+++ /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 org.altusmetrum.altoslib_2;
-
-import java.io.*;
-import java.util.*;
-import java.text.*;
-
-public class AltosEepromGPS extends AltosEeprom {
- public static final int record_length = 16;
-
- public int record_length() { return record_length; }
-
- /* AO_LOG_FLIGHT elements */
- public int flight() { return data16(0); }
- public int ground_accel() { return data16(2); }
- public int ground_pres() { return data32(4); }
- public int ground_temp() { return data32(8); }
-
- /* AO_LOG_STATE elements */
- public int state() { return data16(0); }
- public int reason() { return data16(2); }
-
- /* AO_LOG_SENSOR elements */
- public int pres() { return data32(0); }
- public int temp() { return data32(4); }
- public int accel() { return data16(8); }
-
- /* AO_LOG_TEMP_VOLT elements */
- public int v_batt() { return data16(0); }
- public int sense_a() { return data16(2); }
- public int sense_m() { return data16(4); }
-
- /* AO_LOG_GPS_POS elements */
- public int latitude() { return data32(0); }
- public int longitude() { return data32(4); }
- public int altitude() { return data16(8); }
-
- /* AO_LOG_GPS_TIME elements */
- public int hour() { return data8(0); }
- public int minute() { return data8(1); }
- public int second() { return data8(2); }
- public int flags() { return data8(3); }
- public int year() { return data8(4); }
- public int month() { return data8(5); }
- public int day() { return data8(6); }
-
- /* AO_LOG_GPS_SAT elements */
- public int nsat() { return data8(0); }
- public int more() { return data8(1); }
- public int svid(int n) { return data8(2 + n * 2); }
- public int c_n(int n) { return data8(2 + n * 2 + 1); }
-
- public AltosEepromMetrum2 (AltosEepromChunk chunk, int start) throws ParseException {
- parse_chunk(chunk, start);
- }
-
- public void update_state(AltosState state) {
- super.update_state(state);
-
- AltosGPS gps;
-
- /* Flush any pending GPS changes */
- if (state.gps_pending) {
- switch (cmd) {
- case AltosLib.AO_LOG_GPS_POS:
- case AltosLib.AO_LOG_GPS_LAT:
- case AltosLib.AO_LOG_GPS_LON:
- case AltosLib.AO_LOG_GPS_ALT:
- case AltosLib.AO_LOG_GPS_SAT:
- case AltosLib.AO_LOG_GPS_DATE:
- break;
- default:
- state.set_temp_gps();
- break;
- }
- }
-
- switch (cmd) {
- case AltosLib.AO_LOG_FLIGHT:
- state.set_flight(flight());
- state.set_ground_accel(ground_accel());
- state.set_ground_pressure(ground_pres());
-// state.set_temperature(ground_temp() / 100.0);
- break;
- case AltosLib.AO_LOG_STATE:
- state.set_state(state());
- break;
- case AltosLib.AO_LOG_SENSOR:
- state.set_ms5607(pres(), temp());
- state.set_accel(accel());
-
- break;
- case AltosLib.AO_LOG_TEMP_VOLT:
- state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
-
- state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense_a()));
- state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense_m()));
-
- break;
- case AltosLib.AO_LOG_GPS_POS:
- gps = state.make_temp_gps();
- gps.lat = latitude() / 1e7;
- gps.lon = longitude() / 1e7;
- gps.alt = altitude();
- break;
- case AltosLib.AO_LOG_GPS_TIME:
- gps = state.make_temp_gps();
-
- gps.hour = hour();
- gps.minute = minute();
- gps.second = second();
-
- int flags = flags();
-
- gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
- gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
- gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
- AltosLib.AO_GPS_NUM_SAT_SHIFT;
-
- gps.year = year();
- gps.month = month();
- gps.day = day();
- break;
- case AltosLib.AO_LOG_GPS_SAT:
- gps = state.make_temp_gps();
-
- int n = nsat();
- for (int i = 0; i < n; i++)
- gps.add_sat(svid(i), c_n(i));
- break;
- }
- }
-
- public AltosEepromMetrum2 (String line) {
- parse_string(line);
- }
-
- static public LinkedList<AltosEeprom> read(FileInputStream input) {
- LinkedList<AltosEeprom> megas = new LinkedList<AltosEeprom>();
-
- for (;;) {
- try {
- String line = AltosLib.gets(input);
- if (line == null)
- break;
- try {
- AltosEepromMetrum2 mega = new AltosEepromMetrum2(line);
- if (mega.cmd != AltosLib.AO_LOG_INVALID)
- megas.add(mega);
- } catch (Exception e) {
- System.out.printf ("exception\n");
- }
- } catch (IOException ie) {
- break;
- }
- }
-
- return megas;
- }
-}
+++ /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 org.altusmetrum.altoslib_2;
-
-import java.io.*;
-import java.util.*;
-import java.text.*;
-
-public class AltosEepromMegaIterable extends AltosRecordIterable {
-
- 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_basic = seen_flight|seen_sensor;
-
- boolean has_accel;
- boolean has_gps;
- boolean has_ignite;
-
- AltosEepromMega flight_record;
- AltosEepromMega gps_date_record;
-
- TreeSet<AltosOrderedMegaRecord> records;
-
- AltosMs5607 baro;
-
- LinkedList<AltosRecord> list;
-
- class EepromState {
- int seen;
- int n_pad_samples;
- double ground_pres;
- int gps_tick;
- int boost_tick;
- int sensor_tick;
-
- EepromState() {
- seen = 0;
- n_pad_samples = 0;
- ground_pres = 0.0;
- gps_tick = 0;
- }
- }
-
- void update_state(AltosRecordMM state, AltosEepromMega record, EepromState eeprom) {
- state.tick = record.tick;
- switch (record.cmd) {
- case AltosLib.AO_LOG_FLIGHT:
- eeprom.seen |= seen_flight;
- state.ground_accel = record.ground_accel();
- state.flight_accel = record.ground_accel();
- state.ground_pres = baro.set(record.ground_pres(), record.ground_temp());
- state.flight_pres = state.ground_pres;
- state.flight = record.data16(0);
- eeprom.boost_tick = record.tick;
- break;
- case AltosLib.AO_LOG_SENSOR:
- state.accel = record.accel();
- baro.set(record.pres(), record.temp());
- state.pres = baro.pa;
- state.temp = baro.cc;
- state.imu = new AltosIMU();
- state.imu.accel_x = record.accel_x();
- state.imu.accel_y = record.accel_y();
- state.imu.accel_z = record.accel_z();
- state.imu.gyro_x = record.gyro_x();
- state.imu.gyro_y = record.gyro_y();
- state.imu.gyro_z = record.gyro_z();
- state.mag = new AltosMag();
- state.mag.x = record.mag_x();
- state.mag.y = record.mag_y();
- state.mag.z = record.mag_z();
- if (state.state < AltosLib.ao_flight_boost) {
- eeprom.n_pad_samples++;
- eeprom.ground_pres += state.pres;
- state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples);
- state.flight_pres = state.ground_pres;
- } else {
- state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
- }
- state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
- if ((eeprom.seen & seen_sensor) == 0)
- eeprom.sensor_tick = record.tick - 1;
- state.flight_vel += (state.accel_plus_g - state.accel) * (record.tick - eeprom.sensor_tick);
- eeprom.seen |= seen_sensor;
- eeprom.sensor_tick = record.tick;
- has_accel = true;
- break;
- case AltosLib.AO_LOG_TEMP_VOLT:
- state.v_batt = record.v_batt();
- state.v_pyro = record.v_pbatt();
- for (int i = 0; i < record.nsense(); i++)
- state.sense[i] = record.sense(i);
- eeprom.seen |= seen_temp_volt;
- break;
- case AltosLib.AO_LOG_STATE:
- state.state = record.state();
- break;
- case AltosLib.AO_LOG_GPS_TIME:
- eeprom.gps_tick = state.tick;
- state.gps = new AltosGPS();
-
- state.gps.lat = record.latitude() / 1e7;
- state.gps.lon = record.longitude() / 1e7;
- state.gps.alt = record.altitude();
- state.gps.year = record.year() + 2000;
- state.gps.month = record.month();
- state.gps.day = record.day();
-
- state.gps.hour = record.hour();
- state.gps.minute = record.minute();
- state.gps.second = record.second();
-
- int flags = record.flags();
- state.gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
- state.gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
- state.gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
- AltosLib.AO_GPS_NUM_SAT_SHIFT;
- state.gps_sequence++;
- has_gps = true;
- eeprom.seen |= seen_gps_time | seen_gps_lat | seen_gps_lon;
- break;
- case AltosLib.AO_LOG_GPS_SAT:
- if (state.tick == eeprom.gps_tick) {
- int nsat = record.nsat();
- for (int i = 0; i < nsat; i++)
- state.gps.add_sat(record.svid(i), record.c_n(i));
- }
- break;
- case AltosLib.AO_LOG_CONFIG_VERSION:
- break;
- case AltosLib.AO_LOG_MAIN_DEPLOY:
- break;
- case AltosLib.AO_LOG_APOGEE_DELAY:
- break;
- case AltosLib.AO_LOG_RADIO_CHANNEL:
- break;
- case AltosLib.AO_LOG_CALLSIGN:
- state.callsign = record.data;
- break;
- case AltosLib.AO_LOG_ACCEL_CAL:
- state.accel_plus_g = record.config_a;
- state.accel_minus_g = record.config_b;
- break;
- case AltosLib.AO_LOG_RADIO_CAL:
- break;
- case AltosLib.AO_LOG_MANUFACTURER:
- break;
- case AltosLib.AO_LOG_PRODUCT:
- break;
- case AltosLib.AO_LOG_SERIAL_NUMBER:
- state.serial = record.config_a;
- break;
- case AltosLib.AO_LOG_SOFTWARE_VERSION:
- break;
- case AltosLib.AO_LOG_BARO_RESERVED:
- baro.reserved = record.config_a;
- break;
- case AltosLib.AO_LOG_BARO_SENS:
- baro.sens =record.config_a;
- break;
- case AltosLib.AO_LOG_BARO_OFF:
- baro.off =record.config_a;
- break;
- case AltosLib.AO_LOG_BARO_TCS:
- baro.tcs =record.config_a;
- break;
- case AltosLib.AO_LOG_BARO_TCO:
- baro.tco =record.config_a;
- break;
- case AltosLib.AO_LOG_BARO_TREF:
- baro.tref =record.config_a;
- break;
- case AltosLib.AO_LOG_BARO_TEMPSENS:
- baro.tempsens =record.config_a;
- break;
- case AltosLib.AO_LOG_BARO_CRC:
- baro.crc =record.config_a;
- break;
- }
- state.seen |= eeprom.seen;
- }
-
- LinkedList<AltosRecord> make_list() {
- LinkedList<AltosRecord> list = new LinkedList<AltosRecord>();
- Iterator<AltosOrderedMegaRecord> iterator = records.iterator();
- AltosOrderedMegaRecord record = null;
- AltosRecordMM state = new AltosRecordMM();
- //boolean last_reported = false;
- EepromState eeprom = new EepromState();
-
- state.state = AltosLib.ao_flight_pad;
- state.accel_plus_g = 15758;
- state.accel_minus_g = 16294;
-
- /* Pull in static data from the flight and gps_date records */
- if (flight_record != null)
- update_state(state, flight_record, eeprom);
- if (gps_date_record != null)
- update_state(state, gps_date_record, eeprom);
-
- while (iterator.hasNext()) {
- record = iterator.next();
- if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
- AltosRecordMM r = state.clone();
- r.time = (r.tick - eeprom.boost_tick) / 100.0;
- list.add(r);
- }
- update_state(state, record, eeprom);
- }
- AltosRecordMM r = state.clone();
- r.time = (r.tick - eeprom.boost_tick) / 100.0;
- list.add(r);
- return list;
- }
-
- public Iterator<AltosRecord> iterator() {
- if (list == null)
- list = make_list();
- return list.iterator();
- }
-
- public boolean has_gps() { return has_gps; }
- public boolean has_accel() { return has_accel; }
- public boolean has_ignite() { return has_ignite; }
-
- public void write_comments(PrintStream out) {
- Iterator<AltosOrderedMegaRecord> iterator = records.iterator();
- out.printf("# Comments\n");
- while (iterator.hasNext()) {
- AltosOrderedMegaRecord record = iterator.next();
- switch (record.cmd) {
- case AltosLib.AO_LOG_CONFIG_VERSION:
- out.printf("# Config version: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_MAIN_DEPLOY:
- out.printf("# Main deploy: %s\n", record.config_a);
- break;
- case AltosLib.AO_LOG_APOGEE_DELAY:
- out.printf("# Apogee delay: %s\n", record.config_a);
- break;
- case AltosLib.AO_LOG_RADIO_CHANNEL:
- out.printf("# Radio channel: %s\n", record.config_a);
- break;
- case AltosLib.AO_LOG_CALLSIGN:
- out.printf("# Callsign: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_ACCEL_CAL:
- out.printf ("# Accel cal: %d %d\n", record.config_a, record.config_b);
- break;
- case AltosLib.AO_LOG_RADIO_CAL:
- out.printf ("# Radio cal: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_MAX_FLIGHT_LOG:
- out.printf ("# Max flight log: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_MANUFACTURER:
- out.printf ("# Manufacturer: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_PRODUCT:
- out.printf ("# Product: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_SERIAL_NUMBER:
- out.printf ("# Serial number: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_SOFTWARE_VERSION:
- out.printf ("# Software version: %s\n", record.data);
- break;
- case AltosLib.AO_LOG_BARO_RESERVED:
- out.printf ("# Baro reserved: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_BARO_SENS:
- out.printf ("# Baro sens: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_BARO_OFF:
- out.printf ("# Baro off: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_BARO_TCS:
- out.printf ("# Baro tcs: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_BARO_TCO:
- out.printf ("# Baro tco: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_BARO_TREF:
- out.printf ("# Baro tref: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_BARO_TEMPSENS:
- out.printf ("# Baro tempsens: %d\n", record.config_a);
- break;
- case AltosLib.AO_LOG_BARO_CRC:
- out.printf ("# Baro crc: %d\n", record.config_a);
- break;
- }
- }
- }
-
- /*
- * Read the whole file, dumping records into a RB tree so
- * we can enumerate them in time order -- the eeprom data
- * are sometimes out of order with GPS data getting timestamps
- * matching the first packet out of the GPS unit but not
- * written until the final GPS packet has been received.
- */
- public AltosEepromMegaIterable (FileInputStream input) {
- records = new TreeSet<AltosOrderedMegaRecord>();
-
- AltosOrderedMegaRecord last_gps_time = null;
-
- baro = new AltosMs5607();
-
- int index = 0;
- int prev_tick = 0;
- boolean prev_tick_valid = false;
- boolean missing_time = false;
-
- try {
- for (;;) {
- String line = AltosLib.gets(input);
- if (line == null)
- break;
- AltosOrderedMegaRecord record = new AltosOrderedMegaRecord(line, index++, prev_tick, prev_tick_valid);
- if (record.cmd == AltosLib.AO_LOG_INVALID)
- continue;
- prev_tick = record.tick;
- if (record.cmd < AltosLib.AO_LOG_CONFIG_VERSION)
- prev_tick_valid = true;
- if (record.cmd == AltosLib.AO_LOG_FLIGHT) {
- flight_record = record;
- continue;
- }
-
- records.add(record);
-
- /* Bail after reading the 'landed' record; we're all done */
- if (record.cmd == AltosLib.AO_LOG_STATE &&
- record.state() == AltosLib.ao_flight_landed)
- break;
- }
- } catch (IOException io) {
- } catch (ParseException pe) {
- }
- try {
- input.close();
- } catch (IOException ie) {
- }
- }
-}
projects / fw / altos / commitdiff