xf;
+ next.gps.locked = (flags & (1 << 4)) != 0;
+ next.gps.connected = (flags & (1 << 5)) != 0;
+
+ if (next.gps.locked) {
+ next.gps.lat = latitude * 1.0e-7;
+ next.gps.lon = longitude * 1.0e-7;
+ next.gps.alt = altitude;
+ next.gps.year = 2000 + year;
+ next.gps.month = month;
+ next.gps.day = day;
+ next.gps.hour = hour;
+ next.gps.minute = minute;
+ next.gps.second = second;
+ next.gps.ground_speed = ground_speed * 1.0e-2;
+ next.gps.course = course * 2;
+ next.gps.climb_rate = climb_rate * 1.0e-2;
+ next.gps.hdop = hdop;
+ next.gps.vdop = vdop;
+ next.seen |= AltosRecord.seen_gps_time | AltosRecord.seen_gps_lat | AltosRecord.seen_gps_lon;
+ next.new_gps = true;
+ }
+
+ return next;
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+
+import java.lang.*;
+import java.text.*;
+import java.util.HashMap;
+
+public class AltosTelemetryRecordRaw extends AltosTelemetryRecord {
+ int[] bytes;
+ int serial;
+ int tick;
+ int type;
+
+ long received_time;
+
+ public int int8(int off) {
+ return Altos.int8(bytes, off + 1);
+ }
+
+ public int uint8(int off) {
+ return Altos.uint8(bytes, off + 1);
+ }
+
+ public int int16(int off) {
+ return Altos.int16(bytes, off + 1);
+ }
+
+ public int uint16(int off) {
+ return Altos.uint16(bytes, off + 1);
+ }
+
+ public int uint32(int off) {
+ return Altos.uint32(bytes, off + 1);
+ }
+
+ public String string(int off, int l) {
+ return Altos.string(bytes, off + 1, l);
+ }
+
+ public AltosTelemetryRecordRaw(int[] in_bytes) {
+ bytes = in_bytes;
+ serial = uint16(0);
+ tick = uint16(2);
+ type = uint8(4);
+ }
+
+ public AltosRecord update_state(AltosRecord previous) {
+ AltosRecord next;
+ if (previous != null)
+ next = new AltosRecord(previous);
+ else
+ next = new AltosRecord();
+ next.serial = serial;
+ next.tick = tick;
+ return next;
+ }
+
+ public long received_time() {
+ return received_time;
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+
+public class AltosTelemetryRecordSatellite extends AltosTelemetryRecordRaw {
+ int channels;
+ AltosGPSSat[] sats;
+
+ public AltosTelemetryRecordSatellite(int[] in_bytes) {
+ super(in_bytes);
+
+ channels = uint8(5);
+ if (channels > 12)
+ channels = 12;
+ if (channels == 0)
+ sats = null;
+ else {
+ sats = new AltosGPSSat[channels];
+ for (int i = 0; i < channels; i++) {
+ int svid = uint8(6 + i * 2 + 0);
+ int c_n_1 = uint8(6 + i * 2 + 1);
+ sats[i] = new AltosGPSSat(svid, c_n_1);
+ }
+ }
+ }
+
+ public AltosRecord update_state(AltosRecord previous) {
+ AltosRecord next = super.update_state(previous);
+
+ if (next.gps == null)
+ next.gps = new AltosGPS();
+
+ next.gps.cc_gps_sat = sats;
+
+ return next;
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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 altosui;
+
+
+public class AltosTelemetryRecordSensor extends AltosTelemetryRecordRaw {
+ int state;
+ int accel;
+ int pres;
+ int temp;
+ int v_batt;
+ int sense_d;
+ int sense_m;
+
+ int acceleration;
+ int speed;
+ int height;
+
+ int ground_accel;
+ int ground_pres;
+ int accel_plus_g;
+ int accel_minus_g;
+
+ int rssi;
+
+ public AltosTelemetryRecordSensor(int[] in_bytes, int in_rssi) {
+ super(in_bytes);
+ state = uint8(5);
+
+ accel = int16(6);
+ pres = int16(8);
+ temp = int16(10);
+ v_batt = int16(12);
+ sense_d = int16(14);
+ sense_m = int16(16);
+
+ acceleration = int16(18);
+ speed = int16(20);
+ height = int16(22);
+
+ ground_pres = int16(24);
+ ground_accel = int16(26);
+ accel_plus_g = int16(28);
+ accel_minus_g = int16(30);
+
+ rssi = in_rssi;
+ }
+
+ public AltosRecord update_state(AltosRecord previous) {
+ AltosRecord next = super.update_state(previous);
+
+ next.state = state;
+ if (type == packet_type_TM_sensor)
+ next.accel = accel;
+ else
+ next.accel = AltosRecord.MISSING;
+ next.pres = pres;
+ next.temp = temp;
+ next.batt = v_batt;
+ if (type == packet_type_TM_sensor || type == packet_type_Tm_sensor) {
+ next.drogue = sense_d;
+ next.main = sense_m;
+ } else {
+ next.drogue = AltosRecord.MISSING;
+ next.main = AltosRecord.MISSING;
+ }
+
+ next.acceleration = acceleration / 16.0;
+ next.speed = speed / 16.0;
+ next.height = height;
+
+ next.ground_pres = ground_pres;
+ if (type == packet_type_TM_sensor) {
+ next.ground_accel = ground_accel;
+ next.accel_plus_g = accel_plus_g;
+ next.accel_minus_g = accel_minus_g;
+ } else {
+ next.ground_accel = AltosRecord.MISSING;
+ next.accel_plus_g = AltosRecord.MISSING;
+ next.accel_minus_g = AltosRecord.MISSING;
+ }
+
+ next.rssi = rssi;
+
+ next.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt;
+
+ return next;
+ }
+}
Makefile
altosui/Makefile
altosui/AltosVersion.java
+altosui/altoslib/Makefile
altosui/libaltos/Makefile
ao-tools/Makefile
ao-tools/lib/Makefile
projects / fw / altos / commitdiff