+++ /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;
-import org.altusmetrum.AltosLib.*;
-
-/*
- * AltosRecords with an index field so they can be sorted by tick while preserving
- * the original ordering for elements with matching ticks
- */
-class AltosOrderedRecord extends AltosEepromRecord implements Comparable<AltosOrderedRecord> {
-
- public int index;
-
- public AltosOrderedRecord(String line, int in_index, int prev_tick, boolean prev_tick_valid)
- throws ParseException {
- super(line);
- if (prev_tick_valid) {
- tick |= (prev_tick & ~0xffff);
- if (tick < prev_tick) {
- if (prev_tick - tick > 0x8000)
- tick += 0x10000;
- } else {
- if (tick - prev_tick > 0x8000)
- tick -= 0x10000;
- }
- }
- index = in_index;
- }
-
- public AltosOrderedRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) {
- super(in_cmd, in_tick, in_a, in_b);
- index = in_index;
- }
-
- public String toString() {
- return String.format("%d.%d %04x %04x %04x",
- cmd, index, tick, a, b);
- }
-
- public int compareTo(AltosOrderedRecord o) {
- int tick_diff = tick - o.tick;
- if (tick_diff != 0)
- return tick_diff;
- return index - o.index;
- }
-}
-
-public class AltosEepromIterable 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;
-
- AltosEepromRecord flight_record;
- AltosEepromRecord gps_date_record;
-
- TreeSet<AltosOrderedRecord> records;
-
- 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(AltosRecord state, AltosEepromRecord record, EepromState eeprom) {
- state.tick = record.tick;
- switch (record.cmd) {
- case Altos.AO_LOG_FLIGHT:
- eeprom.seen |= seen_flight;
- state.ground_accel = record.a;
- state.flight_accel = record.a;
- state.flight = record.b;
- eeprom.boost_tick = record.tick;
- break;
- case Altos.AO_LOG_SENSOR:
- state.accel = record.a;
- state.pres = record.b;
- if (state.state < Altos.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 Altos.AO_LOG_PRESSURE:
- state.pres = record.b;
- state.flight_pres = state.pres;
- if (eeprom.n_pad_samples == 0) {
- eeprom.n_pad_samples++;
- state.ground_pres = state.pres;
- }
- eeprom.seen |= seen_sensor;
- break;
- case Altos.AO_LOG_TEMP_VOLT:
- state.temp = record.a;
- state.batt = record.b;
- eeprom.seen |= seen_temp_volt;
- break;
- case Altos.AO_LOG_DEPLOY:
- state.drogue = record.a;
- state.main = record.b;
- eeprom.seen |= seen_deploy;
- has_ignite = true;
- break;
- case Altos.AO_LOG_STATE:
- state.state = record.a;
- break;
- case Altos.AO_LOG_GPS_TIME:
- eeprom.gps_tick = state.tick;
- AltosGPS old = state.gps;
- state.gps = new AltosGPS();
-
- /* GPS date doesn't get repeated through the file */
- if (old != null) {
- state.gps.year = old.year;
- state.gps.month = old.month;
- state.gps.day = old.day;
- }
- state.gps.hour = (record.a & 0xff);
- state.gps.minute = (record.a >> 8);
- state.gps.second = (record.b & 0xff);
-
- int flags = (record.b >> 8);
- state.gps.connected = (flags & Altos.AO_GPS_RUNNING) != 0;
- state.gps.locked = (flags & Altos.AO_GPS_VALID) != 0;
- state.gps.nsat = (flags & Altos.AO_GPS_NUM_SAT_MASK) >>
- Altos.AO_GPS_NUM_SAT_SHIFT;
- state.new_gps = true;
- has_gps = true;
- break;
- case Altos.AO_LOG_GPS_LAT:
- int lat32 = record.a | (record.b << 16);
- state.gps.lat = (double) lat32 / 1e7;
- break;
- case Altos.AO_LOG_GPS_LON:
- int lon32 = record.a | (record.b << 16);
- state.gps.lon = (double) lon32 / 1e7;
- break;
- case Altos.AO_LOG_GPS_ALT:
- state.gps.alt = record.a;
- break;
- case Altos.AO_LOG_GPS_SAT:
- if (state.tick == eeprom.gps_tick) {
- int svid = record.a;
- int c_n0 = record.b >> 8;
- state.gps.add_sat(svid, c_n0);
- }
- break;
- case Altos.AO_LOG_GPS_DATE:
- state.gps.year = (record.a & 0xff) + 2000;
- state.gps.month = record.a >> 8;
- state.gps.day = record.b & 0xff;
- break;
-
- case Altos.AO_LOG_CONFIG_VERSION:
- break;
- case Altos.AO_LOG_MAIN_DEPLOY:
- break;
- case Altos.AO_LOG_APOGEE_DELAY:
- break;
- case Altos.AO_LOG_RADIO_CHANNEL:
- break;
- case Altos.AO_LOG_CALLSIGN:
- state.callsign = record.data;
- break;
- case Altos.AO_LOG_ACCEL_CAL:
- state.accel_plus_g = record.a;
- state.accel_minus_g = record.b;
- break;
- case Altos.AO_LOG_RADIO_CAL:
- break;
- case Altos.AO_LOG_MANUFACTURER:
- break;
- case Altos.AO_LOG_PRODUCT:
- break;
- case Altos.AO_LOG_SERIAL_NUMBER:
- state.serial = record.a;
- break;
- case Altos.AO_LOG_SOFTWARE_VERSION:
- break;
- }
- state.seen |= eeprom.seen;
- }
-
- LinkedList<AltosRecord> make_list() {
- LinkedList<AltosRecord> list = new LinkedList<AltosRecord>();
- Iterator<AltosOrderedRecord> iterator = records.iterator();
- AltosOrderedRecord record = null;
- AltosRecord state = new AltosRecord();
- boolean last_reported = false;
- EepromState eeprom = new EepromState();
-
- state.state = Altos.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) {
- AltosRecord r = new AltosRecord(state);
- r.time = (r.tick - eeprom.boost_tick) / 100.0;
- list.add(r);
- }
- update_state(state, record, eeprom);
- }
- AltosRecord r = new AltosRecord(state);
- 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<AltosOrderedRecord> iterator = records.iterator();
- out.printf("# Comments\n");
- while (iterator.hasNext()) {
- AltosOrderedRecord record = iterator.next();
- switch (record.cmd) {
- case Altos.AO_LOG_CONFIG_VERSION:
- out.printf("# Config version: %s\n", record.data);
- break;
- case Altos.AO_LOG_MAIN_DEPLOY:
- out.printf("# Main deploy: %s\n", record.a);
- break;
- case Altos.AO_LOG_APOGEE_DELAY:
- out.printf("# Apogee delay: %s\n", record.a);
- break;
- case Altos.AO_LOG_RADIO_CHANNEL:
- out.printf("# Radio channel: %s\n", record.a);
- break;
- case Altos.AO_LOG_CALLSIGN:
- out.printf("# Callsign: %s\n", record.data);
- break;
- case Altos.AO_LOG_ACCEL_CAL:
- out.printf ("# Accel cal: %d %d\n", record.a, record.b);
- break;
- case Altos.AO_LOG_RADIO_CAL:
- out.printf ("# Radio cal: %d\n", record.a);
- break;
- case Altos.AO_LOG_MAX_FLIGHT_LOG:
- out.printf ("# Max flight log: %d\n", record.a);
- break;
- case Altos.AO_LOG_MANUFACTURER:
- out.printf ("# Manufacturer: %s\n", record.data);
- break;
- case Altos.AO_LOG_PRODUCT:
- out.printf ("# Product: %s\n", record.data);
- break;
- case Altos.AO_LOG_SERIAL_NUMBER:
- out.printf ("# Serial number: %d\n", record.a);
- break;
- case Altos.AO_LOG_SOFTWARE_VERSION:
- out.printf ("# Software version: %s\n", record.data);
- break;
- case Altos.AO_LOG_BARO_RESERVED:
- out.printf ("# Baro reserved: %d\n", record.a);
- break;
- case Altos.AO_LOG_BARO_SENS:
- out.printf ("# Baro sens: %d\n", record.a);
- break;
- case Altos.AO_LOG_BARO_OFF:
- out.printf ("# Baro off: %d\n", record.a);
- break;
- case Altos.AO_LOG_BARO_TCS:
- out.printf ("# Baro tcs: %d\n", record.a);
- break;
- case Altos.AO_LOG_BARO_TCO:
- out.printf ("# Baro tco: %d\n", record.a);
- break;
- case Altos.AO_LOG_BARO_TREF:
- out.printf ("# Baro tref: %d\n", record.a);
- break;
- case Altos.AO_LOG_BARO_TEMPSENS:
- out.printf ("# Baro tempsens: %d\n", record.a);
- break;
- case Altos.AO_LOG_BARO_CRC:
- out.printf ("# Baro crc: %d\n", record.a);
- break;
- }
- }
- }
-
- /*
- * Given an AO_LOG_GPS_TIME record with correct time, and one
- * missing time, rewrite the missing time values with the good
- * ones, assuming that the difference between them is 'diff' seconds
- */
- void update_time(AltosOrderedRecord good, AltosOrderedRecord bad) {
-
- int diff = (bad.tick - good.tick + 50) / 100;
-
- int hour = (good.a & 0xff);
- int minute = (good.a >> 8);
- int second = (good.b & 0xff);
- int flags = (good.b >> 8);
- int seconds = hour * 3600 + minute * 60 + second;
-
- /* Make sure this looks like a good GPS value */
- if ((flags & Altos.AO_GPS_NUM_SAT_MASK) >> Altos.AO_GPS_NUM_SAT_SHIFT < 4)
- flags = (flags & ~Altos.AO_GPS_NUM_SAT_MASK) | (4 << Altos.AO_GPS_NUM_SAT_SHIFT);
- flags |= Altos.AO_GPS_RUNNING;
- flags |= Altos.AO_GPS_VALID;
-
- int new_seconds = seconds + diff;
- if (new_seconds < 0)
- new_seconds += 24 * 3600;
- int new_second = (new_seconds % 60);
- int new_minutes = (new_seconds / 60);
- int new_minute = (new_minutes % 60);
- int new_hours = (new_minutes / 60);
- int new_hour = (new_hours % 24);
-
- bad.a = new_hour + (new_minute << 8);
- bad.b = new_second + (flags << 8);
- }
-
- /*
- * 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 AltosEepromIterable (FileInputStream input) {
- records = new TreeSet<AltosOrderedRecord>();
-
- AltosOrderedRecord last_gps_time = null;
-
- int index = 0;
- int prev_tick = 0;
- boolean prev_tick_valid = false;
- boolean missing_time = false;
-
- try {
- for (;;) {
- String line = AltosRecord.gets(input);
- if (line == null)
- break;
- AltosOrderedRecord record = new AltosOrderedRecord(line, index++, prev_tick, prev_tick_valid);
- if (record == null)
- break;
- if (record.cmd == Altos.AO_LOG_INVALID)
- continue;
- prev_tick = record.tick;
- if (record.cmd < Altos.AO_LOG_CONFIG_VERSION)
- prev_tick_valid = true;
- if (record.cmd == Altos.AO_LOG_FLIGHT) {
- flight_record = record;
- continue;
- }
-
- /* Two firmware bugs caused the loss of some GPS data.
- * The flight date would never be recorded, and often
- * the flight time would get overwritten by another
- * record. Detect the loss of the GPS date and fix up the
- * missing time records
- */
- if (record.cmd == Altos.AO_LOG_GPS_DATE) {
- gps_date_record = record;
- continue;
- }
-
- /* go back and fix up any missing time values */
- if (record.cmd == Altos.AO_LOG_GPS_TIME) {
- last_gps_time = record;
- if (missing_time) {
- Iterator<AltosOrderedRecord> iterator = records.iterator();
- while (iterator.hasNext()) {
- AltosOrderedRecord old = iterator.next();
- if (old.cmd == Altos.AO_LOG_GPS_TIME &&
- old.a == -1 && old.b == -1)
- {
- update_time(record, old);
- }
- }
- missing_time = false;
- }
- }
-
- if (record.cmd == Altos.AO_LOG_GPS_LAT) {
- if (last_gps_time == null || last_gps_time.tick != record.tick) {
- AltosOrderedRecord add_gps_time = new AltosOrderedRecord(Altos.AO_LOG_GPS_TIME,
- record.tick,
- -1, -1, index-1);
- if (last_gps_time != null)
- update_time(last_gps_time, add_gps_time);
- else
- missing_time = true;
-
- records.add(add_gps_time);
- record.index = index++;
- }
- }
- records.add(record);
-
- /* Bail after reading the 'landed' record; we're all done */
- if (record.cmd == Altos.AO_LOG_STATE &&
- record.a == Altos.ao_flight_landed)
- break;
- }
- } catch (IOException io) {
- } catch (ParseException pe) {
- }
- try {
- input.close();
- } catch (IOException ie) {
- }
- }
-}
+++ /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.*;
-import org.altusmetrum.AltosLib.*;
-
-import libaltosJNI.*;
-
-public class AltosEepromRecord {
- public int cmd;
- public int tick;
- public int a;
- public int b;
- public String data;
- public boolean tick_valid;
-
- static final int record_length = 8;
-
- public AltosEepromRecord (AltosEepromChunk chunk, int start) throws ParseException {
-
- cmd = chunk.data(start);
- tick_valid = true;
-
- tick_valid = !chunk.erased(start, record_length);
- if (tick_valid) {
- if (AltosConvert.checksum(chunk.data, start, record_length) != 0)
- throw new ParseException(String.format("invalid checksum at 0x%x",
- chunk.address + start), 0);
- } else {
- cmd = Altos.AO_LOG_INVALID;
- }
-
- tick = chunk.data16(start + 2);
- a = chunk.data16(start + 4);
- b = chunk.data16(start + 6);
-
- data = null;
- }
-
- public AltosEepromRecord (String line) {
- tick_valid = false;
- tick = 0;
- a = 0;
- b = 0;
- data = null;
- if (line == null) {
- cmd = Altos.AO_LOG_INVALID;
- data = "";
- } else {
- try {
- String[] tokens = line.split("\\s+");
-
- if (tokens[0].length() == 1) {
- if (tokens.length != 4) {
- cmd = Altos.AO_LOG_INVALID;
- data = line;
- } else {
- cmd = tokens[0].codePointAt(0);
- tick = Integer.parseInt(tokens[1],16);
- tick_valid = true;
- a = Integer.parseInt(tokens[2],16);
- b = Integer.parseInt(tokens[3],16);
- }
- } else if (tokens[0].equals("Config") && tokens[1].equals("version:")) {
- cmd = Altos.AO_LOG_CONFIG_VERSION;
- data = tokens[2];
- } else if (tokens[0].equals("Main") && tokens[1].equals("deploy:")) {
- cmd = Altos.AO_LOG_MAIN_DEPLOY;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Apogee") && tokens[1].equals("delay:")) {
- cmd = Altos.AO_LOG_APOGEE_DELAY;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Radio") && tokens[1].equals("channel:")) {
- cmd = Altos.AO_LOG_RADIO_CHANNEL;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Callsign:")) {
- cmd = Altos.AO_LOG_CALLSIGN;
- data = tokens[1].replaceAll("\"","");
- } else if (tokens[0].equals("Accel") && tokens[1].equals("cal")) {
- cmd = Altos.AO_LOG_ACCEL_CAL;
- a = Integer.parseInt(tokens[3]);
- b = Integer.parseInt(tokens[5]);
- } else if (tokens[0].equals("Radio") && tokens[1].equals("cal:")) {
- cmd = Altos.AO_LOG_RADIO_CAL;
- a = Integer.parseInt(tokens[2]);
- } else if (tokens[0].equals("Max") && tokens[1].equals("flight") && tokens[2].equals("log:")) {
- cmd = Altos.AO_LOG_MAX_FLIGHT_LOG;
- a = Integer.parseInt(tokens[3]);
- } else if (tokens[0].equals("manufacturer")) {
- cmd = Altos.AO_LOG_MANUFACTURER;
- data = tokens[1];
- } else if (tokens[0].equals("product")) {
- cmd = Altos.AO_LOG_PRODUCT;
- data = tokens[1];
- } else if (tokens[0].equals("serial-number")) {
- cmd = Altos.AO_LOG_SERIAL_NUMBER;
- a = Integer.parseInt(tokens[1]);
- } else if (tokens[0].equals("log-format")) {
- cmd = Altos.AO_LOG_LOG_FORMAT;
- a = Integer.parseInt(tokens[1]);
- } else if (tokens[0].equals("software-version")) {
- cmd = Altos.AO_LOG_SOFTWARE_VERSION;
- data = tokens[1];
- } else {
- cmd = Altos.AO_LOG_INVALID;
- data = line;
- }
- } catch (NumberFormatException ne) {
- cmd = Altos.AO_LOG_INVALID;
- data = line;
- }
- }
- }
-
- public AltosEepromRecord(int in_cmd, int in_tick, int in_a, int in_b) {
- tick_valid = true;
- cmd = in_cmd;
- tick = in_tick;
- a = in_a;
- b = in_b;
- }
-}
AltosEepromLog.java \
AltosEepromManage.java \
AltosEepromMonitor.java \
- AltosEepromIterable.java \
- AltosEepromRecord.java \
AltosEepromTeleScience.java \
AltosEepromMega.java \
AltosEepromMegaIterable.java \
$(SRC)/AltosConvert.java \
$(SRC)/AltosCRCException.java \
$(SRC)/AltosEepromChunk.java \
+ $(SRC)/AltosEepromIterable.java \
+ $(SRC)/AltosEepromRecord.java \
$(SRC)/AltosFrequency.java \
$(SRC)/AltosGPS.java \
$(SRC)/AltosGPSSat.java \
--- /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;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.LinkedBlockingQueue;
+
+/*
+ * AltosRecords with an index field so they can be sorted by tick while preserving
+ * the original ordering for elements with matching ticks
+ */
+class AltosOrderedRecord extends AltosEepromRecord implements Comparable<AltosOrderedRecord> {
+
+ public int index;
+
+ public AltosOrderedRecord(String line, int in_index, int prev_tick, boolean prev_tick_valid)
+ throws ParseException {
+ super(line);
+ if (prev_tick_valid) {
+ tick |= (prev_tick & ~0xffff);
+ if (tick < prev_tick) {
+ if (prev_tick - tick > 0x8000)
+ tick += 0x10000;
+ } else {
+ if (tick - prev_tick > 0x8000)
+ tick -= 0x10000;
+ }
+ }
+ index = in_index;
+ }
+
+ public AltosOrderedRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) {
+ super(in_cmd, in_tick, in_a, in_b);
+ index = in_index;
+ }
+
+ public String toString() {
+ return String.format("%d.%d %04x %04x %04x",
+ cmd, index, tick, a, b);
+ }
+
+ public int compareTo(AltosOrderedRecord o) {
+ int tick_diff = tick - o.tick;
+ if (tick_diff != 0)
+ return tick_diff;
+ return index - o.index;
+ }
+}
+
+public class AltosEepromIterable 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;
+
+ AltosEepromRecord flight_record;
+ AltosEepromRecord gps_date_record;
+
+ TreeSet<AltosOrderedRecord> records;
+
+ 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(AltosRecord state, AltosEepromRecord record, EepromState eeprom) {
+ state.tick = record.tick;
+ switch (record.cmd) {
+ case AltosLib.AO_LOG_FLIGHT:
+ eeprom.seen |= seen_flight;
+ state.ground_accel = record.a;
+ state.flight_accel = record.a;
+ state.flight = record.b;
+ eeprom.boost_tick = record.tick;
+ break;
+ case AltosLib.AO_LOG_SENSOR:
+ state.accel = record.a;
+ state.pres = record.b;
+ 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_PRESSURE:
+ state.pres = record.b;
+ state.flight_pres = state.pres;
+ if (eeprom.n_pad_samples == 0) {
+ eeprom.n_pad_samples++;
+ state.ground_pres = state.pres;
+ }
+ eeprom.seen |= seen_sensor;
+ break;
+ case AltosLib.AO_LOG_TEMP_VOLT:
+ state.temp = record.a;
+ state.batt = record.b;
+ eeprom.seen |= seen_temp_volt;
+ break;
+ case AltosLib.AO_LOG_DEPLOY:
+ state.drogue = record.a;
+ state.main = record.b;
+ eeprom.seen |= seen_deploy;
+ has_ignite = true;
+ break;
+ case AltosLib.AO_LOG_STATE:
+ state.state = record.a;
+ break;
+ case AltosLib.AO_LOG_GPS_TIME:
+ eeprom.gps_tick = state.tick;
+ AltosGPS old = state.gps;
+ state.gps = new AltosGPS();
+
+ /* GPS date doesn't get repeated through the file */
+ if (old != null) {
+ state.gps.year = old.year;
+ state.gps.month = old.month;
+ state.gps.day = old.day;
+ }
+ state.gps.hour = (record.a & 0xff);
+ state.gps.minute = (record.a >> 8);
+ state.gps.second = (record.b & 0xff);
+
+ int flags = (record.b >> 8);
+ 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.new_gps = true;
+ has_gps = true;
+ break;
+ case AltosLib.AO_LOG_GPS_LAT:
+ int lat32 = record.a | (record.b << 16);
+ state.gps.lat = (double) lat32 / 1e7;
+ break;
+ case AltosLib.AO_LOG_GPS_LON:
+ int lon32 = record.a | (record.b << 16);
+ state.gps.lon = (double) lon32 / 1e7;
+ break;
+ case AltosLib.AO_LOG_GPS_ALT:
+ state.gps.alt = record.a;
+ break;
+ case AltosLib.AO_LOG_GPS_SAT:
+ if (state.tick == eeprom.gps_tick) {
+ int svid = record.a;
+ int c_n0 = record.b >> 8;
+ state.gps.add_sat(svid, c_n0);
+ }
+ break;
+ case AltosLib.AO_LOG_GPS_DATE:
+ state.gps.year = (record.a & 0xff) + 2000;
+ state.gps.month = record.a >> 8;
+ state.gps.day = record.b & 0xff;
+ 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.a;
+ state.accel_minus_g = record.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.a;
+ break;
+ case AltosLib.AO_LOG_SOFTWARE_VERSION:
+ break;
+ }
+ state.seen |= eeprom.seen;
+ }
+
+ LinkedList<AltosRecord> make_list() {
+ LinkedList<AltosRecord> list = new LinkedList<AltosRecord>();
+ Iterator<AltosOrderedRecord> iterator = records.iterator();
+ AltosOrderedRecord record = null;
+ AltosRecord state = new AltosRecord();
+ 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) {
+ AltosRecord r = new AltosRecord(state);
+ r.time = (r.tick - eeprom.boost_tick) / 100.0;
+ list.add(r);
+ }
+ update_state(state, record, eeprom);
+ }
+ AltosRecord r = new AltosRecord(state);
+ 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<AltosOrderedRecord> iterator = records.iterator();
+ out.printf("# Comments\n");
+ while (iterator.hasNext()) {
+ AltosOrderedRecord 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.a);
+ break;
+ case AltosLib.AO_LOG_APOGEE_DELAY:
+ out.printf("# Apogee delay: %s\n", record.a);
+ break;
+ case AltosLib.AO_LOG_RADIO_CHANNEL:
+ out.printf("# Radio channel: %s\n", record.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.a, record.b);
+ break;
+ case AltosLib.AO_LOG_RADIO_CAL:
+ out.printf ("# Radio cal: %d\n", record.a);
+ break;
+ case AltosLib.AO_LOG_MAX_FLIGHT_LOG:
+ out.printf ("# Max flight log: %d\n", record.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.a);
+ break;
+ case AltosLib.AO_LOG_SOFTWARE_VERSION:
+ out.printf ("# Software version: %s\n", record.data);
+ break;
+ case Altos.AO_LOG_BARO_RESERVED:
+ out.printf ("# Baro reserved: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_BARO_SENS:
+ out.printf ("# Baro sens: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_BARO_OFF:
+ out.printf ("# Baro off: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_BARO_TCS:
+ out.printf ("# Baro tcs: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_BARO_TCO:
+ out.printf ("# Baro tco: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_BARO_TREF:
+ out.printf ("# Baro tref: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_BARO_TEMPSENS:
+ out.printf ("# Baro tempsens: %d\n", record.a);
+ break;
+ case Altos.AO_LOG_BARO_CRC:
+ out.printf ("# Baro crc: %d\n", record.a);
+ break;
+ }
+ }
+ }
+
+ /*
+ * Given an AO_LOG_GPS_TIME record with correct time, and one
+ * missing time, rewrite the missing time values with the good
+ * ones, assuming that the difference between them is 'diff' seconds
+ */
+ void update_time(AltosOrderedRecord good, AltosOrderedRecord bad) {
+
+ int diff = (bad.tick - good.tick + 50) / 100;
+
+ int hour = (good.a & 0xff);
+ int minute = (good.a >> 8);
+ int second = (good.b & 0xff);
+ int flags = (good.b >> 8);
+ int seconds = hour * 3600 + minute * 60 + second;
+
+ /* Make sure this looks like a good GPS value */
+ if ((flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> AltosLib.AO_GPS_NUM_SAT_SHIFT < 4)
+ flags = (flags & ~AltosLib.AO_GPS_NUM_SAT_MASK) | (4 << AltosLib.AO_GPS_NUM_SAT_SHIFT);
+ flags |= AltosLib.AO_GPS_RUNNING;
+ flags |= AltosLib.AO_GPS_VALID;
+
+ int new_seconds = seconds + diff;
+ if (new_seconds < 0)
+ new_seconds += 24 * 3600;
+ int new_second = (new_seconds % 60);
+ int new_minutes = (new_seconds / 60);
+ int new_minute = (new_minutes % 60);
+ int new_hours = (new_minutes / 60);
+ int new_hour = (new_hours % 24);
+
+ bad.a = new_hour + (new_minute << 8);
+ bad.b = new_second + (flags << 8);
+ }
+
+ /*
+ * 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 AltosEepromIterable (FileInputStream input) {
+ records = new TreeSet<AltosOrderedRecord>();
+
+ AltosOrderedRecord last_gps_time = null;
+
+ int index = 0;
+ int prev_tick = 0;
+ boolean prev_tick_valid = false;
+ boolean missing_time = false;
+
+ try {
+ for (;;) {
+ String line = AltosRecord.gets(input);
+ if (line == null)
+ break;
+ AltosOrderedRecord record = new AltosOrderedRecord(line, index++, prev_tick, prev_tick_valid);
+ if (record == null)
+ break;
+ 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;
+ }
+
+ /* Two firmware bugs caused the loss of some GPS data.
+ * The flight date would never be recorded, and often
+ * the flight time would get overwritten by another
+ * record. Detect the loss of the GPS date and fix up the
+ * missing time records
+ */
+ if (record.cmd == AltosLib.AO_LOG_GPS_DATE) {
+ gps_date_record = record;
+ continue;
+ }
+
+ /* go back and fix up any missing time values */
+ if (record.cmd == AltosLib.AO_LOG_GPS_TIME) {
+ last_gps_time = record;
+ if (missing_time) {
+ Iterator<AltosOrderedRecord> iterator = records.iterator();
+ while (iterator.hasNext()) {
+ AltosOrderedRecord old = iterator.next();
+ if (old.cmd == AltosLib.AO_LOG_GPS_TIME &&
+ old.a == -1 && old.b == -1)
+ {
+ update_time(record, old);
+ }
+ }
+ missing_time = false;
+ }
+ }
+
+ if (record.cmd == AltosLib.AO_LOG_GPS_LAT) {
+ if (last_gps_time == null || last_gps_time.tick != record.tick) {
+ AltosOrderedRecord add_gps_time = new AltosOrderedRecord(AltosLib.AO_LOG_GPS_TIME,
+ record.tick,
+ -1, -1, index-1);
+ if (last_gps_time != null)
+ update_time(last_gps_time, add_gps_time);
+ else
+ missing_time = true;
+
+ records.add(add_gps_time);
+ record.index = index++;
+ }
+ }
+ records.add(record);
+
+ /* Bail after reading the 'landed' record; we're all done */
+ if (record.cmd == AltosLib.AO_LOG_STATE &&
+ record.a == AltosLib.ao_flight_landed)
+ break;
+ }
+ } catch (IOException io) {
+ } catch (ParseException pe) {
+ }
+ try {
+ input.close();
+ } catch (IOException ie) {
+ }
+ }
+}
--- /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;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.*;
+
+public class AltosEepromRecord {
+ public int cmd;
+ public int tick;
+ public int a;
+ public int b;
+ public String data;
+ public boolean tick_valid;
+
+ static final int record_length = 8;
+
+ public AltosEepromRecord (AltosEepromChunk chunk, int start) throws ParseException {
+
+ cmd = chunk.data(start);
+ tick_valid = true;
+
+ tick_valid = !chunk.erased(start, record_length);
+ if (tick_valid) {
+ if (AltosConvert.checksum(chunk.data, start, record_length) != 0)
+ throw new ParseException(String.format("invalid checksum at 0x%x",
+ chunk.address + start), 0);
+ } else {
+ cmd = AltosLib.AO_LOG_INVALID;
+ }
+
+ tick = chunk.data16(start + 2);
+ a = chunk.data16(start + 4);
+ b = chunk.data16(start + 6);
+
+ data = null;
+ }
+
+ public AltosEepromRecord (String line) {
+ tick_valid = false;
+ tick = 0;
+ a = 0;
+ b = 0;
+ data = null;
+ if (line == null) {
+ cmd = AltosLib.AO_LOG_INVALID;
+ data = "";
+ } else {
+ try {
+ String[] tokens = line.split("\\s+");
+
+ if (tokens[0].length() == 1) {
+ if (tokens.length != 4) {
+ cmd = AltosLib.AO_LOG_INVALID;
+ data = line;
+ } else {
+ cmd = tokens[0].codePointAt(0);
+ tick = Integer.parseInt(tokens[1],16);
+ tick_valid = true;
+ a = Integer.parseInt(tokens[2],16);
+ b = Integer.parseInt(tokens[3],16);
+ }
+ } else if (tokens[0].equals("Config") && tokens[1].equals("version:")) {
+ cmd = AltosLib.AO_LOG_CONFIG_VERSION;
+ data = tokens[2];
+ } else if (tokens[0].equals("Main") && tokens[1].equals("deploy:")) {
+ cmd = AltosLib.AO_LOG_MAIN_DEPLOY;
+ a = Integer.parseInt(tokens[2]);
+ } else if (tokens[0].equals("Apogee") && tokens[1].equals("delay:")) {
+ cmd = AltosLib.AO_LOG_APOGEE_DELAY;
+ a = Integer.parseInt(tokens[2]);
+ } else if (tokens[0].equals("Radio") && tokens[1].equals("channel:")) {
+ cmd = AltosLib.AO_LOG_RADIO_CHANNEL;
+ a = Integer.parseInt(tokens[2]);
+ } else if (tokens[0].equals("Callsign:")) {
+ cmd = AltosLib.AO_LOG_CALLSIGN;
+ data = tokens[1].replaceAll("\"","");
+ } else if (tokens[0].equals("Accel") && tokens[1].equals("cal")) {
+ cmd = AltosLib.AO_LOG_ACCEL_CAL;
+ a = Integer.parseInt(tokens[3]);
+ b = Integer.parseInt(tokens[5]);
+ } else if (tokens[0].equals("Radio") && tokens[1].equals("cal:")) {
+ cmd = AltosLib.AO_LOG_RADIO_CAL;
+ a = Integer.parseInt(tokens[2]);
+ } else if (tokens[0].equals("Max") && tokens[1].equals("flight") && tokens[2].equals("log:")) {
+ cmd = AltosLib.AO_LOG_MAX_FLIGHT_LOG;
+ a = Integer.parseInt(tokens[3]);
+ } else if (tokens[0].equals("manufacturer")) {
+ cmd = AltosLib.AO_LOG_MANUFACTURER;
+ data = tokens[1];
+ } else if (tokens[0].equals("product")) {
+ cmd = AltosLib.AO_LOG_PRODUCT;
+ data = tokens[1];
+ } else if (tokens[0].equals("serial-number")) {
+ cmd = AltosLib.AO_LOG_SERIAL_NUMBER;
+ a = Integer.parseInt(tokens[1]);
+ } else if (tokens[0].equals("log-format")) {
+ cmd = AltosLib.AO_LOG_LOG_FORMAT;
+ a = Integer.parseInt(tokens[1]);
+ } else if (tokens[0].equals("software-version")) {
+ cmd = AltosLib.AO_LOG_SOFTWARE_VERSION;
+ data = tokens[1];
+ } else {
+ cmd = AltosLib.AO_LOG_INVALID;
+ data = line;
+ }
+ } catch (NumberFormatException ne) {
+ cmd = AltosLib.AO_LOG_INVALID;
+ data = line;
+ }
+ }
+ }
+
+ public AltosEepromRecord(int in_cmd, int in_tick, int in_a, int in_b) {
+ tick_valid = true;
+ cmd = in_cmd;
+ tick = in_tick;
+ a = in_a;
+ b = in_b;
+ }
+}
projects / fw / altos / commitdiff