From: Keith Packard Date: Tue, 8 Oct 2013 16:26:41 +0000 (-0700) Subject: Merge remote-tracking branch 'origin/master' X-Git-Tag: 1.2.9.4~57 X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=488a527267decece48e6682e0e0c7fc29cbed329;hp=f6661cc015e1a92450dc3eede97d66005f69cc72 Merge remote-tracking branch 'origin/master' Signed-off-by: Keith Packard Conflicts: configure.ac --- diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/AltosBluetooth.java b/altosdroid/src/org/altusmetrum/AltosDroid/AltosBluetooth.java index 0aea06f1..0ed31437 100644 --- a/altosdroid/src/org/altusmetrum/AltosDroid/AltosBluetooth.java +++ b/altosdroid/src/org/altusmetrum/AltosDroid/AltosBluetooth.java @@ -31,7 +31,7 @@ import android.os.Handler; //import android.os.Message; import android.util.Log; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosBluetooth extends AltosLink { diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java index e10982f7..92287476 100644 --- a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java +++ b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java @@ -49,7 +49,7 @@ import android.widget.Toast; import android.app.AlertDialog; import android.location.Location; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosDroid extends FragmentActivity { // Debugging @@ -147,7 +147,7 @@ public class AltosDroid extends FragmentActivity { case MSG_CRC_ERROR: case MSG_UPDATE_AGE: if (ad.saved_state != null) { - ad.mAgeView.setText(String.format("%d", (System.currentTimeMillis() - ad.saved_state.report_time + 500) / 1000)); + ad.mAgeView.setText(String.format("%d", (System.currentTimeMillis() - ad.saved_state.received_time + 500) / 1000)); } break; } @@ -243,11 +243,11 @@ public class AltosDroid extends FragmentActivity { } if (state != null) { - mCallsignView.setText(state.data.callsign); - mSerialView.setText(String.format("%d", state.data.serial)); - mFlightView.setText(String.format("%d", state.data.flight)); - mStateView.setText(state.data.state()); - mRSSIView.setText(String.format("%d", state.data.rssi)); + mCallsignView.setText(state.callsign); + mSerialView.setText(String.format("%d", state.serial)); + mFlightView.setText(String.format("%d", state.flight)); + mStateView.setText(state.state_name()); + mRSSIView.setText(String.format("%d", state.rssi)); } for (AltosDroidTab mTab : mTabs) @@ -266,7 +266,7 @@ public class AltosDroid extends FragmentActivity { static String pos(double p, String pos, String neg) { String h = pos; - if (p == AltosRecord.MISSING) + if (p == AltosLib.MISSING) return ""; if (p < 0) { h = neg; @@ -278,13 +278,13 @@ public class AltosDroid extends FragmentActivity { } static String number(String format, double value) { - if (value == AltosRecord.MISSING) + if (value == AltosLib.MISSING) return ""; return String.format(format, value); } static String integer(String format, int value) { - if (value == AltosRecord.MISSING) + if (value == AltosLib.MISSING) return ""; return String.format(format, value); } diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidPreferences.java b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidPreferences.java index fd4b0768..59fef842 100644 --- a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidPreferences.java +++ b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidPreferences.java @@ -23,7 +23,7 @@ import android.content.Context; import android.content.SharedPreferences; import android.os.Environment; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosDroidPreferences implements AltosPreferencesBackend { public final static String NAME = "org.altusmetrum.AltosDroid"; diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidTab.java b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidTab.java index 6ebb47f7..c652a169 100644 --- a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidTab.java +++ b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidTab.java @@ -17,7 +17,7 @@ package org.altusmetrum.AltosDroid; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import android.location.Location; public interface AltosDroidTab { diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/AltosVoice.java b/altosdroid/src/org/altusmetrum/AltosDroid/AltosVoice.java index b3dba626..f17cb821 100644 --- a/altosdroid/src/org/altusmetrum/AltosDroid/AltosVoice.java +++ b/altosdroid/src/org/altusmetrum/AltosDroid/AltosVoice.java @@ -1,202 +1,202 @@ -/* - * Copyright © 2011 Keith Packard - * Copyright © 2012 Mike Beattie - * - * 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.AltosDroid; - -import android.speech.tts.TextToSpeech; -import android.speech.tts.TextToSpeech.OnInitListener; - -import org.altusmetrum.altoslib_1.*; - -public class AltosVoice { - - private TextToSpeech tts = null; - private boolean tts_enabled = false; - - private IdleThread idle_thread = null; - - private AltosState old_state = null; - - public AltosVoice(AltosDroid a) { - - tts = new TextToSpeech(a, new OnInitListener() { - public void onInit(int status) { - if (status == TextToSpeech.SUCCESS) tts_enabled = true; - if (tts_enabled) { - idle_thread = new IdleThread(); - } - } - }); - - } - - public void speak(String s) { - if (!tts_enabled) return; - tts.speak(s, TextToSpeech.QUEUE_ADD, null); - } - - public void stop() { - if (tts != null) tts.shutdown(); - if (idle_thread != null) { - idle_thread.interrupt(); - idle_thread = null; - } - } - - public void tell(AltosState state) { - if (!tts_enabled) return; - - boolean spoke = false; - if (old_state == null || old_state.state != state.state) { - speak(state.data.state()); - if ((old_state == null || old_state.state <= AltosLib.ao_flight_boost) && - state.state > AltosLib.ao_flight_boost) { - speak(String.format("max speed: %d meters per second.", (int) (state.max_speed() + 0.5))); - spoke = true; - } else if ((old_state == null || old_state.state < AltosLib.ao_flight_drogue) && - state.state >= AltosLib.ao_flight_drogue) { - speak(String.format("max height: %d meters.", (int) (state.max_height + 0.5))); - spoke = true; - } - } - if (old_state == null || old_state.gps_ready != state.gps_ready) { - if (state.gps_ready) { - speak("GPS ready"); - spoke = true; - } else if (old_state != null) { - speak("GPS lost"); - spoke = true; - } - } - old_state = state; - idle_thread.notice(state, spoke); - } - - - class IdleThread extends Thread { - boolean started; - private AltosState state; - int reported_landing; - int report_interval; - long report_time; - - public synchronized void report(boolean last) { - if (state == null) - return; - - /* reset the landing count once we hear about a new flight */ - if (state.state < AltosLib.ao_flight_drogue) - reported_landing = 0; - - /* Shut up once the rocket is on the ground */ - if (reported_landing > 2) { - return; - } - - /* If the rocket isn't on the pad, then report height */ - if (AltosLib.ao_flight_drogue <= state.state && - state.state < AltosLib.ao_flight_landed && - state.range >= 0) - { - speak(String.format("Height %d, bearing %s %d, elevation %d, range %d.\n", - (int) (state.height + 0.5), - state.from_pad.bearing_words( - AltosGreatCircle.BEARING_VOICE), - (int) (state.from_pad.bearing + 0.5), - (int) (state.elevation + 0.5), - (int) (state.range + 0.5))); - } else if (state.state > AltosLib.ao_flight_pad) { - speak(String.format("%d meters", (int) (state.height + 0.5))); - } else { - reported_landing = 0; - } - - /* If the rocket is coming down, check to see if it has landed; - * either we've got a landed report or we haven't heard from it in - * a long time - */ - if (state.state >= AltosLib.ao_flight_drogue && - (last || - System.currentTimeMillis() - state.report_time >= 15000 || - state.state == AltosLib.ao_flight_landed)) - { - if (Math.abs(state.baro_speed) < 20 && state.height < 100) - speak("rocket landed safely"); - else - speak("rocket may have crashed"); - if (state.from_pad != null) - speak(String.format("Bearing %d degrees, range %d meters.", - (int) (state.from_pad.bearing + 0.5), - (int) (state.from_pad.distance + 0.5))); - ++reported_landing; - } - } - - long now () { - return System.currentTimeMillis(); - } - - void set_report_time() { - report_time = now() + report_interval; - } - - public void run () { - try { - for (;;) { - set_report_time(); - for (;;) { - synchronized (this) { - long sleep_time = report_time - now(); - if (sleep_time <= 0) - break; - wait(sleep_time); - } - } - report(false); - } - } catch (InterruptedException ie) { - } - } - - public synchronized void notice(AltosState new_state, boolean spoken) { - AltosState old_state = state; - state = new_state; - if (!started && state.state > AltosLib.ao_flight_pad) { - started = true; - start(); - } - - if (state.state < AltosLib.ao_flight_drogue) - report_interval = 10000; - else - report_interval = 20000; - if (old_state != null && old_state.state != state.state) { - report_time = now(); - this.notify(); - } else if (spoken) - set_report_time(); - } - - public IdleThread() { - state = null; - reported_landing = 0; - report_interval = 10000; - } - } - -} +/* + * Copyright © 2011 Keith Packard + * Copyright © 2012 Mike Beattie + * + * 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.AltosDroid; + +import android.speech.tts.TextToSpeech; +import android.speech.tts.TextToSpeech.OnInitListener; + +import org.altusmetrum.altoslib_2.*; + +public class AltosVoice { + + private TextToSpeech tts = null; + private boolean tts_enabled = false; + + private IdleThread idle_thread = null; + + private AltosState old_state = null; + + public AltosVoice(AltosDroid a) { + + tts = new TextToSpeech(a, new OnInitListener() { + public void onInit(int status) { + if (status == TextToSpeech.SUCCESS) tts_enabled = true; + if (tts_enabled) { + idle_thread = new IdleThread(); + } + } + }); + + } + + public void speak(String s) { + if (!tts_enabled) return; + tts.speak(s, TextToSpeech.QUEUE_ADD, null); + } + + public void stop() { + if (tts != null) tts.shutdown(); + if (idle_thread != null) { + idle_thread.interrupt(); + idle_thread = null; + } + } + + public void tell(AltosState state) { + if (!tts_enabled) return; + + boolean spoke = false; + if (old_state == null || old_state.state != state.state) { + speak(state.state_name()); + if ((old_state == null || old_state.state <= AltosLib.ao_flight_boost) && + state.state > AltosLib.ao_flight_boost) { + speak(String.format("max speed: %d meters per second.", (int) (state.max_speed() + 0.5))); + spoke = true; + } else if ((old_state == null || old_state.state < AltosLib.ao_flight_drogue) && + state.state >= AltosLib.ao_flight_drogue) { + speak(String.format("max height: %d meters.", (int) (state.max_height() + 0.5))); + spoke = true; + } + } + if (old_state == null || old_state.gps_ready != state.gps_ready) { + if (state.gps_ready) { + speak("GPS ready"); + spoke = true; + } else if (old_state != null) { + speak("GPS lost"); + spoke = true; + } + } + old_state = state; + idle_thread.notice(state, spoke); + } + + + class IdleThread extends Thread { + boolean started; + private AltosState state; + int reported_landing; + int report_interval; + long report_time; + + public synchronized void report(boolean last) { + if (state == null) + return; + + /* reset the landing count once we hear about a new flight */ + if (state.state < AltosLib.ao_flight_drogue) + reported_landing = 0; + + /* Shut up once the rocket is on the ground */ + if (reported_landing > 2) { + return; + } + + /* If the rocket isn't on the pad, then report height */ + if (AltosLib.ao_flight_drogue <= state.state && + state.state < AltosLib.ao_flight_landed && + state.range >= 0) + { + speak(String.format("Height %d, bearing %s %d, elevation %d, range %d.\n", + (int) (state.height() + 0.5), + state.from_pad.bearing_words( + AltosGreatCircle.BEARING_VOICE), + (int) (state.from_pad.bearing + 0.5), + (int) (state.elevation + 0.5), + (int) (state.range + 0.5))); + } else if (state.state > AltosLib.ao_flight_pad) { + speak(String.format("%d meters", (int) (state.height() + 0.5))); + } else { + reported_landing = 0; + } + + /* If the rocket is coming down, check to see if it has landed; + * either we've got a landed report or we haven't heard from it in + * a long time + */ + if (state.state >= AltosLib.ao_flight_drogue && + (last || + System.currentTimeMillis() - state.received_time >= 15000 || + state.state == AltosLib.ao_flight_landed)) + { + if (Math.abs(state.speed()) < 20 && state.height() < 100) + speak("rocket landed safely"); + else + speak("rocket may have crashed"); + if (state.from_pad != null) + speak(String.format("Bearing %d degrees, range %d meters.", + (int) (state.from_pad.bearing + 0.5), + (int) (state.from_pad.distance + 0.5))); + ++reported_landing; + } + } + + long now () { + return System.currentTimeMillis(); + } + + void set_report_time() { + report_time = now() + report_interval; + } + + public void run () { + try { + for (;;) { + set_report_time(); + for (;;) { + synchronized (this) { + long sleep_time = report_time - now(); + if (sleep_time <= 0) + break; + wait(sleep_time); + } + } + report(false); + } + } catch (InterruptedException ie) { + } + } + + public synchronized void notice(AltosState new_state, boolean spoken) { + AltosState old_state = state; + state = new_state; + if (!started && state.state > AltosLib.ao_flight_pad) { + started = true; + start(); + } + + if (state.state < AltosLib.ao_flight_drogue) + report_interval = 10000; + else + report_interval = 20000; + if (old_state != null && old_state.state != state.state) { + report_time = now(); + this.notify(); + } else if (spoken) + set_report_time(); + } + + public IdleThread() { + state = null; + reported_landing = 0; + report_interval = 10000; + } + } + +} diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/Dumper.java b/altosdroid/src/org/altusmetrum/AltosDroid/Dumper.java index 17e4cf5b..2797fc5e 100644 --- a/altosdroid/src/org/altusmetrum/AltosDroid/Dumper.java +++ b/altosdroid/src/org/altusmetrum/AltosDroid/Dumper.java @@ -1,183 +1,183 @@ -package org.altusmetrum.AltosDroid; - - import java.lang.reflect.Array; - import java.lang.reflect.Field; - import java.util.HashMap; - - public class Dumper { - private static Dumper instance = new Dumper(); - - protected static Dumper getInstance() { - return instance; - } - - class DumpContext { - int maxDepth = 0; - int maxArrayElements = 0; - int callCount = 0; - HashMap ignoreList = new HashMap(); - HashMap visited = new HashMap(); - } - - public static String dump(Object o) { - return dump(o, 0, 0, null); - } - - public static String dump(Object o, int maxDepth, int maxArrayElements, String[] ignoreList) { - DumpContext ctx = Dumper.getInstance().new DumpContext(); - ctx.maxDepth = maxDepth; - ctx.maxArrayElements = maxArrayElements; - - if (ignoreList != null) { - for (int i = 0; i < Array.getLength(ignoreList); i++) { - int colonIdx = ignoreList[i].indexOf(':'); - if (colonIdx == -1) - ignoreList[i] = ignoreList[i] + ":"; - ctx.ignoreList.put(ignoreList[i], ignoreList[i]); - } - } - - return dump(o, ctx); - } - - protected static String dump(Object o, DumpContext ctx) { - if (o == null) { - return ""; - } - - ctx.callCount++; - StringBuffer tabs = new StringBuffer(); - for (int k = 0; k < ctx.callCount; k++) { - tabs.append("\t"); - } - StringBuffer buffer = new StringBuffer(); - @SuppressWarnings("rawtypes") - Class oClass = o.getClass(); - - String oSimpleName = getSimpleNameWithoutArrayQualifier(oClass); - - if (ctx.ignoreList.get(oSimpleName + ":") != null) - return ""; - - if (oClass.isArray()) { - buffer.append("\n"); - buffer.append(tabs.toString().substring(1)); - buffer.append("[\n"); - int rowCount = ctx.maxArrayElements == 0 ? Array.getLength(o) : Math.min(ctx.maxArrayElements, Array.getLength(o)); - for (int i = 0; i < rowCount; i++) { - buffer.append(tabs.toString()); - try { - Object value = Array.get(o, i); - buffer.append(dumpValue(value, ctx)); - } catch (Exception e) { - buffer.append(e.getMessage()); - } - if (i < Array.getLength(o) - 1) - buffer.append(","); - buffer.append("\n"); - } - if (rowCount < Array.getLength(o)) { - buffer.append(tabs.toString()); - buffer.append(Array.getLength(o) - rowCount + " more array elements..."); - buffer.append("\n"); - } - buffer.append(tabs.toString().substring(1)); - buffer.append("]"); - } else { - buffer.append("\n"); - buffer.append(tabs.toString().substring(1)); - buffer.append("{\n"); - buffer.append(tabs.toString()); - buffer.append("hashCode: " + o.hashCode()); - buffer.append("\n"); - while (oClass != null && oClass != Object.class) { - Field[] fields = oClass.getDeclaredFields(); - - if (ctx.ignoreList.get(oClass.getSimpleName()) == null) { - if (oClass != o.getClass()) { - buffer.append(tabs.toString().substring(1)); - buffer.append(" Inherited from superclass " + oSimpleName + ":\n"); - } - - for (int i = 0; i < fields.length; i++) { - - String fSimpleName = getSimpleNameWithoutArrayQualifier(fields[i].getType()); - String fName = fields[i].getName(); - - fields[i].setAccessible(true); - buffer.append(tabs.toString()); - buffer.append(fName + "(" + fSimpleName + ")"); - buffer.append("="); - - if (ctx.ignoreList.get(":" + fName) == null && - ctx.ignoreList.get(fSimpleName + ":" + fName) == null && - ctx.ignoreList.get(fSimpleName + ":") == null) { - - try { - Object value = fields[i].get(o); - buffer.append(dumpValue(value, ctx)); - } catch (Exception e) { - buffer.append(e.getMessage()); - } - buffer.append("\n"); - } else { - buffer.append(""); - buffer.append("\n"); - } - } - oClass = oClass.getSuperclass(); - oSimpleName = oClass.getSimpleName(); - } else { - oClass = null; - oSimpleName = ""; - } - } - buffer.append(tabs.toString().substring(1)); - buffer.append("}"); - } - ctx.callCount--; - return buffer.toString(); - } - - protected static String dumpValue(Object value, DumpContext ctx) { - if (value == null) { - return ""; - } - if (value.getClass().isPrimitive() || - value.getClass() == java.lang.Short.class || - value.getClass() == java.lang.Long.class || - value.getClass() == java.lang.String.class || - value.getClass() == java.lang.Integer.class || - value.getClass() == java.lang.Float.class || - value.getClass() == java.lang.Byte.class || - value.getClass() == java.lang.Character.class || - value.getClass() == java.lang.Double.class || - value.getClass() == java.lang.Boolean.class) { - - return value.toString(); - - } else { - - Integer visitedIndex = ctx.visited.get(value); - if (visitedIndex == null) { - ctx.visited.put(value, ctx.callCount); - if (ctx.maxDepth == 0 || ctx.callCount < ctx.maxDepth) { - return dump(value, ctx); - } else { - return ""; - } - } else { - return ""; - } - } - } - - - private static String getSimpleNameWithoutArrayQualifier(@SuppressWarnings("rawtypes") Class clazz) { - String simpleName = clazz.getSimpleName(); - int indexOfBracket = simpleName.indexOf('['); - if (indexOfBracket != -1) - return simpleName.substring(0, indexOfBracket); - return simpleName; - } -} +package org.altusmetrum.AltosDroid; + + import java.lang.reflect.Array; + import java.lang.reflect.Field; + import java.util.HashMap; + + public class Dumper { + private static Dumper instance = new Dumper(); + + protected static Dumper getInstance() { + return instance; + } + + class DumpContext { + int maxDepth = 0; + int maxArrayElements = 0; + int callCount = 0; + HashMap ignoreList = new HashMap(); + HashMap visited = new HashMap(); + } + + public static String dump(Object o) { + return dump(o, 0, 0, null); + } + + public static String dump(Object o, int maxDepth, int maxArrayElements, String[] ignoreList) { + DumpContext ctx = Dumper.getInstance().new DumpContext(); + ctx.maxDepth = maxDepth; + ctx.maxArrayElements = maxArrayElements; + + if (ignoreList != null) { + for (int i = 0; i < Array.getLength(ignoreList); i++) { + int colonIdx = ignoreList[i].indexOf(':'); + if (colonIdx == -1) + ignoreList[i] = ignoreList[i] + ":"; + ctx.ignoreList.put(ignoreList[i], ignoreList[i]); + } + } + + return dump(o, ctx); + } + + protected static String dump(Object o, DumpContext ctx) { + if (o == null) { + return ""; + } + + ctx.callCount++; + StringBuffer tabs = new StringBuffer(); + for (int k = 0; k < ctx.callCount; k++) { + tabs.append("\t"); + } + StringBuffer buffer = new StringBuffer(); + @SuppressWarnings("rawtypes") + Class oClass = o.getClass(); + + String oSimpleName = getSimpleNameWithoutArrayQualifier(oClass); + + if (ctx.ignoreList.get(oSimpleName + ":") != null) + return ""; + + if (oClass.isArray()) { + buffer.append("\n"); + buffer.append(tabs.toString().substring(1)); + buffer.append("[\n"); + int rowCount = ctx.maxArrayElements == 0 ? Array.getLength(o) : Math.min(ctx.maxArrayElements, Array.getLength(o)); + for (int i = 0; i < rowCount; i++) { + buffer.append(tabs.toString()); + try { + Object value = Array.get(o, i); + buffer.append(dumpValue(value, ctx)); + } catch (Exception e) { + buffer.append(e.getMessage()); + } + if (i < Array.getLength(o) - 1) + buffer.append(","); + buffer.append("\n"); + } + if (rowCount < Array.getLength(o)) { + buffer.append(tabs.toString()); + buffer.append(Array.getLength(o) - rowCount + " more array elements..."); + buffer.append("\n"); + } + buffer.append(tabs.toString().substring(1)); + buffer.append("]"); + } else { + buffer.append("\n"); + buffer.append(tabs.toString().substring(1)); + buffer.append("{\n"); + buffer.append(tabs.toString()); + buffer.append("hashCode: " + o.hashCode()); + buffer.append("\n"); + while (oClass != null && oClass != Object.class) { + Field[] fields = oClass.getDeclaredFields(); + + if (ctx.ignoreList.get(oClass.getSimpleName()) == null) { + if (oClass != o.getClass()) { + buffer.append(tabs.toString().substring(1)); + buffer.append(" Inherited from superclass " + oSimpleName + ":\n"); + } + + for (int i = 0; i < fields.length; i++) { + + String fSimpleName = getSimpleNameWithoutArrayQualifier(fields[i].getType()); + String fName = fields[i].getName(); + + fields[i].setAccessible(true); + buffer.append(tabs.toString()); + buffer.append(fName + "(" + fSimpleName + ")"); + buffer.append("="); + + if (ctx.ignoreList.get(":" + fName) == null && + ctx.ignoreList.get(fSimpleName + ":" + fName) == null && + ctx.ignoreList.get(fSimpleName + ":") == null) { + + try { + Object value = fields[i].get(o); + buffer.append(dumpValue(value, ctx)); + } catch (Exception e) { + buffer.append(e.getMessage()); + } + buffer.append("\n"); + } else { + buffer.append(""); + buffer.append("\n"); + } + } + oClass = oClass.getSuperclass(); + oSimpleName = oClass.getSimpleName(); + } else { + oClass = null; + oSimpleName = ""; + } + } + buffer.append(tabs.toString().substring(1)); + buffer.append("}"); + } + ctx.callCount--; + return buffer.toString(); + } + + protected static String dumpValue(Object value, DumpContext ctx) { + if (value == null) { + return ""; + } + if (value.getClass().isPrimitive() || + value.getClass() == java.lang.Short.class || + value.getClass() == java.lang.Long.class || + value.getClass() == java.lang.String.class || + value.getClass() == java.lang.Integer.class || + value.getClass() == java.lang.Float.class || + value.getClass() == java.lang.Byte.class || + value.getClass() == java.lang.Character.class || + value.getClass() == java.lang.Double.class || + value.getClass() == java.lang.Boolean.class) { + + return value.toString(); + + } else { + + Integer visitedIndex = ctx.visited.get(value); + if (visitedIndex == null) { + ctx.visited.put(value, ctx.callCount); + if (ctx.maxDepth == 0 || ctx.callCount < ctx.maxDepth) { + return dump(value, ctx); + } else { + return ""; + } + } else { + return ""; + } + } + } + + + private static String getSimpleNameWithoutArrayQualifier(@SuppressWarnings("rawtypes") Class clazz) { + String simpleName = clazz.getSimpleName(); + int indexOfBracket = simpleName.indexOf('['); + if (indexOfBracket != -1) + return simpleName.substring(0, indexOfBracket); + return simpleName; + } +} diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TabAscent.java b/altosdroid/src/org/altusmetrum/AltosDroid/TabAscent.java index 0e141ae4..3eaf12db 100644 --- a/altosdroid/src/org/altusmetrum/AltosDroid/TabAscent.java +++ b/altosdroid/src/org/altusmetrum/AltosDroid/TabAscent.java @@ -17,7 +17,7 @@ package org.altusmetrum.AltosDroid; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import android.app.Activity; import android.os.Bundle; @@ -87,12 +87,12 @@ public class TabAscent extends Fragment implements AltosDroidTab { public void update_ui(AltosState state, AltosGreatCircle from_receiver, Location receiver) { if (state != null) { - mHeightView.setText(AltosDroid.number("%6.0f m", state.height)); - mMaxHeightView.setText(AltosDroid.number("%6.0f m", state.max_height)); + mHeightView.setText(AltosDroid.number("%6.0f m", state.height())); + mMaxHeightView.setText(AltosDroid.number("%6.0f m", state.max_height())); mSpeedView.setText(AltosDroid.number("%6.0f m/s", state.speed())); mMaxSpeedView.setText(AltosDroid.number("%6.0f m/s", state.max_speed())); - mAccelView.setText(AltosDroid.number("%6.0f m/s²", state.acceleration)); - mMaxAccelView.setText(AltosDroid.number("%6.0f m/s²", state.max_acceleration)); + mAccelView.setText(AltosDroid.number("%6.0f m/s²", state.acceleration())); + mMaxAccelView.setText(AltosDroid.number("%6.0f m/s²", state.max_acceleration())); if (state.gps != null) { mLatitudeView.setText(AltosDroid.pos(state.gps.lat, "N", "S")); @@ -102,11 +102,11 @@ public class TabAscent extends Fragment implements AltosDroidTab { mLongitudeView.setText(""); } - mApogeeVoltageView.setText(AltosDroid.number("%4.2f V", state.drogue_sense)); - mApogeeLights.set(state.drogue_sense > 3.2, state.drogue_sense == AltosRecord.MISSING); + mApogeeVoltageView.setText(AltosDroid.number("%4.2f V", state.apogee_voltage)); + mApogeeLights.set(state.apogee_voltage > 3.2, state.apogee_voltage == AltosLib.MISSING); - mMainVoltageView.setText(AltosDroid.number("%4.2f V", state.main_sense)); - mMainLights.set(state.main_sense > 3.2, state.main_sense == AltosRecord.MISSING); + mMainVoltageView.setText(AltosDroid.number("%4.2f V", state.main_voltage)); + mMainLights.set(state.main_voltage > 3.2, state.main_voltage == AltosLib.MISSING); } } } diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TabDescent.java b/altosdroid/src/org/altusmetrum/AltosDroid/TabDescent.java index 09e7169b..e4a954ca 100644 --- a/altosdroid/src/org/altusmetrum/AltosDroid/TabDescent.java +++ b/altosdroid/src/org/altusmetrum/AltosDroid/TabDescent.java @@ -17,7 +17,7 @@ package org.altusmetrum.AltosDroid; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import android.app.Activity; import android.os.Bundle; @@ -92,7 +92,7 @@ public class TabDescent extends Fragment implements AltosDroidTab { public void update_ui(AltosState state, AltosGreatCircle from_receiver, Location receiver) { if (state != null) { mSpeedView.setText(AltosDroid.number("%6.0f m/s", state.speed())); - mHeightView.setText(AltosDroid.number("%6.0f m", state.height)); + mHeightView.setText(AltosDroid.number("%6.0f m", state.height())); if (from_receiver != null) { mElevationView.setText(AltosDroid.number("%3.0f°", from_receiver.elevation)); mRangeView.setText(AltosDroid.number("%6.0f m", from_receiver.range)); @@ -111,11 +111,11 @@ public class TabDescent extends Fragment implements AltosDroidTab { mLongitudeView.setText(AltosDroid.pos(state.gps.lon, "W", "E")); } - mApogeeVoltageView.setText(AltosDroid.number("%4.2f V", state.drogue_sense)); - mApogeeLights.set(state.drogue_sense > 3.2, state.drogue_sense == AltosRecord.MISSING); + mApogeeVoltageView.setText(AltosDroid.number("%4.2f V", state.apogee_voltage)); + mApogeeLights.set(state.apogee_voltage > 3.2, state.apogee_voltage == AltosLib.MISSING); - mMainVoltageView.setText(AltosDroid.number("%4.2f V", state.main_sense)); - mMainLights.set(state.main_sense > 3.2, state.main_sense == AltosRecord.MISSING); + mMainVoltageView.setText(AltosDroid.number("%4.2f V", state.main_voltage)); + mMainLights.set(state.main_voltage > 3.2, state.main_voltage == AltosLib.MISSING); } } diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TabLanded.java b/altosdroid/src/org/altusmetrum/AltosDroid/TabLanded.java index f42b46b5..40399f2a 100644 --- a/altosdroid/src/org/altusmetrum/AltosDroid/TabLanded.java +++ b/altosdroid/src/org/altusmetrum/AltosDroid/TabLanded.java @@ -17,7 +17,7 @@ package org.altusmetrum.AltosDroid; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import android.app.Activity; import android.os.Bundle; @@ -89,8 +89,8 @@ public class TabLanded extends Fragment implements AltosDroidTab { } if (state != null) { - mMaxHeightView.setText(String.format("%6.0f m", state.max_height)); - mMaxAccelView.setText(String.format("%6.0f m/s²", state.max_acceleration)); + mMaxHeightView.setText(String.format("%6.0f m", state.max_height())); + mMaxAccelView.setText(String.format("%6.0f m/s²", state.max_acceleration())); mMaxSpeedView.setText(String.format("%6.0f m/s", state.max_speed())); } } diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TabMap.java b/altosdroid/src/org/altusmetrum/AltosDroid/TabMap.java index d831f117..a4e224aa 100644 --- a/altosdroid/src/org/altusmetrum/AltosDroid/TabMap.java +++ b/altosdroid/src/org/altusmetrum/AltosDroid/TabMap.java @@ -19,7 +19,7 @@ package org.altusmetrum.AltosDroid; import java.util.Arrays; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import com.google.android.gms.maps.CameraUpdateFactory; import com.google.android.gms.maps.GoogleMap; diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TabPad.java b/altosdroid/src/org/altusmetrum/AltosDroid/TabPad.java index 066c1353..2c6732e5 100644 --- a/altosdroid/src/org/altusmetrum/AltosDroid/TabPad.java +++ b/altosdroid/src/org/altusmetrum/AltosDroid/TabPad.java @@ -17,7 +17,7 @@ package org.altusmetrum.AltosDroid; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import android.app.Activity; import android.os.Bundle; @@ -103,26 +103,26 @@ public class TabPad extends Fragment implements AltosDroidTab { public void update_ui(AltosState state, AltosGreatCircle from_receiver, Location receiver) { if (state != null) { - mBatteryVoltageView.setText(AltosDroid.number("%4.2f V", state.battery)); - mBatteryLights.set(state.battery > 3.7, state.battery == AltosRecord.MISSING); + mBatteryVoltageView.setText(AltosDroid.number("%4.2f V", state.battery_voltage)); + mBatteryLights.set(state.battery_voltage > 3.7, state.battery_voltage == AltosLib.MISSING); - mApogeeVoltageView.setText(AltosDroid.number("%4.2f V", state.drogue_sense)); - mApogeeLights.set(state.drogue_sense > 3.2, state.drogue_sense == AltosRecord.MISSING); + mApogeeVoltageView.setText(AltosDroid.number("%4.2f V", state.apogee_voltage)); + mApogeeLights.set(state.apogee_voltage > 3.2, state.apogee_voltage == AltosLib.MISSING); - mMainVoltageView.setText(AltosDroid.number("%4.2f V", state.main_sense)); - mMainLights.set(state.main_sense > 3.2, state.main_sense == AltosRecord.MISSING); + mMainVoltageView.setText(AltosDroid.number("%4.2f V", state.main_voltage)); + mMainLights.set(state.main_voltage > 3.2, state.main_voltage == AltosLib.MISSING); - if (state.data.flight != 0) { - if (state.data.state <= AltosLib.ao_flight_pad) + if (state.flight != 0) { + if (state.state <= AltosLib.ao_flight_pad) mDataLoggingView.setText("Ready to record"); - else if (state.data.state < AltosLib.ao_flight_landed) + else if (state.state < AltosLib.ao_flight_landed) mDataLoggingView.setText("Recording data"); else mDataLoggingView.setText("Recorded data"); } else { mDataLoggingView.setText("Storage full"); } - mDataLoggingLights.set(state.data.flight != 0, state.data.flight == AltosRecord.MISSING); + mDataLoggingLights.set(state.flight != 0, state.flight == AltosLib.MISSING); if (state.gps != null) { mGPSLockedView.setText(AltosDroid.integer("%4d sats", state.gps.nsat)); diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryLogger.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryLogger.java index 3ece04ac..4d793413 100644 --- a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryLogger.java +++ b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryLogger.java @@ -1,6 +1,6 @@ package org.altusmetrum.AltosDroid; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import android.content.BroadcastReceiver; import android.content.Context; diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java index 716ec589..45604284 100644 --- a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java +++ b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java @@ -1,94 +1,95 @@ -/* - * Copyright © 2011 Keith Packard - * Copyright © 2012 Mike Beattie - * - * 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.AltosDroid; - -import java.text.*; -import java.io.*; -import java.util.concurrent.*; -import android.util.Log; -import android.os.Handler; - -import org.altusmetrum.altoslib_1.*; - - -public class TelemetryReader extends Thread { - - private static final String TAG = "TelemetryReader"; - - int crc_errors; - - Handler handler; - - AltosLink link; - AltosRecord previous; - - LinkedBlockingQueue telem; - - public AltosRecord read() throws ParseException, AltosCRCException, InterruptedException, 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; - } - - public void close() { - previous = null; - link.remove_monitor(telem); - link = null; - telem.clear(); - telem = null; - } - - public void run() { - AltosState state = null; - - try { - for (;;) { - try { - AltosRecord record = read(); - if (record == null) - break; - state = new AltosState(record, state); - handler.obtainMessage(TelemetryService.MSG_TELEMETRY, state).sendToTarget(); - } catch (ParseException pp) { - Log.e(TAG, String.format("Parse error: %d \"%s\"", pp.getErrorOffset(), pp.getMessage())); - } catch (AltosCRCException ce) { - ++crc_errors; - handler.obtainMessage(TelemetryService.MSG_CRC_ERROR, new Integer(crc_errors)).sendToTarget(); - } - } - } catch (InterruptedException ee) { - } catch (IOException ie) { - } finally { - close(); - } - } - - public TelemetryReader (AltosLink in_link, Handler in_handler) { - link = in_link; - handler = in_handler; - - previous = null; - telem = new LinkedBlockingQueue(); - link.add_monitor(telem); - } -} +/* + * Copyright © 2011 Keith Packard + * Copyright © 2012 Mike Beattie + * + * 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.AltosDroid; + +import java.text.*; +import java.io.*; +import java.util.concurrent.*; +import android.util.Log; +import android.os.Handler; + +import org.altusmetrum.altoslib_2.*; + + +public class TelemetryReader extends Thread { + + private static final String TAG = "TelemetryReader"; + + int crc_errors; + + Handler handler; + + AltosLink link; + AltosState state = null; + + LinkedBlockingQueue telemQueue; + + public AltosState read() throws ParseException, AltosCRCException, InterruptedException, IOException { + AltosLine l = telemQueue.take(); + if (l.line == null) + throw new IOException("IO error"); + AltosTelemetry telem = AltosTelemetryLegacy.parse(l.line); + if (state == null) + state = new AltosState(); + else + state = state.clone(); + telem.update_state(state); + return state; + } + + public void close() { + state = null; + link.remove_monitor(telemQueue); + link = null; + telemQueue.clear(); + telemQueue = null; + } + + public void run() { + AltosState state = null; + + try { + for (;;) { + try { + state = read(); + handler.obtainMessage(TelemetryService.MSG_TELEMETRY, state).sendToTarget(); + } catch (ParseException pp) { + Log.e(TAG, String.format("Parse error: %d \"%s\"", pp.getErrorOffset(), pp.getMessage())); + } catch (AltosCRCException ce) { + ++crc_errors; + handler.obtainMessage(TelemetryService.MSG_CRC_ERROR, new Integer(crc_errors)).sendToTarget(); + } + } + } catch (InterruptedException ee) { + } catch (IOException ie) { + } finally { + close(); + } + } + + public TelemetryReader (AltosLink in_link, Handler in_handler) { + link = in_link; + handler = in_handler; + + state = null; + telemQueue = new LinkedBlockingQueue(); + link.add_monitor(telemQueue); + } +} diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java index 940ad792..76efa749 100644 --- a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java +++ b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java @@ -44,7 +44,7 @@ import android.location.LocationManager; import android.location.LocationListener; import android.location.Criteria; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class TelemetryService extends Service implements LocationListener { diff --git a/altoslib/AltosAccel.java b/altoslib/AltosAccel.java index d02b3238..08eba359 100644 --- a/altoslib/AltosAccel.java +++ b/altoslib/AltosAccel.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; public class AltosAccel extends AltosUnits { diff --git a/altoslib/AltosCRCException.java b/altoslib/AltosCRCException.java index 76e79add..be2ec4fe 100644 --- a/altoslib/AltosCRCException.java +++ b/altoslib/AltosCRCException.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; public class AltosCRCException extends Exception { public int rssi; diff --git a/altoslib/AltosCompanion.java b/altoslib/AltosCompanion.java new file mode 100644 index 00000000..57bb21af --- /dev/null +++ b/altoslib/AltosCompanion.java @@ -0,0 +1,38 @@ +/* + * Copyright © 2011 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +public class AltosCompanion { + public final static int board_id_telescience = 0x0a; + public final static int MAX_CHANNELS = 12; + + public int tick; + public int board_id; + public int update_period; + public int channels; + public int[] companion_data; + + public AltosCompanion(int in_channels) { + channels = in_channels; + if (channels < 0) + channels = 0; + if (channels > MAX_CHANNELS) + channels = MAX_CHANNELS; + companion_data = new int[channels]; + } +} diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java index 2ca5a7a5..d92f42c3 100644 --- a/altoslib/AltosConfigData.java +++ b/altoslib/AltosConfigData.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.util.*; import java.text.*; diff --git a/altoslib/AltosConfigValues.java b/altoslib/AltosConfigValues.java index 027d10f4..fd5584c2 100644 --- a/altoslib/AltosConfigValues.java +++ b/altoslib/AltosConfigValues.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; public interface AltosConfigValues { /* set and get all of the dialog values */ diff --git a/altoslib/AltosConvert.java b/altoslib/AltosConvert.java index 8cd478e2..760d9eb9 100644 --- a/altoslib/AltosConvert.java +++ b/altoslib/AltosConvert.java @@ -18,7 +18,7 @@ /* * Sensor data conversion functions */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; public class AltosConvert { /* @@ -190,6 +190,46 @@ public class AltosConvert { return ignite / 32767 * 15.0; } + public static double + barometer_to_pressure(double count) + { + return ((count / 16.0) / 2047.0 + 0.095) / 0.009 * 1000.0; + } + + static double + thermometer_to_temperature(double thermo) + { + return (thermo - 19791.268) / 32728.0 * 1.25 / 0.00247; + } + + static double mega_adc(int raw) { + return raw / 4095.0; + } + + static public double mega_battery_voltage(int v_batt) { + if (v_batt != AltosLib.MISSING) + return 3.3 * mega_adc(v_batt) * (15.0 + 27.0) / 27.0; + return AltosLib.MISSING; + } + + static double mega_pyro_voltage(int raw) { + if (raw != AltosLib.MISSING) + return 3.3 * mega_adc(raw) * (100.0 + 27.0) / 27.0; + return AltosLib.MISSING; + } + + static double tele_mini_voltage(int sensor) { + double supply = 3.3; + + return sensor / 32767.0 * supply * 127/27; + } + + static double easy_mini_voltage(int sensor) { + double supply = 3.0; + + return sensor / 32767.0 * supply * 127/27; + } + public static double radio_to_frequency(int freq, int setting, int cal, int channel) { double f; diff --git a/altoslib/AltosDebug.java b/altoslib/AltosDebug.java index 4d8e3ae7..76c13d57 100644 --- a/altoslib/AltosDebug.java +++ b/altoslib/AltosDebug.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.io.*; diff --git a/altoslib/AltosDistance.java b/altoslib/AltosDistance.java index 25028ac7..56257165 100644 --- a/altoslib/AltosDistance.java +++ b/altoslib/AltosDistance.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; public class AltosDistance extends AltosUnits { diff --git a/altoslib/AltosEeprom.java b/altoslib/AltosEeprom.java new file mode 100644 index 00000000..dd5993c7 --- /dev/null +++ b/altoslib/AltosEeprom.java @@ -0,0 +1,127 @@ +/* + * Copyright © 2013 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +import java.io.*; +import java.util.*; +import java.text.*; + +public abstract class AltosEeprom implements AltosStateUpdate { + public int cmd; + public int tick; + public int data8[]; + public boolean valid; + + public int data8(int i) { + return data8[i]; + } + + public int data16(int i) { + return ((data8[i] | (data8[i+1] << 8)) << 16) >> 16; + } + + public int data24(int i) { + return data8[i] | (data8[i+1] << 8) | (data8[i+2] << 16); + } + + public int data32(int i) { + return data8[i] | (data8[i+1] << 8) | (data8[i+2] << 16) | (data8[i+3] << 24); + } + + public final static int header_length = 4; + + public abstract int record_length(); + + public void update_state(AltosState state) { + if (cmd == AltosLib.AO_LOG_FLIGHT) + state.set_boost_tick(tick); + else + state.set_tick(tick); + } + + public void write(PrintStream out) { + out.printf("%c %04x", cmd, tick); + if (data8 != null) { + for (int i = 0; i < data8.length; i++) + out.printf (" %02x", data8[i]); + } + out.printf ("\n"); + } + + public String string() { + String s; + + s = String.format("%c %04x", cmd, tick); + if (data8 != null) { + for (int i = 0; i < data8.length; i++) { + String d = String.format(" %02x", data8[i]); + s = s.concat(d); + } + } + s = s.concat("\n"); + return s; + } + + void parse_chunk(AltosEepromChunk chunk, int start) throws ParseException { + cmd = chunk.data(start); + + int data_length = record_length() - header_length; + + valid = !chunk.erased(start, record_length()); + if (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); + + data8 = new int[data_length]; + for (int i = 0; i < data_length; i++) + data8[i] = chunk.data(start + header_length + i); + } + + void parse_string(String line) { + valid = false; + tick = 0; + cmd = AltosLib.AO_LOG_INVALID; + + int data_length = record_length() - header_length; + + if (line == null) + return; + try { + String[] tokens = line.split("\\s+"); + + if (tokens[0].length() == 1) { + if (tokens.length == 2 + data_length) { + cmd = tokens[0].codePointAt(0); + tick = Integer.parseInt(tokens[1],16); + valid = true; + data8 = new int[data_length]; + + for (int i = 0; i < data_length; i++) + data8[i] = Integer.parseInt(tokens[2 + i],16); + } + } + } catch (NumberFormatException ne) { + } + } +} diff --git a/altoslib/AltosEepromChunk.java b/altoslib/AltosEepromChunk.java index b1bba3bb..48d29e1b 100644 --- a/altoslib/AltosEepromChunk.java +++ b/altoslib/AltosEepromChunk.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.text.*; import java.util.concurrent.*; @@ -62,6 +62,35 @@ public class AltosEepromChunk { return true; } + public AltosEeprom eeprom(int offset, int log_format, AltosState state) { + AltosEeprom eeprom = null; + try { + switch (log_format) { + case AltosLib.AO_LOG_FORMAT_FULL: + eeprom = new AltosEepromTM(this, offset); + break; + case AltosLib.AO_LOG_FORMAT_TINY: + eeprom = new AltosEepromTm(this, offset, state); + break; + case AltosLib.AO_LOG_FORMAT_TELEMETRY: + case AltosLib.AO_LOG_FORMAT_TELESCIENCE: + break; + case AltosLib.AO_LOG_FORMAT_TELEMEGA: + eeprom = new AltosEepromMega(this, offset); + break; + case AltosLib.AO_LOG_FORMAT_TELEMETRUM: + eeprom = new AltosEepromMetrum2(this, offset); + break; + case AltosLib.AO_LOG_FORMAT_TELEMINI: + case AltosLib.AO_LOG_FORMAT_EASYMINI: + eeprom = new AltosEepromMini(this, offset); + break; + } + } catch (ParseException e) { + } + return eeprom; + } + public AltosEepromChunk(AltosLink link, int block, boolean flush) throws TimeoutException, InterruptedException { diff --git a/altoslib/AltosEepromFile.java b/altoslib/AltosEepromFile.java new file mode 100644 index 00000000..60ab2573 --- /dev/null +++ b/altoslib/AltosEepromFile.java @@ -0,0 +1,123 @@ +/* + * Copyright © 2013 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +import java.io.*; +import java.util.*; +import java.text.*; + +class AltosEepromIterator implements Iterator { + AltosState state; + Iterator body; + AltosEeprom next; + boolean seen; + + public boolean hasNext() { + return !seen || body.hasNext(); + } + + public AltosState next() { + if (seen) { + AltosState n = state.clone(); + AltosEeprom e = body.next(); + + e.update_state(n); + state = n; + } + seen = true; + return state; + } + + public void remove () { + } + + public AltosEepromIterator(AltosState start, Iterator body) { + this.state = start; + this.body = body; + this.seen = false; + } +} + +public class AltosEepromFile extends AltosStateIterable { + + AltosEepromIterable headers; + AltosEepromIterable body; + AltosState start; + + public void write_comments(PrintStream out) { + headers.write(out); + } + + public void write(PrintStream out) { + headers.write(out); + body.write(out); + } + + public AltosEepromFile(FileInputStream input) { + headers = new AltosEepromIterable(AltosEepromHeader.read(input)); + + start = headers.state(); + start.set_state(AltosLib.ao_flight_pad); + + switch (start.log_format) { + case AltosLib.AO_LOG_FORMAT_FULL: + body = new AltosEepromIterable(AltosEepromTM.read(input)); + break; + case AltosLib.AO_LOG_FORMAT_TINY: + body = new AltosEepromIterable(AltosEepromTm.read(input)); + break; + case AltosLib.AO_LOG_FORMAT_TELEMETRY: + case AltosLib.AO_LOG_FORMAT_TELESCIENCE: + case AltosLib.AO_LOG_FORMAT_TELEMEGA: + body = new AltosEepromIterable(AltosEepromMega.read(input)); + break; + case AltosLib.AO_LOG_FORMAT_TELEMETRUM: + body = new AltosEepromIterable(AltosEepromMetrum2.read(input)); + break; + case AltosLib.AO_LOG_FORMAT_TELEMINI: + case AltosLib.AO_LOG_FORMAT_EASYMINI: + body = new AltosEepromIterable(AltosEepromMini.read(input)); + break; + default: + body = new AltosEepromIterable(new LinkedList()); + break; + } + + /* Find boost tick */ + AltosState state = start.clone(); + for (AltosEeprom eeprom : body) { + eeprom.update_state(state); + state.finish_update(); + if (state.state >= AltosLib.ao_flight_boost) { + start.set_boost_tick(state.tick); + break; + } + } + } + + public Iterator iterator() { + AltosState state = start.clone(); + Iterator i = body.iterator(); + + while (i.hasNext() && !state.valid()) { + i.next().update_state(state); + state.finish_update(); + } + return new AltosEepromIterator(state, i); + } +} \ No newline at end of file diff --git a/altoslib/AltosEepromHeader.java b/altoslib/AltosEepromHeader.java new file mode 100644 index 00000000..0aeb78dd --- /dev/null +++ b/altoslib/AltosEepromHeader.java @@ -0,0 +1,278 @@ +/* + * Copyright © 2013 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +import java.io.*; +import java.util.*; +import java.text.*; + +public class AltosEepromHeader extends AltosEeprom { + + public int cmd; + public String data; + public int config_a, config_b; + public boolean last; + public boolean valid; + + public int record_length () { return 0; } + + /* XXX pull rest of config data to state */ + public void update_state(AltosState state) { + switch (cmd) { + 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.set_callsign(data); + break; + case AltosLib.AO_LOG_ACCEL_CAL: + state.set_accel_g(config_a, 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_LOG_FORMAT: + state.log_format = config_a; + break; + case AltosLib.AO_LOG_SERIAL_NUMBER: + state.set_serial(config_a); + break; + case AltosLib.AO_LOG_BARO_RESERVED: + state.make_baro(); + state.baro.reserved = config_a; + break; + case AltosLib.AO_LOG_BARO_SENS: + state.make_baro(); + state.baro.sens = config_a; + break; + case AltosLib.AO_LOG_BARO_OFF: + state.make_baro(); + state.baro.off = config_a; + break; + case AltosLib.AO_LOG_BARO_TCS: + state.make_baro(); + state.baro.tcs = config_a; + break; + case AltosLib.AO_LOG_BARO_TCO: + state.make_baro(); + state.baro.tco = config_a; + break; + case AltosLib.AO_LOG_BARO_TREF: + state.make_baro(); + state.baro.tref = config_a; + break; + case AltosLib.AO_LOG_BARO_TEMPSENS: + state.make_baro(); + state.baro.tempsens = config_a; + break; + case AltosLib.AO_LOG_BARO_CRC: + state.make_baro(); + state.baro.crc = config_a; + break; + case AltosLib.AO_LOG_SOFTWARE_VERSION: + state.set_firmware_version(data); + break; + } + } + + public void write(PrintStream out) { + switch (cmd) { + case AltosLib.AO_LOG_CONFIG_VERSION: + out.printf("# Config version: %s\n", data); + break; + case AltosLib.AO_LOG_MAIN_DEPLOY: + out.printf("# Main deploy: %s\n", config_a); + break; + case AltosLib.AO_LOG_APOGEE_DELAY: + out.printf("# Apogee delay: %s\n", config_a); + break; + case AltosLib.AO_LOG_RADIO_CHANNEL: + out.printf("# Radio channel: %s\n", config_a); + break; + case AltosLib.AO_LOG_CALLSIGN: + out.printf("# Callsign: %s\n", data); + break; + case AltosLib.AO_LOG_ACCEL_CAL: + out.printf ("# Accel cal: %d %d\n", config_a, config_b); + break; + case AltosLib.AO_LOG_RADIO_CAL: + out.printf ("# Radio cal: %d\n", config_a); + break; + case AltosLib.AO_LOG_MAX_FLIGHT_LOG: + out.printf ("# Max flight log: %d\n", config_a); + break; + case AltosLib.AO_LOG_MANUFACTURER: + out.printf ("# Manufacturer: %s\n", data); + break; + case AltosLib.AO_LOG_PRODUCT: + out.printf ("# Product: %s\n", data); + break; + case AltosLib.AO_LOG_SERIAL_NUMBER: + out.printf ("# Serial number: %d\n", config_a); + break; + case AltosLib.AO_LOG_SOFTWARE_VERSION: + out.printf ("# Software version: %s\n", data); + break; + case AltosLib.AO_LOG_BARO_RESERVED: + out.printf ("# Baro reserved: %d\n", config_a); + break; + case AltosLib.AO_LOG_BARO_SENS: + out.printf ("# Baro sens: %d\n", config_a); + break; + case AltosLib.AO_LOG_BARO_OFF: + out.printf ("# Baro off: %d\n", config_a); + break; + case AltosLib.AO_LOG_BARO_TCS: + out.printf ("# Baro tcs: %d\n", config_a); + break; + case AltosLib.AO_LOG_BARO_TCO: + out.printf ("# Baro tco: %d\n", config_a); + break; + case AltosLib.AO_LOG_BARO_TREF: + out.printf ("# Baro tref: %d\n", config_a); + break; + case AltosLib.AO_LOG_BARO_TEMPSENS: + out.printf ("# Baro tempsens: %d\n", config_a); + break; + case AltosLib.AO_LOG_BARO_CRC: + out.printf ("# Baro crc: %d\n", config_a); + break; + } + } + + public AltosEepromHeader (String[] tokens) { + last = false; + valid = true; + try { + 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; + config_a = Integer.parseInt(tokens[2]); + } else if (tokens[0].equals("Apogee") && tokens[1].equals("delay:")) { + cmd = AltosLib.AO_LOG_APOGEE_DELAY; + config_a = Integer.parseInt(tokens[2]); + } else if (tokens[0].equals("Radio") && tokens[1].equals("channel:")) { + cmd = AltosLib.AO_LOG_RADIO_CHANNEL; + config_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; + config_a = Integer.parseInt(tokens[3]); + config_b = Integer.parseInt(tokens[5]); + } else if (tokens[0].equals("Radio") && tokens[1].equals("cal:")) { + cmd = AltosLib.AO_LOG_RADIO_CAL; + config_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; + config_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; + config_a = Integer.parseInt(tokens[1]); + } else if (tokens[0].equals("log-format")) { + cmd = AltosLib.AO_LOG_LOG_FORMAT; + config_a = Integer.parseInt(tokens[1]); + } else if (tokens[0].equals("software-version")) { + cmd = AltosLib.AO_LOG_SOFTWARE_VERSION; + data = tokens[1]; + last = true; + } else if (tokens[0].equals("ms5607")) { + if (tokens[1].equals("reserved:")) { + cmd = AltosLib.AO_LOG_BARO_RESERVED; + config_a = Integer.parseInt(tokens[2]); + } else if (tokens[1].equals("sens:")) { + cmd = AltosLib.AO_LOG_BARO_SENS; + config_a = Integer.parseInt(tokens[2]); + } else if (tokens[1].equals("off:")) { + cmd = AltosLib.AO_LOG_BARO_OFF; + config_a = Integer.parseInt(tokens[2]); + } else if (tokens[1].equals("tcs:")) { + cmd = AltosLib.AO_LOG_BARO_TCS; + config_a = Integer.parseInt(tokens[2]); + } else if (tokens[1].equals("tco:")) { + cmd = AltosLib.AO_LOG_BARO_TCO; + config_a = Integer.parseInt(tokens[2]); + } else if (tokens[1].equals("tref:")) { + cmd = AltosLib.AO_LOG_BARO_TREF; + config_a = Integer.parseInt(tokens[2]); + } else if (tokens[1].equals("tempsens:")) { + cmd = AltosLib.AO_LOG_BARO_TEMPSENS; + config_a = Integer.parseInt(tokens[2]); + } else if (tokens[1].equals("crc:")) { + cmd = AltosLib.AO_LOG_BARO_CRC; + config_a = Integer.parseInt(tokens[2]); + } else { + cmd = AltosLib.AO_LOG_INVALID; + data = tokens[2]; + } + } else + valid = false; + } catch (Exception e) { + valid = false; + } + } + + static public LinkedList read(FileInputStream input) { + LinkedList headers = new LinkedList(); + + for (;;) { + try { + String line = AltosLib.gets(input); + if (line == null) + break; + AltosEepromHeader header = new AltosEepromHeader(line); + headers.add(header); + if (header.last) + break; + } catch (IOException ie) { + break; + } + } + + return headers; + } + + static public void write (PrintStream out, LinkedList headers) { + out.printf("# Comments\n"); + for (AltosEepromHeader header : headers) { + header.write(out); + } + + } + + public AltosEepromHeader (String line) { + this(line.split("\\s+")); + } +} diff --git a/altoslib/AltosEepromIterable.java b/altoslib/AltosEepromIterable.java index b84574ef..fc793579 100644 --- a/altoslib/AltosEepromIterable.java +++ b/altoslib/AltosEepromIterable.java @@ -1,5 +1,5 @@ /* - * Copyright © 2010 Keith Packard + * Copyright © 2013 Keith Packard * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -15,421 +15,105 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.io.*; import java.util.*; import java.text.*; -public class AltosEepromIterable extends AltosRecordIterable { +class AltosEepromOrdered implements Comparable { + AltosEeprom eeprom; + int index; + int tick; - static final int seen_basic = AltosRecord.seen_flight|AltosRecord.seen_sensor; - - boolean has_accel; - boolean has_gps; - boolean has_ignite; - - AltosEepromRecord flight_record; - AltosEepromRecord gps_date_record; - - TreeSet records; - - LinkedList 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; - } + int cmdi() { + if (eeprom.cmd == AltosLib.AO_LOG_FLIGHT) + return 0; + return 1; } - void update_state(AltosRecordTM state, AltosEepromRecord record, EepromState eeprom) { - state.tick = record.tick; - switch (record.cmd) { - case AltosLib.AO_LOG_FLIGHT: - eeprom.seen |= AltosRecord.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 & AltosRecord.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 |= AltosRecord.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 |= AltosRecord.seen_sensor; - break; - case AltosLib.AO_LOG_TEMP_VOLT: - state.temp = record.a; - state.batt = record.b; - eeprom.seen |= AltosRecord.seen_temp_volt; - break; - case AltosLib.AO_LOG_DEPLOY: - state.drogue = record.a; - state.main = record.b; - eeprom.seen |= AltosRecord.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; - eeprom.seen |= AltosRecord.seen_gps_time; - AltosGPS old = state.gps; - state.gps = new AltosGPS(); + public int compareTo(AltosEepromOrdered o) { + int cmd_diff = cmdi() - o.cmdi(); - /* 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); + if (cmd_diff != 0) + return cmd_diff; - 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.gps_sequence++; - has_gps = true; - break; - case AltosLib.AO_LOG_GPS_LAT: - eeprom.seen |= AltosRecord.seen_gps_lat; - int lat32 = record.a | (record.b << 16); - if (state.gps == null) - state.gps = new AltosGPS(); - state.gps.lat = (double) lat32 / 1e7; - break; - case AltosLib.AO_LOG_GPS_LON: - eeprom.seen |= AltosRecord.seen_gps_lon; - int lon32 = record.a | (record.b << 16); - if (state.gps == null) - state.gps = new AltosGPS(); - state.gps.lon = (double) lon32 / 1e7; - break; - case AltosLib.AO_LOG_GPS_ALT: - if (state.gps == null) - state.gps = new AltosGPS(); - 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; - if (state.gps == null) - state.gps = new AltosGPS(); - state.gps.add_sat(svid, c_n0); - } - break; - case AltosLib.AO_LOG_GPS_DATE: - if (state.gps == null) - state.gps = new AltosGPS(); - state.gps.year = (record.a & 0xff) + 2000; - state.gps.month = record.a >> 8; - state.gps.day = record.b & 0xff; - break; + int tick_diff = tick - o.tick; - 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; + if (tick_diff != 0) + return tick_diff; + return index - o.index; } - LinkedList make_list() { - LinkedList list = new LinkedList(); - Iterator iterator = records.iterator(); - AltosOrderedRecord record = null; - AltosRecordTM state = new AltosRecordTM(); - //boolean last_reported = false; - EepromState eeprom = new EepromState(); - - state.state = AltosLib.ao_flight_pad; - state.accel_plus_g = 15758; - state.accel_minus_g = 16294; - state.flight_vel = 0; - - /* 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); + AltosEepromOrdered (AltosEeprom eeprom, int index, int tick) { + this.eeprom = eeprom; + this.index = index; + this.tick = tick; + } +} - while (iterator.hasNext()) { - record = iterator.next(); - if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) { - AltosRecordTM r = state.clone(); - r.time = (r.tick - eeprom.boost_tick) / 100.0; - list.add(r); +class AltosEepromOrderedIterator implements Iterator { + TreeSet olist; + Iterator oiterator; + + public AltosEepromOrderedIterator(Iterable eeproms) { + olist = new TreeSet(); + + int tick = 0; + int index = 0; + boolean first = true; + + for (AltosEeprom e : eeproms) { + int t = e.tick; + if (first) + tick = t; + else { + while (t < tick - 32767) + t += 65536; + tick = t; } - update_state(state, record, eeprom); + olist.add(new AltosEepromOrdered(e, index++, tick)); + first = false; } - AltosRecordTM r = state.clone(); - r.time = (r.tick - eeprom.boost_tick) / 100.0; - list.add(r); - return list; - } - public Iterator iterator() { - if (list == null) - list = make_list(); - return list.iterator(); + oiterator = olist.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 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 AltosLib.AO_LOG_BARO_RESERVED: - out.printf ("# Baro reserved: %d\n", record.a); - break; - case AltosLib.AO_LOG_BARO_SENS: - out.printf ("# Baro sens: %d\n", record.a); - break; - case AltosLib.AO_LOG_BARO_OFF: - out.printf ("# Baro off: %d\n", record.a); - break; - case AltosLib.AO_LOG_BARO_TCS: - out.printf ("# Baro tcs: %d\n", record.a); - break; - case AltosLib.AO_LOG_BARO_TCO: - out.printf ("# Baro tco: %d\n", record.a); - break; - case AltosLib.AO_LOG_BARO_TREF: - out.printf ("# Baro tref: %d\n", record.a); - break; - case AltosLib.AO_LOG_BARO_TEMPSENS: - out.printf ("# Baro tempsens: %d\n", record.a); - break; - case AltosLib.AO_LOG_BARO_CRC: - out.printf ("# Baro crc: %d\n", record.a); - break; - } - } + public boolean hasNext() { + return oiterator.hasNext(); } - /* - * 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); + public AltosEeprom next() { + return oiterator.next().eeprom; } - /* - * 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 last_gps_time = null; - - int index = 0; - int prev_tick = 0; - boolean prev_tick_valid = false; - boolean missing_time = false; + public void remove () { + } +} - try { - for (;;) { - String line = AltosLib.gets(input); - if (line == null) - break; - AltosOrderedRecord record = new AltosOrderedRecord(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; - } +public class AltosEepromIterable implements Iterable { + public LinkedList eeproms; - /* 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; - } + public void write(PrintStream out) { + for (AltosEeprom eeprom : eeproms) + eeprom.write(out); + } - /* 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 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; - } - } + public AltosState state() { + AltosState state = new AltosState(); - 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; + for (AltosEeprom header : eeproms) + header.update_state(state); + return state; + } - records.add(add_gps_time); - record.index = index++; - } - } - records.add(record); + public AltosEepromIterable(LinkedList eeproms) { + this.eeproms = eeproms; + } - /* 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) { - } + public Iterator iterator() { + if (eeproms == null) + eeproms = new LinkedList(); + return new AltosEepromOrderedIterator(eeproms); } -} +} \ No newline at end of file diff --git a/altoslib/AltosEepromLog.java b/altoslib/AltosEepromLog.java index 20026c6d..95c0c3f6 100644 --- a/altoslib/AltosEepromLog.java +++ b/altoslib/AltosEepromLog.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.text.*; import java.util.concurrent.*; @@ -72,9 +72,9 @@ public class AltosEepromLog { for (block = in_start_block; block < in_end_block; block++) { AltosEepromChunk eechunk = new AltosEepromChunk(link, block, block == in_start_block); - for (int i = 0; i < AltosEepromChunk.chunk_size; i += AltosEepromRecord.record_length) { + for (int i = 0; i < AltosEepromChunk.chunk_size; i += AltosEepromTM.record_length) { try { - AltosEepromRecord r = new AltosEepromRecord(eechunk, i); + AltosEepromTM r = new AltosEepromTM(eechunk, i); if (r.cmd == AltosLib.AO_LOG_FLIGHT) { flight = r.b; diff --git a/altoslib/AltosEepromMega.java b/altoslib/AltosEepromMega.java index 0804c392..7a4ee52d 100644 --- a/altoslib/AltosEepromMega.java +++ b/altoslib/AltosEepromMega.java @@ -15,34 +15,16 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; +import java.io.*; +import java.util.*; import java.text.*; -public class AltosEepromMega { - public int cmd; - public int tick; - public boolean valid; - public String data; - public int config_a, config_b; - - public int data8[]; - +public class AltosEepromMega extends AltosEeprom { public static final int record_length = 32; - static final int header_length = 4; - static final int data_length = record_length - header_length; - - public int data8(int i) { - return data8[i]; - } - public int data16(int i) { - return ((data8[i] | (data8[i+1] << 8)) << 16) >> 16; - } - - public int data32(int i) { - return data8[i] | (data8[i+1] << 8) | (data8[i+2] << 16) | (data8[i+3] << 24); - } + public int record_length() { return record_length; } /* AO_LOG_FLIGHT elements */ public int flight() { return data16(0); } @@ -68,7 +50,7 @@ public class AltosEepromMega { public int mag_z() { return data16(24); } public int accel() { return data16(26); } - /* AO_LOG_VOLT elements */ + /* AO_LOG_TEMP_VOLT elements */ public int v_batt() { return data16(0); } public int v_pbatt() { return data16(2); } public int nsense() { return data16(4); } @@ -91,131 +73,139 @@ public class AltosEepromMega { public int nsat() { return data16(0); } public int svid(int n) { return data8(2 + n * 2); } public int c_n(int n) { return data8(2 + n * 2 + 1); } + public AltosEepromMega (AltosEepromChunk chunk, int start) throws ParseException { - cmd = chunk.data(start); - - valid = !chunk.erased(start, record_length); - if (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; - } + parse_chunk(chunk, start); + } - tick = chunk.data16(start+2); + 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_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; + } + } - data8 = new int[data_length]; - for (int i = 0; i < data_length; i++) - data8[i] = chunk.data(start + header_length + i); + switch (cmd) { + case AltosLib.AO_LOG_FLIGHT: + state.set_boost_tick(tick); + 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_tick(tick); + state.set_state(state()); + break; + case AltosLib.AO_LOG_SENSOR: + state.set_tick(tick); + state.set_ms5607(pres(), temp()); + + AltosIMU imu = new AltosIMU(); + imu.accel_x = accel_x(); + imu.accel_y = accel_y(); + imu.accel_z = accel_z(); + + imu.gyro_x = gyro_x(); + imu.gyro_y = gyro_y(); + imu.gyro_z = gyro_z(); + state.imu = imu; + + AltosMag mag = new AltosMag(); + mag.x = mag_x(); + mag.y = mag_y(); + mag.z = mag_z(); + + state.mag = mag; + + state.set_accel(accel()); + + break; + case AltosLib.AO_LOG_TEMP_VOLT: + state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt())); + state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt())); + + int nsense = nsense(); + + state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2))); + state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-1))); + + double voltages[] = new double[nsense-2]; + for (int i = 0; i < nsense-2; i++) + voltages[i] = AltosConvert.mega_pyro_voltage(sense(i)); + + state.set_ignitor_voltage(voltages); + break; + case AltosLib.AO_LOG_GPS_TIME: + state.set_tick(tick); + gps = state.make_temp_gps(false); + gps.lat = latitude() / 1e7; + gps.lon = longitude() / 1e7; + gps.alt = altitude(); + + 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 = 2000 + year(); + gps.month = month(); + gps.day = day(); + break; + case AltosLib.AO_LOG_GPS_SAT: + state.set_tick(tick); + gps = state.make_temp_gps(true); + + int n = nsat(); + for (int i = 0; i < n; i++) + gps.add_sat(svid(i), c_n(i)); + break; + } } public AltosEepromMega (String line) { - valid = false; - tick = 0; + parse_string(line); + } - if (line == null) { - cmd = AltosLib.AO_LOG_INVALID; - line = ""; - } else { + static public LinkedList read(FileInputStream input) { + LinkedList megas = new LinkedList(); + + for (;;) { try { - String[] tokens = line.split("\\s+"); - - if (tokens[0].length() == 1) { - if (tokens.length != 2 + data_length) { - cmd = AltosLib.AO_LOG_INVALID; - data = line; - } else { - cmd = tokens[0].codePointAt(0); - tick = Integer.parseInt(tokens[1],16); - valid = true; - data8 = new int[data_length]; - for (int i = 0; i < data_length; i++) - data8[i] = Integer.parseInt(tokens[2 + i],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; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[0].equals("Apogee") && tokens[1].equals("delay:")) { - cmd = AltosLib.AO_LOG_APOGEE_DELAY; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[0].equals("Radio") && tokens[1].equals("channel:")) { - cmd = AltosLib.AO_LOG_RADIO_CHANNEL; - config_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; - config_a = Integer.parseInt(tokens[3]); - config_b = Integer.parseInt(tokens[5]); - } else if (tokens[0].equals("Radio") && tokens[1].equals("cal:")) { - cmd = AltosLib.AO_LOG_RADIO_CAL; - config_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; - config_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; - config_a = Integer.parseInt(tokens[1]); - } else if (tokens[0].equals("log-format")) { - cmd = AltosLib.AO_LOG_LOG_FORMAT; - config_a = Integer.parseInt(tokens[1]); - } else if (tokens[0].equals("software-version")) { - cmd = AltosLib.AO_LOG_SOFTWARE_VERSION; - data = tokens[1]; - } else if (tokens[0].equals("ms5607")) { - if (tokens[1].equals("reserved:")) { - cmd = AltosLib.AO_LOG_BARO_RESERVED; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[1].equals("sens:")) { - cmd = AltosLib.AO_LOG_BARO_SENS; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[1].equals("off:")) { - cmd = AltosLib.AO_LOG_BARO_OFF; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[1].equals("tcs:")) { - cmd = AltosLib.AO_LOG_BARO_TCS; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[1].equals("tco:")) { - cmd = AltosLib.AO_LOG_BARO_TCO; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[1].equals("tref:")) { - cmd = AltosLib.AO_LOG_BARO_TREF; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[1].equals("tempsens:")) { - cmd = AltosLib.AO_LOG_BARO_TEMPSENS; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[1].equals("crc:")) { - cmd = AltosLib.AO_LOG_BARO_CRC; - config_a = Integer.parseInt(tokens[2]); - } else { - cmd = AltosLib.AO_LOG_INVALID; - data = line; - } - } else { - cmd = AltosLib.AO_LOG_INVALID; - data = line; + String line = AltosLib.gets(input); + if (line == null) + break; + try { + AltosEepromMega mega = new AltosEepromMega(line); + if (mega.cmd != AltosLib.AO_LOG_INVALID) + megas.add(mega); + } catch (Exception e) { + System.out.printf ("exception\n"); } - } catch (NumberFormatException ne) { - cmd = AltosLib.AO_LOG_INVALID; - data = line; + } catch (IOException ie) { + break; } } - } - public AltosEepromMega(int in_cmd, int in_tick) { - cmd = in_cmd; - tick = in_tick; - valid = true; + return megas; } } diff --git a/altoslib/AltosEepromMegaIterable.java b/altoslib/AltosEepromMegaIterable.java deleted file mode 100644 index 5736f937..00000000 --- a/altoslib/AltosEepromMegaIterable.java +++ /dev/null @@ -1,367 +0,0 @@ -/* - * Copyright © 2010 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - -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 records; - - AltosMs5607 baro; - - LinkedList 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 make_list() { - LinkedList list = new LinkedList(); - Iterator 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 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 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 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) { - } - } -} diff --git a/altoslib/AltosEepromMetrum2.java b/altoslib/AltosEepromMetrum2.java new file mode 100644 index 00000000..c1d62c0c --- /dev/null +++ b/altoslib/AltosEepromMetrum2.java @@ -0,0 +1,177 @@ +/* + * Copyright © 2011 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +import java.io.*; +import java.util.*; +import java.text.*; + +public class AltosEepromMetrum2 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(false); + gps.lat = latitude() / 1e7; + gps.lon = longitude() / 1e7; + gps.alt = altitude(); + break; + case AltosLib.AO_LOG_GPS_TIME: + gps = state.make_temp_gps(false); + + 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 = 2000 + year(); + gps.month = month(); + gps.day = day(); + break; + case AltosLib.AO_LOG_GPS_SAT: + gps = state.make_temp_gps(true); + + 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 read(FileInputStream input) { + LinkedList metrums = new LinkedList(); + + for (;;) { + try { + String line = AltosLib.gets(input); + if (line == null) + break; + try { + AltosEepromMetrum2 metrum = new AltosEepromMetrum2(line); + + if (metrum.cmd != AltosLib.AO_LOG_INVALID) + metrums.add(metrum); + } catch (Exception e) { + System.out.printf ("exception\n"); + } + } catch (IOException ie) { + break; + } + } + + return metrums; + } +} diff --git a/altoslib/AltosEepromMini.java b/altoslib/AltosEepromMini.java index 215cd3d9..a09a62ce 100644 --- a/altoslib/AltosEepromMini.java +++ b/altoslib/AltosEepromMini.java @@ -15,38 +15,16 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; +import java.io.*; +import java.util.*; import java.text.*; -public class AltosEepromMini { - public int cmd; - public int tick; - public boolean valid; - public String data; - public int config_a, config_b; - - public int data8[]; - +public class AltosEepromMini extends AltosEeprom { public static final int record_length = 16; - static final int header_length = 4; - static final int data_length = record_length - header_length; - - public int data8(int i) { - return data8[i]; - } - public int data16(int i) { - return ((data8[i] | (data8[i+1] << 8)) << 16) >> 16; - } - - public int data24(int i) { - return data8[i] | (data8[i+1] << 8) | (data8[i+2] << 16); - } - - public int data32(int i) { - return data8[i] | (data8[i+1] << 8) | (data8[i+2] << 16) | (data8[i+3] << 24); - } + public int record_length() { return record_length; } /* AO_LOG_FLIGHT elements */ public int flight() { return data16(0); } @@ -63,126 +41,39 @@ public class AltosEepromMini { public int sense_m() { return data16(8); } public int v_batt() { return data16(10); } - public AltosEepromMini (AltosEepromChunk chunk, int start) throws ParseException { - cmd = chunk.data(start); - - valid = !chunk.erased(start, record_length); - if (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; - } + double voltage(AltosState state, int sensor) { + if (state.log_format == AltosLib.AO_LOG_FORMAT_EASYMINI) + return AltosConvert.easy_mini_voltage(sensor); + else + return AltosConvert.tele_mini_voltage(sensor); + } - tick = chunk.data16(start+2); + public void update_state(AltosState state) { + super.update_state(state); + + switch (cmd) { + case AltosLib.AO_LOG_FLIGHT: + state.set_flight(flight()); + state.set_ground_pressure(ground_pres()); + break; + case AltosLib.AO_LOG_STATE: + state.set_state(state()); + break; + case AltosLib.AO_LOG_SENSOR: + state.set_ms5607(pres(), temp()); + state.set_apogee_voltage(voltage(state, sense_a())); + state.set_main_voltage(voltage(state, sense_m())); + state.set_battery_voltage(voltage(state, v_batt())); + break; + } + } - data8 = new int[data_length]; - for (int i = 0; i < data_length; i++) - data8[i] = chunk.data(start + header_length + i); + public AltosEepromMini (AltosEepromChunk chunk, int start) throws ParseException { + parse_chunk(chunk, start); } public AltosEepromMini (String line) { - valid = false; - tick = 0; - - if (line == null) { - cmd = AltosLib.AO_LOG_INVALID; - line = ""; - } else { - try { - String[] tokens = line.split("\\s+"); - - if (tokens[0].length() == 1) { - if (tokens.length != 2 + data_length) { - cmd = AltosLib.AO_LOG_INVALID; - data = line; - } else { - cmd = tokens[0].codePointAt(0); - tick = Integer.parseInt(tokens[1],16); - valid = true; - data8 = new int[data_length]; - for (int i = 0; i < data_length; i++) - data8[i] = Integer.parseInt(tokens[2 + i],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; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[0].equals("Apogee") && tokens[1].equals("delay:")) { - cmd = AltosLib.AO_LOG_APOGEE_DELAY; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[0].equals("Radio") && tokens[1].equals("channel:")) { - cmd = AltosLib.AO_LOG_RADIO_CHANNEL; - config_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; - config_a = Integer.parseInt(tokens[3]); - config_b = Integer.parseInt(tokens[5]); - } else if (tokens[0].equals("Radio") && tokens[1].equals("cal:")) { - cmd = AltosLib.AO_LOG_RADIO_CAL; - config_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; - config_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; - config_a = Integer.parseInt(tokens[1]); - } else if (tokens[0].equals("log-format")) { - cmd = AltosLib.AO_LOG_LOG_FORMAT; - config_a = Integer.parseInt(tokens[1]); - } else if (tokens[0].equals("software-version")) { - cmd = AltosLib.AO_LOG_SOFTWARE_VERSION; - data = tokens[1]; - } else if (tokens[0].equals("ms5607")) { - if (tokens[1].equals("reserved:")) { - cmd = AltosLib.AO_LOG_BARO_RESERVED; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[1].equals("sens:")) { - cmd = AltosLib.AO_LOG_BARO_SENS; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[1].equals("off:")) { - cmd = AltosLib.AO_LOG_BARO_OFF; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[1].equals("tcs:")) { - cmd = AltosLib.AO_LOG_BARO_TCS; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[1].equals("tco:")) { - cmd = AltosLib.AO_LOG_BARO_TCO; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[1].equals("tref:")) { - cmd = AltosLib.AO_LOG_BARO_TREF; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[1].equals("tempsens:")) { - cmd = AltosLib.AO_LOG_BARO_TEMPSENS; - config_a = Integer.parseInt(tokens[2]); - } else if (tokens[1].equals("crc:")) { - cmd = AltosLib.AO_LOG_BARO_CRC; - config_a = Integer.parseInt(tokens[2]); - } else { - cmd = AltosLib.AO_LOG_INVALID; - data = line; - } - } else { - cmd = AltosLib.AO_LOG_INVALID; - data = line; - } - } catch (NumberFormatException ne) { - cmd = AltosLib.AO_LOG_INVALID; - data = line; - } - } + parse_string(line); } public AltosEepromMini(int in_cmd, int in_tick) { @@ -190,4 +81,22 @@ public class AltosEepromMini { tick = in_tick; valid = true; } + + static public LinkedList read(FileInputStream input) { + LinkedList minis = new LinkedList(); + + for (;;) { + try { + String line = AltosLib.gets(input); + if (line == null) + break; + AltosEepromMini mini = new AltosEepromMini(line); + minis.add(mini); + } catch (IOException ie) { + break; + } + } + + return minis; + } } diff --git a/altoslib/AltosEepromMiniIterable.java b/altoslib/AltosEepromMiniIterable.java deleted file mode 100644 index 1f221187..00000000 --- a/altoslib/AltosEepromMiniIterable.java +++ /dev/null @@ -1,297 +0,0 @@ -/* - * Copyright © 2010 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - -import java.io.*; -import java.util.*; -import java.text.*; - -public class AltosEepromMiniIterable extends AltosRecordIterable { - - static final int seen_flight = 1; - static final int seen_sensor = 2; - - static final int seen_basic = seen_flight|seen_sensor; - - boolean has_accel; - boolean has_gps; - boolean has_ignite; - - AltosEepromMini flight_record; - - TreeSet records; - - AltosMs5607 baro; - - LinkedList list; - - class EepromState { - int seen; - int n_pad_samples; - double ground_pres; - int boost_tick; - int sensor_tick; - - EepromState() { - seen = 0; - n_pad_samples = 0; - ground_pres = 0.0; - } - } - - void update_state(AltosRecordMini state, AltosEepromMini record, EepromState eeprom) { - state.tick = record.tick; - switch (record.cmd) { - case AltosLib.AO_LOG_FLIGHT: - eeprom.seen |= seen_flight; - state.ground_pres = record.ground_pres(); - state.flight_pres = state.ground_pres; - state.flight = record.data16(0); - eeprom.boost_tick = record.tick; - break; - case AltosLib.AO_LOG_SENSOR: - baro.set(record.pres(), record.temp()); - state.pres = baro.pa; - state.temp = baro.cc; - state.sense_m = record.sense_m(); - state.sense_a = record.sense_a(); - state.v_batt = record.v_batt(); - 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; - } - if ((eeprom.seen & seen_sensor) == 0) - eeprom.sensor_tick = record.tick - 1; - eeprom.seen |= seen_sensor; - eeprom.sensor_tick = record.tick; - break; - case AltosLib.AO_LOG_STATE: - state.state = record.state(); - 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_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 make_list() { - LinkedList list = new LinkedList(); - Iterator iterator = records.iterator(); - AltosOrderedMiniRecord record = null; - AltosRecordMini state = new AltosRecordMini(); - //boolean last_reported = false; - EepromState eeprom = new EepromState(); - - state.state = AltosLib.ao_flight_pad; - - /* Pull in static data from the flight records */ - if (flight_record != null) - update_state(state, flight_record, eeprom); - - while (iterator.hasNext()) { - record = iterator.next(); - if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) { - AltosRecordMini r = state.clone(); - r.time = (r.tick - eeprom.boost_tick) / 100.0; - list.add(r); - } - update_state(state, record, eeprom); - } - AltosRecordMini r = state.clone(); - r.time = (r.tick - eeprom.boost_tick) / 100.0; - list.add(r); - return list; - } - - public Iterator 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 iterator = records.iterator(); - out.printf("# Comments\n"); - while (iterator.hasNext()) { - AltosOrderedMiniRecord 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 - */ - public AltosEepromMiniIterable (FileInputStream input) { - records = new TreeSet(); - - AltosOrderedMiniRecord 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; - AltosOrderedMiniRecord record = new AltosOrderedMiniRecord(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) { - } - } -} diff --git a/altoslib/AltosEepromRecord.java b/altoslib/AltosEepromRecord.java deleted file mode 100644 index 70ac1113..00000000 --- a/altoslib/AltosEepromRecord.java +++ /dev/null @@ -1,135 +0,0 @@ -/* - * Copyright © 2010 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - -import java.text.*; - -public class AltosEepromRecord { - public int cmd; - public int tick; - public int a; - public int b; - public String data; - public boolean tick_valid; - - public 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; - } -} diff --git a/altoslib/AltosEepromTM.java b/altoslib/AltosEepromTM.java new file mode 100644 index 00000000..36803912 --- /dev/null +++ b/altoslib/AltosEepromTM.java @@ -0,0 +1,205 @@ +/* + * Copyright © 2010 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +import java.io.*; +import java.util.*; +import java.text.*; + +public class AltosEepromTM extends AltosEeprom { + public int a; + public int b; + + public static final int record_length = 8; + + public void write(PrintStream out) { + out.printf("%c %4x %4x %4x\n", cmd, tick, a, b); + } + + public int record_length() { return record_length; } + + public String string() { + return String.format("%c %4x %4x %4x\n", cmd, tick, a, b); + } + + 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_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_state(AltosLib.ao_flight_pad); + state.set_ground_accel(a); + state.set_flight(b); + state.set_boost_tick(tick); + break; + case AltosLib.AO_LOG_SENSOR: + state.set_accel(a); + state.set_pressure(AltosConvert.barometer_to_pressure(b)); + break; + case AltosLib.AO_LOG_PRESSURE: + state.set_pressure(AltosConvert.barometer_to_pressure(b)); + break; + case AltosLib.AO_LOG_TEMP_VOLT: + state.set_temperature(AltosConvert.thermometer_to_temperature(a)); + state.set_battery_voltage(AltosConvert.cc_battery_to_voltage(b)); + break; + case AltosLib.AO_LOG_DEPLOY: + state.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(a)); + state.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(b)); + break; + case AltosLib.AO_LOG_STATE: + state.set_state(a); + break; + case AltosLib.AO_LOG_GPS_TIME: + gps = state.make_temp_gps(false); + + gps.hour = (a & 0xff); + gps.minute = (a >> 8); + gps.second = (b & 0xff); + + int flags = (b >> 8); + + 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; + break; + case AltosLib.AO_LOG_GPS_LAT: + gps = state.make_temp_gps(false); + + int lat32 = a | (b << 16); + gps.lat = (double) lat32 / 1e7; + break; + case AltosLib.AO_LOG_GPS_LON: + gps = state.make_temp_gps(false); + + int lon32 = a | (b << 16); + gps.lon = (double) lon32 / 1e7; + break; + case AltosLib.AO_LOG_GPS_ALT: + gps = state.make_temp_gps(false); + gps.alt = a; + break; + case AltosLib.AO_LOG_GPS_SAT: + gps = state.make_temp_gps(true); + int svid = a; + int c_n0 = b >> 8; + gps.add_sat(svid, c_n0); + break; + case AltosLib.AO_LOG_GPS_DATE: + gps = state.make_temp_gps(false); + gps.year = (a & 0xff) + 2000; + gps.month = a >> 8; + gps.day = b & 0xff; + break; + } + } + + public AltosEepromTM (AltosEepromChunk chunk, int start) throws ParseException { + + cmd = chunk.data(start); + valid = true; + + valid = !chunk.erased(start, record_length); + if (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); + } + + public AltosEepromTM (String line) { + valid = false; + tick = 0; + a = 0; + b = 0; + if (line == null) { + cmd = AltosLib.AO_LOG_INVALID; + } else { + try { + String[] tokens = line.split("\\s+"); + + if (tokens[0].length() == 1) { + if (tokens.length != 4) { + cmd = AltosLib.AO_LOG_INVALID; + } else { + cmd = tokens[0].codePointAt(0); + tick = Integer.parseInt(tokens[1],16); + valid = true; + a = Integer.parseInt(tokens[2],16); + b = Integer.parseInt(tokens[3],16); + } + } else { + cmd = AltosLib.AO_LOG_INVALID; + } + } catch (NumberFormatException ne) { + cmd = AltosLib.AO_LOG_INVALID; + } + } + } + + public AltosEepromTM(int in_cmd, int in_tick, int in_a, int in_b) { + valid = true; + cmd = in_cmd; + tick = in_tick; + a = in_a; + b = in_b; + } + + static public LinkedList read(FileInputStream input) { + LinkedList tms = new LinkedList(); + + for (;;) { + try { + String line = AltosLib.gets(input); + if (line == null) + break; + AltosEepromTM tm = new AltosEepromTM(line); + tms.add(tm); + } catch (IOException ie) { + break; + } + } + + return tms; + } + +} diff --git a/altoslib/AltosEepromTeleScience.java b/altoslib/AltosEepromTeleScience.java deleted file mode 100644 index 2a828cf3..00000000 --- a/altoslib/AltosEepromTeleScience.java +++ /dev/null @@ -1,55 +0,0 @@ -/* - * Copyright © 2011 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - -import java.text.*; - -public class AltosEepromTeleScience { - public int type; - public int tick; - public int tm_state; - public int tm_tick; - public int[] data; - public boolean valid; - - public static final int AO_LOG_TELESCIENCE_START = 's'; - public static final int AO_LOG_TELESCIENCE_DATA = 'd'; - - static final int max_data = 12; - public static final int record_length = 32; - - public AltosEepromTeleScience (AltosEepromChunk chunk, int start) throws ParseException { - type = chunk.data(start); - - valid = !chunk.erased(start, record_length); - if (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 { - type = AltosLib.AO_LOG_INVALID; - } - - tick = chunk.data16(start+2); - tm_tick = chunk.data16(start+4); - tm_state = chunk.data(start+6); - data = new int[max_data]; - for (int i = 0; i < max_data; i++) - data[i] = chunk.data16(start + 8 + i * 2); - } -} diff --git a/altoslib/AltosEepromTm.java b/altoslib/AltosEepromTm.java new file mode 100644 index 00000000..b8914131 --- /dev/null +++ b/altoslib/AltosEepromTm.java @@ -0,0 +1,159 @@ +/* + * Copyright © 2010 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +import java.io.*; +import java.util.*; +import java.text.*; + +public class AltosEepromTm extends AltosEeprom { + public int i; + public int a; + public int b; + + public static final int record_length = 2; + + public void write(PrintStream out) { + out.printf("%c %4x %4x %4x\n", cmd, tick, a, b); + } + + public int record_length() { return record_length; } + + public String string() { + return String.format("%c %4x %4x %4x\n", cmd, tick, a, b); + } + + public void update_state(AltosState state) { + super.update_state(state); + + switch (cmd) { + case AltosLib.AO_LOG_FLIGHT: + state.set_state(AltosLib.ao_flight_boost); + state.set_flight(b); + break; + case AltosLib.AO_LOG_PRESSURE: + if (tick == 0) + state.set_ground_pressure(AltosConvert.barometer_to_pressure(b)); + else + state.set_pressure(AltosConvert.barometer_to_pressure(b)); + break; + case AltosLib.AO_LOG_STATE: + state.set_state(a); + break; + } + } + + public AltosEepromTm (AltosEepromChunk chunk, int start, AltosState state) throws ParseException { + int value = chunk.data16(start); + + int i = (chunk.address + start) / record_length; + + cmd = chunk.data(start); + valid = true; + + valid = !chunk.erased(start, record_length); + + switch (i) { + case 0: + cmd = AltosLib.AO_LOG_FLIGHT; + tick = 0; + a = 0; + b = value; + break; + case 1: + cmd = AltosLib.AO_LOG_PRESSURE; + tick = 0; + a = 0; + b = value; + break; + default: + if ((value & 0x8000) != 0) { + cmd = AltosLib.AO_LOG_STATE; + tick = state.tick; + a = value & 0x7fff; + b = 0; + } else { + if (state.ascent) + tick = state.tick + 10; + else + tick = state.tick + 100; + cmd = AltosLib.AO_LOG_PRESSURE; + a = 0; + b = value; + } + break; + } + } + + public AltosEepromTm (String line) { + valid = false; + tick = 0; + a = 0; + b = 0; + if (line == null) { + cmd = AltosLib.AO_LOG_INVALID; + } else { + try { + String[] tokens = line.split("\\s+"); + + if (tokens[0].length() == 1) { + if (tokens.length != 4) { + cmd = AltosLib.AO_LOG_INVALID; + } else { + cmd = tokens[0].codePointAt(0); + tick = Integer.parseInt(tokens[1],16); + valid = true; + a = Integer.parseInt(tokens[2],16); + b = Integer.parseInt(tokens[3],16); + } + } else { + cmd = AltosLib.AO_LOG_INVALID; + } + } catch (NumberFormatException ne) { + cmd = AltosLib.AO_LOG_INVALID; + } + } + } + + public AltosEepromTm(int in_cmd, int in_tick, int in_a, int in_b) { + valid = true; + cmd = in_cmd; + tick = in_tick; + a = in_a; + b = in_b; + } + + static public LinkedList read(FileInputStream input) { + LinkedList tms = new LinkedList(); + + for (;;) { + try { + String line = AltosLib.gets(input); + if (line == null) + break; + AltosEepromTm tm = new AltosEepromTm(line); + tms.add(tm); + } catch (IOException ie) { + break; + } + } + + return tms; + } + +} diff --git a/altoslib/AltosFile.java b/altoslib/AltosFile.java index 90dbc6db..f39c3962 100644 --- a/altoslib/AltosFile.java +++ b/altoslib/AltosFile.java @@ -15,17 +15,44 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.io.File; import java.util.*; public class AltosFile extends File { - public AltosFile(int year, int month, int day, int serial, int flight, String extension) { + static String number(int n) { + if (n == AltosLib.MISSING) + return "unkn"; + else + return String.format("%04d", n); + } + + static String receiver(int receiver) { + if (receiver == AltosLib.MISSING) + return ""; + return String.format("-via-%04d", receiver); + } + + public AltosFile(int year, int month, int day, int serial, int flight, int receiver, String extension) { super (AltosPreferences.logdir(), - String.format("%04d-%02d-%02d-serial-%03d-flight-%03d.%s", - year, month, day, serial, flight, extension)); + String.format("%04d-%02d-%02d-serial-%s-flight-%s%s.%s", + year, month, day, number(serial), number(flight), receiver(receiver), extension)); + } + + public AltosFile(int year, int month, int day, int serial, int flight, String extension) { + this(year, month, day, serial, flight, AltosLib.MISSING, extension); + } + + public AltosFile(int serial, int flight, int receiver, String extension) { + this(Calendar.getInstance().get(Calendar.YEAR), + Calendar.getInstance().get(Calendar.MONTH) + 1, + Calendar.getInstance().get(Calendar.DAY_OF_MONTH), + serial, + flight, + receiver, + extension); } public AltosFile(int serial, int flight, String extension) { @@ -34,10 +61,11 @@ public class AltosFile extends File { Calendar.getInstance().get(Calendar.DAY_OF_MONTH), serial, flight, + AltosLib.MISSING, extension); } - public AltosFile(AltosRecord telem) { - this(telem.serial, telem.flight, "telem"); + public AltosFile(AltosState state) { + this(state.serial, state.flight, state.receiver_serial, "telem"); } } diff --git a/altoslib/AltosFlash.java b/altoslib/AltosFlash.java index 010274b9..d8069157 100644 --- a/altoslib/AltosFlash.java +++ b/altoslib/AltosFlash.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.io.*; diff --git a/altoslib/AltosFlashListener.java b/altoslib/AltosFlashListener.java index ab50b74a..777ae635 100644 --- a/altoslib/AltosFlashListener.java +++ b/altoslib/AltosFlashListener.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; public interface AltosFlashListener { public void position(String label, int percent); diff --git a/altoslib/AltosFlightReader.java b/altoslib/AltosFlightReader.java index 34526658..4a722e42 100644 --- a/altoslib/AltosFlightReader.java +++ b/altoslib/AltosFlightReader.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.text.*; import java.io.*; @@ -28,7 +28,7 @@ public class AltosFlightReader { public void init() { } - public AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException { return null; } + public AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException { return null; } public void close(boolean interrupted) { } @@ -48,5 +48,5 @@ public class AltosFlightReader { public boolean has_monitor_battery() { return false; } - public double monitor_battery() { return AltosRecord.MISSING; } + public double monitor_battery() { return AltosLib.MISSING; } } diff --git a/altoslib/AltosFrequency.java b/altoslib/AltosFrequency.java index 484a2fd9..ece7525a 100644 --- a/altoslib/AltosFrequency.java +++ b/altoslib/AltosFrequency.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; public class AltosFrequency { public double frequency; diff --git a/altoslib/AltosGPS.java b/altoslib/AltosGPS.java index f23842f3..1d5b0755 100644 --- a/altoslib/AltosGPS.java +++ b/altoslib/AltosGPS.java @@ -15,20 +15,21 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.text.*; +import java.util.concurrent.*; -public class AltosGPS { +public class AltosGPS implements Cloneable { - public final static int MISSING = AltosRecord.MISSING; + public final static int MISSING = AltosLib.MISSING; public int nsat; public boolean locked; public boolean connected; public double lat; /* degrees (+N -S) */ public double lon; /* degrees (+E -W) */ - public int alt; /* m */ + public double alt; /* m */ public int year; public int month; public int day; @@ -65,40 +66,40 @@ public class AltosGPS { } public void ClearGPSTime() { - year = month = day = 0; - hour = minute = second = 0; + year = month = day = AltosLib.MISSING; + hour = minute = second = AltosLib.MISSING; } public AltosGPS(AltosTelemetryMap map) throws ParseException { - String state = map.get_string(AltosTelemetry.AO_TELEM_GPS_STATE, - AltosTelemetry.AO_TELEM_GPS_STATE_ERROR); + String state = map.get_string(AltosTelemetryLegacy.AO_TELEM_GPS_STATE, + AltosTelemetryLegacy.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)) { + nsat = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_NUM_SAT, 0); + if (state.equals(AltosTelemetryLegacy.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); + lat = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_LATITUDE, MISSING, 1.0e-7); + lon = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_LONGITUDE, MISSING, 1.0e-7); + alt = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_ALTITUDE, MISSING); + year = map.get_int(AltosTelemetryLegacy.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)) { + month = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_MONTH, MISSING); + day = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_DAY, MISSING); + + hour = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_HOUR, 0); + minute = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_MINUTE, 0); + second = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_SECOND, 0); + + ground_speed = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_HORIZONTAL_SPEED, + AltosLib.MISSING, 1/100.0); + course = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_COURSE, + AltosLib.MISSING); + hdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_HDOP, MISSING, 1.0); + vdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_VDOP, MISSING, 1.0); + h_error = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_HERROR, MISSING); + v_error = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_VERROR, MISSING); + } else if (state.equals(AltosTelemetryLegacy.AO_TELEM_GPS_STATE_UNLOCKED)) { connected = true; locked = false; } else { @@ -107,6 +108,62 @@ public class AltosGPS { } } + public boolean parse_string (String line, boolean says_done) { + String[] bits = line.split("\\s+"); + if (bits.length == 0) + return false; + if (line.startsWith("Date:")) { + if (bits.length < 2) + return false; + String[] d = bits[1].split("/"); + if (d.length < 3) + return false; + year = Integer.parseInt(d[0]) + 2000; + month = Integer.parseInt(d[1]); + day = Integer.parseInt(d[2]); + } else if (line.startsWith("Time:")) { + if (bits.length < 2) + return false; + String[] d = bits[1].split(":"); + if (d.length < 3) + return false; + hour = Integer.parseInt(d[0]); + minute = Integer.parseInt(d[1]); + second = Integer.parseInt(d[2]); + } else if (line.startsWith("Lat/Lon:")) { + if (bits.length < 3) + return false; + lat = Integer.parseInt(bits[1]) * 1.0e-7; + lon = Integer.parseInt(bits[2]) * 1.0e-7; + } else if (line.startsWith("Alt:")) { + if (bits.length < 2) + return false; + alt = Integer.parseInt(bits[1]); + } else if (line.startsWith("Flags:")) { + if (bits.length < 2) + return false; + int status = Integer.decode(bits[1]); + connected = (status & AltosLib.AO_GPS_RUNNING) != 0; + locked = (status & AltosLib.AO_GPS_VALID) != 0; + if (!says_done) + return false; + } else if (line.startsWith("Sats:")) { + if (bits.length < 2) + return false; + nsat = Integer.parseInt(bits[1]); + cc_gps_sat = new AltosGPSSat[nsat]; + for (int i = 0; i < nsat; i++) { + int svid = Integer.parseInt(bits[2+i*2]); + int cc_n0 = Integer.parseInt(bits[3+i*2]); + cc_gps_sat[i] = new AltosGPSSat(svid, cc_n0); + } + } else if (line.startsWith("done")) { + return false; + } else + return false; + return true; + } + public AltosGPS(String[] words, int i, int version) throws ParseException { AltosParse.word(words[i++], "GPS"); nsat = AltosParse.parse_int(words[i++]); @@ -212,10 +269,46 @@ public class AltosGPS { } public AltosGPS() { + lat = AltosLib.MISSING; + lon = AltosLib.MISSING; + alt = AltosLib.MISSING; ClearGPSTime(); cc_gps_sat = null; } + public AltosGPS clone() { + AltosGPS g = new AltosGPS(); + + g.nsat = nsat; + g.locked = locked; + g.connected = connected; + g.lat = lat; /* degrees (+N -S) */ + g.lon = lon; /* degrees (+E -W) */ + g.alt = alt; /* m */ + g.year = year; + g.month = month; + g.day = day; + g.hour = hour; + g.minute = minute; + g.second = second; + + g.ground_speed = ground_speed; /* m/s */ + g.course = course; /* degrees */ + g.climb_rate = climb_rate; /* m/s */ + g.hdop = hdop; /* unitless? */ + g.h_error = h_error; /* m */ + g.v_error = v_error; /* m */ + + if (cc_gps_sat != null) { + g.cc_gps_sat = new AltosGPSSat[cc_gps_sat.length]; + for (int i = 0; i < cc_gps_sat.length; i++) { + g.cc_gps_sat[i] = new AltosGPSSat(cc_gps_sat[i].svid, + cc_gps_sat[i].c_n0); + } + } + return g; + } + public AltosGPS(AltosGPS old) { if (old != null) { nsat = old.nsat; @@ -247,8 +340,37 @@ public class AltosGPS { } } } else { + lat = AltosLib.MISSING; + lon = AltosLib.MISSING; + alt = AltosLib.MISSING; ClearGPSTime(); cc_gps_sat = null; } } + + static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) { + try { + AltosGPS gps = new AltosGPS(link, config_data); + + if (gps != null) { + state.set_gps(gps, state.gps_sequence++); + return; + } + } catch (TimeoutException te) { + } catch (InterruptedException ie) { + } + state.set_gps(null, 0); + } + + public AltosGPS (AltosLink link, AltosConfigData config_data) throws TimeoutException, InterruptedException { + boolean says_done = config_data.compare_version("1.0") >= 0; + link.printf("g\n"); + for (;;) { + String line = link.get_reply_no_dialog(5000); + if (line == null) + throw new TimeoutException(); + if (!parse_string(line, says_done)) + break; + } + } } diff --git a/altoslib/AltosGPSQuery.java b/altoslib/AltosGPSQuery.java deleted file mode 100644 index deb9d201..00000000 --- a/altoslib/AltosGPSQuery.java +++ /dev/null @@ -1,97 +0,0 @@ -/* - * Copyright © 2012 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - -import java.util.concurrent.*; - -class AltosGPSQuery extends AltosGPS { - public AltosGPSQuery (AltosLink link, AltosConfigData config_data) - throws TimeoutException, InterruptedException { - boolean says_done = config_data.compare_version("1.0") >= 0; - link.printf("g\n"); - for (;;) { - String line = link.get_reply_no_dialog(5000); - if (line == null) - throw new TimeoutException(); - String[] bits = line.split("\\s+"); - if (bits.length == 0) - continue; - if (line.startsWith("Date:")) { - if (bits.length < 2) - continue; - String[] d = bits[1].split(":"); - if (d.length < 3) - continue; - year = Integer.parseInt(d[0]) + 2000; - month = Integer.parseInt(d[1]); - day = Integer.parseInt(d[2]); - continue; - } - if (line.startsWith("Time:")) { - if (bits.length < 2) - continue; - String[] d = bits[1].split("/"); - if (d.length < 3) - continue; - hour = Integer.parseInt(d[0]); - minute = Integer.parseInt(d[1]); - second = Integer.parseInt(d[2]); - continue; - } - if (line.startsWith("Lat/Lon:")) { - if (bits.length < 3) - continue; - lat = Integer.parseInt(bits[1]) * 1.0e-7; - lon = Integer.parseInt(bits[2]) * 1.0e-7; - continue; - } - if (line.startsWith("Alt:")) { - if (bits.length < 2) - continue; - alt = Integer.parseInt(bits[1]); - continue; - } - if (line.startsWith("Flags:")) { - if (bits.length < 2) - continue; - int status = Integer.decode(bits[1]); - connected = (status & AltosLib.AO_GPS_RUNNING) != 0; - locked = (status & AltosLib.AO_GPS_VALID) != 0; - if (!says_done) - break; - continue; - } - if (line.startsWith("Sats:")) { - if (bits.length < 2) - continue; - nsat = Integer.parseInt(bits[1]); - cc_gps_sat = new AltosGPSSat[nsat]; - for (int i = 0; i < nsat; i++) { - int svid = Integer.parseInt(bits[2+i*2]); - int cc_n0 = Integer.parseInt(bits[3+i*2]); - cc_gps_sat[i] = new AltosGPSSat(svid, cc_n0); - } - } - if (line.startsWith("done")) - break; - if (line.startsWith("Syntax error")) - break; - } - } -} - diff --git a/altoslib/AltosGPSSat.java b/altoslib/AltosGPSSat.java index 8714dd8a..0e17d7f2 100644 --- a/altoslib/AltosGPSSat.java +++ b/altoslib/AltosGPSSat.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; public class AltosGPSSat { public int svid; diff --git a/altoslib/AltosGreatCircle.java b/altoslib/AltosGreatCircle.java index f1cf0ae9..2c84bf4a 100644 --- a/altoslib/AltosGreatCircle.java +++ b/altoslib/AltosGreatCircle.java @@ -15,11 +15,11 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.lang.Math; -public class AltosGreatCircle { +public class AltosGreatCircle implements Cloneable { public double distance; public double bearing; public double range; @@ -95,6 +95,16 @@ public class AltosGreatCircle { elevation = Math.atan2(height_diff, distance) * 180 / Math.PI; } + public AltosGreatCircle clone() { + AltosGreatCircle n = new AltosGreatCircle(); + + n.distance = distance; + n.bearing = bearing; + n.range = range; + n.elevation = elevation; + return n; + } + public AltosGreatCircle (double start_lat, double start_lon, double end_lat, double end_lon) { this(start_lat, start_lon, 0, end_lat, end_lon, 0); diff --git a/altoslib/AltosHeight.java b/altoslib/AltosHeight.java index 96f5722b..1d2e4dbc 100644 --- a/altoslib/AltosHeight.java +++ b/altoslib/AltosHeight.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; public class AltosHeight extends AltosUnits { diff --git a/altoslib/AltosHexfile.java b/altoslib/AltosHexfile.java index 2140228a..90352927 100644 --- a/altoslib/AltosHexfile.java +++ b/altoslib/AltosHexfile.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.io.*; import java.util.LinkedList; diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java index 8f6731fa..c231dda7 100644 --- a/altoslib/AltosIMU.java +++ b/altoslib/AltosIMU.java @@ -15,9 +15,11 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; -public class AltosIMU { +import java.util.concurrent.*; + +public class AltosIMU implements Cloneable { public int accel_x; public int accel_y; public int accel_z; @@ -25,5 +27,68 @@ public class AltosIMU { public int gyro_x; public int gyro_y; public int gyro_z; + + public boolean parse_string(String line) { + if (!line.startsWith("Accel:")) + return false; + + String[] items = line.split("\\s+"); + + if (items.length >= 8) { + accel_x = Integer.parseInt(items[1]); + accel_y = Integer.parseInt(items[2]); + accel_z = Integer.parseInt(items[3]); + gyro_x = Integer.parseInt(items[5]); + gyro_y = Integer.parseInt(items[6]); + gyro_z = Integer.parseInt(items[7]); + } + return true; + } + + public AltosIMU clone() { + AltosIMU n = new AltosIMU(); + + n.accel_x = accel_x; + n.accel_y = accel_y; + n.accel_z = accel_z; + + n.gyro_x = gyro_x; + n.gyro_y = gyro_y; + n.gyro_z = gyro_z; + return n; + } + + static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) { + try { + AltosIMU imu = new AltosIMU(link); + + if (imu != null) + state.set_imu(imu); + } catch (TimeoutException te) { + } catch (InterruptedException ie) { + } + } + + public AltosIMU() { + accel_x = AltosLib.MISSING; + accel_y = AltosLib.MISSING; + accel_z = AltosLib.MISSING; + + gyro_x = AltosLib.MISSING; + gyro_y = AltosLib.MISSING; + gyro_z = AltosLib.MISSING; + } + + public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException { + this(); + link.printf("I\n"); + for (;;) { + String line = link.get_reply_no_dialog(5000); + if (line == null) { + throw new TimeoutException(); + } + if (parse_string(line)) + break; + } + } } - \ No newline at end of file diff --git a/altoslib/AltosIMUQuery.java b/altoslib/AltosIMUQuery.java deleted file mode 100644 index 4ea5d963..00000000 --- a/altoslib/AltosIMUQuery.java +++ /dev/null @@ -1,46 +0,0 @@ -/* - * Copyright © 2012 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - -import java.util.concurrent.TimeoutException; - -class AltosIMUQuery extends AltosIMU { - - public AltosIMUQuery (AltosLink link) throws InterruptedException, TimeoutException { - link.printf("I\n"); - for (;;) { - String line = link.get_reply_no_dialog(5000); - if (line == null) { - throw new TimeoutException(); - } - if (!line.startsWith("Accel:")) - continue; - String[] items = line.split("\\s+"); - if (items.length >= 8) { - accel_x = Integer.parseInt(items[1]); - accel_y = Integer.parseInt(items[2]); - accel_z = Integer.parseInt(items[3]); - gyro_x = Integer.parseInt(items[5]); - gyro_y = Integer.parseInt(items[6]); - gyro_z = Integer.parseInt(items[7]); - } - break; - } - } -} - diff --git a/altoslib/AltosIdle.java b/altoslib/AltosIdle.java new file mode 100644 index 00000000..456a9247 --- /dev/null +++ b/altoslib/AltosIdle.java @@ -0,0 +1,39 @@ +/* + * Copyright © 2013 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +import java.io.*; +import java.util.*; +import java.text.*; +import java.util.concurrent.*; + +public abstract class AltosIdle { + AltosLink link; + AltosConfigData config_data; + + public void printf(String format, Object ... arguments) { + link.printf(format, arguments); + } + + public abstract void update_state(AltosState state) throws InterruptedException, TimeoutException; + + public AltosIdle(AltosLink link, AltosConfigData config_data) { + this.link = link; + this.config_data = config_data; + } +} diff --git a/altoslib/AltosIdleFetch.java b/altoslib/AltosIdleFetch.java new file mode 100644 index 00000000..64c421f4 --- /dev/null +++ b/altoslib/AltosIdleFetch.java @@ -0,0 +1,152 @@ +/* + * Copyright © 2013 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +import java.io.*; +import java.util.*; +import java.text.*; +import java.util.concurrent.*; + +class AltosIdler { + String prefix; + int[] idlers; + + static final int idle_gps = 0; + static final int idle_imu = 1; + static final int idle_mag = 2; + static final int idle_ms5607 = 3; + static final int idle_mma655x = 4; + + + static final int idle_sensor_tm = 10; + static final int idle_sensor_metrum = 11; + static final int idle_sensor_mega = 12; + static final int idle_sensor_emini = 13; + static final int idle_sensor_tmini = 14; + + public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException, TimeoutException { + for (int idler : idlers) { + AltosIdle idle = null; + switch (idler) { + case idle_gps: + AltosGPS.update_state(state, link, config_data); + break; + case idle_imu: + AltosIMU.update_state(state, link, config_data); + break; + case idle_mag: + AltosMag.update_state(state, link, config_data); + break; + case idle_ms5607: + AltosMs5607.update_state(state, link, config_data); + break; + case idle_mma655x: + AltosMma655x.update_state(state, link, config_data); + break; + case idle_sensor_tm: + AltosSensorTM.update_state(state, link, config_data); + break; + case idle_sensor_metrum: + AltosSensorMetrum.update_state(state, link, config_data); + break; + case idle_sensor_mega: + AltosSensorMega.update_state(state, link, config_data); + break; + case idle_sensor_emini: + AltosSensorEMini.update_state(state, link, config_data); + break; + case idle_sensor_tmini: + AltosSensorTMini.update_state(state, link, config_data); + } + if (idle != null) + idle.update_state(state); + } + } + + public boolean matches(AltosConfigData config_data) { + return config_data.product.startsWith(prefix); + } + + public AltosIdler(String prefix, int ... idlers) { + this.prefix = prefix; + this.idlers = idlers; + } +} + + +public class AltosIdleFetch implements AltosStateUpdate { + + static final AltosIdler[] idlers = { + + new AltosIdler("EasyMini", + AltosIdler.idle_ms5607, + AltosIdler.idle_sensor_emini), + + new AltosIdler("TeleMini-v1", + AltosIdler.idle_sensor_tm), + + new AltosIdler("TeleMini-v2", + AltosIdler.idle_ms5607, + AltosIdler.idle_sensor_tmini), + + new AltosIdler("TeleMetrum-v1", + AltosIdler.idle_gps, + AltosIdler.idle_sensor_tm), + + new AltosIdler("TeleMetrum-v2", + AltosIdler.idle_gps, + AltosIdler.idle_ms5607, AltosIdler.idle_mma655x, + AltosIdler.idle_sensor_metrum), + + new AltosIdler("TeleMega", + AltosIdler.idle_gps, + AltosIdler.idle_ms5607, AltosIdler.idle_mma655x, + AltosIdler.idle_imu, AltosIdler.idle_mag, + AltosIdler.idle_sensor_mega), + }; + + AltosLink link; + + double frequency; + String callsign; + + public void update_state(AltosState state) { + try { + AltosConfigData config_data = new AltosConfigData(link); + state.set_state(AltosLib.ao_flight_startup); + state.set_serial(config_data.serial); + state.set_callsign(config_data.callsign); + state.set_ground_accel(config_data.accel_cal_plus); + state.set_accel_g(config_data.accel_cal_plus, config_data.accel_cal_minus); + for (AltosIdler idler : idlers) { + if (idler.matches(config_data)) { + idler.update_state(state, link, config_data); + break; + } + } + state.set_received_time(System.currentTimeMillis()); + } catch (InterruptedException ie) { + } catch (TimeoutException te) { + } + + } + + public AltosIdleFetch(AltosLink link) { + this.link = link; + } +} diff --git a/altoslib/AltosIdleMonitor.java b/altoslib/AltosIdleMonitor.java index b3ce5b20..d858845a 100644 --- a/altoslib/AltosIdleMonitor.java +++ b/altoslib/AltosIdleMonitor.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.io.*; import java.util.concurrent.*; @@ -24,11 +24,13 @@ import java.util.concurrent.*; public class AltosIdleMonitor extends Thread { AltosLink link; AltosIdleMonitorListener listener; - AltosState state; + + AltosIdleFetch fetch; + boolean remote; double frequency; String callsign; - AltosState previous_state; + AltosListenerState listener_state; AltosConfigData config_data; AltosGPS gps; @@ -47,86 +49,35 @@ public class AltosIdleMonitor extends Thread { return rssi; } - boolean has_sensor_tm(AltosConfigData config_data) { - return config_data.product.startsWith("TeleMetrum") || config_data.product.startsWith("TeleMini"); - } - - boolean has_sensor_mm(AltosConfigData config_data) { - return config_data.product.startsWith("TeleMega"); - } - - boolean has_gps(AltosConfigData config_data) { - return config_data.product.startsWith("TeleMetrum") || config_data.product.startsWith("TeleMega"); + void start_link() throws InterruptedException, TimeoutException { + if (remote) { + link.set_radio_frequency(frequency); + link.set_callsign(callsign); + link.start_remote(); + } else + link.flush_input(); } - AltosRecord sensor_mm(AltosConfigData config_data) throws InterruptedException, TimeoutException { - AltosRecordMM record_mm = new AltosRecordMM(); - AltosSensorMM sensor = new AltosSensorMM(link); - AltosMs5607 ms5607 = new AltosMs5607Query(link); - AltosIMU imu = new AltosIMUQuery(link); - - record_mm.accel_plus_g = config_data.accel_cal_plus; - record_mm.accel_minus_g = config_data.accel_cal_minus; - - record_mm.ground_accel = sensor.accel; - record_mm.accel = sensor.accel; - record_mm.ground_pres = ms5607.pa; - record_mm.pres = ms5607.pa; - record_mm.temp = ms5607.cc; - - record_mm.v_batt = sensor.v_batt; - record_mm.v_pyro = sensor.v_pyro; - record_mm.sense = sensor.sense; - - record_mm.imu = imu; - - return record_mm; + void stop_link() throws InterruptedException, TimeoutException { + if (remote) + link.stop_remote(); } - void update_state() throws InterruptedException, TimeoutException { - AltosRecord record = null; + void update_state(AltosState state) throws InterruptedException, TimeoutException { + boolean worked = false; try { - if (remote) { - link.set_radio_frequency(frequency); - link.set_callsign(callsign); - link.start_remote(); - } else - link.flush_input(); - config_data = new AltosConfigData(link); - - if (has_sensor_tm(config_data)) - record = new AltosSensorTM(link, config_data); - else if (has_sensor_mm(config_data)) - record = sensor_mm(config_data); - else - record = new AltosRecordNone(); - - if (has_gps(config_data)) - gps = new AltosGPSQuery(link, config_data); - - record.version = 0; - record.callsign = config_data.callsign; - record.serial = config_data.serial; - record.flight = config_data.log_available() > 0 ? 255 : 0; - record.status = 0; - record.state = AltosLib.ao_flight_idle; - record.gps = gps; - record.gps_sequence++; - state = new AltosState (record, state); + start_link(); + fetch.update_state(state); + worked = true; } finally { - if (remote) { - link.stop_remote(); - if (record != null) { - record.rssi = link.rssi(); - listener_state.battery = link.monitor_battery(); - } - } else { - if (record != null) - record.rssi = 0; + stop_link(); + if (worked) { + if (remote) + state.set_rssi(link.rssi(), 0); + listener_state.battery = link.monitor_battery(); } } - } public void set_frequency(double in_frequency) { @@ -139,10 +90,6 @@ public class AltosIdleMonitor extends Thread { link.abort_reply(); } - public void post_state() { - listener.update(state, listener_state); - } - public void abort() { if (isAlive()) { interrupt(); @@ -155,18 +102,20 @@ public class AltosIdleMonitor extends Thread { } public void run() { + AltosState state = new AltosState(); try { - for (;;) { + while (!link.has_error) { try { - update_state(); - post_state(); + link.config_data(); + update_state(state); + listener.update(state, listener_state); } catch (TimeoutException te) { } Thread.sleep(1000); } } catch (InterruptedException ie) { - link.close(); } + link.close(); } public AltosIdleMonitor(AltosIdleMonitorListener in_listener, AltosLink in_link, boolean in_remote) @@ -174,7 +123,7 @@ public class AltosIdleMonitor extends Thread { listener = in_listener; link = in_link; remote = in_remote; - state = null; listener_state = new AltosListenerState(); + fetch = new AltosIdleFetch(link); } } diff --git a/altoslib/AltosIdleMonitorListener.java b/altoslib/AltosIdleMonitorListener.java index 27e36dea..0b03b897 100644 --- a/altoslib/AltosIdleMonitorListener.java +++ b/altoslib/AltosIdleMonitorListener.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; public interface AltosIdleMonitorListener { public void update(AltosState state, AltosListenerState listener_state); diff --git a/altoslib/AltosIgnite.java b/altoslib/AltosIgnite.java index 85905900..42169989 100644 --- a/altoslib/AltosIgnite.java +++ b/altoslib/AltosIgnite.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.io.*; import java.util.concurrent.*; diff --git a/altoslib/AltosLib.java b/altoslib/AltosLib.java index d60ef492..46031912 100644 --- a/altoslib/AltosLib.java +++ b/altoslib/AltosLib.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.util.*; import java.io.*; @@ -28,6 +28,7 @@ public class AltosLib { public static final int AO_LOG_TEMP_VOLT = 'T'; public static final int AO_LOG_DEPLOY = 'D'; public static final int AO_LOG_STATE = 'S'; + public static final int AO_LOG_GPS_POS = 'P'; public static final int AO_LOG_GPS_TIME = 'G'; public static final int AO_LOG_GPS_LAT = 'N'; public static final int AO_LOG_GPS_LON = 'W'; @@ -62,6 +63,8 @@ public class AltosLib { public static final int AO_LOG_SOFTWARE_VERSION = 9999; + public final static int MISSING = 0x7fffffff; + /* Added to flag invalid records */ public static final int AO_LOG_INVALID = -1; @@ -218,7 +221,9 @@ public class AltosLib { public static final int AO_LOG_FORMAT_TELEMETRY = 3; public static final int AO_LOG_FORMAT_TELESCIENCE = 4; public static final int AO_LOG_FORMAT_TELEMEGA = 5; - public static final int AO_LOG_FORMAT_MINI = 6; + public static final int AO_LOG_FORMAT_EASYMINI = 6; + public static final int AO_LOG_FORMAT_TELEMETRUM = 7; + public static final int AO_LOG_FORMAT_TELEMINI = 8; public static final int AO_LOG_FORMAT_NONE = 127; public static boolean isspace(int c) { @@ -413,4 +418,24 @@ public class AltosLib { public static File replace_extension(File input, String extension) { return new File(replace_extension(input.getPath(), extension)); } + + public static String product_name(int product_id) { + switch (product_id) { + case product_altusmetrum: return "AltusMetrum"; + case product_telemetrum: return "TeleMetrum"; + case product_teledongle: return "TeleDongle"; + case product_teleterra: return "TeleTerra"; + case product_telebt: return "TeleBT"; + case product_telelaunch: return "TeleLaunch"; + case product_telelco: return "TeleLco"; + case product_telescience: return "Telescience"; + case product_telepyro: return "TelePyro"; + case product_telemega: return "TeleMega"; + case product_megadongle: return "MegaDongle"; + case product_telegps: return "TeleGPS"; + case product_easymini: return "EasyMini"; + case product_telemini: return "TeleMini"; + default: return "unknown"; + } + } } diff --git a/altoslib/AltosLine.java b/altoslib/AltosLine.java index b3bd20f9..e5dd13fc 100644 --- a/altoslib/AltosLine.java +++ b/altoslib/AltosLine.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; public class AltosLine { public String line; diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java index 159ebfe1..4823a986 100644 --- a/altoslib/AltosLink.java +++ b/altoslib/AltosLink.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.io.*; import java.util.concurrent.*; @@ -32,17 +32,20 @@ public abstract class AltosLink implements Runnable { public static boolean debug = false; public static void set_debug(boolean in_debug) { debug = in_debug; } + + public boolean has_error; + LinkedList pending_output = new LinkedList(); public LinkedList> monitors = new LinkedList> ();; public LinkedBlockingQueue reply_queue = new LinkedBlockingQueue(); - public void add_monitor(LinkedBlockingQueue q) { + public synchronized void add_monitor(LinkedBlockingQueue q) { set_monitor(true); monitors.add(q); } - public void remove_monitor(LinkedBlockingQueue q) { + public synchronized void remove_monitor(LinkedBlockingQueue q) { monitors.remove(q); if (monitors.isEmpty()) set_monitor(false); @@ -107,6 +110,7 @@ public abstract class AltosLink implements Runnable { if (c == ERROR) { if (debug) System.out.printf("ERROR\n"); + has_error = true; add_telem (new AltosLine()); add_reply (new AltosLine()); break; @@ -252,6 +256,8 @@ public abstract class AltosLink implements Runnable { public String callsign; AltosConfigData config_data; + private Object config_data_lock = new Object(); + private int telemetry_len() { return AltosLib.telemetry_len(telemetry); } @@ -325,9 +331,11 @@ public abstract class AltosLink implements Runnable { } public AltosConfigData config_data() throws InterruptedException, TimeoutException { - if (config_data == null) - config_data = new AltosConfigData(this); - return config_data; + synchronized(config_data_lock) { + if (config_data == null) + config_data = new AltosConfigData(this); + return config_data; + } } public void set_callsign(String callsign) { @@ -399,7 +407,7 @@ public abstract class AltosLink implements Runnable { } public double monitor_battery() { - int monitor_batt = AltosRecord.MISSING; + int monitor_batt = AltosLib.MISSING; if (config_data.has_monitor_battery()) { try { @@ -416,12 +424,13 @@ public abstract class AltosLink implements Runnable { } catch (TimeoutException te) { } } - if (monitor_batt == AltosRecord.MISSING) - return AltosRecord.MISSING; + if (monitor_batt == AltosLib.MISSING) + return AltosLib.MISSING; return AltosConvert.cc_battery_to_voltage(monitor_batt); } public AltosLink() { callsign = ""; + has_error = false; } } diff --git a/altoslib/AltosListenerState.java b/altoslib/AltosListenerState.java index 2fb4673e..01dd7afb 100644 --- a/altoslib/AltosListenerState.java +++ b/altoslib/AltosListenerState.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; public class AltosListenerState { public int crc_errors; @@ -23,6 +23,6 @@ public class AltosListenerState { public AltosListenerState() { crc_errors = 0; - battery = AltosRecord.MISSING; + battery = AltosLib.MISSING; } } diff --git a/altoslib/AltosLog.java b/altoslib/AltosLog.java index 974c9f0f..015d9f65 100644 --- a/altoslib/AltosLog.java +++ b/altoslib/AltosLog.java @@ -15,11 +15,11 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.io.*; -import java.text.ParseException; -import java.util.concurrent.LinkedBlockingQueue; +import java.text.*; +import java.util.concurrent.*; /* * This creates a thread to capture telemetry data and write it to @@ -31,9 +31,11 @@ public class AltosLog implements Runnable { LinkedBlockingQueue pending_queue; int serial; int flight; + int receiver_serial; FileWriter log_file; Thread log_thread; AltosFile file; + AltosLink link; private void close_log_file() { if (log_file != null) { @@ -57,8 +59,8 @@ public class AltosLog implements Runnable { return file; } - boolean open (AltosRecord telem) throws IOException { - AltosFile a = new AltosFile(telem); + boolean open (AltosState state) throws IOException { + AltosFile a = new AltosFile(state); log_file = new FileWriter(a, true); if (log_file != null) { @@ -78,22 +80,25 @@ public class AltosLog implements Runnable { public void run () { try { - AltosRecord previous = null; + AltosState state = new AltosState(); + AltosConfigData receiver_config = link.config_data(); + state.set_receiver_serial(receiver_config.serial); for (;;) { AltosLine line = input_queue.take(); if (line.line == null) continue; try { - AltosRecord telem = AltosTelemetry.parse(line.line, previous); - if ((telem.seen & AltosRecord.seen_flight) != 0 && - (telem.serial != serial || telem.flight != flight || log_file == null)) + AltosTelemetry telem = AltosTelemetry.parse(line.line); + state = state.clone(); + telem.update_state(state); + if (state.serial != serial || state.flight != flight || log_file == null) { close_log_file(); - serial = telem.serial; - flight = telem.flight; - open(telem); + serial = state.serial; + flight = state.flight; + if (state.serial != AltosLib.MISSING && state.flight != AltosLib.MISSING) + open(state); } - previous = telem; } catch (ParseException pe) { } catch (AltosCRCException ce) { } @@ -105,6 +110,7 @@ public class AltosLog implements Runnable { pending_queue.put(line.line); } } catch (InterruptedException ie) { + } catch (TimeoutException te) { } catch (IOException ie) { } close(); @@ -116,6 +122,7 @@ public class AltosLog implements Runnable { link.add_monitor(input_queue); serial = -1; flight = -1; + this.link = link; log_file = null; log_thread = new Thread(this); log_thread.start(); diff --git a/altoslib/AltosMag.java b/altoslib/AltosMag.java index b3bbd92f..56add8f3 100644 --- a/altoslib/AltosMag.java +++ b/altoslib/AltosMag.java @@ -15,11 +15,66 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; -public class AltosMag { +import java.util.concurrent.*; + +public class AltosMag implements Cloneable { public int x; public int y; public int z; + + public boolean parse_string(String line) { + if (!line.startsWith("X:")) + return false; + + String[] items = line.split("\\s+"); + + if (items.length >= 6) { + x = Integer.parseInt(items[1]); + y = Integer.parseInt(items[3]); + z = Integer.parseInt(items[5]); + } + return true; + } + + public AltosMag clone() { + AltosMag n = new AltosMag(); + + n.x = x; + n.y = y; + n.z = z; + return n; + } + + public AltosMag() { + x = AltosLib.MISSING; + y = AltosLib.MISSING; + z = AltosLib.MISSING; + } + + static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) { + try { + AltosMag mag = new AltosMag(link); + + if (mag != null) + state.set_mag(mag); + } catch (TimeoutException te) { + } catch (InterruptedException ie) { + } + } + + public AltosMag(AltosLink link) throws InterruptedException, TimeoutException { + this(); + link.printf("M\n"); + for (;;) { + String line = link.get_reply_no_dialog(5000); + if (line == null) { + throw new TimeoutException(); + } + if (parse_string(line)) + break; + } + } } \ No newline at end of file diff --git a/altoslib/AltosMma655x.java b/altoslib/AltosMma655x.java new file mode 100644 index 00000000..8dc947db --- /dev/null +++ b/altoslib/AltosMma655x.java @@ -0,0 +1,69 @@ +/* + * Copyright © 2012 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +import java.util.concurrent.*; + +public class AltosMma655x implements Cloneable { + + int accel; + + public boolean parse_line(String line) { + String[] items = line.split("\\s+"); + if (line.startsWith("MMA655X value:")) { + if (items.length >= 3) + accel = Integer.parseInt(items[1]); + } else + return false; + return true; + } + + public AltosMma655x() { + accel = AltosLib.MISSING; + } + + public AltosMma655x clone() { + AltosMma655x n = new AltosMma655x(); + + n.accel = accel; + return n; + } + + static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) { + try { + AltosMma655x mma655x = new AltosMma655x(link); + + if (mma655x != null) + state.set_accel(mma655x.accel); + } catch (TimeoutException te) { + } catch (InterruptedException ie) { + } + } + + public AltosMma655x(AltosLink link) throws InterruptedException, TimeoutException { + this(); + link.printf("A\n"); + for (;;) { + String line = link.get_reply_no_dialog(5000); + if (line == null) + throw new TimeoutException(); + if (!parse_line(line)) + break; + } + } +} diff --git a/altoslib/AltosMs5607.java b/altoslib/AltosMs5607.java index 606916b7..b29fa9ae 100644 --- a/altoslib/AltosMs5607.java +++ b/altoslib/AltosMs5607.java @@ -15,7 +15,9 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; + +import java.util.concurrent.*; public class AltosMs5607 { public int reserved; @@ -83,10 +85,13 @@ public class AltosMs5607 { } public boolean parse_line(String line) { + System.out.printf ("parse %s\n", line); String[] items = line.split("\\s+"); if (line.startsWith("Pressure:")) { - if (items.length >= 2) + if (items.length >= 2) { raw_pres = Integer.parseInt(items[1]); + System.out.printf ("raw_pres %d\n", raw_pres); + } } else if (line.startsWith("Temperature:")) { if (items.length >= 2) raw_temp = Integer.parseInt(items[1]); @@ -94,8 +99,11 @@ public class AltosMs5607 { if (items.length >= 3) reserved = Integer.parseInt(items[2]); } else if (line.startsWith("ms5607 sens:")) { - if (items.length >= 3) + System.out.printf ("found sens length %d\n", items.length); + if (items.length >= 3) { sens = Integer.parseInt(items[2]); + System.out.printf ("sens %d\n", sens); + } } else if (line.startsWith("ms5607 off:")) { if (items.length >= 3) off = Integer.parseInt(items[2]); @@ -114,15 +122,48 @@ public class AltosMs5607 { } else if (line.startsWith("ms5607 crc:")) { if (items.length >= 3) crc = Integer.parseInt(items[2]); - } else if (line.startsWith("Altitude")) + } else if (line.startsWith("Altitude:")) { return false; + } return true; } + static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) { + try { + AltosMs5607 ms5607 = new AltosMs5607(link); + + if (ms5607 != null) { + state.set_ms5607(ms5607); + return; + } + } catch (TimeoutException te) { + } catch (InterruptedException ie) { + } + } + public AltosMs5607() { - raw_pres = AltosRecord.MISSING; - raw_temp = AltosRecord.MISSING; - pa = AltosRecord.MISSING; - cc = AltosRecord.MISSING; + raw_pres = AltosLib.MISSING; + raw_temp = AltosLib.MISSING; + pa = AltosLib.MISSING; + cc = AltosLib.MISSING; + } + + public AltosMs5607 (AltosLink link) throws InterruptedException, TimeoutException { + this(); + link.printf("c s\nB\n"); + for (;;) { + String line = link.get_reply_no_dialog(5000); + if (line == null) { + throw new TimeoutException(); + } + if (!parse_line(line)) { + System.out.printf ("stop parsing at %s\n", line); + break; + } + } + System.out.printf ("sens %d off %d tcs %d tco %d tref %d tempsens %d crc %d pres %d temp %d\n", + sens, off, tcs, tco, tref, tempsens, crc, raw_pres, raw_temp); + convert(); + System.out.printf ("pa %d cc %d\n", pa, cc); } } diff --git a/altoslib/AltosMs5607Query.java b/altoslib/AltosMs5607Query.java deleted file mode 100644 index d39dbf26..00000000 --- a/altoslib/AltosMs5607Query.java +++ /dev/null @@ -1,36 +0,0 @@ -/* - * Copyright © 2012 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - -import java.util.concurrent.TimeoutException; - -class AltosMs5607Query extends AltosMs5607 { - public AltosMs5607Query (AltosLink link) throws InterruptedException, TimeoutException { - link.printf("v\nB\n"); - for (;;) { - String line = link.get_reply_no_dialog(5000); - if (line == null) { - throw new TimeoutException(); - } - if (!parse_line(line)) - break; - } - convert(); - } -} - diff --git a/altoslib/AltosOrderedMegaRecord.java b/altoslib/AltosOrderedMegaRecord.java deleted file mode 100644 index b20a5bbd..00000000 --- a/altoslib/AltosOrderedMegaRecord.java +++ /dev/null @@ -1,52 +0,0 @@ -/* - * Copyright © 2010 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - -import java.text.ParseException; - -/* - * AltosRecords with an index field so they can be sorted by tick while preserving - * the original ordering for elements with matching ticks - */ -class AltosOrderedMegaRecord extends AltosEepromMega implements Comparable { - - public int index; - - public AltosOrderedMegaRecord(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 int compareTo(AltosOrderedMegaRecord o) { - int tick_diff = tick - o.tick; - if (tick_diff != 0) - return tick_diff; - return index - o.index; - } -} diff --git a/altoslib/AltosOrderedMiniRecord.java b/altoslib/AltosOrderedMiniRecord.java deleted file mode 100644 index 96888941..00000000 --- a/altoslib/AltosOrderedMiniRecord.java +++ /dev/null @@ -1,52 +0,0 @@ -/* - * Copyright © 2010 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - -import java.text.ParseException; - -/* - * AltosRecords with an index field so they can be sorted by tick while preserving - * the original ordering for elements with matching ticks - */ -class AltosOrderedMiniRecord extends AltosEepromMini implements Comparable { - - public int index; - - public AltosOrderedMiniRecord(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 int compareTo(AltosOrderedMiniRecord o) { - int tick_diff = tick - o.tick; - if (tick_diff != 0) - return tick_diff; - return index - o.index; - } -} diff --git a/altoslib/AltosOrderedRecord.java b/altoslib/AltosOrderedRecord.java deleted file mode 100644 index 63507d39..00000000 --- a/altoslib/AltosOrderedRecord.java +++ /dev/null @@ -1,63 +0,0 @@ -/* - * Copyright © 2010 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - -import java.text.ParseException; - -/* - * 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 { - - 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; - } -} - diff --git a/altoslib/AltosParse.java b/altoslib/AltosParse.java index 66bbeed5..ca96a8f9 100644 --- a/altoslib/AltosParse.java +++ b/altoslib/AltosParse.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.text.*; diff --git a/altoslib/AltosPreferences.java b/altoslib/AltosPreferences.java index 088ca3d7..c4051f9b 100644 --- a/altoslib/AltosPreferences.java +++ b/altoslib/AltosPreferences.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.io.*; import java.util.*; diff --git a/altoslib/AltosPreferencesBackend.java b/altoslib/AltosPreferencesBackend.java index fb8a235a..1ea28b01 100644 --- a/altoslib/AltosPreferencesBackend.java +++ b/altoslib/AltosPreferencesBackend.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.io.File; diff --git a/altoslib/AltosPyro.java b/altoslib/AltosPyro.java index 4dbb4223..0142eac8 100644 --- a/altoslib/AltosPyro.java +++ b/altoslib/AltosPyro.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.util.*; import java.text.*; diff --git a/altoslib/AltosRecord.java b/altoslib/AltosRecord.java deleted file mode 100644 index 5e4ed927..00000000 --- a/altoslib/AltosRecord.java +++ /dev/null @@ -1,171 +0,0 @@ -/* - * Copyright © 2010 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - -public class AltosRecord implements Comparable , Cloneable { - - public static final int seen_flight = 1; - public static final int seen_sensor = 2; - public static final int seen_temp_volt = 4; - public static final int seen_deploy = 8; - public static final int seen_gps_time = 16; - public static final int seen_gps_lat = 32; - public static final int seen_gps_lon = 64; - public static final int seen_companion = 128; - - public int seen; - - public final static int MISSING = 0x7fffffff; - - /* Every AltosRecord implementation provides these fields */ - - public int version; - public String callsign; - public int serial; - public int flight; - public int rssi; - public int status; - public int state; - public int tick; - - public AltosGPS gps; - public int gps_sequence; - - public double time; /* seconds since boost */ - - public int device_type; - public int config_major; - public int config_minor; - public int apogee_delay; - public int main_deploy; - public int flight_log_max; - public String firmware_version; - - public AltosRecordCompanion companion; - - /* Telemetry sources have these values recorded from the flight computer */ - public double kalman_height; - public double kalman_speed; - public double kalman_acceleration; - - /* - * Abstract methods that convert record data - * to standard units: - * - * pressure: Pa - * voltage: V - * acceleration: m/s² - * speed: m/s - * height: m - * temperature: °C - */ - - public double pressure() { return MISSING; } - public double ground_pressure() { return MISSING; } - public double acceleration() { return MISSING; } - - public double altitude() { - double p = 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 height() { - double g = ground_altitude(); - double a = altitude(); - - if (g == MISSING) - return MISSING; - if (a == MISSING) - return MISSING; - return a - g; - } - - public double battery_voltage() { return MISSING; } - - public double main_voltage() { return MISSING; } - - public double drogue_voltage() { return MISSING; } - - public double temperature() { return MISSING; } - - public AltosIMU imu() { return null; } - - public AltosMag mag() { return null; } - - public String state() { - return AltosLib.state_name(state); - } - - public int compareTo(AltosRecord o) { - return tick - o.tick; - } - - public AltosRecord clone() { - AltosRecord n = new AltosRecord(); - n.copy(this); - return n; - } - - public void copy(AltosRecord old) { - seen = old.seen; - version = old.version; - callsign = old.callsign; - serial = old.serial; - flight = old.flight; - rssi = old.rssi; - status = old.status; - state = old.state; - tick = old.tick; - gps = new AltosGPS(old.gps); - gps_sequence = old.gps_sequence; - companion = old.companion; - kalman_acceleration = old.kalman_acceleration; - kalman_speed = old.kalman_speed; - kalman_height = old.kalman_height; - } - - public AltosRecord() { - seen = 0; - version = 0; - callsign = "N0CALL"; - serial = MISSING; - flight = MISSING; - rssi = 0; - status = 0; - state = AltosLib.ao_flight_startup; - tick = 0; - gps = null; - gps_sequence = 0; - companion = null; - - kalman_acceleration = MISSING; - kalman_speed = MISSING; - kalman_height = MISSING; - } -} diff --git a/altoslib/AltosRecordCompanion.java b/altoslib/AltosRecordCompanion.java deleted file mode 100644 index b153fb5b..00000000 --- a/altoslib/AltosRecordCompanion.java +++ /dev/null @@ -1,38 +0,0 @@ -/* - * Copyright © 2011 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - -public class AltosRecordCompanion { - public final static int board_id_telescience = 0x0a; - public final static int MAX_CHANNELS = 12; - - public int tick; - public int board_id; - public int update_period; - public int channels; - public 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]; - } -} diff --git a/altoslib/AltosRecordIterable.java b/altoslib/AltosRecordIterable.java deleted file mode 100644 index 62dbdfe3..00000000 --- a/altoslib/AltosRecordIterable.java +++ /dev/null @@ -1,29 +0,0 @@ -/* - * Copyright © 2010 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - -import java.io.*; -import java.util.*; - -public abstract class AltosRecordIterable implements Iterable { - public abstract Iterator 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; }; -} diff --git a/altoslib/AltosRecordMM.java b/altoslib/AltosRecordMM.java deleted file mode 100644 index d697111c..00000000 --- a/altoslib/AltosRecordMM.java +++ /dev/null @@ -1,178 +0,0 @@ -/* - * Copyright © 2012 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - -public class AltosRecordMM extends AltosRecord { - - /* Sensor values */ - public int accel; - public int pres; - public int temp; - - public int v_batt; - public int v_pyro; - public int sense[]; - - public int ground_accel; - public int ground_pres; - public int accel_plus_g; - public int accel_minus_g; - - public int flight_accel; - public int flight_vel; - public int flight_pres; - - public final static int num_sense = 6; - - public AltosIMU imu; - public AltosMag mag; - - static double adc(int raw) { - return raw / 4095.0; - } - - public double pressure() { - if (pres != MISSING) - return pres; - return MISSING; - } - - public double ground_pressure() { - if (ground_pres != MISSING) - return ground_pres; - return MISSING; - } - - public double battery_voltage() { - if (v_batt != MISSING) - return 3.3 * adc(v_batt) * (15.0 + 27.0) / 27.0; - return MISSING; - } - - static double pyro(int raw) { - if (raw != MISSING) - return 3.3 * adc(raw) * (100.0 + 27.0) / 27.0; - return MISSING; - } - - public double main_voltage() { - return pyro(sense[5]); - } - - public double drogue_voltage() { - return pyro(sense[4]); - } - - public double temperature() { - if (temp != MISSING) - return temp / 100.0; - return MISSING; - } - - public AltosIMU imu() { return imu; } - - public AltosMag mag() { return mag; } - - 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 (ground_accel == MISSING || accel == MISSING) - return MISSING; - - if (accel_minus_g == MISSING || accel_plus_g == MISSING) - return MISSING; - - return (ground_accel - accel) / accel_counts_per_mss(); - } - - public void copy (AltosRecordMM old) { - super.copy(old); - - accel = old.accel; - pres = old.pres; - temp = old.temp; - - v_batt = old.v_batt; - v_pyro = old.v_pyro; - sense = new int[num_sense]; - - for (int i = 0; i < num_sense; i++) - sense[i] = old.sense[i]; - - ground_accel = old.ground_accel; - ground_pres = old.ground_pres; - accel_plus_g = old.accel_plus_g; - accel_minus_g = old.accel_minus_g; - - flight_accel = old.flight_accel; - flight_vel = old.flight_vel; - flight_pres = old.flight_pres; - - imu = old.imu; - mag = old.mag; - } - - - - public AltosRecordMM clone() { - return new AltosRecordMM(this); - } - - void make_missing() { - - accel = MISSING; - pres = MISSING; - temp = MISSING; - - v_batt = MISSING; - v_pyro = MISSING; - sense = new int[num_sense]; - for (int i = 0; i < num_sense; i++) - sense[i] = MISSING; - - ground_accel = MISSING; - ground_pres = MISSING; - accel_plus_g = MISSING; - accel_minus_g = MISSING; - - flight_accel = 0; - flight_vel = 0; - flight_pres = 0; - - imu = new AltosIMU(); - mag = new AltosMag(); - } - - public AltosRecordMM(AltosRecord old) { - super.copy(old); - make_missing(); - } - - public AltosRecordMM(AltosRecordMM old) { - copy(old); - } - - public AltosRecordMM() { - super(); - make_missing(); - } -} diff --git a/altoslib/AltosRecordMini.java b/altoslib/AltosRecordMini.java deleted file mode 100644 index 253f3804..00000000 --- a/altoslib/AltosRecordMini.java +++ /dev/null @@ -1,129 +0,0 @@ -/* - * Copyright © 2012 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - -public class AltosRecordMini extends AltosRecord { - - /* Sensor values */ - public int pres; - public int temp; - - public int sense_a; - public int sense_m; - public int v_batt; - - public int ground_pres; - - public int flight_accel; - public int flight_vel; - public int flight_pres; - - static double adc(int raw) { - return raw / 4095.0; - } - - public double pressure() { - if (pres != MISSING) - return pres; - return MISSING; - } - - public double temperature() { - if (temp != MISSING) - return temp; - return MISSING; - } - - public double ground_pressure() { - if (ground_pres != MISSING) - return ground_pres; - return MISSING; - } - - public double battery_voltage() { - if (v_batt != MISSING) - return 3.3 * adc(v_batt) * (15.0 + 27.0) / 27.0; - return MISSING; - } - - static double pyro(int raw) { - if (raw != MISSING) - return 3.3 * adc(raw) * (100.0 + 27.0) / 27.0; - return MISSING; - } - - public double main_voltage() { - return pyro(sense_m); - } - - public double apogee_voltage() { - return pyro(sense_a); - } - - public void copy (AltosRecordMini old) { - super.copy(old); - - pres = old.pres; - temp = old.temp; - - sense_a = old.sense_a; - sense_m = old.sense_m; - v_batt = old.v_batt; - - ground_pres = old.ground_pres; - - flight_accel = old.flight_accel; - flight_vel = old.flight_vel; - flight_pres = old.flight_pres; - } - - - - public AltosRecordMini clone() { - return new AltosRecordMini(this); - } - - void make_missing() { - - pres = MISSING; - - sense_a = MISSING; - sense_m = MISSING; - v_batt = MISSING; - - ground_pres = MISSING; - - flight_accel = 0; - flight_vel = 0; - flight_pres = 0; - } - - public AltosRecordMini(AltosRecord old) { - super.copy(old); - make_missing(); - } - - public AltosRecordMini(AltosRecordMini old) { - copy(old); - } - - public AltosRecordMini() { - super(); - make_missing(); - } -} diff --git a/altoslib/AltosRecordNone.java b/altoslib/AltosRecordNone.java deleted file mode 100644 index a95b6a9c..00000000 --- a/altoslib/AltosRecordNone.java +++ /dev/null @@ -1,38 +0,0 @@ -/* - * Copyright © 2012 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - -public class AltosRecordNone extends AltosRecord { - - public double pressure() { return MISSING; } - public double ground_pressure() { return MISSING; } - public double temperature() { return MISSING; } - public double acceleration() { return MISSING; } - - public AltosRecordNone(AltosRecord old) { - super.copy(old); - } - - public AltosRecordNone clone() { - return new AltosRecordNone(this); - } - - public AltosRecordNone() { - super(); - } -} diff --git a/altoslib/AltosRecordTM.java b/altoslib/AltosRecordTM.java deleted file mode 100644 index c6cf3646..00000000 --- a/altoslib/AltosRecordTM.java +++ /dev/null @@ -1,186 +0,0 @@ -/* - * Copyright © 2012 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - -public class AltosRecordTM extends AltosRecord { - - /* Sensor values */ - public int accel; - public int pres; - public int temp; - public int batt; - public int drogue; - public int main; - - public int ground_accel; - public int ground_pres; - public int accel_plus_g; - public int accel_minus_g; - - public int flight_accel; - public int flight_vel; - public int flight_pres; - - /* - * 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 pressure() { - if (pres == MISSING) - return MISSING; - return barometer_to_pressure(pres); - } - - public double ground_pressure() { - if (ground_pres == MISSING) - return MISSING; - return barometer_to_pressure(ground_pres); - } - - 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 (ground_accel == MISSING || accel == MISSING) - return MISSING; - return (ground_accel - accel) / accel_counts_per_mss(); - } - - public void copy(AltosRecordTM old) { - super.copy(old); - - version = old.version; - 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; - } - - public AltosRecordTM clone() { - return new AltosRecordTM(this); - } - - void make_missing() { - accel = MISSING; - pres = MISSING; - temp = MISSING; - batt = MISSING; - drogue = MISSING; - main = MISSING; - - flight_accel = MISSING; - flight_vel = MISSING; - flight_pres = MISSING; - - ground_accel = MISSING; - ground_pres = MISSING; - accel_plus_g = MISSING; - accel_minus_g = MISSING; - } - - public AltosRecordTM(AltosRecord old) { - super.copy(old); - make_missing(); - } - - public AltosRecordTM(AltosRecordTM old) { - copy(old); - } - - public AltosRecordTM() { - super(); - make_missing(); - } -} diff --git a/altoslib/AltosReplayReader.java b/altoslib/AltosReplayReader.java index a7e30370..19091d3d 100644 --- a/altoslib/AltosReplayReader.java +++ b/altoslib/AltosReplayReader.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.io.*; import java.util.*; @@ -25,10 +25,10 @@ import java.util.*; */ public class AltosReplayReader extends AltosFlightReader { - Iterator iterator; + Iterator iterator; File file; - public AltosRecord read() { + public AltosState read() { if (iterator.hasNext()) return iterator.next(); return null; @@ -41,11 +41,12 @@ public class AltosReplayReader extends AltosFlightReader { /* Make it run in realtime after the rocket leaves the pad */ if (state.state > AltosLib.ao_flight_pad) Thread.sleep((int) (Math.min(state.time_change,10) * 1000)); + state.set_received_time(System.currentTimeMillis()); } public File backing_file() { return file; } - public AltosReplayReader(Iterator in_iterator, File in_file) { + public AltosReplayReader(Iterator in_iterator, File in_file) { iterator = in_iterator; file = in_file; name = file.getName(); diff --git a/altoslib/AltosRomconfig.java b/altoslib/AltosRomconfig.java index 0800a2c4..e9d3147e 100644 --- a/altoslib/AltosRomconfig.java +++ b/altoslib/AltosRomconfig.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.io.*; diff --git a/altoslib/AltosSelfFlash.java b/altoslib/AltosSelfFlash.java new file mode 100644 index 00000000..0ae797a0 --- /dev/null +++ b/altoslib/AltosSelfFlash.java @@ -0,0 +1,149 @@ +/* + * Copyright © 2013 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +import java.io.*; + +public class AltosSelfFlash { + File file; + FileInputStream input; + AltosHexfile image; + AltosLink link; + boolean aborted; + AltosFlashListener listener; + byte[] read_block, write_block; + + void action(String s, int percent) { + if (listener != null && !aborted) + listener.position(s, percent); + } + + void action(int part, int total) { + int percent = 100 * part / total; + action(String.format("%d/%d (%d%%)", + part, total, percent), + percent); + } + + void read_block(long addr) { + link.printf("R %x\n", addr); + + } + + void read_memory(long addr, int len) { + } + + void write_memory(long addr, byte[] data, int start, int len) { + + } + + void reboot() { + } + + public void flash() { + try { + int remain = image.data.length; + long flash_addr = image.address; + int image_start = 0; + + action("start", 0); + action(0, image.data.length); + while (remain > 0 && !aborted) { + int this_time = remain; + if (this_time > 0x100) + this_time = 0x100; + + if (link != null) { + /* write the data */ + write_memory(flash_addr, image.data, image_start, this_time); + + byte[] check = read_memory(flash_addr, this_time); + for (int i = 0; i < this_time; i++) + if (check[i] != image.data[image_start + i]) + throw new IOException(String.format("Flash write failed at 0x%x (%02x != %02x)", + image.address + image_start + i, + check[i], image.data[image_start + i])); + } else { + Thread.sleep(100); + } + + remain -= this_time; + flash_addr += this_time; + image_start += this_time; + + action(image.data.length - remain, image.data.length); + } + if (!aborted) { + action("done", 100); + if (link != null) { + reboot(); + } + } + if (link != null) + link.close(); + } catch (IOException ie) { + action(ie.getMessage(), -1); + abort(); + } catch (InterruptedException ie) { + abort(); + } + } + + public void close() { + if (link != null) + link.close(); + } + + synchronized public void abort() { + aborted = true; + close(); + } + + public boolean check_rom_config() { + if (link == null) + return true; + if (rom_config == null) + rom_config = debug.romconfig(); + return rom_config != null && rom_config.valid(); + } + + public void set_romconfig (AltosRomconfig romconfig) { + rom_config = romconfig; + } + + public AltosRomconfig romconfig() { + if (!check_rom_config()) + return null; + return rom_config; + } + + public AltosFlash(File file, AltosLink link, AltosFlashListener listener) + throws IOException, FileNotFoundException, InterruptedException { + this.file = file; + this.link = link; + this.listener = listener; + this.read_block = new byte[256]; + this.write_block = new byte[256]; + input = new FileInputStream(file); + image = new AltosHexfile(input); + if (link != null) { + debug.close(); + throw new IOException("Debug port not connected"); + } + } +} \ No newline at end of file diff --git a/altoslib/AltosSensorEMini.java b/altoslib/AltosSensorEMini.java new file mode 100644 index 00000000..cbc65143 --- /dev/null +++ b/altoslib/AltosSensorEMini.java @@ -0,0 +1,70 @@ +/* + * Copyright © 2012 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +import java.util.concurrent.TimeoutException; + +public class AltosSensorEMini { + public int tick; + public int apogee; + public int main; + public int batt; + + static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) { + try { + AltosSensorEMini sensor_emini = new AltosSensorEMini(link); + + if (sensor_emini == null) + return; + state.set_battery_voltage(AltosConvert.easy_mini_voltage(sensor_emini.batt)); + state.set_apogee_voltage(AltosConvert.easy_mini_voltage(sensor_emini.apogee)); + state.set_main_voltage(AltosConvert.easy_mini_voltage(sensor_emini.main)); + + } catch (TimeoutException te) { + } catch (InterruptedException ie) { + } + } + + public AltosSensorEMini(AltosLink link) throws InterruptedException, TimeoutException { + String[] items = link.adc(); + for (int i = 0; i < items.length;) { + if (items[i].equals("tick:")) { + tick = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("apogee:")) { + apogee = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("main:")) { + main = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("batt:")) { + batt = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + i++; + } + } +} + diff --git a/altoslib/AltosSensorMM.java b/altoslib/AltosSensorMM.java index 6d1b61c0..0ef42cf6 100644 --- a/altoslib/AltosSensorMM.java +++ b/altoslib/AltosSensorMM.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.util.concurrent.TimeoutException; diff --git a/altoslib/AltosSensorMega.java b/altoslib/AltosSensorMega.java new file mode 100644 index 00000000..3afb8a64 --- /dev/null +++ b/altoslib/AltosSensorMega.java @@ -0,0 +1,109 @@ +/* + * Copyright © 2013 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +import java.util.concurrent.TimeoutException; + +class AltosSensorMega { + int tick; + int[] sense; + int v_batt; + int v_pbatt; + int temp; + + public AltosSensorMega() { + sense = new int[6]; + } + + public AltosSensorMega(AltosLink link) throws InterruptedException, TimeoutException { + this(); + String[] items = link.adc(); + for (int i = 0; i < items.length;) { + if (items[i].equals("tick:")) { + tick = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("A:")) { + sense[0] = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("B:")) { + sense[1] = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("C:")) { + sense[2] = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("D:")) { + sense[3] = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("drogue:")) { + sense[4] = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("main:")) { + sense[5] = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("batt:")) { + v_batt = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("pbatt:")) { + v_pbatt = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("temp:")) { + temp = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + i++; + } + } + + static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) { + try { + AltosSensorMega sensor_mega = new AltosSensorMega(link); + + state.set_battery_voltage(AltosConvert.mega_battery_voltage(sensor_mega.v_batt)); + state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sensor_mega.sense[4])); + state.set_main_voltage(AltosConvert.mega_pyro_voltage(sensor_mega.sense[5])); + + double[] ignitor_voltage = new double[4]; + for (int i = 0; i < 4; i++) + ignitor_voltage[i] = AltosConvert.mega_pyro_voltage(sensor_mega.sense[i]); + state.set_ignitor_voltage(ignitor_voltage); + + } catch (TimeoutException te) { + } catch (InterruptedException ie) { + } + } +} + diff --git a/altoslib/AltosSensorMetrum.java b/altoslib/AltosSensorMetrum.java new file mode 100644 index 00000000..4a51d492 --- /dev/null +++ b/altoslib/AltosSensorMetrum.java @@ -0,0 +1,66 @@ +/* + * Copyright © 2013 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +import java.util.concurrent.TimeoutException; + +class AltosSensorMetrum { + int tick; + int sense_a; + int sense_m; + int v_batt; + + public AltosSensorMetrum(AltosLink link) throws InterruptedException, TimeoutException { + String[] items = link.adc(); + for (int i = 0; i < items.length;) { + if (items[i].equals("tick:")) { + tick = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("drogue:")) { + sense_a = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("main:")) { + sense_m = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("batt:")) { + v_batt = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + i++; + } + } + + static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) { + try { + AltosSensorMetrum sensor_metrum = new AltosSensorMetrum(link); + state.set_battery_voltage(AltosConvert.mega_battery_voltage(sensor_metrum.v_batt)); + state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sensor_metrum.sense_a)); + state.set_main_voltage(AltosConvert.mega_pyro_voltage(sensor_metrum.sense_m)); + } catch (TimeoutException te) { + } catch (InterruptedException ie) { + } + } +} + diff --git a/altoslib/AltosSensorTM.java b/altoslib/AltosSensorTM.java index 754dc5bb..2696a308 100644 --- a/altoslib/AltosSensorTM.java +++ b/altoslib/AltosSensorTM.java @@ -15,14 +15,38 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.util.concurrent.TimeoutException; -class AltosSensorTM extends AltosRecordTM { +public class AltosSensorTM { + public int tick; + public int accel; + public int pres; + public int temp; + public int batt; + public int drogue; + public int main; - public AltosSensorTM(AltosLink link, AltosConfigData config_data) throws InterruptedException, TimeoutException { - super(); + static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) { + try { + AltosSensorTM sensor_tm = new AltosSensorTM(link); + + if (sensor_tm == null) + return; + state.set_accel(sensor_tm.accel); + state.set_pressure(AltosConvert.barometer_to_pressure(sensor_tm.pres)); + state.set_temperature(AltosConvert.thermometer_to_temperature(sensor_tm.temp)); + state.set_battery_voltage(AltosConvert.cc_battery_to_voltage(sensor_tm.batt)); + state.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(sensor_tm.drogue)); + state.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(sensor_tm.main)); + + } catch (TimeoutException te) { + } catch (InterruptedException ie) { + } + } + + public AltosSensorTM(AltosLink link) throws InterruptedException, TimeoutException { String[] items = link.adc(); for (int i = 0; i < items.length;) { if (items[i].equals("tick:")) { @@ -62,10 +86,6 @@ class AltosSensorTM extends AltosRecordTM { } i++; } - ground_accel = config_data.accel_cal_plus; - ground_pres = pres; - accel_plus_g = config_data.accel_cal_plus; - accel_minus_g = config_data.accel_cal_minus; } } diff --git a/altoslib/AltosSensorTMini.java b/altoslib/AltosSensorTMini.java new file mode 100644 index 00000000..be071e5d --- /dev/null +++ b/altoslib/AltosSensorTMini.java @@ -0,0 +1,70 @@ +/* + * Copyright © 2012 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +import java.util.concurrent.TimeoutException; + +public class AltosSensorTMini { + public int tick; + public int apogee; + public int main; + public int batt; + + static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) { + try { + AltosSensorTMini sensor_tmini = new AltosSensorTMini(link); + + if (sensor_tmini == null) + return; + state.set_battery_voltage(AltosConvert.easy_mini_voltage(sensor_tmini.batt)); + state.set_apogee_voltage(AltosConvert.easy_mini_voltage(sensor_tmini.apogee)); + state.set_main_voltage(AltosConvert.easy_mini_voltage(sensor_tmini.main)); + + } catch (TimeoutException te) { + } catch (InterruptedException ie) { + } + } + + public AltosSensorTMini(AltosLink link) throws InterruptedException, TimeoutException { + String[] items = link.adc(); + for (int i = 0; i < items.length;) { + if (items[i].equals("tick:")) { + tick = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("apogee:")) { + apogee = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("main:")) { + main = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + if (items[i].equals("batt:")) { + batt = Integer.parseInt(items[i+1]); + i += 2; + continue; + } + i++; + } + } +} + diff --git a/altoslib/AltosSpeed.java b/altoslib/AltosSpeed.java index 6fb624fb..9b9f7240 100644 --- a/altoslib/AltosSpeed.java +++ b/altoslib/AltosSpeed.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; public class AltosSpeed extends AltosUnits { diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index e0d9bb1f..a01cddb7 100644 --- a/altoslib/AltosState.java +++ b/altoslib/AltosState.java @@ -19,42 +19,471 @@ * Track flight state from telemetry or eeprom data stream */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; -public class AltosState { - public AltosRecord data; +public class AltosState implements Cloneable { + + public static final int set_position = 1; + public static final int set_gps = 2; + public static final int set_data = 4; + + public int set; + + static final double ascent_filter_len = 0.5; + static final double descent_filter_len = 0.5; /* derived data */ - public long report_time; + public long received_time; public double time; + public double prev_time; public double time_change; public int tick; + private int prev_tick; + public int boost_tick; + + class AltosValue { + private double value; + private double prev_value; + private double max_value; + private double set_time; + private double prev_set_time; + + void set(double new_value, double time) { + if (new_value != AltosLib.MISSING) { + value = new_value; + if (max_value == AltosLib.MISSING || value > max_value) { + max_value = value; + } + set_time = time; + } + } + + void set_filtered(double new_value, double time) { + if (prev_value != AltosLib.MISSING) + new_value = (prev_value * 15.0 + new_value) / 16.0; + set(new_value, time); + } + + double value() { + return value; + } + + double max() { + return max_value; + } + + double prev() { + return prev_value; + } + + double change() { + if (value != AltosLib.MISSING && prev_value != AltosLib.MISSING) + return value - prev_value; + return AltosLib.MISSING; + } + + double rate() { + double c = change(); + double t = set_time - prev_set_time; + + if (c != AltosLib.MISSING && t != 0) + return c / t; + return AltosLib.MISSING; + } + + double integrate() { + if (value == AltosLib.MISSING) + return AltosLib.MISSING; + if (prev_value == AltosLib.MISSING) + return AltosLib.MISSING; + + return (value + prev_value) / 2 * (set_time - prev_set_time); + } + + double time() { + return set_time; + } + + void set_derivative(AltosValue in) { + double n = in.rate(); + + if (n == AltosLib.MISSING) + return; + + double p = prev_value; + double pt = prev_set_time; + + if (p == AltosLib.MISSING) { + p = 0; + pt = in.time() - 0.01; + } + + /* Clip changes to reduce noise */ + double ddt = in.time() - pt; + double ddv = (n - p) / ddt; + + final double max = 100000; + + /* 100gs */ + if (Math.abs(ddv) > max) { + if (n > p) + n = p + ddt * max; + else + n = p - ddt * max; + } + + double filter_len; + + if (ascent) + filter_len = ascent_filter_len; + else + filter_len = descent_filter_len; + + double f = 1/Math.exp(ddt/ filter_len); + n = p * f + n * (1-f); + + set(n, in.time()); + } + + void set_integral(AltosValue in) { + double change = in.integrate(); + + if (change != AltosLib.MISSING) { + double prev = prev_value; + if (prev == AltosLib.MISSING) + prev = 0; + set(prev + change, in.time()); + } + } + + void copy(AltosValue old) { + value = old.value; + set_time = old.set_time; + prev_value = old.value; + prev_set_time = old.set_time; + max_value = old.max_value; + } + + void finish_update() { + prev_value = value; + prev_set_time = set_time; + } + + AltosValue() { + value = AltosLib.MISSING; + prev_value = AltosLib.MISSING; + max_value = AltosLib.MISSING; + } + } + + class AltosCValue { + AltosValue measured; + AltosValue computed; + + double value() { + double v = measured.value(); + if (v != AltosLib.MISSING) + return v; + return computed.value(); + } + + boolean is_measured() { + return measured.value() != AltosLib.MISSING; + } + + double max() { + double m = measured.max(); + + if (m != AltosLib.MISSING) + return m; + return computed.max(); + } + + double prev_value() { + if (measured.value != AltosLib.MISSING && measured.prev_value != AltosLib.MISSING) + return measured.prev_value; + return computed.prev_value; + } + + AltosValue altos_value() { + if (measured.value() != AltosLib.MISSING) + return measured; + return computed; + } + + double change() { + double c = measured.change(); + if (c == AltosLib.MISSING) + c = computed.change(); + return c; + } + + double rate() { + double r = measured.rate(); + if (r == AltosLib.MISSING) + r = computed.rate(); + return r; + } + + void set_measured(double new_value, double time) { + measured.set(new_value, time); + } + + void set_computed(double new_value, double time) { + computed.set(new_value, time); + } + + void set_derivative(AltosValue in) { + computed.set_derivative(in); + } + + void set_derivative(AltosCValue in) { + set_derivative(in.altos_value()); + } + + void set_integral(AltosValue in) { + computed.set_integral(in); + } + + void set_integral(AltosCValue in) { + set_integral(in.altos_value()); + } + + void copy(AltosCValue old) { + measured.copy(old.measured); + computed.copy(old.computed); + } + + void finish_update() { + measured.finish_update(); + computed.finish_update(); + } + + AltosCValue() { + measured = new AltosValue(); + computed = new AltosValue(); + } + } public int state; + public int flight; + public int serial; + public int receiver_serial; public boolean landed; public boolean ascent; /* going up? */ - public boolean boost; /* under power */ - - public double ground_altitude; - public double altitude; - public double height; - public double pressure; - public double acceleration; - public double battery; + public boolean boost; /* under power */ + public int rssi; + public int status; + public int device_type; + public int config_major; + public int config_minor; + public int apogee_delay; + public int main_deploy; + public int flight_log_max; + + private double pressure_to_altitude(double p) { + if (p == AltosLib.MISSING) + return AltosLib.MISSING; + return AltosConvert.pressure_to_altitude(p); + } + + private AltosCValue ground_altitude; + + public double ground_altitude() { + return ground_altitude.value(); + } + + public void set_ground_altitude(double a) { + ground_altitude.set_measured(a, time); + } + + class AltosGroundPressure extends AltosCValue { + void set_filtered(double p, double time) { + computed.set_filtered(p, time); + if (!is_measured()) + ground_altitude.set_computed(pressure_to_altitude(computed.value()), time); + } + + void set_measured(double p, double time) { + super.set_measured(p, time); + ground_altitude.set_computed(pressure_to_altitude(p), time); + } + } + + private AltosGroundPressure ground_pressure; + + public double ground_pressure() { + return ground_pressure.value(); + } + + public void set_ground_pressure (double pressure) { + ground_pressure.set_measured(pressure, time); + } + + class AltosAltitude extends AltosCValue { + + private void set_speed(AltosValue v) { + if (!acceleration.is_measured() || !ascent) + speed.set_derivative(this); + } + + void set_computed(double a, double time) { + super.set_computed(a,time); + set_speed(computed); + set |= set_position; + } + + void set_measured(double a, double time) { + super.set_measured(a,time); + set_speed(measured); + set |= set_position; + } + } + + private AltosAltitude altitude; + + public double altitude() { + double a = altitude.value(); + if (a != AltosLib.MISSING) + return a; + if (gps != null) + return gps.alt; + return AltosLib.MISSING; + } + + public double max_altitude() { + double a = altitude.max(); + if (a != AltosLib.MISSING) + return a; + return AltosLib.MISSING; + } + + public void set_altitude(double new_altitude) { + altitude.set_measured(new_altitude, time); + } + + class AltosPressure extends AltosValue { + void set(double p, double time) { + super.set(p, time); + if (state == AltosLib.ao_flight_pad) + ground_pressure.set_filtered(p, time); + double a = pressure_to_altitude(p); + altitude.set_computed(a, time); + } + } + + private AltosPressure pressure; + + public double pressure() { + return pressure.value(); + } + + public void set_pressure(double p) { + pressure.set(p, time); + } + + public double height() { + double k = kalman_height.value(); + if (k != AltosLib.MISSING) + return k; + + double a = altitude(); + double g = ground_altitude(); + if (a != AltosLib.MISSING && g != AltosLib.MISSING) + return a - g; + return AltosLib.MISSING; + } + + public double max_height() { + double k = kalman_height.max(); + if (k != AltosLib.MISSING) + return k; + + double a = altitude.max(); + double g = ground_altitude(); + if (a != AltosLib.MISSING && g != AltosLib.MISSING) + return a - g; + return AltosLib.MISSING; + } + + class AltosSpeed extends AltosCValue { + + void set_accel() { + acceleration.set_derivative(this); + } + + void set_derivative(AltosCValue in) { + super.set_derivative(in); + set_accel(); + } + + void set_computed(double new_value, double time) { + super.set_computed(new_value, time); + set_accel(); + } + + void set_measured(double new_value, double time) { + super.set_measured(new_value, time); + set_accel(); + } + } + + private AltosSpeed speed; + + public double speed() { + double v = kalman_speed.value(); + if (v != AltosLib.MISSING) + return v; + return speed.value(); + } + + public double max_speed() { + double v = kalman_speed.max(); + if (v != AltosLib.MISSING) + return v; + return speed.max(); + } + + class AltosAccel extends AltosCValue { + void set_measured(double a, double time) { + super.set_measured(a, time); + if (ascent) + speed.set_integral(this.measured); + } + } + + AltosAccel acceleration; + + public double acceleration() { + return acceleration.value(); + } + + public double max_acceleration() { + return acceleration.max(); + } + + public AltosValue kalman_height, kalman_speed, kalman_acceleration; + + public void set_kalman(double height, double speed, double acceleration) { + kalman_height.set(height, time); + kalman_speed.set(speed, time); + kalman_acceleration.set(acceleration, time); + } + + public double battery_voltage; + public double pyro_voltage; public double temperature; - public double main_sense; - public double drogue_sense; - public double accel_speed; - public double baro_speed; + public double apogee_voltage; + public double main_voltage; - public double max_height; - public double max_acceleration; - public double max_accel_speed; - public double max_baro_speed; + public double ignitor_voltage[]; public AltosGPS gps; + public AltosGPS temp_gps; + public int temp_gps_sat_tick; + public boolean gps_pending; public int gps_sequence; public AltosIMU imu; @@ -63,10 +492,11 @@ public class AltosState { public static final int MIN_PAD_SAMPLES = 10; public int npad; - public int ngps; public int gps_waiting; public boolean gps_ready; + public int ngps; + public AltosGreatCircle from_pad; public double elevation; /* from pad */ public double range; /* total distance */ @@ -78,203 +508,551 @@ public class AltosState { public int speak_tick; public double speak_altitude; - public double speed() { - if (ascent) - return accel_speed; - else - return baro_speed; + public String callsign; + public String firmware_version; + + public double accel_plus_g; + public double accel_minus_g; + public double accel; + public double ground_accel; + public double ground_accel_avg; + + public int log_format; + + public AltosMs5607 baro; + + public AltosCompanion companion; + + public void set_npad(int npad) { + this.npad = npad; + gps_waiting = MIN_PAD_SAMPLES - npad; + if (this.gps_waiting < 0) + gps_waiting = 0; + gps_ready = gps_waiting == 0; } - public double max_speed() { - if (max_accel_speed != 0) - return max_accel_speed; - return max_baro_speed; - } - - public void init (AltosRecord cur, AltosState prev_state) { - data = cur; - - /* Discard previous state if it was for a different board */ - if (prev_state != null && prev_state.data.serial != data.serial) - prev_state = null; - ground_altitude = data.ground_altitude(); - - altitude = data.altitude(); - if (altitude == AltosRecord.MISSING && data.gps != null) - altitude = data.gps.alt; - - height = AltosRecord.MISSING; - if (data.kalman_height != AltosRecord.MISSING) - height = data.kalman_height; - else { - if (altitude != AltosRecord.MISSING && ground_altitude != AltosRecord.MISSING) { - double cur_height = altitude - ground_altitude; - if (prev_state == null || prev_state.height == AltosRecord.MISSING) - height = cur_height; - else - height = (prev_state.height * 15 + cur_height) / 16.0; - } + public void init() { + set = 0; + + received_time = System.currentTimeMillis(); + time = AltosLib.MISSING; + time_change = AltosLib.MISSING; + prev_time = AltosLib.MISSING; + tick = AltosLib.MISSING; + prev_tick = AltosLib.MISSING; + boost_tick = AltosLib.MISSING; + state = AltosLib.ao_flight_invalid; + flight = AltosLib.MISSING; + landed = false; + boost = false; + rssi = AltosLib.MISSING; + status = 0; + device_type = AltosLib.MISSING; + config_major = AltosLib.MISSING; + config_minor = AltosLib.MISSING; + apogee_delay = AltosLib.MISSING; + main_deploy = AltosLib.MISSING; + flight_log_max = AltosLib.MISSING; + + ground_altitude = new AltosCValue(); + ground_pressure = new AltosGroundPressure(); + altitude = new AltosAltitude(); + pressure = new AltosPressure(); + speed = new AltosSpeed(); + acceleration = new AltosAccel(); + + temperature = AltosLib.MISSING; + battery_voltage = AltosLib.MISSING; + pyro_voltage = AltosLib.MISSING; + apogee_voltage = AltosLib.MISSING; + main_voltage = AltosLib.MISSING; + ignitor_voltage = null; + + kalman_height = new AltosValue(); + kalman_speed = new AltosValue(); + kalman_acceleration = new AltosValue(); + + gps = null; + temp_gps = null; + temp_gps_sat_tick = 0; + gps_sequence = 0; + gps_pending = false; + + imu = null; + mag = null; + + set_npad(0); + ngps = 0; + + from_pad = null; + elevation = AltosLib.MISSING; + range = AltosLib.MISSING; + gps_height = AltosLib.MISSING; + + pad_lat = AltosLib.MISSING; + pad_lon = AltosLib.MISSING; + pad_alt = AltosLib.MISSING; + + speak_tick = AltosLib.MISSING; + speak_altitude = AltosLib.MISSING; + + callsign = null; + + accel_plus_g = AltosLib.MISSING; + accel_minus_g = AltosLib.MISSING; + accel = AltosLib.MISSING; + + ground_accel = AltosLib.MISSING; + ground_accel_avg = AltosLib.MISSING; + + log_format = AltosLib.MISSING; + serial = AltosLib.MISSING; + receiver_serial = AltosLib.MISSING; + + baro = null; + companion = null; + } + + void finish_update() { + prev_tick = tick; + + ground_altitude.finish_update(); + altitude.finish_update(); + pressure.finish_update(); + speed.finish_update(); + acceleration.finish_update(); + + kalman_height.finish_update(); + kalman_speed.finish_update(); + kalman_acceleration.finish_update(); + } + + void copy(AltosState old) { + + if (old == null) { + init(); + return; } - report_time = System.currentTimeMillis(); + received_time = old.received_time; + time = old.time; + time_change = old.time_change; + prev_time = old.time; + + tick = old.tick; + prev_tick = old.tick; + boost_tick = old.boost_tick; + + state = old.state; + flight = old.flight; + landed = old.landed; + ascent = old.ascent; + boost = old.boost; + rssi = old.rssi; + status = old.status; + device_type = old.device_type; + config_major = old.config_major; + config_minor = old.config_minor; + apogee_delay = old.apogee_delay; + main_deploy = old.main_deploy; + flight_log_max = old.flight_log_max; + + set = 0; + + ground_pressure.copy(old.ground_pressure); + ground_altitude.copy(old.ground_altitude); + altitude.copy(old.altitude); + pressure.copy(old.pressure); + speed.copy(old.speed); + acceleration.copy(old.acceleration); + + battery_voltage = old.battery_voltage; + pyro_voltage = old.pyro_voltage; + temperature = old.temperature; + apogee_voltage = old.apogee_voltage; + main_voltage = old.main_voltage; + ignitor_voltage = old.ignitor_voltage; + + kalman_height.copy(old.kalman_height); + kalman_speed.copy(old.kalman_speed); + kalman_acceleration.copy(old.kalman_acceleration); - if (data.kalman_acceleration != AltosRecord.MISSING) - acceleration = data.kalman_acceleration; + if (old.gps != null) + gps = old.gps.clone(); else - acceleration = data.acceleration(); - temperature = data.temperature(); - drogue_sense = data.drogue_voltage(); - main_sense = data.main_voltage(); - battery = data.battery_voltage(); - pressure = data.pressure(); - tick = data.tick; - state = data.state; - - if (prev_state != null) { - - /* Preserve any existing gps data */ - npad = prev_state.npad; - ngps = prev_state.ngps; - gps = prev_state.gps; - gps_sequence = prev_state.gps_sequence; - pad_lat = prev_state.pad_lat; - pad_lon = prev_state.pad_lon; - pad_alt = prev_state.pad_alt; - max_height = prev_state.max_height; - max_acceleration = prev_state.max_acceleration; - max_accel_speed = prev_state.max_accel_speed; - max_baro_speed = prev_state.max_baro_speed; - imu = prev_state.imu; - mag = prev_state.mag; - - /* make sure the clock is monotonic */ - while (tick < prev_state.tick) - tick += 65536; - - time_change = (tick - prev_state.tick) / 100.0; - - if (data.kalman_speed != AltosRecord.MISSING) { - baro_speed = accel_speed = data.kalman_speed; - } else { - /* compute barometric speed */ - - double height_change = height - prev_state.height; - - double prev_baro_speed = prev_state.baro_speed; - if (prev_baro_speed == AltosRecord.MISSING) - prev_baro_speed = 0; - - if (time_change > 0) - baro_speed = (prev_baro_speed * 3 + (height_change / time_change)) / 4.0; - else - baro_speed = prev_state.baro_speed; + gps = null; + if (old.temp_gps != null) + temp_gps = old.temp_gps.clone(); + else + temp_gps = null; + temp_gps_sat_tick = old.temp_gps_sat_tick; + gps_sequence = old.gps_sequence; + gps_pending = old.gps_pending; - double prev_accel_speed = prev_state.accel_speed; + if (old.imu != null) + imu = old.imu.clone(); + else + imu = null; - if (prev_accel_speed == AltosRecord.MISSING) - prev_accel_speed = 0; + if (old.mag != null) + mag = old.mag.clone(); + else + mag = null; - if (acceleration == AltosRecord.MISSING) { - /* Fill in mising acceleration value */ - accel_speed = baro_speed; + npad = old.npad; + gps_waiting = old.gps_waiting; + gps_ready = old.gps_ready; + ngps = old.ngps; - if (time_change > 0 && accel_speed != AltosRecord.MISSING) - acceleration = (accel_speed - prev_accel_speed) / time_change; - else - acceleration = prev_state.acceleration; - } else { - /* compute accelerometer speed */ - accel_speed = prev_accel_speed + acceleration * time_change; + if (old.from_pad != null) + from_pad = old.from_pad.clone(); + else + from_pad = null; + + elevation = old.elevation; + range = old.range; + + gps_height = old.gps_height; + pad_lat = old.pad_lat; + pad_lon = old.pad_lon; + pad_alt = old.pad_alt; + + speak_tick = old.speak_tick; + speak_altitude = old.speak_altitude; + + callsign = old.callsign; + + accel_plus_g = old.accel_plus_g; + accel_minus_g = old.accel_minus_g; + accel = old.accel; + ground_accel = old.ground_accel; + ground_accel_avg = old.ground_accel_avg; + + log_format = old.log_format; + serial = old.serial; + receiver_serial = old.receiver_serial; + + baro = old.baro; + companion = old.companion; + } + + void update_time() { + } + + void update_gps() { + elevation = 0; + range = -1; + gps_height = 0; + + if (gps == null) + return; + + if (gps.locked && gps.nsat >= 4) { + /* Track consecutive 'good' gps reports, waiting for 10 of them */ + if (state == AltosLib.ao_flight_pad) { + set_npad(npad+1); + if (pad_lat != AltosLib.MISSING) { + pad_lat = (pad_lat * 31 + gps.lat) / 32; + pad_lon = (pad_lon * 31 + gps.lon) / 32; + pad_alt = (pad_alt * 31 + gps.alt) / 32; } } - } else { - npad = 0; - ngps = 0; - gps = null; - gps_sequence = 0; - baro_speed = AltosRecord.MISSING; - accel_speed = AltosRecord.MISSING; - pad_alt = AltosRecord.MISSING; - max_baro_speed = 0; - max_accel_speed = 0; - max_height = 0; - max_acceleration = 0; - time_change = 0; + if (pad_lat == AltosLib.MISSING) { + pad_lat = gps.lat; + pad_lon = gps.lon; + pad_alt = gps.alt; + } } + if (gps.lat != 0 && gps.lon != 0 && + pad_lat != AltosLib.MISSING && + pad_lon != AltosLib.MISSING) + { + double h = height(); - time = tick / 100.0; - - if (data.gps != null && data.gps_sequence != gps_sequence && (state < AltosLib.ao_flight_boost)) { + if (h == AltosLib.MISSING) + h = 0; + from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h); + elevation = from_pad.elevation; + range = from_pad.range; + gps_height = gps.alt - pad_alt; + } + } - /* Track consecutive 'good' gps reports, waiting for 10 of them */ - if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) - npad++; - else - npad = 0; - - /* Average GPS data while on the pad */ - if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) { - if (ngps > 1 && state == AltosLib.ao_flight_pad) { - /* filter pad position */ - pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0; - pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0; - pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0; - } else { - pad_lat = data.gps.lat; - pad_lon = data.gps.lon; - pad_alt = data.gps.alt; + public void set_tick(int new_tick) { + if (new_tick != AltosLib.MISSING) { + if (prev_tick != AltosLib.MISSING) { + while (new_tick < prev_tick - 1000) { + new_tick += 65536; } - ngps++; } - } else { - if (ngps == 0 && ground_altitude != AltosRecord.MISSING) - pad_alt = ground_altitude; + tick = new_tick; + time = tick / 100.0; + time_change = time - prev_time; } + } - gps_sequence = data.gps_sequence; + public void set_boost_tick(int boost_tick) { + if (boost_tick != AltosLib.MISSING) + this.boost_tick = boost_tick; + } - gps_waiting = MIN_PAD_SAMPLES - npad; - if (gps_waiting < 0) - gps_waiting = 0; + public String state_name() { + return AltosLib.state_name(state); + } - gps_ready = gps_waiting == 0; + public void set_state(int state) { + if (state != AltosLib.ao_flight_invalid) { + this.state = state; + ascent = (AltosLib.ao_flight_boost <= state && + state <= AltosLib.ao_flight_coast); + boost = (AltosLib.ao_flight_boost == state); + } - ascent = (AltosLib.ao_flight_boost <= state && - state <= AltosLib.ao_flight_coast); - boost = (AltosLib.ao_flight_boost == state); + } - /* Only look at accelerometer data under boost */ - if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration)) - max_acceleration = acceleration; - if (boost && accel_speed != AltosRecord.MISSING && accel_speed > max_accel_speed) - max_accel_speed = accel_speed; - if (boost && baro_speed != AltosRecord.MISSING && baro_speed > max_baro_speed) - max_baro_speed = baro_speed; + public void set_device_type(int device_type) { + this.device_type = device_type; + } - if (height != AltosRecord.MISSING && height > max_height) - max_height = height; - elevation = 0; - range = -1; - gps_height = 0; - if (data.gps != null) { - gps = data.gps; - if (ngps > 0 && gps.locked) { - double h = height; - - if (h == AltosRecord.MISSING) h = 0; - from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h); - elevation = from_pad.elevation; - range = from_pad.range; - gps_height = gps.alt - pad_alt; + public void set_config(int major, int minor, int apogee_delay, int main_deploy, int flight_log_max) { + config_major = major; + config_minor = minor; + this.apogee_delay = apogee_delay; + this.main_deploy = main_deploy; + this.flight_log_max = flight_log_max; + } + + public void set_callsign(String callsign) { + this.callsign = callsign; + } + + public void set_firmware_version(String version) { + firmware_version = version; + } + + public void set_flight(int flight) { + + /* When the flight changes, reset the state */ + if (flight != AltosLib.MISSING && flight != 0) { + if (this.flight != AltosLib.MISSING && + this.flight != flight) { + init(); } + this.flight = flight; } } - public AltosState(AltosRecord cur) { - init(cur, null); + public void set_serial(int serial) { + /* When the serial changes, reset the state */ + if (serial != AltosLib.MISSING) { + if (this.serial != AltosLib.MISSING && + this.serial != serial) { + init(); + } + this.serial = serial; + } + } + + public void set_receiver_serial(int serial) { + if (serial != AltosLib.MISSING) + receiver_serial = serial; + } + + public int rssi() { + if (rssi == AltosLib.MISSING) + return 0; + return rssi; + } + + public void set_rssi(int rssi, int status) { + if (rssi != AltosLib.MISSING) { + this.rssi = rssi; + this.status = status; + } + } + + public void set_received_time(long ms) { + received_time = ms; + } + + public void set_gps(AltosGPS gps, int sequence) { + if (gps != null) { + this.gps = gps.clone(); + gps_sequence = sequence; + update_gps(); + set |= set_gps; + } + } + + public void set_imu(AltosIMU imu) { + if (imu != null) + imu = imu.clone(); + this.imu = imu; + } + + public void set_mag(AltosMag mag) { + this.mag = mag.clone(); + } + + public AltosMs5607 make_baro() { + if (baro == null) + baro = new AltosMs5607(); + return baro; + } + + public void set_ms5607(AltosMs5607 ms5607) { + baro = ms5607; + + if (baro != null) { + set_pressure(baro.pa); + set_temperature(baro.cc / 100.0); + } + } + + public void set_ms5607(int pres, int temp) { + if (baro != null) { + baro.set(pres, temp); + + set_pressure(baro.pa); + set_temperature(baro.cc / 100.0); + } + } + + public void make_companion (int nchannels) { + if (companion == null) + companion = new AltosCompanion(nchannels); + } + + public void set_companion(AltosCompanion companion) { + this.companion = companion; + } + + void update_accel() { + double ground = ground_accel; + + if (ground == AltosLib.MISSING) + ground = ground_accel_avg; + if (accel == AltosLib.MISSING) + return; + if (ground == AltosLib.MISSING) + return; + if (accel_plus_g == AltosLib.MISSING) + return; + if (accel_minus_g == AltosLib.MISSING) + return; + + double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0; + double counts_per_mss = counts_per_g / 9.80665; + acceleration.set_measured((ground - accel) / counts_per_mss, time); + } + + public void set_accel_g(double accel_plus_g, double accel_minus_g) { + if (accel_plus_g != AltosLib.MISSING) { + this.accel_plus_g = accel_plus_g; + this.accel_minus_g = accel_minus_g; + update_accel(); + } + } + + public void set_ground_accel(double ground_accel) { + if (ground_accel != AltosLib.MISSING) { + this.ground_accel = ground_accel; + update_accel(); + } + } + + public void set_accel(double accel) { + if (accel != AltosLib.MISSING) { + this.accel = accel; + if (state == AltosLib.ao_flight_pad) { + if (ground_accel_avg == AltosLib.MISSING) + ground_accel_avg = accel; + else + ground_accel_avg = (ground_accel_avg * 7 + accel) / 8; + } + } + update_accel(); + } + + public void set_temperature(double temperature) { + if (temperature != AltosLib.MISSING) { + this.temperature = temperature; + set |= set_data; + } + } + + public void set_battery_voltage(double battery_voltage) { + if (battery_voltage != AltosLib.MISSING) { + this.battery_voltage = battery_voltage; + set |= set_data; + } + } + + public void set_pyro_voltage(double pyro_voltage) { + if (pyro_voltage != AltosLib.MISSING) { + this.pyro_voltage = pyro_voltage; + set |= set_data; + } + } + + public void set_apogee_voltage(double apogee_voltage) { + if (apogee_voltage != AltosLib.MISSING) { + this.apogee_voltage = apogee_voltage; + set |= set_data; + } + } + + public void set_main_voltage(double main_voltage) { + if (main_voltage != AltosLib.MISSING) { + this.main_voltage = main_voltage; + set |= set_data; + } + } + + public void set_ignitor_voltage(double[] voltage) { + this.ignitor_voltage = voltage; + } + + public double time_since_boost() { + if (tick == AltosLib.MISSING) + return 0.0; + + if (boost_tick != AltosLib.MISSING) { + return (tick - boost_tick) / 100.0; + } + return tick / 100.0; + } + + public boolean valid() { + return tick != AltosLib.MISSING && serial != AltosLib.MISSING; + } + + public AltosGPS make_temp_gps(boolean sats) { + if (temp_gps == null) { + temp_gps = new AltosGPS(gps); + } + gps_pending = true; + if (sats) { + if (tick != temp_gps_sat_tick) + temp_gps.cc_gps_sat = null; + temp_gps_sat_tick = tick; + } + return temp_gps; + } + + public void set_temp_gps() { + set_gps(temp_gps, gps_sequence + 1); + gps_pending = false; + temp_gps = null; + } + + public AltosState clone() { + AltosState s = new AltosState(); + s.copy(this); + return s; } - public AltosState (AltosRecord cur, AltosState prev) { - init(cur, prev); + public AltosState () { + init(); } } diff --git a/altoslib/AltosStateIterable.java b/altoslib/AltosStateIterable.java new file mode 100644 index 00000000..6d637419 --- /dev/null +++ b/altoslib/AltosStateIterable.java @@ -0,0 +1,29 @@ +/* + * Copyright © 2013 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +import java.io.*; +import java.util.*; + +public abstract class AltosStateIterable implements Iterable { + + public void write_comments (PrintStream out) { + } + + public abstract void write(PrintStream out); +} diff --git a/altoslib/AltosStateUpdate.java b/altoslib/AltosStateUpdate.java new file mode 100644 index 00000000..ec4f7609 --- /dev/null +++ b/altoslib/AltosStateUpdate.java @@ -0,0 +1,22 @@ +/* + * Copyright © 2013 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +public interface AltosStateUpdate { + public void update_state(AltosState state); +} \ No newline at end of file diff --git a/altoslib/AltosTelemetry.java b/altoslib/AltosTelemetry.java index e7322349..03ca9f80 100644 --- a/altoslib/AltosTelemetry.java +++ b/altoslib/AltosTelemetry.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.text.*; @@ -23,217 +23,114 @@ import java.text.*; * Telemetry data contents */ +public abstract class AltosTelemetry implements AltosStateUpdate { -/* - * 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 - * - */ + /* All telemetry packets have these fields */ + public int tick; + public int serial; + public int rssi; + public int status; + + /* Mark when we received the packet */ + long received_time; + + 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]; + } + + public void update_state(AltosState state) { + if (state.state == AltosLib.ao_flight_invalid) + state.set_state(AltosLib.ao_flight_startup); + state.set_serial(serial); + state.set_tick(tick); + state.set_rssi(rssi, status); + state.set_received_time(received_time); + } + + 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; + final static int packet_type_mega_sensor = 0x08; + final static int packet_type_mega_data = 0x09; + final static int packet_type_metrum_sensor = 0x0a; + final static int packet_type_metrum_data = 0x0b; + final static int packet_type_mini = 0x10; + + static AltosTelemetry parse_hex(String hex) throws ParseException, AltosCRCException { + AltosTelemetry telem = null; + + int[] bytes; + try { + bytes = AltosLib.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 = AltosLib.int8(bytes, bytes.length - 3) / 2 - 74; + int status = AltosLib.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 AltosLib.ao_telemetry_standard_len + 4: + telem = AltosTelemetryStandard.parse_hex(bytes); + break; + case AltosLib.ao_telemetry_0_9_len + 4: + telem = new AltosTelemetryLegacy(bytes); + break; + case AltosLib.ao_telemetry_0_8_len + 4: + telem = new AltosTelemetryLegacy(bytes); + break; + default: + throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0); + } + if (telem != null) { + telem.received_time = System.currentTimeMillis(); + telem.rssi = rssi; + telem.status = status; + } + return telem; + } + + public static AltosTelemetry parse(String line) throws ParseException, AltosCRCException { + 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++])); + } + + AltosTelemetry telem; -public abstract 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); + if (word[i].equals("TELEM")) { + telem = parse_hex(word[i+1]); + } else { + telem = new AltosTelemetryLegacy(line); + } + return telem; } } diff --git a/altoslib/AltosTelemetryConfiguration.java b/altoslib/AltosTelemetryConfiguration.java new file mode 100644 index 00000000..e5d444dd --- /dev/null +++ b/altoslib/AltosTelemetryConfiguration.java @@ -0,0 +1,55 @@ +/* + * Copyright © 2011 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + + +public class AltosTelemetryConfiguration extends AltosTelemetryStandard { + 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 AltosTelemetryConfiguration(int[] bytes) { + super(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 void update_state(AltosState state) { + super.update_state(state); + state.set_device_type(device_type); + state.set_flight(flight); + state.set_config(config_major, config_minor, apogee_delay, main_deploy, flight_log_max); + + state.set_callsign(callsign); + state.set_firmware_version(version); + } +} diff --git a/altoslib/AltosTelemetryFile.java b/altoslib/AltosTelemetryFile.java new file mode 100644 index 00000000..7566d946 --- /dev/null +++ b/altoslib/AltosTelemetryFile.java @@ -0,0 +1,96 @@ +/* + * Copyright © 2013 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +import java.io.*; +import java.util.*; +import java.text.*; + +class AltosTelemetryIterator implements Iterator { + AltosState state; + Iterator telems; + AltosTelemetry next; + boolean seen; + + public boolean hasNext() { + return !seen || telems.hasNext(); + } + + public AltosState next() { + if (seen) { + AltosState n = state.clone(); + AltosTelemetry t = telems.next(); + + t.update_state(n); + state = n; + } + seen = true; + return state; + } + + public void remove () { + } + + public AltosTelemetryIterator(AltosState start, Iterator telems) { + this.state = start; + this.telems = telems; + this.seen = false; + } +} + +public class AltosTelemetryFile extends AltosStateIterable { + + AltosTelemetryIterable telems; + AltosState start; + + public void write_comments(PrintStream out) { + } + + public void write(PrintStream out) { + + } + + public AltosTelemetryFile(FileInputStream input) { + telems = new AltosTelemetryIterable(input); + start = new AltosState(); + + /* Find boost tick */ + AltosState state = start.clone(); + + for (AltosTelemetry telem : telems) { + telem.update_state(state); + state.finish_update(); + if (state.state != AltosLib.ao_flight_invalid && state.state >= AltosLib.ao_flight_boost) { + start.set_boost_tick(state.tick); + break; + } + } + } + + public Iterator iterator() { + AltosState state = start.clone(); + Iterator i = telems.iterator(); + + while (i.hasNext() && !state.valid()) { + AltosTelemetry t = i.next(); + t.update_state(state); + state.finish_update(); + } + return new AltosTelemetryIterator(state, i); + } +} \ No newline at end of file diff --git a/altoslib/AltosTelemetryIterable.java b/altoslib/AltosTelemetryIterable.java index 57033638..9da3b0e6 100644 --- a/altoslib/AltosTelemetryIterable.java +++ b/altoslib/AltosTelemetryIterable.java @@ -15,33 +15,74 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.io.*; import java.util.*; import java.text.*; -public class AltosTelemetryIterable extends AltosRecordIterable { - TreeSet records; +class AltosTelemetryOrdered implements Comparable { + AltosTelemetry telem; + int index; + int tick; - public Iterator iterator () { - return records.iterator(); + public int compareTo(AltosTelemetryOrdered o) { + int tick_diff = tick - o.tick; + + if (tick_diff != 0) + return tick_diff; + return index - o.index; } - 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; }; + AltosTelemetryOrdered (AltosTelemetry telem, int index, int tick) { + this.telem = telem; + this.index = index; + this.tick = tick; + } +} - public AltosTelemetryIterable (FileInputStream input) { - boolean saw_boost = false; - int current_tick = 0; - int boost_tick = 0; +class AltosTelemetryOrderedIterator implements Iterator { + Iterator iterator; + + public AltosTelemetryOrderedIterator(TreeSet telems) { + iterator = telems.iterator(); + } + + public boolean hasNext() { + return iterator.hasNext(); + } - AltosRecord previous = null; - records = new TreeSet (); + public AltosTelemetry next() { + return iterator.next().telem; + } + + public void remove () { + } +} + +public class AltosTelemetryIterable implements Iterable { + TreeSet telems; + int tick; + int index; + + public void add (AltosTelemetry telem) { + int t = telem.tick; + if (!telems.isEmpty()) { + while (t < tick - 32767) + t += 65536; + } + tick = t; + telems.add(new AltosTelemetryOrdered(telem, index++, tick)); + } + + public Iterator iterator () { + return new AltosTelemetryOrderedIterator(telems); + } + + public AltosTelemetryIterable (FileInputStream input) { + telems = new TreeSet (); + tick = 0; + index = 0; try { for (;;) { @@ -50,32 +91,10 @@ public class AltosTelemetryIterable extends AltosRecordIterable { break; } try { - AltosRecord record = AltosTelemetry.parse(line, previous); - if (record == null) + AltosTelemetry telem = AltosTelemetry.parse(line); + if (telem == 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 >= AltosLib.ao_flight_boost) - { - saw_boost = true; - boost_tick = record.tick; - } - if (record.acceleration() != AltosRecord.MISSING) - has_accel = true; - if (record.gps != null) - has_gps = true; - if (record.main_voltage() != AltosRecord.MISSING) - has_ignite = true; - if (previous != null && previous.tick != record.tick) - records.add(previous); - previous = record; + add(telem); } catch (ParseException pe) { System.out.printf("parse exception %s\n", pe.getMessage()); } catch (AltosCRCException ce) { @@ -84,26 +103,5 @@ public class AltosTelemetryIterable extends AltosRecordIterable { } 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) { - } } } diff --git a/altoslib/AltosTelemetryLegacy.java b/altoslib/AltosTelemetryLegacy.java new file mode 100644 index 00000000..132b9e80 --- /dev/null +++ b/altoslib/AltosTelemetryLegacy.java @@ -0,0 +1,556 @@ +/* + * Copyright © 2010 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +import java.text.*; + +/* + * 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 AltosTelemetryLegacy extends AltosTelemetry { + /* + * 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"; + + public int version; + public String callsign; + public int flight; + public int state; + + public AltosGPS gps; + public int gps_sequence; + + /* Telemetry sources have these values recorded from the flight computer */ + public double kalman_height; + public double kalman_speed; + public double kalman_acceleration; + + /* Sensor values */ + public int accel; + public int pres; + public int temp; + public int batt; + public int apogee; + public int main; + + public int ground_accel; + public int ground_pres; + public int accel_plus_g; + public int accel_minus_g; + + public int flight_accel; + public int flight_vel; + public int flight_pres; + + private void parse_v4(String[] words, int i) throws ParseException { + AltosTelemetryMap map = new AltosTelemetryMap(words, i); + + callsign = map.get_string(AO_TELEM_CALL, "N0CALL"); + serial = map.get_int(AO_TELEM_SERIAL, AltosLib.MISSING); + flight = map.get_int(AO_TELEM_FLIGHT, AltosLib.MISSING); + rssi = map.get_int(AO_TELEM_RSSI, AltosLib.MISSING); + state = AltosLib.state(map.get_string(AO_TELEM_STATE, "invalid")); + tick = map.get_int(AO_TELEM_TICK, 0); + + /* raw sensor values */ + accel = map.get_int(AO_TELEM_RAW_ACCEL, AltosLib.MISSING); + pres = map.get_int(AO_TELEM_RAW_BARO, AltosLib.MISSING); + temp = map.get_int(AO_TELEM_RAW_THERMO, AltosLib.MISSING); + batt = map.get_int(AO_TELEM_RAW_BATT, AltosLib.MISSING); + apogee = map.get_int(AO_TELEM_RAW_DROGUE, AltosLib.MISSING); + main = map.get_int(AO_TELEM_RAW_MAIN, AltosLib.MISSING); + + /* sensor calibration information */ + ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, AltosLib.MISSING); + ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, AltosLib.MISSING); + accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, AltosLib.MISSING); + accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, AltosLib.MISSING); + + /* flight computer values */ + kalman_acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, AltosLib.MISSING, 1/16.0); + kalman_speed = map.get_double(AO_TELEM_KALMAN_SPEED, AltosLib.MISSING, 1/16.0); + kalman_height = map.get_int(AO_TELEM_KALMAN_HEIGHT, AltosLib.MISSING); + + flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, AltosLib.MISSING); + flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, AltosLib.MISSING); + flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, AltosLib.MISSING); + + if (map.has(AO_TELEM_GPS_STATE)) + gps = new AltosGPS(map); + else + gps = null; + } + + private void parse_legacy(String[] words, int i) throws ParseException { + + AltosParse.word (words[i++], "CALL"); + callsign = words[i++]; + + AltosParse.word (words[i++], "SERIAL"); + serial = AltosParse.parse_int(words[i++]); + + if (version >= 2) { + AltosParse.word (words[i++], "FLIGHT"); + flight = AltosParse.parse_int(words[i++]); + } else + flight = 0; + + AltosParse.word(words[i++], "RSSI"); + rssi = AltosParse.parse_int(words[i++]); + + /* Older telemetry data had mis-computed RSSI value */ + if (version <= 2) + rssi = (rssi + 74) / 2 - 74; + + AltosParse.word(words[i++], "STATUS"); + status = AltosParse.parse_hex(words[i++]); + + AltosParse.word(words[i++], "STATE"); + state = AltosLib.state(words[i++]); + + tick = AltosParse.parse_int(words[i++]); + + AltosParse.word(words[i++], "a:"); + accel = AltosParse.parse_int(words[i++]); + + AltosParse.word(words[i++], "p:"); + pres = AltosParse.parse_int(words[i++]); + + AltosParse.word(words[i++], "t:"); + temp = AltosParse.parse_int(words[i++]); + + AltosParse.word(words[i++], "v:"); + batt = AltosParse.parse_int(words[i++]); + + AltosParse.word(words[i++], "d:"); + apogee = AltosParse.parse_int(words[i++]); + + AltosParse.word(words[i++], "m:"); + main = AltosParse.parse_int(words[i++]); + + AltosParse.word(words[i++], "fa:"); + flight_accel = AltosParse.parse_int(words[i++]); + + AltosParse.word(words[i++], "ga:"); + ground_accel = AltosParse.parse_int(words[i++]); + + AltosParse.word(words[i++], "fv:"); + flight_vel = AltosParse.parse_int(words[i++]); + + AltosParse.word(words[i++], "fp:"); + flight_pres = AltosParse.parse_int(words[i++]); + + /* Old TeleDongle code with kalman-reporting TeleMetrum code */ + if ((flight_vel & 0xffff0000) == 0x80000000) { + kalman_speed = ((short) flight_vel) / 16.0; + kalman_acceleration = flight_accel / 16.0; + kalman_height = flight_pres; + flight_vel = AltosLib.MISSING; + flight_pres = AltosLib.MISSING; + flight_accel = AltosLib.MISSING; + } else { + kalman_speed = AltosLib.MISSING; + kalman_acceleration = AltosLib.MISSING; + kalman_height = AltosLib.MISSING; + } + + AltosParse.word(words[i++], "gp:"); + ground_pres = AltosParse.parse_int(words[i++]); + + if (version >= 1) { + AltosParse.word(words[i++], "a+:"); + accel_plus_g = AltosParse.parse_int(words[i++]); + + AltosParse.word(words[i++], "a-:"); + accel_minus_g = AltosParse.parse_int(words[i++]); + } else { + accel_plus_g = ground_accel; + accel_minus_g = ground_accel + 530; + } + + gps = new AltosGPS(words, i, version); + gps_sequence++; + } + + public AltosTelemetryLegacy(String line) throws ParseException, AltosCRCException { + String[] words = line.split("\\s+"); + int i = 0; + + if (words[i].equals("CRC") && words[i+1].equals("INVALID")) { + i += 2; + AltosParse.word(words[i++], "RSSI"); + rssi = AltosParse.parse_int(words[i++]); + throw new AltosCRCException(rssi); + } + if (words[i].equals("CALL")) { + version = 0; + } else { + AltosParse.word (words[i++], "VERSION"); + version = AltosParse.parse_int(words[i++]); + } + + if (version < 4) + parse_legacy(words, i); + else + parse_v4(words, i); + } + + /* + * Given a hex dump of a legacy telemetry line, construct an AltosRecordTM from that + */ + + int[] bytes; + int adjust; + + /* + private int int8(int i) { + return AltosLib.int8(bytes, i + 1 + adjust); + } + */ + private int uint8(int i) { + return AltosLib.uint8(bytes, i + 1 + adjust); + } + private int int16(int i) { + return AltosLib.int16(bytes, i + 1 + adjust); + } + private int uint16(int i) { + return AltosLib.uint16(bytes, i + 1 + adjust); + } + private int uint32(int i) { + return AltosLib.uint32(bytes, i + 1 + adjust); + } + private String string(int i, int l) { + return AltosLib.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 AltosTelemetryLegacy(int[] in_bytes) { + bytes = in_bytes; + version = 4; + adjust = 0; + + if (bytes.length == AltosLib.ao_telemetry_0_8_len + 4) { + serial = uint8(0); + adjust = -1; + } else + serial = uint16(0); + + callsign = string(62, 8); + flight = uint16(2); + state = uint8(4); + tick = uint16(21); + accel = int16(23); + pres = int16(25); + temp = int16(27); + batt = int16(29); + apogee = int16(31); + main = int16(33); + + ground_accel = int16(7); + ground_pres = int16(15); + accel_plus_g = int16(17); + accel_minus_g = int16(19); + + if (uint16(11) == 0x8000) { + kalman_acceleration = int16(5); + kalman_speed = int16(9); + kalman_height = int16(13); + flight_accel = AltosLib.MISSING; + flight_vel = AltosLib.MISSING; + flight_pres = AltosLib.MISSING; + } else { + flight_accel = int16(5); + flight_vel = uint32(9); + flight_pres = int16(13); + kalman_acceleration = AltosLib.MISSING; + kalman_speed = AltosLib.MISSING; + kalman_height = AltosLib.MISSING; + } + + gps = null; + + int gps_flags = uint8(41); + + if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) { + gps = new AltosGPS(); + gps_sequence++; + + gps.nsat = (gps_flags & AO_GPS_NUM_SAT_MASK); + gps.locked = (gps_flags & AO_GPS_VALID) != 0; + gps.connected = true; + gps.lat = uint32(42) / 1.0e7; + gps.lon = uint32(46) / 1.0e7; + gps.alt = int16(50); + gps.ground_speed = uint16(52) / 100.0; + gps.course = uint8(54) * 2; + gps.hdop = uint8(55) / 5.0; + gps.h_error = uint16(58); + 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) { + 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) + gps.cc_gps_sat[n_tracking_actual++] = new AltosGPSSat(svid, c_n0); + } + } + } + } + + public void update_state(AltosState state) { + state.set_tick(tick); + state.set_state(this.state); + state.set_flight(flight); + state.set_serial(serial); + state.set_rssi(rssi, status); + + state.set_pressure(AltosConvert.barometer_to_pressure(pres)); + state.set_accel_g(accel_plus_g, accel_minus_g); + state.set_accel(accel); + if (kalman_height != AltosLib.MISSING) + state.set_kalman(kalman_height, kalman_speed, kalman_acceleration); + state.set_temperature(AltosConvert.thermometer_to_temperature(temp)); + state.set_battery_voltage(AltosConvert.cc_battery_to_voltage(batt)); + state.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(apogee)); + state.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(main)); + if (gps != null) + state.set_gps(gps, gps_sequence); + } +} diff --git a/altoslib/AltosTelemetryLocation.java b/altoslib/AltosTelemetryLocation.java new file mode 100644 index 00000000..6e880914 --- /dev/null +++ b/altoslib/AltosTelemetryLocation.java @@ -0,0 +1,88 @@ +/* + * Copyright © 2011 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + + +public class AltosTelemetryLocation extends AltosTelemetryStandard { + 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 AltosTelemetryLocation(int[] bytes) { + super(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 void update_state(AltosState state) { + super.update_state(state); + AltosGPS gps = state.make_temp_gps(false); + + gps.nsat = flags & 0xf; + gps.locked = (flags & (1 << 4)) != 0; + gps.connected = (flags & (1 << 5)) != 0; + + if (gps.locked) { + gps.lat = latitude * 1.0e-7; + gps.lon = longitude * 1.0e-7; + gps.alt = altitude; + gps.year = 2000 + year; + gps.month = month; + gps.day = day; + gps.hour = hour; + gps.minute = minute; + gps.second = second; + gps.ground_speed = ground_speed * 1.0e-2; + gps.course = course * 2; + gps.climb_rate = climb_rate * 1.0e-2; + gps.hdop = hdop; + gps.vdop = vdop; + } + state.set_temp_gps(); + } +} diff --git a/altoslib/AltosTelemetryMap.java b/altoslib/AltosTelemetryMap.java index 7cca98b0..37883a1c 100644 --- a/altoslib/AltosTelemetryMap.java +++ b/altoslib/AltosTelemetryMap.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.text.*; import java.util.HashMap; diff --git a/altoslib/AltosTelemetryMegaData.java b/altoslib/AltosTelemetryMegaData.java new file mode 100644 index 00000000..f5cc01d0 --- /dev/null +++ b/altoslib/AltosTelemetryMegaData.java @@ -0,0 +1,85 @@ +/* + * Copyright © 2011 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +public class AltosTelemetryMegaData extends AltosTelemetryStandard { + int state; + + int v_batt; + int v_pyro; + int sense[]; + + int ground_pres; + int ground_accel; + int accel_plus_g; + int accel_minus_g; + + int acceleration; + int speed; + int height; + + public AltosTelemetryMegaData(int[] bytes) { + super(bytes); + + state = int8(5); + + v_batt = int16(6); + v_pyro = int16(8); + + sense = new int[6]; + + for (int i = 0; i < 6; i++) { + sense[i] = int8(10 + i) << 4; + sense[i] |= sense[i] >> 8; + } + + ground_pres = int32(16); + ground_accel = int16(20); + accel_plus_g = int16(22); + accel_minus_g = int16(24); + + acceleration = int16(26); + speed = int16(28); + height = int16(30); + } + + public void update_state(AltosState state) { + super.update_state(state); + + state.set_state(this.state); + + state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt)); + state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pyro)); + + state.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense[4])); + state.set_main_voltage(AltosConvert.mega_pyro_voltage(sense[5])); + + double voltages[] = new double[4]; + for (int i = 0; i < 4; i++) + voltages[i] = AltosConvert.mega_pyro_voltage(sense[i]); + + state.set_ignitor_voltage(voltages); + + state.set_ground_accel(ground_accel); + state.set_ground_pressure(ground_pres); + state.set_accel_g(accel_plus_g, accel_minus_g); + + state.set_kalman(height, speed/16.0, acceleration / 16.0); + } +} + diff --git a/altoslib/AltosTelemetryMegaSensor.java b/altoslib/AltosTelemetryMegaSensor.java new file mode 100644 index 00000000..23b67af8 --- /dev/null +++ b/altoslib/AltosTelemetryMegaSensor.java @@ -0,0 +1,84 @@ +/* + * Copyright © 2011 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +public class AltosTelemetryMegaSensor extends AltosTelemetryStandard { + int accel; + int pres; + int temp; + + int accel_x; + int accel_y; + int accel_z; + + int gyro_x; + int gyro_y; + int gyro_z; + + int mag_x; + int mag_y; + int mag_z; + + public AltosTelemetryMegaSensor(int[] bytes) { + super(bytes); + + accel = int16(6); + pres = int32(8); + temp = int16(12); + + accel_x = int16(14); + accel_y = int16(16); + accel_z = int16(18); + + gyro_x = int16(20); + gyro_y = int16(22); + gyro_z = int16(24); + + mag_x = int16(26); + mag_y = int16(28); + mag_z = int16(30); + } + + public void update_state(AltosState state) { + super.update_state(state); + + state.set_accel(accel); + state.set_pressure(pres); + state.set_temperature(temp / 100.0); + + AltosIMU imu = new AltosIMU(); + + imu.accel_x = accel_x; + imu.accel_y = accel_y; + imu.accel_z = accel_z; + + imu.gyro_x = gyro_x; + imu.gyro_y = gyro_y; + imu.gyro_z = gyro_z; + + state.imu = imu; + + AltosMag mag = new AltosMag(); + + mag.x = mag_x; + mag.y = mag_y; + mag.z = mag_z; + + state.mag = mag; + } +} diff --git a/altoslib/AltosTelemetryMetrumData.java b/altoslib/AltosTelemetryMetrumData.java new file mode 100644 index 00000000..b6239971 --- /dev/null +++ b/altoslib/AltosTelemetryMetrumData.java @@ -0,0 +1,42 @@ +/* + * Copyright © 2011 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + + +public class AltosTelemetryMetrumData extends AltosTelemetryStandard { + + int ground_pres; + int ground_accel; + int accel_plus_g; + int accel_minus_g; + + public AltosTelemetryMetrumData(int[] bytes) { + super(bytes); + + ground_pres = int32(8); + ground_accel = int16(12); + accel_plus_g = int16(14); + accel_minus_g = int16(16); + } + + public void update_state(AltosState state) { + state.set_ground_accel(ground_accel); + state.set_accel_g(accel_plus_g, accel_minus_g); + state.set_ground_pressure(ground_pres); + } +} diff --git a/altoslib/AltosTelemetryMetrumSensor.java b/altoslib/AltosTelemetryMetrumSensor.java new file mode 100644 index 00000000..fc047afd --- /dev/null +++ b/altoslib/AltosTelemetryMetrumSensor.java @@ -0,0 +1,69 @@ +/* + * Copyright © 2011 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + + +public class AltosTelemetryMetrumSensor extends AltosTelemetryStandard { + int state; + + int accel; + int pres; + int temp; + + int acceleration; + int speed; + int height; + + int v_batt; + int sense_a; + int sense_m; + + public AltosTelemetryMetrumSensor(int[] bytes) { + super(bytes); + + state = int8(5); + accel = int16(6); + pres = int32(8); + temp = int16(12); + + acceleration = int16(14); + speed = int16(16); + height = int16(18); + + v_batt = int16(20); + sense_a = int16(22); + sense_m = int16(24); + } + + public void update_state(AltosState state) { + super.update_state(state); + + state.set_state(this.state); + + state.set_accel(accel); + state.set_pressure(pres); + state.set_temperature(temp/100.0); + + state.set_kalman(height, speed/16.0, acceleration/16.0); + + 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)); + } +} diff --git a/altoslib/AltosTelemetryMini.java b/altoslib/AltosTelemetryMini.java new file mode 100644 index 00000000..e7109460 --- /dev/null +++ b/altoslib/AltosTelemetryMini.java @@ -0,0 +1,72 @@ +/* + * Copyright © 2011 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + + +public class AltosTelemetryMini extends AltosTelemetryStandard { + int state; + + int v_batt; + int sense_a; + int sense_m; + + int pres; + int temp; + + int acceleration; + int speed; + int height; + + int ground_pres; + + public AltosTelemetryMini(int[] bytes) { + super(bytes); + + state = int8(5); + + v_batt = int16(6); + sense_a = int16(8); + sense_m = int16(10); + + pres = int32(12); + temp = int16(16); + + acceleration = int16(18); + speed = int16(20); + height = int16(22); + + ground_pres = int32(24); + } + + public void update_state(AltosState state) { + super.update_state(state); + + state.set_state(this.state); + + state.set_battery_voltage(AltosConvert.tele_mini_voltage(v_batt)); + state.set_apogee_voltage(AltosConvert.tele_mini_voltage(sense_a)); + state.set_main_voltage(AltosConvert.tele_mini_voltage(sense_m)); + + state.set_ground_pressure(ground_pres); + + state.set_pressure(pres); + state.set_temperature(temp/100.0); + + state.set_kalman(height, speed/16.0, acceleration/16.0); + } +} diff --git a/altoslib/AltosTelemetryRaw.java b/altoslib/AltosTelemetryRaw.java new file mode 100644 index 00000000..dbe70fe9 --- /dev/null +++ b/altoslib/AltosTelemetryRaw.java @@ -0,0 +1,28 @@ +/* + * Copyright © 2011 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +public class AltosTelemetryRaw extends AltosTelemetryStandard { + public AltosTelemetryRaw(int[] bytes) { + super(bytes); + } + + public void update_state(AltosState state) { + super.update_state(state); + } +} diff --git a/altoslib/AltosTelemetryReader.java b/altoslib/AltosTelemetryReader.java index b4293c73..aea97844 100644 --- a/altoslib/AltosTelemetryReader.java +++ b/altoslib/AltosTelemetryReader.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; import java.text.*; import java.io.*; @@ -24,19 +24,23 @@ import java.util.concurrent.*; public class AltosTelemetryReader extends AltosFlightReader { AltosLink link; AltosLog log; - AltosRecord previous; double frequency; int telemetry; + AltosState state = null; LinkedBlockingQueue telem; - public AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException { + public AltosState 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; + AltosTelemetry telem = AltosTelemetry.parse(l.line); + if (state == null) + state = new AltosState(); + else + state = state.clone(); + telem.update_state(state); + return state; } public void flush() { @@ -44,7 +48,6 @@ public class AltosTelemetryReader extends AltosFlightReader { } public void reset() { - previous = null; flush(); } @@ -121,7 +124,6 @@ public class AltosTelemetryReader extends AltosFlightReader { try { log = new AltosLog(link); name = link.name; - previous = null; telem = new LinkedBlockingQueue(); frequency = AltosPreferences.frequency(link.serial); set_frequency(frequency); diff --git a/altoslib/AltosTelemetryRecord.java b/altoslib/AltosTelemetryRecord.java deleted file mode 100644 index fdc3c88e..00000000 --- a/altoslib/AltosTelemetryRecord.java +++ /dev/null @@ -1,135 +0,0 @@ -/* - * Copyright © 2011 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; -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; - final static int packet_type_MM_sensor = 0x08; - final static int packet_type_MM_data = 0x09; - - static AltosTelemetryRecord parse_hex(String hex) throws ParseException, AltosCRCException { - AltosTelemetryRecord r; - - int[] bytes; - try { - bytes = AltosLib.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 = AltosLib.int8(bytes, bytes.length - 3) / 2 - 74; - int status = AltosLib.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 AltosLib.ao_telemetry_standard_len + 4: - int type = AltosLib.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, rssi); - break; - case packet_type_location: - r = new AltosTelemetryRecordLocation(bytes, rssi); - break; - case packet_type_satellite: - r = new AltosTelemetryRecordSatellite(bytes, rssi); - break; - case packet_type_companion: - r = new AltosTelemetryRecordCompanion(bytes, rssi); - break; - case packet_type_MM_sensor: - r = new AltosTelemetryRecordMegaSensor(bytes, rssi); - break; - case packet_type_MM_data: - r = new AltosTelemetryRecordMegaData(bytes, rssi); - break; - default: - r = new AltosTelemetryRecordRaw(bytes, rssi); - break; - } - break; - case AltosLib.ao_telemetry_0_9_len + 4: - r = new AltosTelemetryRecordLegacy(bytes, rssi, status); - break; - case AltosLib.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; - } -} diff --git a/altoslib/AltosTelemetryRecordCompanion.java b/altoslib/AltosTelemetryRecordCompanion.java deleted file mode 100644 index 2231df13..00000000 --- a/altoslib/AltosTelemetryRecordCompanion.java +++ /dev/null @@ -1,52 +0,0 @@ -/* - * Copyright © 2011 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - -public class AltosTelemetryRecordCompanion extends AltosTelemetryRecordRaw { - - AltosRecordCompanion companion; - - public AltosTelemetryRecordCompanion(int[] in_bytes, int rssi) { - super(in_bytes, rssi); - - 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; - } -} diff --git a/altoslib/AltosTelemetryRecordConfiguration.java b/altoslib/AltosTelemetryRecordConfiguration.java deleted file mode 100644 index 47fc3488..00000000 --- a/altoslib/AltosTelemetryRecordConfiguration.java +++ /dev/null @@ -1,64 +0,0 @@ -/* - * Copyright © 2011 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - - -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, int rssi) { - super(in_bytes, rssi); - - 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; - } -} diff --git a/altoslib/AltosTelemetryRecordGeneral.java b/altoslib/AltosTelemetryRecordGeneral.java deleted file mode 100644 index 08cd6065..00000000 --- a/altoslib/AltosTelemetryRecordGeneral.java +++ /dev/null @@ -1,41 +0,0 @@ -/* - * Copyright © 2011 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - -import java.text.*; - -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; - } -} diff --git a/altoslib/AltosTelemetryRecordLegacy.java b/altoslib/AltosTelemetryRecordLegacy.java deleted file mode 100644 index f2d3f868..00000000 --- a/altoslib/AltosTelemetryRecordLegacy.java +++ /dev/null @@ -1,521 +0,0 @@ -/* - * Copyright © 2010 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - -import java.text.*; - -/* - * 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"; - - AltosRecordTM 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 = AltosLib.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.kalman_acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, AltosRecord.MISSING, 1/16.0); - record.kalman_speed = map.get_double(AO_TELEM_KALMAN_SPEED, AltosRecord.MISSING, 1/16.0); - record.kalman_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.gps_sequence++; - } - 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 = AltosLib.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.kalman_speed = ((short) record.flight_vel) / 16.0; - record.kalman_acceleration = record.flight_accel / 16.0; - record.kalman_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.gps_sequence++; - } - - public AltosTelemetryRecordLegacy(String line) throws ParseException, AltosCRCException { - String[] words = line.split("\\s+"); - int i = 0; - - record = new AltosRecordTM(); - - 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 AltosRecordTM from that - */ - - int[] bytes; - int adjust; - - /* - private int int8(int i) { - return AltosLib.int8(bytes, i + 1 + adjust); - } - */ - private int uint8(int i) { - return AltosLib.uint8(bytes, i + 1 + adjust); - } - private int int16(int i) { - return AltosLib.int16(bytes, i + 1 + adjust); - } - private int uint16(int i) { - return AltosLib.uint16(bytes, i + 1 + adjust); - } - private int uint32(int i) { - return AltosLib.uint32(bytes, i + 1 + adjust); - } - private String string(int i, int l) { - return AltosLib.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 AltosRecordTM(); - - bytes = in_bytes; - record.version = 4; - adjust = 0; - - if (bytes.length == AltosLib.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.kalman_acceleration = int16(5); - record.kalman_speed = int16(9); - record.kalman_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.kalman_acceleration = AltosRecord.MISSING; - record.kalman_speed = AltosRecord.MISSING; - record.kalman_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.gps_sequence++; - - record.seen |= AltosRecord.seen_gps_time | AltosRecord.seen_gps_lat | AltosRecord.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; - } -} diff --git a/altoslib/AltosTelemetryRecordLocation.java b/altoslib/AltosTelemetryRecordLocation.java deleted file mode 100644 index 0236d291..00000000 --- a/altoslib/AltosTelemetryRecordLocation.java +++ /dev/null @@ -1,93 +0,0 @@ -/* - * Copyright © 2011 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - - -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, int rssi) { - super(in_bytes, rssi); - - 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.gps_sequence++; - } - - return next; - } -} diff --git a/altoslib/AltosTelemetryRecordMegaData.java b/altoslib/AltosTelemetryRecordMegaData.java deleted file mode 100644 index a484ef4e..00000000 --- a/altoslib/AltosTelemetryRecordMegaData.java +++ /dev/null @@ -1,94 +0,0 @@ -/* - * Copyright © 2011 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - - -public class AltosTelemetryRecordMegaData extends AltosTelemetryRecordRaw { - - int state; - - int v_batt; - int v_pyro; - int sense[]; - - int ground_pres; - int ground_accel; - int accel_plus_g; - int accel_minus_g; - - int acceleration; - int speed; - int height; - - public AltosTelemetryRecordMegaData(int[] in_bytes, int rssi) { - super(in_bytes, rssi); - - state = int8(5); - - v_batt = int16(6); - v_pyro = int16(8); - - sense = new int[6]; - - for (int i = 0; i < 6; i++) { - sense[i] = int8(10 + i) << 4; - sense[i] |= sense[i] >> 8; - } - - ground_pres = int32(16); - ground_accel = int16(20); - accel_plus_g = int16(22); - accel_minus_g = int16(24); - - acceleration = int16(26); - speed = int16(28); - height = int16(30); - } - - public AltosRecord update_state(AltosRecord previous) { - AltosRecord n = super.update_state(previous); - - AltosRecordMM next; - if (!(n instanceof AltosRecordMM)) { - next = new AltosRecordMM(n); - } else { - next = (AltosRecordMM) n; - } - - next.state = state; - - next.v_batt = v_batt; - next.v_pyro = v_pyro; - - for (int i = 0; i < 6; i++) - next.sense[i] = sense[i]; - - next.ground_accel = ground_accel; - next.ground_pres = ground_pres; - next.accel_plus_g = accel_plus_g; - next.accel_minus_g = accel_minus_g; - - next.kalman_acceleration = acceleration / 16.0; - next.kalman_speed = speed / 16.0; - next.kalman_height = height; - - next.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt; - - return next; - } -} diff --git a/altoslib/AltosTelemetryRecordMegaSensor.java b/altoslib/AltosTelemetryRecordMegaSensor.java deleted file mode 100644 index 2a4b17a4..00000000 --- a/altoslib/AltosTelemetryRecordMegaSensor.java +++ /dev/null @@ -1,88 +0,0 @@ -/* - * Copyright © 2011 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - - -public class AltosTelemetryRecordMegaSensor extends AltosTelemetryRecordRaw { - int accel; - int pres; - int temp; - - int accel_x; - int accel_y; - int accel_z; - - int gyro_x; - int gyro_y; - int gyro_z; - - int mag_x; - int mag_y; - int mag_z; - - public AltosTelemetryRecordMegaSensor(int[] in_bytes, int rssi) { - super(in_bytes, rssi); - - accel = int16(6); - pres = int32(8); - temp = int16(12); - - accel_x = int16(14); - accel_y = int16(16); - accel_z = int16(18); - - gyro_x = int16(20); - gyro_y = int16(22); - gyro_z = int16(24); - - mag_x = int16(26); - mag_y = int16(28); - mag_z = int16(30); - } - - public AltosRecord update_state(AltosRecord previous) { - AltosRecord n = super.update_state(previous); - - AltosRecordMM next; - if (!(n instanceof AltosRecordMM)) { - next = new AltosRecordMM(n); - } else { - next = (AltosRecordMM) n; - } - - next.accel = accel; - next.pres = pres; - next.temp = temp; - - next.imu.accel_x = accel_x; - next.imu.accel_y = accel_y; - next.imu.accel_z = accel_z; - - next.imu.gyro_x = gyro_x; - next.imu.gyro_y = gyro_y; - next.imu.gyro_z = gyro_z; - - next.mag.x = mag_x; - next.mag.y = mag_y; - next.mag.z = mag_z; - - next.seen |= AltosRecord.seen_sensor; - - return next; - } -} diff --git a/altoslib/AltosTelemetryRecordRaw.java b/altoslib/AltosTelemetryRecordRaw.java deleted file mode 100644 index f94789bb..00000000 --- a/altoslib/AltosTelemetryRecordRaw.java +++ /dev/null @@ -1,81 +0,0 @@ -/* - * Copyright © 2011 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - -public class AltosTelemetryRecordRaw extends AltosTelemetryRecord { - int[] bytes; - int serial; - int tick; - int type; - int rssi; - - long received_time; - - public int int8(int off) { - return AltosLib.int8(bytes, off + 1); - } - - public int uint8(int off) { - return AltosLib.uint8(bytes, off + 1); - } - - public int int16(int off) { - return AltosLib.int16(bytes, off + 1); - } - - public int uint16(int off) { - return AltosLib.uint16(bytes, off + 1); - } - - public int uint32(int off) { - return AltosLib.uint32(bytes, off + 1); - } - - public int int32(int off) { - return AltosLib.int32(bytes, off + 1); - } - - public String string(int off, int l) { - return AltosLib.string(bytes, off + 1, l); - } - - public AltosTelemetryRecordRaw(int[] in_bytes, int in_rssi) { - bytes = in_bytes; - serial = uint16(0); - tick = uint16(2); - type = uint8(4); - rssi = in_rssi; - } - - public AltosRecord update_state(AltosRecord previous) { - AltosRecord next; - - if (previous != null && previous.serial == serial) - next = previous.clone(); - else - next = new AltosRecordNone(); - next.serial = serial; - next.tick = tick; - next.rssi = rssi; - return next; - } - - public long received_time() { - return received_time; - } -} diff --git a/altoslib/AltosTelemetryRecordSatellite.java b/altoslib/AltosTelemetryRecordSatellite.java deleted file mode 100644 index 9835389b..00000000 --- a/altoslib/AltosTelemetryRecordSatellite.java +++ /dev/null @@ -1,52 +0,0 @@ -/* - * Copyright © 2011 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - -public class AltosTelemetryRecordSatellite extends AltosTelemetryRecordRaw { - int channels; - AltosGPSSat[] sats; - - public AltosTelemetryRecordSatellite(int[] in_bytes, int rssi) { - super(in_bytes, rssi); - - 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; - } -} diff --git a/altoslib/AltosTelemetryRecordSensor.java b/altoslib/AltosTelemetryRecordSensor.java deleted file mode 100644 index e0e92c13..00000000 --- a/altoslib/AltosTelemetryRecordSensor.java +++ /dev/null @@ -1,104 +0,0 @@ -/* - * Copyright © 2011 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -package org.altusmetrum.altoslib_1; - - -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; - - public AltosTelemetryRecordSensor(int[] in_bytes, int rssi) { - super(in_bytes, rssi); - 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); - } - - public AltosRecord update_state(AltosRecord prev) { - AltosRecord n = super.update_state(prev); - - AltosRecordTM next; - if (!(n instanceof AltosRecordTM)) - next = new AltosRecordTM(n); - else - next = (AltosRecordTM) n; - - 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.kalman_acceleration = acceleration / 16.0; - next.kalman_speed = speed / 16.0; - next.kalman_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.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt; - - return next; - } -} diff --git a/altoslib/AltosTelemetrySatellite.java b/altoslib/AltosTelemetrySatellite.java new file mode 100644 index 00000000..fde3d86d --- /dev/null +++ b/altoslib/AltosTelemetrySatellite.java @@ -0,0 +1,50 @@ +/* + * Copyright © 2011 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +public class AltosTelemetrySatellite extends AltosTelemetryStandard { + int channels; + AltosGPSSat[] sats; + + public AltosTelemetrySatellite(int[] bytes) { + super(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 void update_state(AltosState state) { + super.update_state(state); + + AltosGPS gps = state.make_temp_gps(true); + + gps.cc_gps_sat = sats; + state.set_temp_gps(); + } +} diff --git a/altoslib/AltosTelemetrySensor.java b/altoslib/AltosTelemetrySensor.java new file mode 100644 index 00000000..e1106440 --- /dev/null +++ b/altoslib/AltosTelemetrySensor.java @@ -0,0 +1,80 @@ +/* + * Copyright © 2011 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + + +public class AltosTelemetrySensor extends AltosTelemetryStandard { + 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; + + public AltosTelemetrySensor(int[] bytes) { + super(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); + } + + public void update_state(AltosState state) { + super.update_state(state); + + state.set_state(this.state); + if (type == packet_type_TM_sensor) { + state.set_ground_accel(ground_accel); + state.set_accel_g(accel_plus_g, accel_minus_g); + state.set_accel(accel); + } + state.set_ground_pressure(AltosConvert.barometer_to_pressure(ground_pres)); + state.set_pressure(AltosConvert.barometer_to_pressure(pres)); + state.set_temperature(AltosConvert.thermometer_to_temperature(temp)); + state.set_battery_voltage(AltosConvert.cc_battery_to_voltage(v_batt)); + if (type == packet_type_TM_sensor || type == packet_type_Tm_sensor) { + state.set_apogee_voltage(AltosConvert.cc_ignitor_to_voltage(sense_d)); + state.set_main_voltage(AltosConvert.cc_ignitor_to_voltage(sense_m)); + } + + state.set_kalman(height, speed/16.0, acceleration / 16.0); + } +} diff --git a/altoslib/AltosTelemetryStandard.java b/altoslib/AltosTelemetryStandard.java new file mode 100644 index 00000000..3186ae09 --- /dev/null +++ b/altoslib/AltosTelemetryStandard.java @@ -0,0 +1,109 @@ +/* + * Copyright © 2011 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.altoslib_2; + +public abstract class AltosTelemetryStandard extends AltosTelemetry { + int[] bytes; + int type; + + public int int8(int off) { + return AltosLib.int8(bytes, off + 1); + } + + public int uint8(int off) { + return AltosLib.uint8(bytes, off + 1); + } + + public int int16(int off) { + return AltosLib.int16(bytes, off + 1); + } + + public int uint16(int off) { + return AltosLib.uint16(bytes, off + 1); + } + + public int uint32(int off) { + return AltosLib.uint32(bytes, off + 1); + } + + public int int32(int off) { + return AltosLib.int32(bytes, off + 1); + } + + public String string(int off, int l) { + return AltosLib.string(bytes, off + 1, l); + } + + public static AltosTelemetry parse_hex(int[] bytes) { + int type = AltosLib.uint8(bytes, 4 + 1); + + AltosTelemetry telem; + switch (type) { + case packet_type_TM_sensor: + case packet_type_Tm_sensor: + case packet_type_Tn_sensor: + telem = new AltosTelemetrySensor(bytes); + break; + case packet_type_configuration: + telem = new AltosTelemetryConfiguration(bytes); + break; + case packet_type_location: + telem = new AltosTelemetryLocation(bytes); + break; + case packet_type_satellite: + telem = new AltosTelemetrySatellite(bytes); + break; +/* + case packet_type_companion: + telem = new AltosTelemetryCompanion(bytes); + break; +*/ + case packet_type_mega_sensor: + telem = new AltosTelemetryMegaSensor(bytes); + break; + case packet_type_mega_data: + telem = new AltosTelemetryMegaData(bytes); + break; + case packet_type_metrum_sensor: + telem = new AltosTelemetryMetrumSensor(bytes); + break; + case packet_type_metrum_data: + telem = new AltosTelemetryMetrumData(bytes); + break; + case packet_type_mini: + telem = new AltosTelemetryMini(bytes); + break; + default: + telem = new AltosTelemetryRaw(bytes); + break; + } + return telem; + } + + public AltosTelemetryStandard(int[] bytes) { + this.bytes = bytes; + + serial = uint16(0); + tick = uint16(2); + type = uint8(4); + } + + public void update_state(AltosState state) { + super.update_state(state); + } +} diff --git a/altoslib/AltosTemperature.java b/altoslib/AltosTemperature.java index 2749eac0..0105fe53 100644 --- a/altoslib/AltosTemperature.java +++ b/altoslib/AltosTemperature.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; public class AltosTemperature extends AltosUnits { diff --git a/altoslib/AltosUnits.java b/altoslib/AltosUnits.java index b8b3254c..ee74f916 100644 --- a/altoslib/AltosUnits.java +++ b/altoslib/AltosUnits.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; public abstract class AltosUnits { diff --git a/altoslib/AltosUnitsListener.java b/altoslib/AltosUnitsListener.java index 61a181a4..1e3ad655 100644 --- a/altoslib/AltosUnitsListener.java +++ b/altoslib/AltosUnitsListener.java @@ -15,7 +15,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_1; +package org.altusmetrum.altoslib_2; public interface AltosUnitsListener { public void units_changed(boolean imperial_units); diff --git a/altoslib/Makefile.am b/altoslib/Makefile.am index 8c1cf2ad..c1cf053c 100644 --- a/altoslib/Makefile.am +++ b/altoslib/Makefile.am @@ -9,77 +9,93 @@ CLASSPATH_ENV=mkdir -p $(JAVAROOT); CLASSPATH="bin:$(FREETTS)/*:/usr/share/java/ SRC=. altoslibdir = $(datadir)/java +record_files = \ + AltosEepromRecord.java \ + AltosEepromTeleScience.java \ + AltosRecordCompanion.java \ + AltosRecordIterable.java \ + AltosOrderedRecord.java \ + AltosOrderedMegaRecord.java \ + AltosOrderedMiniRecord.java \ + AltosRecord.java \ + AltosRecordNone.java \ + AltosRecordTM.java \ + AltosRecordMM.java \ + AltosRecordMini.java + altoslib_JAVA = \ AltosLib.java \ + AltosCompanion.java \ AltosConfigData.java \ AltosConfigValues.java \ AltosConvert.java \ AltosCRCException.java \ AltosDebug.java \ + AltosEeprom.java \ AltosEepromChunk.java \ + AltosEepromFile.java \ + AltosEepromTM.java \ + AltosEepromTm.java \ + AltosEepromHeader.java \ AltosEepromIterable.java \ AltosEepromLog.java \ AltosEepromMega.java \ - AltosEepromMegaIterable.java \ - AltosEepromRecord.java \ - AltosEepromTeleScience.java \ + AltosEepromMetrum2.java \ AltosEepromMini.java \ - AltosEepromMiniIterable.java \ AltosFile.java \ AltosFlash.java \ AltosFlashListener.java \ AltosFlightReader.java \ AltosFrequency.java \ AltosGPS.java \ - AltosGPSQuery.java \ AltosGPSSat.java \ AltosGreatCircle.java \ AltosHexfile.java \ + AltosIdle.java \ + AltosIdleFetch.java \ AltosIdleMonitor.java \ AltosIdleMonitorListener.java \ AltosIgnite.java \ AltosIMU.java \ - AltosIMUQuery.java \ AltosLine.java \ AltosLink.java \ AltosListenerState.java \ AltosLog.java \ + AltosMag.java \ + AltosMma655x.java \ AltosMs5607.java \ - AltosMs5607Query.java \ - AltosOrderedRecord.java \ - AltosOrderedMegaRecord.java \ - AltosOrderedMiniRecord.java \ AltosParse.java \ AltosPreferences.java \ AltosPreferencesBackend.java \ - AltosRecordCompanion.java \ - AltosRecordIterable.java \ - AltosRecord.java \ - AltosRecordNone.java \ - AltosRecordTM.java \ - AltosRecordMM.java \ - AltosRecordMini.java \ AltosReplayReader.java \ AltosRomconfig.java \ AltosSensorMM.java \ + AltosSensorEMini.java \ AltosSensorTM.java \ + AltosSensorTMini.java \ + AltosSensorMega.java \ + AltosSensorMetrum.java \ AltosState.java \ + AltosStateIterable.java \ + AltosStateUpdate.java \ AltosTelemetry.java \ + AltosTelemetryConfiguration.java \ + AltosTelemetryFile.java \ AltosTelemetryIterable.java \ + AltosTelemetryLegacy.java \ + AltosTelemetryLocation.java \ AltosTelemetryMap.java \ + AltosTelemetryMegaSensor.java \ + AltosTelemetryMegaData.java \ + AltosTelemetryMini.java \ + AltosTelemetryMetrumSensor.java \ + AltosTelemetryMetrumData.java \ AltosTelemetryReader.java \ - AltosTelemetryRecordCompanion.java \ - AltosTelemetryRecordConfiguration.java \ - AltosTelemetryRecordGeneral.java \ - AltosTelemetryRecord.java \ - AltosTelemetryRecordLegacy.java \ - AltosTelemetryRecordLocation.java \ - AltosTelemetryRecordRaw.java \ - AltosTelemetryRecordSatellite.java \ - AltosTelemetryRecordSensor.java \ - AltosTelemetryRecordMegaSensor.java \ - AltosTelemetryRecordMegaData.java \ + AltosTelemetryRaw.java \ + AltosTelemetrySensor.java \ + AltosTelemetrySatellite.java \ + AltosTelemetryStandard.java \ AltosUnitsListener.java \ AltosMs5607.java \ AltosIMU.java \ diff --git a/altosui/Altos.java b/altosui/Altos.java index d25736bf..07280b4a 100644 --- a/altosui/Altos.java +++ b/altosui/Altos.java @@ -20,7 +20,7 @@ package altosui; import java.awt.*; import libaltosJNI.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class Altos extends AltosUILib { diff --git a/altosui/AltosAscent.java b/altosui/AltosAscent.java index 4da4d591..1d9af546 100644 --- a/altosui/AltosAscent.java +++ b/altosui/AltosAscent.java @@ -19,7 +19,7 @@ package altosui; import java.awt.*; import javax.swing.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosAscent extends JComponent implements AltosFlightDisplay { GridBagLayout layout; @@ -179,7 +179,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { void reset() { value.setText(""); max_value.setText(""); - max = AltosRecord.MISSING; + max = AltosLib.MISSING; } void set_font() { @@ -189,12 +189,12 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { } void show(AltosUnits units, double v) { - if (v == AltosRecord.MISSING) { + if (v == AltosLib.MISSING) { value.setText("Missing"); max_value.setText("Missing"); } else { value.setText(units.show(8, v)); - if (v > max || max == AltosRecord.MISSING) { + if (v > max || max == AltosLib.MISSING) { max_value.setText(units.show(8, v)); max = v; } @@ -240,7 +240,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { class Height extends AscentValueHold { void show (AltosState state, AltosListenerState listener_state) { - show(AltosConvert.height, state.height); + show(AltosConvert.height, state.height()); } public Height (GridBagLayout layout, int y) { super (layout, y, "Height"); @@ -251,10 +251,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { class Speed extends AscentValueHold { void show (AltosState state, AltosListenerState listener_state) { - double speed = state.accel_speed; - if (!state.ascent) - speed = state.baro_speed; - show(AltosConvert.speed, speed); + show(AltosConvert.speed, state.speed()); } public Speed (GridBagLayout layout, int y) { super (layout, y, "Speed"); @@ -265,7 +262,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { class Accel extends AscentValueHold { void show (AltosState state, AltosListenerState listener_state) { - show(AltosConvert.accel, state.acceleration); + show(AltosConvert.accel, state.acceleration()); } public Accel (GridBagLayout layout, int y) { super (layout, y, "Acceleration"); @@ -287,8 +284,8 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { class Apogee extends AscentStatus { void show (AltosState state, AltosListenerState listener_state) { - show("%4.2f V", state.drogue_sense); - lights.set(state.drogue_sense > 3.2); + show("%4.2f V", state.apogee_voltage); + lights.set(state.apogee_voltage > 3.7); } public Apogee (GridBagLayout layout, int y) { super(layout, y, "Apogee Igniter Voltage"); @@ -299,8 +296,8 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { class Main extends AscentStatus { void show (AltosState state, AltosListenerState listener_state) { - show("%4.2f V", state.main_sense); - lights.set(state.main_sense > 3.2); + show("%4.2f V", state.main_voltage); + lights.set(state.main_voltage > 3.7); } public Main (GridBagLayout layout, int y) { super(layout, y, "Main Igniter Voltage"); @@ -311,7 +308,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { class Lat extends AscentValue { void show (AltosState state, AltosListenerState listener_state) { - if (state.gps != null) + if (state.gps != null && state.gps.connected && state.gps.lat != AltosLib.MISSING) show(pos(state.gps.lat,"N", "S")); else show("???"); @@ -325,7 +322,7 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { class Lon extends AscentValue { void show (AltosState state, AltosListenerState listener_state) { - if (state.gps != null) + if (state.gps != null && state.gps.connected && state.gps.lon != AltosLib.MISSING) show(pos(state.gps.lon,"E", "W")); else show("???"); @@ -368,11 +365,11 @@ public class AltosAscent extends JComponent implements AltosFlightDisplay { lon.hide(); } height.show(state, listener_state); - if (state.main_sense != AltosRecord.MISSING) + if (state.main_voltage != AltosLib.MISSING) main.show(state, listener_state); else main.hide(); - if (state.drogue_sense != AltosRecord.MISSING) + if (state.apogee_voltage != AltosLib.MISSING) apogee.show(state, listener_state); else apogee.hide(); diff --git a/altosui/AltosBTKnown.java b/altosui/AltosBTKnown.java index 1d42365b..a1652ec4 100644 --- a/altosui/AltosBTKnown.java +++ b/altosui/AltosBTKnown.java @@ -17,7 +17,7 @@ package altosui; import java.util.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class AltosBTKnown implements Iterable { diff --git a/altosui/AltosCSV.java b/altosui/AltosCSV.java index 0676f99d..7598eca0 100644 --- a/altosui/AltosCSV.java +++ b/altosui/AltosCSV.java @@ -19,7 +19,7 @@ package altosui; import java.io.*; import java.util.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosCSV implements AltosWriter { File name; @@ -27,7 +27,7 @@ public class AltosCSV implements AltosWriter { boolean header_written; boolean seen_boost; int boost_tick; - LinkedList pad_records; + LinkedList pad_states; AltosState state; static final int ALTOS_CSV_VERSION = 5; @@ -105,47 +105,47 @@ public class AltosCSV implements AltosWriter { out.printf("version,serial,flight,call,time,clock,rssi,lqi"); } - void write_general(AltosRecord record) { + void write_general(AltosState state) { out.printf("%s, %d, %d, %s, %8.2f, %8.2f, %4d, %3d", - ALTOS_CSV_VERSION, record.serial, record.flight, record.callsign, - (double) record.time, (double) record.tick / 100.0, - record.rssi, - record.status & 0x7f); + ALTOS_CSV_VERSION, state.serial, state.flight, state.callsign, + (double) state.time, (double) state.tick / 100.0, + state.rssi, + state.status & 0x7f); } void write_flight_header() { out.printf("state,state_name"); } - void write_flight(AltosRecord record) { - out.printf("%d,%8s", record.state, record.state()); + void write_flight(AltosState state) { + out.printf("%d,%8s", state.state, state.state_name()); } void write_basic_header() { out.printf("acceleration,pressure,altitude,height,accel_speed,baro_speed,temperature,battery_voltage,drogue_voltage,main_voltage"); } - void write_basic(AltosRecord record) { + void write_basic(AltosState state) { out.printf("%8.2f,%10.2f,%8.2f,%8.2f,%8.2f,%8.2f,%5.1f,%5.2f,%5.2f,%5.2f", - record.acceleration(), - record.pressure(), - record.altitude(), - record.height(), - state.accel_speed, - state.baro_speed, - record.temperature(), - record.battery_voltage(), - record.drogue_voltage(), - record.main_voltage()); + state.acceleration(), + state.pressure(), + state.altitude(), + state.height(), + state.speed(), + state.speed(), + state.temperature, + state.battery_voltage, + state.apogee_voltage, + state.main_voltage); } void write_advanced_header() { out.printf("accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z"); } - void write_advanced(AltosRecord record) { - AltosIMU imu = record.imu(); - AltosMag mag = record.mag(); + void write_advanced(AltosState state) { + AltosIMU imu = state.imu; + AltosMag mag = state.mag; if (imu == null) imu = new AltosIMU(); @@ -161,8 +161,8 @@ public class AltosCSV implements AltosWriter { out.printf("connected,locked,nsat,latitude,longitude,altitude,year,month,day,hour,minute,second,pad_dist,pad_range,pad_az,pad_el,hdop"); } - void write_gps(AltosRecord record) { - AltosGPS gps = record.gps; + void write_gps(AltosState state) { + AltosGPS gps = state.gps; if (gps == null) gps = new AltosGPS(); @@ -170,7 +170,7 @@ public class AltosCSV implements AltosWriter { if (from_pad == null) from_pad = new AltosGreatCircle(); - out.printf("%2d,%2d,%3d,%12.7f,%12.7f,%6d,%5d,%3d,%3d,%3d,%3d,%3d,%9.0f,%9.0f,%4.0f,%4.0f,%6.1f", + out.printf("%2d,%2d,%3d,%12.7f,%12.7f,%8.1f,%5d,%3d,%3d,%3d,%3d,%3d,%9.0f,%9.0f,%4.0f,%4.0f,%6.1f", gps.connected?1:0, gps.locked?1:0, gps.nsat, @@ -198,8 +198,8 @@ public class AltosCSV implements AltosWriter { } } - void write_gps_sat(AltosRecord record) { - AltosGPS gps = record.gps; + void write_gps_sat(AltosState state) { + AltosGPS gps = state.gps; for(int i = 1; i <= 32; i++) { int c_n0 = 0; if (gps != null && gps.cc_gps_sat != null) { @@ -221,8 +221,8 @@ public class AltosCSV implements AltosWriter { out.printf(",companion_%02d", i); } - void write_companion(AltosRecord record) { - AltosRecordCompanion companion = record.companion; + void write_companion(AltosState state) { + AltosCompanion companion = state.companion; int channels_written = 0; if (companion == null) { @@ -256,50 +256,49 @@ public class AltosCSV implements AltosWriter { out.printf ("\n"); } - void write_one(AltosRecord record) { - state = new AltosState(record, state); - write_general(record); out.printf(","); - write_flight(record); out.printf(","); - write_basic(record); out.printf(","); - if (record.imu() != null || record.mag() != null) - write_advanced(record); - if (record.gps != null) { + void write_one(AltosState state) { + write_general(state); out.printf(","); + write_flight(state); out.printf(","); + write_basic(state); out.printf(","); + if (state.imu != null || state.mag != null) + write_advanced(state); + if (state.gps != null) { out.printf(","); - write_gps(record); out.printf(","); - write_gps_sat(record); + write_gps(state); out.printf(","); + write_gps_sat(state); } - if (record.companion != null) { + if (state.companion != null) { out.printf(","); - write_companion(record); + write_companion(state); } out.printf ("\n"); } void flush_pad() { - while (!pad_records.isEmpty()) { - write_one (pad_records.remove()); + while (!pad_states.isEmpty()) { + write_one (pad_states.remove()); } } - public void write(AltosRecord record) { - if (record.state == Altos.ao_flight_startup) + public void write(AltosState state) { + if (state.state == Altos.ao_flight_startup) return; if (!header_written) { - write_header(record.imu() != null || record.mag() != null, - record.gps != null, record.companion != null); + write_header(state.imu != null || state.mag != null, + state.gps != null, state.companion != null); header_written = true; } if (!seen_boost) { - if (record.state >= Altos.ao_flight_boost) { + if (state.state >= Altos.ao_flight_boost) { seen_boost = true; - boost_tick = record.tick; + boost_tick = state.tick; flush_pad(); } } if (seen_boost) - write_one(record); + write_one(state); else - pad_records.add(record); + pad_states.add(state); } public PrintStream out() { @@ -307,23 +306,23 @@ public class AltosCSV implements AltosWriter { } public void close() { - if (!pad_records.isEmpty()) { - boost_tick = pad_records.element().tick; + if (!pad_states.isEmpty()) { + boost_tick = pad_states.element().tick; flush_pad(); } out.close(); } - public void write(AltosRecordIterable iterable) { - iterable.write_comments(out()); - for (AltosRecord r : iterable) - write(r); + public void write(AltosStateIterable states) { + states.write_comments(out()); + for (AltosState state : states) + write(state); } public AltosCSV(PrintStream in_out, File in_name) { name = in_name; out = in_out; - pad_records = new LinkedList(); + pad_states = new LinkedList(); } public AltosCSV(File in_name) throws FileNotFoundException { diff --git a/altosui/AltosCSVUI.java b/altosui/AltosCSVUI.java index 42508346..c41ea74b 100644 --- a/altosui/AltosCSVUI.java +++ b/altosui/AltosCSVUI.java @@ -21,7 +21,7 @@ import java.awt.*; import java.awt.event.*; import javax.swing.*; import java.io.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class AltosCSVUI @@ -31,7 +31,7 @@ public class AltosCSVUI JFileChooser csv_chooser; JPanel accessory; JComboBox combo_box; - AltosRecordIterable iterable; + Iterable states; AltosWriter writer; static String[] combo_box_items = { "Comma Separated Values (.CSV)", "Googleearth Data (.KML)" }; @@ -55,8 +55,8 @@ public class AltosCSVUI set_default_file(); } - public AltosCSVUI(JFrame frame, AltosRecordIterable in_iterable, File source_file) { - iterable = in_iterable; + public AltosCSVUI(JFrame frame, AltosStateIterable states, File source_file) { + this.states = states; csv_chooser = new JFileChooser(source_file); accessory = new JPanel(); @@ -91,7 +91,7 @@ public class AltosCSVUI writer = new AltosCSV(file); else writer = new AltosKML(file); - writer.write(iterable); + writer.write(states); writer.close(); } catch (FileNotFoundException ee) { JOptionPane.showMessageDialog(frame, diff --git a/altosui/AltosCompanionInfo.java b/altosui/AltosCompanionInfo.java index ebe1d1f9..1f446700 100644 --- a/altosui/AltosCompanionInfo.java +++ b/altosui/AltosCompanionInfo.java @@ -19,7 +19,7 @@ package altosui; import java.awt.*; import javax.swing.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosCompanionInfo extends JTable { private AltosFlightInfoTableModel model; @@ -70,13 +70,13 @@ public class AltosCompanionInfo extends JTable { model.clear(); } - AltosRecordCompanion companion; + AltosCompanion companion; public String board_name() { if (companion == null) return "None"; switch (companion.board_id) { - case AltosRecordCompanion.board_id_telescience: + case AltosCompanion.board_id_telescience: return "TeleScience"; default: return String.format("%02x\n", companion.board_id); @@ -86,8 +86,8 @@ public class AltosCompanionInfo extends JTable { public void show(AltosState state, AltosListenerState listener_state) { if (state == null) return; - if (state.data.companion != null) - companion = state.data.companion; + if (state.companion != null) + companion = state.companion; info_reset(); info_add_row(0, "Companion board", "%s", board_name()); if (companion != null) { diff --git a/altosui/AltosConfig.java b/altosui/AltosConfig.java index 4927d3f8..a6e6094f 100644 --- a/altosui/AltosConfig.java +++ b/altosui/AltosConfig.java @@ -22,7 +22,7 @@ import javax.swing.*; import java.io.*; import java.util.concurrent.*; import java.text.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class AltosConfig implements ActionListener { diff --git a/altosui/AltosConfigFreqUI.java b/altosui/AltosConfigFreqUI.java index c90b168f..555af3b6 100644 --- a/altosui/AltosConfigFreqUI.java +++ b/altosui/AltosConfigFreqUI.java @@ -21,7 +21,7 @@ import java.awt.*; import java.awt.event.*; import javax.swing.*; import java.util.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; class AltosEditFreqUI extends AltosUIDialog implements ActionListener { diff --git a/altosui/AltosConfigPyroUI.java b/altosui/AltosConfigPyroUI.java index 3cac56c3..2f5c199d 100644 --- a/altosui/AltosConfigPyroUI.java +++ b/altosui/AltosConfigPyroUI.java @@ -21,7 +21,7 @@ import java.awt.*; import java.awt.event.*; import javax.swing.*; import javax.swing.event.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class AltosConfigPyroUI diff --git a/altosui/AltosConfigTD.java b/altosui/AltosConfigTD.java index 16c9e357..f879ff88 100644 --- a/altosui/AltosConfigTD.java +++ b/altosui/AltosConfigTD.java @@ -21,7 +21,7 @@ import java.awt.event.*; import javax.swing.*; import java.io.*; import java.util.concurrent.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class AltosConfigTD implements ActionListener { diff --git a/altosui/AltosConfigTDUI.java b/altosui/AltosConfigTDUI.java index 125780a9..b5a6cd7c 100644 --- a/altosui/AltosConfigTDUI.java +++ b/altosui/AltosConfigTDUI.java @@ -21,7 +21,7 @@ import java.awt.*; import java.awt.event.*; import javax.swing.*; import javax.swing.event.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class AltosConfigTDUI diff --git a/altosui/AltosConfigUI.java b/altosui/AltosConfigUI.java index 9723e660..a6d27977 100644 --- a/altosui/AltosConfigUI.java +++ b/altosui/AltosConfigUI.java @@ -21,7 +21,7 @@ import java.awt.*; import java.awt.event.*; import javax.swing.*; import javax.swing.event.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class AltosConfigUI diff --git a/altosui/AltosDataChooser.java b/altosui/AltosDataChooser.java index c7b561d5..c0d66682 100644 --- a/altosui/AltosDataChooser.java +++ b/altosui/AltosDataChooser.java @@ -20,7 +20,7 @@ package altosui; import javax.swing.*; import javax.swing.filechooser.FileNameExtensionFilter; import java.io.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class AltosDataChooser extends JFileChooser { @@ -36,7 +36,7 @@ public class AltosDataChooser extends JFileChooser { return file; } - public AltosRecordIterable runDialog() { + public AltosStateIterable runDialog() { int ret; ret = showOpenDialog(frame); @@ -48,16 +48,10 @@ public class AltosDataChooser extends JFileChooser { try { if (filename.endsWith("eeprom")) { FileInputStream in = new FileInputStream(file); - return new AltosEepromIterable(in); + return new AltosEepromFile(in); } else if (filename.endsWith("telem")) { FileInputStream in = new FileInputStream(file); - return new AltosTelemetryIterable(in); - } else if (filename.endsWith("mega")) { - FileInputStream in = new FileInputStream(file); - return new AltosEepromMegaIterable(in); - } else if (filename.endsWith("mini")) { - FileInputStream in = new FileInputStream(file); - return new AltosEepromMiniIterable(in); + return new AltosTelemetryFile(in); } else { throw new FileNotFoundException(); } diff --git a/altosui/AltosDescent.java b/altosui/AltosDescent.java index 29d33ddc..77776ff2 100644 --- a/altosui/AltosDescent.java +++ b/altosui/AltosDescent.java @@ -19,7 +19,7 @@ package altosui; import java.awt.*; import javax.swing.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosDescent extends JComponent implements AltosFlightDisplay { GridBagLayout layout; @@ -245,7 +245,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { class Height extends DescentValue { void show (AltosState state, AltosListenerState listener_state) { - show(AltosConvert.height, state.height); + show(AltosConvert.height, state.height()); } public Height (GridBagLayout layout, int x, int y) { super (layout, x, y, "Height"); @@ -256,10 +256,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { class Speed extends DescentValue { void show (AltosState state, AltosListenerState listener_state) { - double speed = state.accel_speed; - if (!state.ascent) - speed = state.baro_speed; - show(AltosConvert.speed, speed); + show(AltosConvert.speed, state.speed()); } public Speed (GridBagLayout layout, int x, int y) { super (layout, x, y, "Speed"); @@ -281,7 +278,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { class Lat extends DescentValue { void show (AltosState state, AltosListenerState listener_state) { - if (state.gps != null && state.gps.connected) + if (state.gps != null && state.gps.connected && state.gps.lat != AltosLib.MISSING) show(pos(state.gps.lat,"N", "S")); else show("???"); @@ -295,7 +292,7 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { class Lon extends DescentValue { void show (AltosState state, AltosListenerState listener_state) { - if (state.gps != null && state.gps.connected) + if (state.gps != null && state.gps.connected && state.gps.lon != AltosLib.MISSING) show(pos(state.gps.lon,"W", "E")); else show("???"); @@ -325,8 +322,8 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { class Apogee extends DescentStatus { void show (AltosState state, AltosListenerState listener_state) { - show("%4.2f V", state.drogue_sense); - lights.set(state.drogue_sense > 3.2); + show("%4.2f V", state.apogee_voltage); + lights.set(state.apogee_voltage > 3.7); } public Apogee (GridBagLayout layout, int y) { super(layout, y, "Apogee Igniter Voltage"); @@ -337,8 +334,8 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { class Main extends DescentStatus { void show (AltosState state, AltosListenerState listener_state) { - show("%4.2f V", state.main_sense); - lights.set(state.main_sense > 3.2); + show("%4.2f V", state.main_voltage); + lights.set(state.main_voltage > 3.7); } public Main (GridBagLayout layout, int y) { super(layout, y, "Main Igniter Voltage"); @@ -430,11 +427,11 @@ public class AltosDescent extends JComponent implements AltosFlightDisplay { lat.hide(); lon.hide(); } - if (state.main_sense != AltosRecord.MISSING) + if (state.main_voltage != AltosLib.MISSING) main.show(state, listener_state); else main.hide(); - if (state.drogue_sense != AltosRecord.MISSING) + if (state.apogee_voltage != AltosLib.MISSING) apogee.show(state, listener_state); else apogee.hide(); diff --git a/altosui/AltosDisplayThread.java b/altosui/AltosDisplayThread.java index 095bed99..37f6adf9 100644 --- a/altosui/AltosDisplayThread.java +++ b/altosui/AltosDisplayThread.java @@ -21,7 +21,7 @@ import java.awt.*; import javax.swing.*; import java.io.*; import java.text.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosDisplayThread extends Thread { @@ -92,14 +92,14 @@ public class AltosDisplayThread extends Thread { state.range >= 0) { voice.speak("Height %s, bearing %s %d, elevation %d, range %s.\n", - AltosConvert.height.say(state.height), + AltosConvert.height.say(state.height()), state.from_pad.bearing_words( AltosGreatCircle.BEARING_VOICE), (int) (state.from_pad.bearing + 0.5), (int) (state.elevation + 0.5), AltosConvert.distance.say(state.range)); } else if (state.state > Altos.ao_flight_pad) { - voice.speak(AltosConvert.height.say_units(state.height)); + voice.speak(AltosConvert.height.say_units(state.height())); } else { reported_landing = 0; } @@ -110,10 +110,10 @@ public class AltosDisplayThread extends Thread { */ if (state.state >= Altos.ao_flight_drogue && (last || - System.currentTimeMillis() - state.report_time >= 15000 || + System.currentTimeMillis() - state.received_time >= 15000 || state.state == Altos.ao_flight_landed)) { - if (Math.abs(state.baro_speed) < 20 && state.height < 100) + if (Math.abs(state.speed()) < 20 && state.height() < 100) voice.speak("rocket landed safely"); else voice.speak("rocket may have crashed"); @@ -181,16 +181,16 @@ public class AltosDisplayThread extends Thread { synchronized boolean tell() { boolean ret = false; if (old_state == null || old_state.state != state.state) { - voice.speak(state.data.state()); + voice.speak(state.state_name()); if ((old_state == null || old_state.state <= Altos.ao_flight_boost) && state.state > Altos.ao_flight_boost) { voice.speak("max speed: %s.", - AltosConvert.speed.say_units(state.max_accel_speed + 0.5)); + AltosConvert.speed.say_units(state.max_speed() + 0.5)); ret = true; } else if ((old_state == null || old_state.state < Altos.ao_flight_drogue) && state.state >= Altos.ao_flight_drogue) { voice.speak("max height: %s.", - AltosConvert.height.say_units(state.max_height + 0.5)); + AltosConvert.height.say_units(state.max_height() + 0.5)); ret = true; } } @@ -218,11 +218,9 @@ public class AltosDisplayThread extends Thread { try { for (;;) { try { - AltosRecord record = reader.read(); - if (record == null) + state = reader.read(); + if (state == null) break; - old_state = state; - state = new AltosState(record, state); reader.update(state); show_safely(); told = tell(); diff --git a/altosui/AltosEepromDelete.java b/altosui/AltosEepromDelete.java index e81a35d1..9984d1a2 100644 --- a/altosui/AltosEepromDelete.java +++ b/altosui/AltosEepromDelete.java @@ -21,7 +21,7 @@ import java.awt.event.*; import javax.swing.*; import java.io.*; import java.util.concurrent.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosEepromDelete implements Runnable { AltosEepromList flights; diff --git a/altosui/AltosEepromDownload.java b/altosui/AltosEepromDownload.java index 46715db6..6e2fd061 100644 --- a/altosui/AltosEepromDownload.java +++ b/altosui/AltosEepromDownload.java @@ -23,7 +23,7 @@ import java.io.*; import java.util.*; import java.text.*; import java.util.concurrent.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosEepromDownload implements Runnable { @@ -33,9 +33,6 @@ public class AltosEepromDownload implements Runnable { Thread eeprom_thread; AltosEepromMonitor monitor; - int flight; - int serial; - int year, month, day; boolean want_file; FileWriter eeprom_file; LinkedList eeprom_pending; @@ -44,7 +41,7 @@ public class AltosEepromDownload implements Runnable { ActionListener listener; boolean success; ParseException parse_exception; - String extension; + AltosState state; private void FlushPending() throws IOException { for (String s : flights.config_data) { @@ -59,15 +56,19 @@ public class AltosEepromDownload implements Runnable { private void CheckFile(boolean force) throws IOException { if (eeprom_file != null) return; - if (force || (flight != 0 && want_file)) { + if (force || (state.flight != 0 && want_file)) { AltosFile eeprom_name; - - if (extension == null) - extension = "data"; - if (year != 0 && month != 0 && day != 0) - eeprom_name = new AltosFile(year, month, day, serial, flight, extension); - else - eeprom_name = new AltosFile(serial, flight, extension); + AltosGPS gps = state.gps; + + if (gps != null && + gps.year != AltosLib.MISSING && + gps.month != AltosLib.MISSING && + gps.day != AltosLib.MISSING) + { + eeprom_name = new AltosFile(gps.year, gps.month, gps.day, + state.serial, state.flight, "eeprom"); + } else + eeprom_name = new AltosFile(state.serial, state.flight, "eeprom"); eeprom_file = new FileWriter(eeprom_name); if (eeprom_file != null) { @@ -78,270 +79,57 @@ public class AltosEepromDownload implements Runnable { } } - void Log(AltosEepromRecord r) throws IOException { + boolean done; + boolean start; + + void LogEeprom(AltosEeprom r) throws IOException { if (r.cmd != Altos.AO_LOG_INVALID) { - String log_line = String.format("%c %4x %4x %4x\n", - r.cmd, r.tick, r.a, r.b); + String line = r.string(); if (eeprom_file != null) - eeprom_file.write(log_line); + eeprom_file.write(line); else - eeprom_pending.add(log_line); + eeprom_pending.add(line); } } - void set_serial(int in_serial) { - serial = in_serial; - monitor.set_serial(serial); - } - - void set_flight(int in_flight) { - flight = in_flight; - monitor.set_flight(flight); - } - - boolean done; - int state; - - void CaptureFull(AltosEepromChunk eechunk) throws IOException { - boolean any_valid = false; - - extension = "eeprom"; - set_serial(flights.config_data.serial); - for (int i = 0; i < AltosEepromChunk.chunk_size && !done; i += AltosEepromRecord.record_length) { - try { - AltosEepromRecord r = new AltosEepromRecord(eechunk, i); - if (r.cmd == Altos.AO_LOG_FLIGHT) - set_flight(r.b); - - /* Monitor state transitions to update display */ - if (r.cmd == Altos.AO_LOG_STATE && r.a <= Altos.ao_flight_landed) { - state = r.a; - if (state > Altos.ao_flight_pad) - want_file = true; - } - - if (r.cmd == Altos.AO_LOG_GPS_DATE) { - year = 2000 + (r.a & 0xff); - month = (r.a >> 8) & 0xff; - day = (r.b & 0xff); - want_file = true; - } - if (r.cmd == Altos.AO_LOG_STATE && r.a == Altos.ao_flight_landed) - done = true; - if (r.cmd != AltosLib.AO_LOG_INVALID) - any_valid = true; - Log(r); - } catch (ParseException pe) { - if (parse_exception == null) - parse_exception = pe; - } - } - - if (!any_valid) - done = true; - - CheckFile(false); - } - - boolean start; - int tiny_tick; - - void CaptureTiny (AltosEepromChunk eechunk) throws IOException { + void CaptureEeprom(AltosEepromChunk eechunk, int log_format) throws IOException { boolean any_valid = false; + boolean got_flight = false; - extension = "eeprom"; - set_serial(flights.config_data.serial); - for (int i = 0; i < eechunk.data.length && !done; i += 2) { - int v = eechunk.data16(i); - AltosEepromRecord r; - - if (i == 0 && start) { - tiny_tick = 0; - start = false; - set_flight(v); - r = new AltosEepromRecord(Altos.AO_LOG_FLIGHT, tiny_tick, 0, v); - any_valid = true; - } else { - int s = v ^ 0x8000; - - if (Altos.ao_flight_startup <= s && s <= Altos.ao_flight_invalid) { - state = s; - r = new AltosEepromRecord(Altos.AO_LOG_STATE, tiny_tick, state, 0); - if (state == Altos.ao_flight_landed) - done = true; - state = s; - any_valid = true; - } else { - if (v != 0xffff) - any_valid = true; - - r = new AltosEepromRecord(Altos.AO_LOG_PRESSURE, tiny_tick, 0, v); - - /* - * The flight software records ascent data every 100ms, and descent - * data every 1s. - */ - if (state < Altos.ao_flight_drogue) - tiny_tick += 10; - else - tiny_tick += 100; - } - } - Log(r); - } - CheckFile(false); - if (!any_valid) - done = true; - } + int record_length = 8; - void LogTeleScience(AltosEepromTeleScience r) throws IOException { - if (r.type != Altos.AO_LOG_INVALID) { - String log_line = String.format("%c %4x %4x %d %5d %5d %5d %5d %5d %5d %5d %5d %5d %5d %5d %5d\n", - r.type, r.tick, r.tm_tick, r.tm_state, - r.data[0], r.data[1], r.data[2], r.data[3], - r.data[4], r.data[5], r.data[6], r.data[7], - r.data[8], r.data[9], r.data[10], r.data[11]); - if (eeprom_file != null) - eeprom_file.write(log_line); - else - eeprom_pending.add(log_line); - } - } - - boolean telescience_start; - - void CaptureTeleScience (AltosEepromChunk eechunk) throws IOException { - boolean any_valid = false; - - extension = "science"; - for (int i = 0; i < AltosEepromChunk.chunk_size && !done; i += AltosEepromTeleScience.record_length) { - try { - AltosEepromTeleScience r = new AltosEepromTeleScience(eechunk, i); - if (r.type == AltosEepromTeleScience.AO_LOG_TELESCIENCE_START) { - if (telescience_start) { - done = true; - break; - } - set_serial(r.data[0]); - set_flight(r.data[1]); - telescience_start = true; - } else { - if (!telescience_start) - break; - } - state = r.tm_state; - want_file =true; - any_valid = true; - LogTeleScience(r); - } catch (ParseException pe) { - if (parse_exception == null) - parse_exception = pe; - } - } + state.set_serial(flights.config_data.serial); + monitor.set_serial(flights.config_data.serial); - CheckFile(false); - if (!any_valid) - done = true; - } + for (int i = 0; i < AltosEepromChunk.chunk_size && !done; i += record_length) { + AltosEeprom r = eechunk.eeprom(i, log_format, state); - void LogMega(AltosEepromMega r) throws IOException { - if (r.cmd != Altos.AO_LOG_INVALID) { - String log_line = String.format("%c %4x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x\n", - r.cmd, r.tick, - r.data8[0], r.data8[1], r.data8[2], r.data8[3], - r.data8[4], r.data8[5], r.data8[6], r.data8[7], - r.data8[8], r.data8[9], r.data8[10], r.data8[11], - r.data8[12], r.data8[13], r.data8[14], r.data8[15], - r.data8[16], r.data8[17], r.data8[18], r.data8[19], - r.data8[20], r.data8[21], r.data8[22], r.data8[23], - r.data8[24], r.data8[25], r.data8[26], r.data8[27]); - if (eeprom_file != null) - eeprom_file.write(log_line); - else - eeprom_pending.add(log_line); - } - } + if (r == null) + continue; - void CaptureMega(AltosEepromChunk eechunk) throws IOException { - boolean any_valid = false; + record_length = r.record_length(); - extension = "mega"; - set_serial(flights.config_data.serial); - for (int i = 0; i < AltosEepromChunk.chunk_size && !done; i += AltosEepromMega.record_length) { - try { - AltosEepromMega r = new AltosEepromMega(eechunk, i); - if (r.cmd == Altos.AO_LOG_FLIGHT) - set_flight(r.data16(0)); - - /* Monitor state transitions to update display */ - if (r.cmd == Altos.AO_LOG_STATE && r.data16(0) <= Altos.ao_flight_landed) { - state = r.data16(0); - if (state > Altos.ao_flight_pad) - want_file = true; - } + r.update_state(state); - if (r.cmd == Altos.AO_LOG_GPS_TIME) { - year = 2000 + r.data8(14); - month = r.data8(15); - day = r.data8(16); - want_file = true; - } + if (!got_flight && state.flight != AltosLib.MISSING) + monitor.set_flight(state.flight); - if (r.cmd == Altos.AO_LOG_STATE && r.data16(0) == Altos.ao_flight_landed) + /* Monitor state transitions to update display */ + if (state.state != AltosLib.ao_flight_invalid && + state.state <= AltosLib.ao_flight_landed) + { + if (state.state > Altos.ao_flight_pad) + want_file = true; + if (state.state == AltosLib.ao_flight_landed) done = true; - if (r.cmd != AltosLib.AO_LOG_INVALID) - any_valid = true; - LogMega(r); - } catch (ParseException pe) { - if (parse_exception == null) - parse_exception = pe; } - } - if (!any_valid) - done = true; - CheckFile(false); - } - - void LogMini(AltosEepromMini r) throws IOException { - if (r.cmd != Altos.AO_LOG_INVALID) { - String log_line = String.format("%c %4x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x\n", - r.cmd, r.tick, - r.data8[0], r.data8[1], r.data8[2], r.data8[3], - r.data8[4], r.data8[5], r.data8[6], r.data8[7], - r.data8[8], r.data8[9], r.data8[10], r.data8[11]); - if (eeprom_file != null) - eeprom_file.write(log_line); - else - eeprom_pending.add(log_line); - } - } - - void CaptureMini(AltosEepromChunk eechunk) throws IOException { - boolean any_valid = false; + if (state.gps != null) + want_file = true; - extension = "mini"; - set_serial(flights.config_data.serial); - for (int i = 0; i < AltosEepromChunk.chunk_size && !done; i += AltosEepromMini.record_length) { - try { - AltosEepromMini r = new AltosEepromMini(eechunk, i); - if (r.cmd == Altos.AO_LOG_FLIGHT) - set_flight(r.data16(0)); - - /* Monitor state transitions to update display */ - if (r.cmd == Altos.AO_LOG_STATE && r.data16(0) <= Altos.ao_flight_landed) { - state = r.data16(0); - if (state > Altos.ao_flight_pad) - want_file = true; - } - - if (r.cmd == Altos.AO_LOG_STATE && r.data16(0) == Altos.ao_flight_landed) - done = true; + if (r.valid) { any_valid = true; - LogMini(r); - } catch (ParseException pe) { - if (parse_exception == null) - parse_exception = pe; + LogEeprom(r); } } if (!any_valid) @@ -350,15 +138,12 @@ public class AltosEepromDownload implements Runnable { CheckFile(false); } - void CaptureTelemetry(AltosEepromChunk eechunk) throws IOException { - - } - void CaptureLog(AltosEepromLog log) throws IOException, InterruptedException, TimeoutException { int block, state_block = 0; int log_format = flights.config_data.log_format; - state = 0; + state = new AltosState(); + done = false; start = true; @@ -366,10 +151,6 @@ public class AltosEepromDownload implements Runnable { throw new IOException("no serial number found"); /* Reset per-capture variables */ - flight = 0; - year = 0; - month = 0; - day = 0; want_file = false; eeprom_file = null; eeprom_pending = new LinkedList(); @@ -377,9 +158,12 @@ public class AltosEepromDownload implements Runnable { /* Set serial number in the monitor dialog window */ /* Now scan the eeprom, reading blocks of data and converting to .eeprom file form */ - state = 0; state_block = log.start_block; + state_block = log.start_block; for (block = log.start_block; !done && block < log.end_block; block++) { - monitor.set_value(AltosLib.state_name(state), state, block - state_block, block - log.start_block); + monitor.set_value(state.state_name(), + state.state, + block - state_block, + block - log.start_block); AltosEepromChunk eechunk = new AltosEepromChunk(serial_line, block, block == log.start_block); @@ -397,32 +181,7 @@ public class AltosEepromDownload implements Runnable { } } - switch (log_format) { - case AltosLib.AO_LOG_FORMAT_FULL: - extension = "eeprom"; - CaptureFull(eechunk); - break; - case AltosLib.AO_LOG_FORMAT_TINY: - extension = "eeprom"; - CaptureTiny(eechunk); - break; - case AltosLib.AO_LOG_FORMAT_TELEMETRY: - extension = "telem"; - CaptureTelemetry(eechunk); - break; - case AltosLib.AO_LOG_FORMAT_TELESCIENCE: - extension = "science"; - CaptureTeleScience(eechunk); - break; - case AltosLib.AO_LOG_FORMAT_TELEMEGA: - extension = "mega"; - CaptureMega(eechunk); - break; - case AltosLib.AO_LOG_FORMAT_MINI: - extension = "mini"; - CaptureMini(eechunk); - break; - } + CaptureEeprom (eechunk, log_format); } CheckFile(true); if (eeprom_file != null) { @@ -480,7 +239,10 @@ public class AltosEepromDownload implements Runnable { serial_line.device.toShortString(), JOptionPane.ERROR_MESSAGE); } catch (InterruptedException ie) { - System.out.printf("download interrupted\n"); + show_message(String.format("Connection to \"%s\" interrupted", + serial_line.device.toShortString()), + "Connection Interrupted", + JOptionPane.ERROR_MESSAGE); } catch (TimeoutException te) { show_message(String.format("Connection to \"%s\" failed", serial_line.device.toShortString()), diff --git a/altosui/AltosEepromList.java b/altosui/AltosEepromList.java index a63d173d..258c421a 100644 --- a/altosui/AltosEepromList.java +++ b/altosui/AltosEepromList.java @@ -21,7 +21,7 @@ import java.io.*; import java.util.*; import java.text.*; import java.util.concurrent.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; /* * Temporary structure to hold the list of stored flights; diff --git a/altosui/AltosEepromManage.java b/altosui/AltosEepromManage.java index 7a721196..b2d8a130 100644 --- a/altosui/AltosEepromManage.java +++ b/altosui/AltosEepromManage.java @@ -21,7 +21,7 @@ import java.awt.event.*; import javax.swing.*; import java.io.*; import java.util.concurrent.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class AltosEepromManage implements ActionListener { diff --git a/altosui/AltosEepromSelect.java b/altosui/AltosEepromSelect.java index a451aa3a..8f86eebf 100644 --- a/altosui/AltosEepromSelect.java +++ b/altosui/AltosEepromSelect.java @@ -21,7 +21,7 @@ import javax.swing.*; import javax.swing.border.*; import java.awt.*; import java.awt.event.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; class AltosEepromItem implements ActionListener { diff --git a/altosui/AltosFlashUI.java b/altosui/AltosFlashUI.java index f4e52218..6eccface 100644 --- a/altosui/AltosFlashUI.java +++ b/altosui/AltosFlashUI.java @@ -23,7 +23,7 @@ import javax.swing.*; import javax.swing.filechooser.FileNameExtensionFilter; import java.io.*; import java.util.concurrent.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class AltosFlashUI diff --git a/altosui/AltosFlightDisplay.java b/altosui/AltosFlightDisplay.java index 4f4c158e..289ddd01 100644 --- a/altosui/AltosFlightDisplay.java +++ b/altosui/AltosFlightDisplay.java @@ -17,7 +17,7 @@ package altosui; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public interface AltosFlightDisplay { void reset(); diff --git a/altosui/AltosFlightStats.java b/altosui/AltosFlightStats.java index dee31a8d..11a3f1a9 100644 --- a/altosui/AltosFlightStats.java +++ b/altosui/AltosFlightStats.java @@ -18,14 +18,13 @@ package altosui; import java.io.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosFlightStats { double max_height; double max_speed; double max_acceleration; - double[] state_accel_speed = new double[Altos.ao_flight_invalid + 1]; - double[] state_baro_speed = new double[Altos.ao_flight_invalid + 1]; + double[] state_speed = new double[Altos.ao_flight_invalid + 1]; double[] state_accel = new double[Altos.ao_flight_invalid + 1]; int[] state_count = new int[Altos.ao_flight_invalid + 1]; double[] state_start = new double[Altos.ao_flight_invalid + 1]; @@ -40,16 +39,19 @@ public class AltosFlightStats { boolean has_other_adc; boolean has_rssi; - double landed_time(AltosRecordIterable iterable) { - AltosState state = null; - for (AltosRecord record : iterable) { - state = new AltosState(record, state); + double landed_time(AltosStateIterable states) { + AltosState state = null; + for (AltosState s : states) { + state = s; if (state.state == Altos.ao_flight_landed) break; } - double landed_height = state.height; + if (state == null) + return 0; + + double landed_height = state.height(); state = null; @@ -57,13 +59,13 @@ public class AltosFlightStats { double landed_time = -1000; - for (AltosRecord record : iterable) { - state = new AltosState(record, state); + for (AltosState s : states) { + state = s; - if (state.height > landed_height + 10) { + if (state.height() > landed_height + 10) { above = true; } else { - if (above && state.height < landed_height + 2) { + if (above && state.height() < landed_height + 2) { above = false; landed_time = state.time; } @@ -74,81 +76,71 @@ public class AltosFlightStats { return landed_time; } - double boost_time(AltosRecordIterable iterable) { - double boost_time = -1000; - - AltosState state = null; + double boost_time(AltosStateIterable states) { + double boost_time = AltosLib.MISSING; + AltosState state = null; - for (AltosRecord record : iterable) { - state = new AltosState(record, state); - - if (state.acceleration < 1) + for (AltosState s : states) { + state = s; + if (state.acceleration() < 1) boost_time = state.time; if (state.state >= Altos.ao_flight_boost) break; } - if (boost_time == -1000) + if (state == null) + return 0; + + if (boost_time == AltosLib.MISSING) boost_time = state.time; return boost_time; } - public AltosFlightStats(AltosRecordIterable iterable) throws InterruptedException, IOException { - AltosState state = null; - AltosState new_state = null; - double boost_time = boost_time(iterable); + public AltosFlightStats(AltosStateIterable states) throws InterruptedException, IOException { + double boost_time = boost_time(states); double end_time = 0; - double landed_time = landed_time(iterable); + double landed_time = landed_time(states); - year = month = day = -1; - hour = minute = second = -1; - serial = flight = -1; - lat = lon = -1; + year = month = day = AltosLib.MISSING; + hour = minute = second = AltosLib.MISSING; + serial = flight = AltosLib.MISSING; + lat = lon = AltosLib.MISSING; has_gps = false; has_other_adc = false; has_rssi = false; - for (AltosRecord record : iterable) { - if (serial < 0) - serial = record.serial; - if ((record.seen & AltosRecord.seen_flight) != 0 && flight < 0) - flight = record.flight; - if ((record.seen & AltosRecord.seen_temp_volt) != 0) + for (AltosState state : states) { + if (serial == AltosLib.MISSING && state.serial != AltosLib.MISSING) + serial = state.serial; + if (flight == AltosLib.MISSING && state.flight != AltosLib.MISSING) + flight = state.flight; + if (state.battery_voltage != AltosLib.MISSING) has_other_adc = true; - if (record.rssi != 0) + if (state.rssi != AltosLib.MISSING) has_rssi = true; - new_state = new AltosState(record, state); - end_time = new_state.time; - state = new_state; + end_time = state.time; if (state.time >= boost_time && state.state < Altos.ao_flight_boost) state.state = Altos.ao_flight_boost; if (state.time >= landed_time && state.state < Altos.ao_flight_landed) state.state = Altos.ao_flight_landed; + if (state.gps != null && state.gps.locked) { + year = state.gps.year; + month = state.gps.month; + day = state.gps.day; + hour = state.gps.hour; + minute = state.gps.minute; + second = state.gps.second; + } if (0 <= state.state && state.state < Altos.ao_flight_invalid) { - if (state.state >= Altos.ao_flight_boost) { - if (state.gps != null && state.gps.locked && - year < 0) { - year = state.gps.year; - month = state.gps.month; - day = state.gps.day; - hour = state.gps.hour; - minute = state.gps.minute; - second = state.gps.second; - } - } - state_accel[state.state] += state.acceleration; - state_accel_speed[state.state] += state.accel_speed; - state_baro_speed[state.state] += state.baro_speed; + state_accel[state.state] += state.acceleration(); + state_speed[state.state] += state.speed(); state_count[state.state]++; if (state_start[state.state] == 0.0) state_start[state.state] = state.time; if (state_end[state.state] < state.time) state_end[state.state] = state.time; - max_height = state.max_height; - if (state.max_accel_speed != 0) - max_speed = state.max_accel_speed; - else - max_speed = state.max_baro_speed; - max_acceleration = state.max_acceleration; + max_height = state.max_height(); + max_speed = state.max_speed(); + max_acceleration = state.max_acceleration(); } if (state.gps != null && state.gps.locked && state.gps.nsat >= 4) { if (state.state <= Altos.ao_flight_pad) { @@ -162,8 +154,7 @@ public class AltosFlightStats { } for (int s = Altos.ao_flight_startup; s <= Altos.ao_flight_landed; s++) { if (state_count[s] > 0) { - state_accel_speed[s] /= state_count[s]; - state_baro_speed[s] /= state_count[s]; + state_speed[s] /= state_count[s]; state_accel[s] /= state_count[s]; } if (state_start[s] == 0) diff --git a/altosui/AltosFlightStatsTable.java b/altosui/AltosFlightStatsTable.java index a35b5f63..db875b3b 100644 --- a/altosui/AltosFlightStatsTable.java +++ b/altosui/AltosFlightStatsTable.java @@ -19,7 +19,7 @@ package altosui; import java.awt.*; import javax.swing.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosFlightStatsTable extends JComponent { GridBagLayout layout; @@ -76,15 +76,15 @@ public class AltosFlightStatsTable extends JComponent { int y = 0; new FlightStat(layout, y++, "Serial", String.format("%d", stats.serial)); new FlightStat(layout, y++, "Flight", String.format("%d", stats.flight)); - if (stats.year > 0 && stats.hour > 0) + if (stats.year != AltosLib.MISSING && stats.hour != AltosLib.MISSING) new FlightStat(layout, y++, "Date/Time", String.format("%04d-%02d-%02d", stats.year, stats.month, stats.day), String.format("%02d:%02d:%02d UTC", stats.hour, stats.minute, stats.second)); else { - if (stats.year > 0) + if (stats.year != AltosLib.MISSING) new FlightStat(layout, y++, "Date", String.format("%04d-%02d-%02d", stats.year, stats.month, stats.day)); - if (stats.hour > 0) + if (stats.hour != AltosLib.MISSING) new FlightStat(layout, y++, "Time", String.format("%02d:%02d:%02d UTC", stats.hour, stats.minute, stats.second)); } @@ -95,7 +95,7 @@ public class AltosFlightStatsTable extends JComponent { String.format("%5.0f m/s", stats.max_speed), String.format("%5.0f mph", AltosConvert.meters_to_mph(stats.max_speed)), String.format("Mach %4.1f", AltosConvert.meters_to_mach(stats.max_speed))); - if (stats.max_acceleration != AltosRecord.MISSING) { + if (stats.max_acceleration != AltosLib.MISSING) { new FlightStat(layout, y++, "Maximum boost acceleration", String.format("%5.0f m/s²", stats.max_acceleration), String.format("%5.0f ft/s²", AltosConvert.meters_to_feet(stats.max_acceleration)), @@ -106,11 +106,11 @@ public class AltosFlightStatsTable extends JComponent { String.format("%5.0f G", AltosConvert.meters_to_g(stats.state_accel[Altos.ao_flight_boost]))); } new FlightStat(layout, y++, "Drogue descent rate", - String.format("%5.0f m/s", stats.state_baro_speed[Altos.ao_flight_drogue]), - String.format("%5.0f ft/s", AltosConvert.meters_to_feet(stats.state_baro_speed[Altos.ao_flight_drogue]))); + String.format("%5.0f m/s", stats.state_speed[Altos.ao_flight_drogue]), + String.format("%5.0f ft/s", AltosConvert.meters_to_feet(stats.state_speed[Altos.ao_flight_drogue]))); new FlightStat(layout, y++, "Main descent rate", - String.format("%5.0f m/s", stats.state_baro_speed[Altos.ao_flight_main]), - String.format("%5.0f ft/s", AltosConvert.meters_to_feet(stats.state_baro_speed[Altos.ao_flight_main]))); + String.format("%5.0f m/s", stats.state_speed[Altos.ao_flight_main]), + String.format("%5.0f ft/s", AltosConvert.meters_to_feet(stats.state_speed[Altos.ao_flight_main]))); new FlightStat(layout, y++, "Ascent time", String.format("%6.1f s %s", stats.state_end[AltosLib.ao_flight_boost] - stats.state_start[AltosLib.ao_flight_boost], AltosLib.state_name(Altos.ao_flight_boost)), diff --git a/altosui/AltosFlightStatus.java b/altosui/AltosFlightStatus.java index d2910414..9d575e4c 100644 --- a/altosui/AltosFlightStatus.java +++ b/altosui/AltosFlightStatus.java @@ -19,7 +19,7 @@ package altosui; import java.awt.*; import javax.swing.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosFlightStatus extends JComponent implements AltosFlightDisplay { GridBagLayout layout; @@ -65,7 +65,7 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay class Call extends FlightValue { void show(AltosState state, AltosListenerState listener_state) { - value.setText(state.data.callsign); + value.setText(state.callsign); } public Call (GridBagLayout layout, int x) { super (layout, x, "Callsign"); @@ -76,10 +76,10 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay class Serial extends FlightValue { void show(AltosState state, AltosListenerState listener_state) { - if (state.data.serial == AltosRecord.MISSING) + if (state.serial == AltosLib.MISSING) value.setText("none"); else - value.setText(String.format("%d", state.data.serial)); + value.setText(String.format("%d", state.serial)); } public Serial (GridBagLayout layout, int x) { super (layout, x, "Serial"); @@ -90,10 +90,10 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay class Flight extends FlightValue { void show(AltosState state, AltosListenerState listener_state) { - if (state.data.flight == AltosRecord.MISSING) + if (state.flight == AltosLib.MISSING) value.setText("none"); else - value.setText(String.format("%d", state.data.flight)); + value.setText(String.format("%d", state.flight)); } public Flight (GridBagLayout layout, int x) { super (layout, x, "Flight"); @@ -104,7 +104,7 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay class FlightState extends FlightValue { void show(AltosState state, AltosListenerState listener_state) { - value.setText(state.data.state()); + value.setText(state.state_name()); } public FlightState (GridBagLayout layout, int x) { super (layout, x, "State"); @@ -115,7 +115,7 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay class RSSI extends FlightValue { void show(AltosState state, AltosListenerState listener_state) { - value.setText(String.format("%d", state.data.rssi)); + value.setText(String.format("%d", state.rssi())); } public RSSI (GridBagLayout layout, int x) { super (layout, x, "RSSI"); @@ -126,7 +126,7 @@ public class AltosFlightStatus extends JComponent implements AltosFlightDisplay class LastPacket extends FlightValue { void show(AltosState state, AltosListenerState listener_state) { - long secs = (System.currentTimeMillis() - state.report_time + 500) / 1000; + long secs = (System.currentTimeMillis() - state.received_time + 500) / 1000; value.setText(String.format("%d", secs)); } public LastPacket(GridBagLayout layout, int x) { diff --git a/altosui/AltosFlightStatusTableModel.java b/altosui/AltosFlightStatusTableModel.java index 6a327841..08154fda 100644 --- a/altosui/AltosFlightStatusTableModel.java +++ b/altosui/AltosFlightStatusTableModel.java @@ -27,7 +27,7 @@ import java.util.*; import java.text.*; import java.util.prefs.*; import java.util.concurrent.LinkedBlockingQueue; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosFlightStatusTableModel extends AbstractTableModel { private String[] columnNames = { diff --git a/altosui/AltosFlightStatusUpdate.java b/altosui/AltosFlightStatusUpdate.java index 962a08f7..7821a777 100644 --- a/altosui/AltosFlightStatusUpdate.java +++ b/altosui/AltosFlightStatusUpdate.java @@ -18,7 +18,7 @@ package altosui; import java.awt.event.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosFlightStatusUpdate implements ActionListener { diff --git a/altosui/AltosFlightUI.java b/altosui/AltosFlightUI.java index 6d010d23..c151177e 100644 --- a/altosui/AltosFlightUI.java +++ b/altosui/AltosFlightUI.java @@ -21,7 +21,7 @@ import java.awt.*; import java.awt.event.*; import javax.swing.*; import java.util.concurrent.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class AltosFlightUI extends AltosUIFrame implements AltosFlightDisplay, AltosFontListener { @@ -102,7 +102,7 @@ public class AltosFlightUI extends AltosUIFrame implements AltosFlightDisplay, A status_update.saved_state = state; if (state == null) - state = new AltosState(new AltosRecord()); + state = new AltosState(); pad.show(state, listener_state); @@ -130,7 +130,7 @@ public class AltosFlightUI extends AltosUIFrame implements AltosFlightDisplay, A flightStatus.show(state, listener_state); flightInfo.show(state, listener_state); - if (state.data.companion != null) { + if (state.companion != null) { if (!has_companion) { pane.add("Companion", companion); has_companion= true; diff --git a/altosui/AltosFreqList.java b/altosui/AltosFreqList.java index 7464ac3e..917ac364 100644 --- a/altosui/AltosFreqList.java +++ b/altosui/AltosFreqList.java @@ -18,7 +18,7 @@ package altosui; import javax.swing.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class AltosFreqList extends JComboBox { diff --git a/altosui/AltosGraph.java b/altosui/AltosGraph.java index a73e3fd8..e6cd7bd8 100644 --- a/altosui/AltosGraph.java +++ b/altosui/AltosGraph.java @@ -22,7 +22,7 @@ import java.util.ArrayList; import java.awt.*; import javax.swing.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; import org.jfree.ui.*; diff --git a/altosui/AltosGraphDataPoint.java b/altosui/AltosGraphDataPoint.java index 7454f447..d8191f5d 100644 --- a/altosui/AltosGraphDataPoint.java +++ b/altosui/AltosGraphDataPoint.java @@ -18,7 +18,7 @@ package altosui; import org.altusmetrum.altosuilib_1.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosGraphDataPoint implements AltosUIDataPoint { @@ -42,37 +42,38 @@ public class AltosGraphDataPoint implements AltosUIDataPoint { public static final int data_pressure = 15; public double x() throws AltosUIDataMissing { - if (state.data.time < -2) + double time = state.time_since_boost(); + if (time < -2) throw new AltosUIDataMissing(-1); - return state.data.time; + return time; } public double y(int index) throws AltosUIDataMissing { - double y = AltosRecord.MISSING; + double y = AltosLib.MISSING; switch (index) { case data_height: - y = state.height; + y = state.height(); break; case data_speed: y = state.speed(); break; case data_accel: - y = state.acceleration; + y = state.acceleration(); break; case data_temp: y = state.temperature; break; case data_battery_voltage: - y = state.battery; + y = state.battery_voltage; break; case data_drogue_voltage: - y = state.drogue_sense; + y = state.apogee_voltage; break; case data_main_voltage: - y = state.main_sense; + y = state.main_voltage; break; case data_rssi: - y = state.data.rssi; + y = state.rssi; break; case data_gps_height: y = state.gps_height; @@ -96,17 +97,17 @@ public class AltosGraphDataPoint implements AltosUIDataPoint { y = state.from_pad.distance; break; case data_pressure: - y = state.pressure; + y = state.pressure(); break; } - if (y == AltosRecord.MISSING) + if (y == AltosLib.MISSING) throw new AltosUIDataMissing(index); return y; } public int id(int index) { if (index == data_state) { - int s = state.data.state; + int s = state.state; if (s < Altos.ao_flight_boost || s > Altos.ao_flight_landed) return -1; return s; @@ -116,7 +117,7 @@ public class AltosGraphDataPoint implements AltosUIDataPoint { public String id_name(int index) { if (index == data_state) - return state.data.state(); + return state.state_name(); return ""; } diff --git a/altosui/AltosGraphDataSet.java b/altosui/AltosGraphDataSet.java index dc047e9a..4e6c46d1 100644 --- a/altosui/AltosGraphDataSet.java +++ b/altosui/AltosGraphDataSet.java @@ -20,39 +20,36 @@ package altosui; import java.lang.*; import java.io.*; import java.util.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; class AltosGraphIterator implements Iterator { AltosGraphDataSet dataSet; - Iterator iterator; - - AltosState state; + Iterator iterator; public boolean hasNext() { return iterator.hasNext(); } public AltosUIDataPoint next() { - state = new AltosState(iterator.next(), state); + AltosState state = iterator.next(); - if ((state.data.seen & AltosRecord.seen_flight) != 0) { - if (dataSet.callsign == null && state.data.callsign != null) - dataSet.callsign = state.data.callsign; + if (state.flight != AltosLib.MISSING) { + if (dataSet.callsign == null && state.callsign != null) + dataSet.callsign = state.callsign; - if (dataSet.serial == 0 && state.data.serial != 0) - dataSet.serial = state.data.serial; + if (dataSet.serial == 0 && state.serial != 0) + dataSet.serial = state.serial; - if (dataSet.flight == 0 && state.data.flight != 0) - dataSet.flight = state.data.flight; + if (dataSet.flight == 0 && state.flight != 0) + dataSet.flight = state.flight; } return new AltosGraphDataPoint(state); } - public AltosGraphIterator (Iterator iterator, AltosGraphDataSet dataSet) { + public AltosGraphIterator (Iterator iterator, AltosGraphDataSet dataSet) { this.iterator = iterator; - this.state = null; this.dataSet = dataSet; } @@ -64,7 +61,7 @@ class AltosGraphIterable implements Iterable { AltosGraphDataSet dataSet; public Iterator iterator() { - return new AltosGraphIterator(dataSet.records.iterator(), dataSet); + return new AltosGraphIterator(dataSet.states.iterator(), dataSet); } public AltosGraphIterable(AltosGraphDataSet dataSet) { @@ -76,7 +73,7 @@ public class AltosGraphDataSet implements AltosUIDataSet { String callsign; int serial; int flight; - AltosRecordIterable records; + AltosStateIterable states; public String name() { if (callsign != null) @@ -89,8 +86,8 @@ public class AltosGraphDataSet implements AltosUIDataSet { return new AltosGraphIterable(this); } - public AltosGraphDataSet (AltosRecordIterable records) { - this.records = records; + public AltosGraphDataSet (AltosStateIterable states) { + this.states = states; this.callsign = null; this.serial = 0; this.flight = 0; diff --git a/altosui/AltosGraphUI.java b/altosui/AltosGraphUI.java index d8b8f6dd..c42f7b5f 100644 --- a/altosui/AltosGraphUI.java +++ b/altosui/AltosGraphUI.java @@ -9,7 +9,7 @@ import java.util.ArrayList; import java.awt.*; import javax.swing.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; import org.jfree.chart.ChartPanel; @@ -28,10 +28,9 @@ public class AltosGraphUI extends AltosUIFrame AltosFlightStatsTable statsTable; boolean has_gps; - void fill_map(AltosRecordIterable records) { + void fill_map(AltosStateIterable states) { boolean any_gps = false; - for (AltosRecord record : records) { - state = new AltosState(record, state); + for (AltosState state : states) { if (state.gps != null && state.gps.locked && state.gps.nsat >= 4) { if (map == null) map = new AltosSiteMap(); @@ -41,7 +40,7 @@ public class AltosGraphUI extends AltosUIFrame } } - AltosGraphUI(AltosRecordIterable records, File file) throws InterruptedException, IOException { + AltosGraphUI(AltosStateIterable states, File file) throws InterruptedException, IOException { super(file.getName()); state = null; @@ -49,8 +48,8 @@ public class AltosGraphUI extends AltosUIFrame enable = new AltosUIEnable(); - stats = new AltosFlightStats(records); - graphDataSet = new AltosGraphDataSet(records); + stats = new AltosFlightStats(states); + graphDataSet = new AltosGraphDataSet(states); graph = new AltosGraph(enable, stats, graphDataSet); @@ -61,7 +60,7 @@ public class AltosGraphUI extends AltosUIFrame pane.add("Flight Statistics", statsTable); has_gps = false; - fill_map(records); + fill_map(states); if (has_gps) pane.add("Map", map); diff --git a/altosui/AltosIdleMonitorUI.java b/altosui/AltosIdleMonitorUI.java index bbab017f..f4e16243 100644 --- a/altosui/AltosIdleMonitorUI.java +++ b/altosui/AltosIdleMonitorUI.java @@ -23,7 +23,7 @@ import javax.swing.*; import javax.swing.event.*; import java.io.*; import java.util.concurrent.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class AltosIdleMonitorUI extends AltosUIFrame implements AltosFlightDisplay, AltosFontListener, AltosIdleMonitorListener, DocumentListener { @@ -65,13 +65,13 @@ public class AltosIdleMonitorUI extends AltosUIFrame implements AltosFlightDispl public void show(AltosState state, AltosListenerState listener_state) { status_update.saved_state = state; - try { +// try { pad.show(state, listener_state); flightStatus.show(state, listener_state); flightInfo.show(state, listener_state); - } catch (Exception e) { - System.out.print("Show exception" + e); - } +// } catch (Exception e) { +// System.out.print("Show exception " + e); +// } } public void update(final AltosState state, final AltosListenerState listener_state) { diff --git a/altosui/AltosIgniteUI.java b/altosui/AltosIgniteUI.java index 14d4eebc..c8024aae 100644 --- a/altosui/AltosIgniteUI.java +++ b/altosui/AltosIgniteUI.java @@ -23,7 +23,7 @@ import javax.swing.*; import java.io.*; import java.text.*; import java.util.concurrent.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class AltosIgniteUI diff --git a/altosui/AltosInfoTable.java b/altosui/AltosInfoTable.java index 3d16faf2..feafed21 100644 --- a/altosui/AltosInfoTable.java +++ b/altosui/AltosInfoTable.java @@ -20,7 +20,7 @@ package altosui; import java.awt.*; import javax.swing.*; import javax.swing.table.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosInfoTable extends JTable { private AltosFlightInfoTableModel model; @@ -107,35 +107,37 @@ public class AltosInfoTable extends JTable { public void show(AltosState state, AltosListenerState listener_state) { info_reset(); if (state != null) { - if (state.altitude != AltosRecord.MISSING) - info_add_row(0, "Altitude", "%6.0f m", state.altitude); - if (state.ground_altitude != AltosRecord.MISSING) - info_add_row(0, "Pad altitude", "%6.0f m", state.ground_altitude); - if (state.height != AltosRecord.MISSING) - info_add_row(0, "Height", "%6.0f m", state.height); - if (state.height != AltosRecord.MISSING) - info_add_row(0, "Max height", "%6.0f m", state.max_height); - if (state.acceleration != AltosRecord.MISSING) - info_add_row(0, "Acceleration", "%8.1f m/s²", state.acceleration); - if (state.acceleration != AltosRecord.MISSING) - info_add_row(0, "Max acceleration", "%8.1f m/s²", state.max_acceleration); - if (state.speed() != AltosRecord.MISSING) + if (state.device_type != AltosLib.MISSING) + info_add_row(0, "Device", "%s", AltosLib.product_name(state.device_type)); + if (state.altitude() != AltosLib.MISSING) + info_add_row(0, "Altitude", "%6.0f m", state.altitude()); + if (state.ground_altitude() != AltosLib.MISSING) + info_add_row(0, "Pad altitude", "%6.0f m", state.ground_altitude()); + if (state.height() != AltosLib.MISSING) + info_add_row(0, "Height", "%6.0f m", state.height()); + if (state.max_height() != AltosLib.MISSING) + info_add_row(0, "Max height", "%6.0f m", state.max_height()); + if (state.acceleration() != AltosLib.MISSING) + info_add_row(0, "Acceleration", "%8.1f m/s²", state.acceleration()); + if (state.max_acceleration() != AltosLib.MISSING) + info_add_row(0, "Max acceleration", "%8.1f m/s²", state.max_acceleration()); + if (state.speed() != AltosLib.MISSING) info_add_row(0, "Speed", "%8.1f m/s", state.speed()); - if (state.speed() != AltosRecord.MISSING) - info_add_row(0, "Max Speed", "%8.1f m/s", state.max_accel_speed); - if (state.temperature != AltosRecord.MISSING) + if (state.max_speed() != AltosLib.MISSING) + info_add_row(0, "Max Speed", "%8.1f m/s", state.max_speed()); + if (state.temperature != AltosLib.MISSING) info_add_row(0, "Temperature", "%9.2f °C", state.temperature); - if (state.battery != AltosRecord.MISSING) - info_add_row(0, "Battery", "%9.2f V", state.battery); - if (state.drogue_sense != AltosRecord.MISSING) - info_add_row(0, "Drogue", "%9.2f V", state.drogue_sense); - if (state.main_sense != AltosRecord.MISSING) - info_add_row(0, "Main", "%9.2f V", state.main_sense); + if (state.battery_voltage != AltosLib.MISSING) + info_add_row(0, "Battery", "%9.2f V", state.battery_voltage); + if (state.apogee_voltage != AltosLib.MISSING) + info_add_row(0, "Drogue", "%9.2f V", state.apogee_voltage); + if (state.main_voltage != AltosLib.MISSING) + info_add_row(0, "Main", "%9.2f V", state.main_voltage); } if (listener_state != null) { info_add_row(0, "CRC Errors", "%6d", listener_state.crc_errors); - if (listener_state.battery != AltosRecord.MISSING) + if (listener_state.battery != AltosLib.MISSING) info_add_row(0, "Receiver Battery", "%9.2f", listener_state.battery); } @@ -148,17 +150,21 @@ public class AltosInfoTable extends JTable { else info_add_row(1, "GPS state", "wait (%d)", state.gps_waiting); - if (state.data.gps.locked) + if (state.gps.locked) info_add_row(1, "GPS", " locked"); - else if (state.data.gps.connected) + else if (state.gps.connected) info_add_row(1, "GPS", " unlocked"); else info_add_row(1, "GPS", " missing"); - info_add_row(1, "Satellites", "%6d", state.data.gps.nsat); - info_add_deg(1, "Latitude", state.gps.lat, 'N', 'S'); - info_add_deg(1, "Longitude", state.gps.lon, 'E', 'W'); - info_add_row(1, "GPS altitude", "%6d", state.gps.alt); - info_add_row(1, "GPS height", "%6.0f", state.gps_height); + info_add_row(1, "Satellites", "%6d", state.gps.nsat); + if (state.gps.lat != AltosLib.MISSING) + info_add_deg(1, "Latitude", state.gps.lat, 'N', 'S'); + if (state.gps.lon != AltosLib.MISSING) + info_add_deg(1, "Longitude", state.gps.lon, 'E', 'W'); + if (state.gps.alt != AltosLib.MISSING) + info_add_row(1, "GPS altitude", "%8.1f", state.gps.alt); + if (state.gps_height != AltosLib.MISSING) + info_add_row(1, "GPS height", "%8.1f", state.gps_height); /* The SkyTraq GPS doesn't report these values */ /* @@ -195,14 +201,16 @@ public class AltosInfoTable extends JTable { info_add_deg(1, "Pad longitude", state.pad_lon, 'E', 'W'); info_add_row(1, "Pad GPS alt", "%6.0f m", state.pad_alt); } - info_add_row(1, "GPS date", "%04d-%02d-%02d", - state.gps.year, - state.gps.month, - state.gps.day); - info_add_row(1, "GPS time", " %02d:%02d:%02d", - state.gps.hour, - state.gps.minute, - state.gps.second); + if (state.gps.year != AltosLib.MISSING) + info_add_row(1, "GPS date", "%04d-%02d-%02d", + state.gps.year, + state.gps.month, + state.gps.day); + if (state.gps.hour != AltosLib.MISSING) + info_add_row(1, "GPS time", " %02d:%02d:%02d", + state.gps.hour, + state.gps.minute, + state.gps.second); //int nsat_vis = 0; int c; diff --git a/altosui/AltosKML.java b/altosui/AltosKML.java index 140f3f07..fbb0ece4 100644 --- a/altosui/AltosKML.java +++ b/altosui/AltosKML.java @@ -18,14 +18,14 @@ package altosui; import java.io.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosKML implements AltosWriter { File name; PrintStream out; - int state = -1; - AltosRecord prev = null; + int flight_state = -1; + AltosState prev = null; double gps_start_altitude; static final String[] kml_state_colors = { @@ -83,7 +83,7 @@ public class AltosKML implements AltosWriter { "\n" + "\n"; - void start (AltosRecord record) { + void start (AltosState record) { out.printf(kml_header_start, record.flight, record.serial); out.printf("Date: %04d-%02d-%02d\n", record.gps.year, record.gps.month, record.gps.day); @@ -94,30 +94,30 @@ public class AltosKML implements AltosWriter { boolean started = false; - void state_start(AltosRecord record) { - String state_name = Altos.state_name(record.state); - out.printf(kml_style_start, state_name, kml_state_colors[record.state]); + void state_start(AltosState state) { + String state_name = Altos.state_name(state.state); + out.printf(kml_style_start, state_name, kml_state_colors[state.state]); out.printf("\tState: %s\n", state_name); out.printf("%s", kml_style_end); out.printf(kml_placemark_start, state_name, state_name); } - void state_end(AltosRecord record) { + void state_end(AltosState state) { out.printf("%s", kml_placemark_end); } - void coord(AltosRecord record) { - AltosGPS gps = record.gps; + void coord(AltosState state) { + AltosGPS gps = state.gps; double altitude; - if (record.height() != AltosRecord.MISSING) - altitude = record.height() + gps_start_altitude; + if (state.height() != AltosLib.MISSING) + altitude = state.height() + gps_start_altitude; else altitude = gps.alt; out.printf(kml_coord_fmt, gps.lon, gps.lat, altitude, (double) gps.alt, - record.time, gps.nsat); + state.time, gps.nsat); } void end() { @@ -132,38 +132,40 @@ public class AltosKML implements AltosWriter { } } - public void write(AltosRecord record) { - AltosGPS gps = record.gps; + public void write(AltosState state) { + AltosGPS gps = state.gps; if (gps == null) return; - if ((record.seen & (AltosRecord.seen_gps_lat)) == 0) + if (gps.lat == AltosLib.MISSING) return; - if ((record.seen & (AltosRecord.seen_gps_lon)) == 0) + if (gps.lon == AltosLib.MISSING) return; if (!started) { - start(record); + start(state); started = true; gps_start_altitude = gps.alt; } - if (prev != null && prev.gps_sequence == record.gps_sequence) + if (prev != null && prev.gps_sequence == state.gps_sequence) return; - if (record.state != state) { - state = record.state; + if (state.state != flight_state) { + flight_state = state.state; if (prev != null) { - coord(record); + coord(state); state_end(prev); } - state_start(record); + state_start(state); } - coord(record); - prev = record; + coord(state); + prev = state; } - public void write(AltosRecordIterable iterable) { - for (AltosRecord record : iterable) - write(record); + public void write(AltosStateIterable states) { + for (AltosState state : states) { + if ((state.set & AltosState.set_gps) != 0) + write(state); + } } public AltosKML(File in_name) throws FileNotFoundException { diff --git a/altosui/AltosLanded.java b/altosui/AltosLanded.java index 9dab52c4..cc2053e0 100644 --- a/altosui/AltosLanded.java +++ b/altosui/AltosLanded.java @@ -21,7 +21,7 @@ import java.awt.*; import java.awt.event.*; import javax.swing.*; import java.io.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosLanded extends JComponent implements AltosFlightDisplay, ActionListener { GridBagLayout layout; @@ -103,7 +103,8 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio class Lat extends LandedValue { void show (AltosState state, AltosListenerState listener_state) { - if (state.gps != null && state.gps.connected) + show(); + if (state.gps != null && state.gps.connected && state.gps.lat != AltosLib.MISSING) show(pos(state.gps.lat,"N", "S")); else show("???"); @@ -118,7 +119,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio class Lon extends LandedValue { void show (AltosState state, AltosListenerState listener_state) { show(); - if (state.gps != null && state.gps.connected) + if (state.gps != null && state.gps.connected && state.gps.lon != AltosLib.MISSING) show(pos(state.gps.lon,"E", "W")); else show("???"); @@ -162,7 +163,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio class Height extends LandedValue { void show (AltosState state, AltosListenerState listener_state) { - show(AltosConvert.height, state.max_height); + show(AltosConvert.height, state.max_height()); } public Height (GridBagLayout layout, int y) { super (layout, y, "Maximum Height"); @@ -184,7 +185,7 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio class Accel extends LandedValue { void show (AltosState state, AltosListenerState listener_state) { - show(AltosConvert.accel, state.max_acceleration); + show(AltosConvert.accel, state.max_acceleration()); } public Accel (GridBagLayout layout, int y) { super (layout, y, "Maximum Acceleration"); @@ -243,24 +244,18 @@ public class AltosLanded extends JComponent implements AltosFlightDisplay, Actio if (file != null) { String filename = file.getName(); try { - AltosRecordIterable records = null; + AltosStateIterable states = null; if (filename.endsWith("eeprom")) { FileInputStream in = new FileInputStream(file); - records = new AltosEepromIterable(in); + states = new AltosEepromFile(in); } else if (filename.endsWith("telem")) { FileInputStream in = new FileInputStream(file); - records = new AltosTelemetryIterable(in); - } else if (filename.endsWith("mega")) { - FileInputStream in = new FileInputStream(file); - records = new AltosEepromMegaIterable(in); - } else if (filename.endsWith("mini")) { - FileInputStream in = new FileInputStream(file); - records = new AltosEepromMiniIterable(in); + states = new AltosTelemetryFile(in); } else { throw new FileNotFoundException(filename); } try { - new AltosGraphUI(records, file); + new AltosGraphUI(states, file); } catch (InterruptedException ie) { } catch (IOException ie) { } diff --git a/altosui/AltosPad.java b/altosui/AltosPad.java index e2316a13..b35bd23a 100644 --- a/altosui/AltosPad.java +++ b/altosui/AltosPad.java @@ -19,7 +19,7 @@ package altosui; import java.awt.*; import javax.swing.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosPad extends JComponent implements AltosFlightDisplay { GridBagLayout layout; @@ -176,11 +176,11 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { class Battery extends LaunchStatus { void show (AltosState state, AltosListenerState listener_state) { - if (state == null || state.battery == AltosRecord.MISSING) + if (state == null || state.battery_voltage == AltosLib.MISSING) hide(); else { - show("%4.2f V", state.battery); - lights.set(state.battery > 3.7); + show("%4.2f V", state.battery_voltage); + lights.set(state.battery_voltage > 3.7); } } public Battery (GridBagLayout layout, int y) { @@ -192,11 +192,11 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { class Apogee extends LaunchStatus { void show (AltosState state, AltosListenerState listener_state) { - if (state == null || state.drogue_sense == AltosRecord.MISSING) + if (state == null || state.apogee_voltage == AltosLib.MISSING) hide(); else { - show("%4.2f V", state.drogue_sense); - lights.set(state.drogue_sense > 3.2); + show("%4.2f V", state.apogee_voltage); + lights.set(state.apogee_voltage > 3.7); } } public Apogee (GridBagLayout layout, int y) { @@ -208,11 +208,11 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { class Main extends LaunchStatus { void show (AltosState state, AltosListenerState listener_state) { - if (state == null || state.main_sense == AltosRecord.MISSING) + if (state == null || state.main_voltage == AltosLib.MISSING) hide(); else { - show("%4.2f V", state.main_sense); - lights.set(state.main_sense > 3.2); + show("%4.2f V", state.main_voltage); + lights.set(state.main_voltage > 3.7); } } public Main (GridBagLayout layout, int y) { @@ -224,19 +224,19 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { class LoggingReady extends LaunchStatus { void show (AltosState state, AltosListenerState listener_state) { - if (state == null || state.data.flight == AltosRecord.MISSING) { + if (state == null || state.flight == AltosLib.MISSING) { hide(); } else { - if (state.data.flight != 0) { - if (state.data.state <= Altos.ao_flight_pad) + if (state.flight != 0) { + if (state.state <= Altos.ao_flight_pad) show("Ready to record"); - else if (state.data.state < Altos.ao_flight_landed) + else if (state.state < Altos.ao_flight_landed) show("Recording data"); else show("Recorded data"); } else show("Storage full"); - lights.set(state.data.flight != 0); + lights.set(state.flight != 0); } } public LoggingReady (GridBagLayout layout, int y) { @@ -283,7 +283,7 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { class ReceiverBattery extends LaunchStatus { void show (AltosState state, AltosListenerState listener_state) { - if (listener_state == null || listener_state.battery == AltosRecord.MISSING) + if (listener_state == null || listener_state.battery == AltosLib.MISSING) hide(); else { show("%4.2f V", listener_state.battery); @@ -310,17 +310,23 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { class PadLat extends LaunchValue { void show (AltosState state, AltosListenerState listener_state) { - if (state == null || state.gps == null) { - hide(); - } else { - if (state.state < AltosLib.ao_flight_pad) { - show(pos(state.gps.lat,"N", "S")); - set_label("Latitude"); - } else { - show(pos(state.pad_lat,"N", "S")); - set_label("Pad Latitude"); + double lat = AltosLib.MISSING; + String label = null; + + if (state != null) { + if (state.state < AltosLib.ao_flight_pad && state.gps != null && state.gps.lat != AltosLib.MISSING) { + lat = state.gps.lat; + label = "Latitude"; + } else { + lat = state.pad_lat; + label = "Pad Latitude"; } } + if (lat != AltosLib.MISSING) { + show(pos(lat,"N", "S")); + set_label(label); + } else + hide(); } public PadLat (GridBagLayout layout, int y) { super (layout, y, "Pad Latitude"); @@ -331,17 +337,23 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { class PadLon extends LaunchValue { void show (AltosState state, AltosListenerState listener_state) { - if (state == null || state.gps == null) { - hide(); - } else { - if (state.state < AltosLib.ao_flight_pad) { - show(pos(state.gps.lon,"E", "W")); - set_label("Longitude"); - } else { - show(pos(state.pad_lon,"E", "W")); - set_label("Pad Longitude"); + double lon = AltosLib.MISSING; + String label = null; + + if (state != null) { + if (state.state < AltosLib.ao_flight_pad && state.gps != null && state.gps.lon != AltosLib.MISSING) { + lon = state.gps.lon; + label = "Longitude"; + } else { + lon = state.pad_lon; + label = "Pad Longitude"; } } + if (lon != AltosLib.MISSING) { + show(pos(lon,"E", "W")); + set_label(label); + } else + hide(); } public PadLon (GridBagLayout layout, int y) { super (layout, y, "Pad Longitude"); @@ -352,21 +364,23 @@ public class AltosPad extends JComponent implements AltosFlightDisplay { class PadAlt extends LaunchValue { void show (AltosState state, AltosListenerState listener_state) { - if (state == null) - hide(); - else { - if (state.state < AltosLib.ao_flight_pad && state.gps != null) { - show("%4.0f m", state.gps.alt); - set_label("Altitude"); + double alt = AltosLib.MISSING; + String label = null; + + if (state != null) { + if (state.state < AltosLib.ao_flight_pad && state.gps != null && state.gps.alt != AltosLib.MISSING) { + alt = state.gps.alt; + label = "Altitude"; } else { - if (state.pad_alt == AltosRecord.MISSING) - hide(); - else { - show("%4.0f m", state.pad_alt); - set_label("Pad Altitude"); - } + alt = state.pad_alt; + label = "Pad Altitude"; } } + if (alt != AltosLib.MISSING) { + show("%4.0f m", state.gps.alt); + set_label(label); + } else + hide(); } public PadAlt (GridBagLayout layout, int y) { super (layout, y, "Pad Altitude"); diff --git a/altosui/AltosRomconfigUI.java b/altosui/AltosRomconfigUI.java index 909e72a0..6f9d9dc6 100644 --- a/altosui/AltosRomconfigUI.java +++ b/altosui/AltosRomconfigUI.java @@ -20,7 +20,7 @@ package altosui; import java.awt.*; import java.awt.event.*; import javax.swing.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class AltosRomconfigUI diff --git a/altosui/AltosScanUI.java b/altosui/AltosScanUI.java index 0c903873..a5ccb15a 100644 --- a/altosui/AltosScanUI.java +++ b/altosui/AltosScanUI.java @@ -25,7 +25,7 @@ import java.io.*; import java.util.*; import java.text.*; import java.util.concurrent.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; class AltosScanResult { @@ -184,13 +184,13 @@ public class AltosScanUI try { for (;;) { try { - AltosRecord record = reader.read(); - if (record == null) + AltosState state = reader.read(); + if (state == null) continue; - if ((record.seen & AltosRecord.seen_flight) != 0) { - final AltosScanResult result = new AltosScanResult(record.callsign, - record.serial, - record.flight, + if (state.flight != AltosLib.MISSING) { + final AltosScanResult result = new AltosScanResult(state.callsign, + state.serial, + state.flight, frequencies[frequency_index], telemetry); Runnable r = new Runnable() { diff --git a/altosui/AltosSerial.java b/altosui/AltosSerial.java index e869f1ab..697ad539 100644 --- a/altosui/AltosSerial.java +++ b/altosui/AltosSerial.java @@ -25,7 +25,7 @@ import java.io.*; import java.util.*; import java.awt.*; import javax.swing.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; import libaltosJNI.*; diff --git a/altosui/AltosSiteMap.java b/altosui/AltosSiteMap.java index 23085f3e..9491ce2b 100644 --- a/altosui/AltosSiteMap.java +++ b/altosui/AltosSiteMap.java @@ -23,7 +23,7 @@ import java.io.*; import java.lang.Math; import java.awt.geom.Point2D; import java.util.concurrent.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class AltosSiteMap extends JScrollPane implements AltosFlightDisplay { @@ -271,27 +271,34 @@ public class AltosSiteMap extends JScrollPane implements AltosFlightDisplay { int last_state = -1; public void show(double lat, double lon) { - initMaps(lat, lon); - scrollRocketToVisible(pt(lat, lon)); + System.out.printf ("show %g %g\n", lat, lon); + return; +// initMaps(lat, lon); +// scrollRocketToVisible(pt(lat, lon)); } public void show(final AltosState state, final AltosListenerState listener_state) { // if insufficient gps data, nothing to update - if (!state.gps.locked && state.gps.nsat < 4) + AltosGPS gps = state.gps; + + if (gps == null) + return; + + if (!gps.locked && gps.nsat < 4) return; if (!initialised) { - if (state.pad_lat != 0 || state.pad_lon != 0) { + if (state.pad_lat != AltosLib.MISSING && state.pad_lon != AltosLib.MISSING) { initMaps(state.pad_lat, state.pad_lon); initialised = true; - } else if (state.gps.lat != 0 || state.gps.lon != 0) { - initMaps(state.gps.lat, state.gps.lon); + } else if (gps.lat != AltosLib.MISSING && gps.lon != AltosLib.MISSING) { + initMaps(gps.lat, gps.lon); initialised = true; } else { return; } } - final Point2D.Double pt = pt(state.gps.lat, state.gps.lon); + final Point2D.Double pt = pt(gps.lat, gps.lon); if (last_pt == pt && last_state == state.state) return; diff --git a/altosui/AltosSiteMapTile.java b/altosui/AltosSiteMapTile.java index 365e4b6c..172e6397 100644 --- a/altosui/AltosSiteMapTile.java +++ b/altosui/AltosSiteMapTile.java @@ -22,7 +22,7 @@ import java.awt.image.*; import javax.swing.*; import java.awt.geom.Point2D; import java.awt.geom.Line2D; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosSiteMapTile extends JLayeredPane { JLabel mapLabel; diff --git a/altosui/AltosUI.java b/altosui/AltosUI.java index 4362e36c..9dad8718 100644 --- a/altosui/AltosUI.java +++ b/altosui/AltosUI.java @@ -22,7 +22,7 @@ import java.awt.event.*; import javax.swing.*; import java.io.*; import java.util.concurrent.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class AltosUI extends AltosUIFrame { @@ -290,9 +290,9 @@ public class AltosUI extends AltosUIFrame { AltosDataChooser chooser = new AltosDataChooser( AltosUI.this); - AltosRecordIterable iterable = chooser.runDialog(); - if (iterable != null) { - AltosFlightReader reader = new AltosReplayReader(iterable.iterator(), + Iterable states = chooser.runDialog(); + if (states != null) { + AltosFlightReader reader = new AltosReplayReader(states.iterator(), chooser.file()); new AltosFlightUI(voice, reader); } @@ -312,10 +312,10 @@ public class AltosUI extends AltosUIFrame { private void ExportData() { AltosDataChooser chooser; chooser = new AltosDataChooser(this); - AltosRecordIterable record_reader = chooser.runDialog(); - if (record_reader == null) + AltosStateIterable states = chooser.runDialog(); + if (states == null) return; - new AltosCSVUI(AltosUI.this, record_reader, chooser.file()); + new AltosCSVUI(AltosUI.this, states, chooser.file()); } /* Load a flight log CSV file and display a pretty graph. @@ -324,11 +324,11 @@ public class AltosUI extends AltosUIFrame { private void GraphData() { AltosDataChooser chooser; chooser = new AltosDataChooser(this); - AltosRecordIterable record_reader = chooser.runDialog(); - if (record_reader == null) + AltosStateIterable states = chooser.runDialog(); + if (states == null) return; try { - new AltosGraphUI(record_reader, chooser.file()); + new AltosGraphUI(states, chooser.file()); } catch (InterruptedException ie) { } catch (IOException ie) { } @@ -345,19 +345,15 @@ public class AltosUI extends AltosUIFrame { } } - static AltosRecordIterable open_logfile(File file) { + static AltosStateIterable open_logfile(File file) { try { FileInputStream in; in = new FileInputStream(file); - if (file.getName().endsWith("eeprom")) - return new AltosEepromIterable(in); - else if (file.getName().endsWith("mega")) - return new AltosEepromMegaIterable(in); - else if (file.getName().endsWith("mini")) - return new AltosEepromMiniIterable(in); + if (file.getName().endsWith("telem")) + return new AltosTelemetryFile(in); else - return new AltosTelemetryIterable(in); + return new AltosEepromFile(in); } catch (FileNotFoundException fe) { System.out.printf("%s\n", fe.getMessage()); return null; @@ -388,10 +384,11 @@ public class AltosUI extends AltosUIFrame { static final int process_graph = 3; static final int process_replay = 4; static final int process_summary = 5; + static final int process_cat = 6; static boolean process_csv(File input) { - AltosRecordIterable iterable = open_logfile(input); - if (iterable == null) + AltosStateIterable states = open_logfile(input); + if (states == null) return false; File output = Altos.replace_extension(input,".csv"); @@ -403,15 +400,15 @@ public class AltosUI extends AltosUIFrame { AltosWriter writer = open_csv(output); if (writer == null) return false; - writer.write(iterable); + writer.write(states); writer.close(); } return true; } static boolean process_kml(File input) { - AltosRecordIterable iterable = open_logfile(input); - if (iterable == null) + AltosStateIterable states = open_logfile(input); + if (states == null) return false; File output = Altos.replace_extension(input,".kml"); @@ -423,13 +420,13 @@ public class AltosUI extends AltosUIFrame { AltosWriter writer = open_kml(output); if (writer == null) return false; - writer.write(iterable); + writer.write(states); writer.close(); return true; } } - static AltosRecordIterable record_iterable(File file) { + static AltosStateIterable record_iterable(File file) { FileInputStream in; try { in = new FileInputStream(file); @@ -437,25 +434,17 @@ public class AltosUI extends AltosUIFrame { System.out.printf("Failed to open file '%s'\n", file); return null; } - AltosRecordIterable recs; - //AltosReplayReader reader; - if (file.getName().endsWith("eeprom")) { - recs = new AltosEepromIterable(in); - } else if (file.getName().endsWith("mega")) { - recs = new AltosEepromMegaIterable(in); - } else if (file.getName().endsWith("mini")) { - recs = new AltosEepromMiniIterable(in); - } else { - recs = new AltosTelemetryIterable(in); - } - return recs; + if (file.getName().endsWith("telem")) + return new AltosTelemetryFile(in); + else + return new AltosEepromFile(in); } static AltosReplayReader replay_file(File file) { - AltosRecordIterable recs = record_iterable(file); - if (recs == null) + AltosStateIterable states = record_iterable(file); + if (states == null) return null; - return new AltosReplayReader(recs.iterator(), file); + return new AltosReplayReader(states.iterator(), file); } static boolean process_replay(File file) { @@ -468,11 +457,11 @@ public class AltosUI extends AltosUIFrame { } static boolean process_graph(File file) { - AltosRecordIterable recs = record_iterable(file); - if (recs == null) + AltosStateIterable states = record_iterable(file); + if (states == null) return false; try { - new AltosGraphUI(recs, file); + new AltosGraphUI(states, file); return true; } catch (InterruptedException ie) { } catch (IOException ie) { @@ -481,11 +470,11 @@ public class AltosUI extends AltosUIFrame { } static boolean process_summary(File file) { - AltosRecordIterable iterable = record_iterable(file); - if (iterable == null) + AltosStateIterable states = record_iterable(file); + if (states == null) return false; try { - AltosFlightStats stats = new AltosFlightStats(iterable); + AltosFlightStats stats = new AltosFlightStats(states); if (stats.serial > 0) System.out.printf("Serial: %5d\n", stats.serial); if (stats.flight > 0) @@ -503,18 +492,18 @@ public class AltosUI extends AltosUIFrame { stats.max_speed, AltosConvert.meters_to_feet(stats.max_speed), AltosConvert.meters_to_mach(stats.max_speed)); - if (stats.max_acceleration != AltosRecord.MISSING) { + if (stats.max_acceleration != AltosLib.MISSING) { System.out.printf("Max accel: %6.0f m/s² %6.0f ft/s² %6.2f g\n", stats.max_acceleration, AltosConvert.meters_to_feet(stats.max_acceleration), AltosConvert.meters_to_g(stats.max_acceleration)); } System.out.printf("Drogue rate: %6.0f m/s %6.0f ft/s\n", - stats.state_baro_speed[Altos.ao_flight_drogue], - AltosConvert.meters_to_feet(stats.state_baro_speed[Altos.ao_flight_drogue])); + stats.state_speed[Altos.ao_flight_drogue], + AltosConvert.meters_to_feet(stats.state_speed[Altos.ao_flight_drogue])); System.out.printf("Main rate: %6.0f m/s %6.0f ft/s\n", - stats.state_baro_speed[Altos.ao_flight_main], - AltosConvert.meters_to_feet(stats.state_baro_speed[Altos.ao_flight_main])); + stats.state_speed[Altos.ao_flight_main], + AltosConvert.meters_to_feet(stats.state_speed[Altos.ao_flight_main])); System.out.printf("Flight time: %6.0f s\n", stats.state_end[Altos.ao_flight_main] - stats.state_start[Altos.ao_flight_boost]); @@ -525,6 +514,29 @@ public class AltosUI extends AltosUIFrame { return false; } + static boolean process_cat(File file) { + try { + AltosStateIterable eef = record_iterable(file); + + System.out.printf ("process cat\n"); + for (AltosState state : eef) { + System.out.printf ("tick %d state %d height %g\n", + state.tick, state.state, state.height()); + if ((state.set & AltosState.set_gps) != 0) + System.out.printf ("time %g lat %g lon %g alt %g\n", + state.time_since_boost(), + state.gps.lat, + state.gps.lon, + state.gps.alt); + } + + } catch (Exception e) { + System.out.printf("Failed to open file '%s'\n", file); + return false; + } + return true; + } + public static void help(int code) { System.out.printf("Usage: altosui [OPTION]... [FILE]...\n"); System.out.printf(" Options:\n"); @@ -574,6 +586,8 @@ public class AltosUI extends AltosUIFrame { process = process_graph; else if (args[i].equals("--summary")) process = process_summary; + else if (args[i].equals("--cat")) + process = process_cat; else if (args[i].startsWith("--")) help(1); else { @@ -600,6 +614,9 @@ public class AltosUI extends AltosUIFrame { if (!process_summary(file)) ++errors; break; + case process_cat: + if (!process_cat(file)) + ++errors; } } } diff --git a/altosui/AltosUIPreferencesBackend.java b/altosui/AltosUIPreferencesBackend.java index 0dac9fc7..fb5f8520 100644 --- a/altosui/AltosUIPreferencesBackend.java +++ b/altosui/AltosUIPreferencesBackend.java @@ -19,7 +19,7 @@ package altosui; import java.io.File; import java.util.prefs.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import javax.swing.filechooser.FileSystemView; public class AltosUIPreferencesBackend implements AltosPreferencesBackend { diff --git a/altosui/AltosWriter.java b/altosui/AltosWriter.java index 2f70b472..d664d6e8 100644 --- a/altosui/AltosWriter.java +++ b/altosui/AltosWriter.java @@ -17,14 +17,14 @@ package altosui; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public interface AltosWriter { - public void write(AltosRecord record); + public void write(AltosState state); - public void write(AltosRecordIterable iterable); + public void write(AltosStateIterable states); public void close(); } diff --git a/altosuilib/AltosUIAxis.java b/altosuilib/AltosUIAxis.java index 867b0384..a38cba63 100644 --- a/altosuilib/AltosUIAxis.java +++ b/altosuilib/AltosUIAxis.java @@ -22,7 +22,7 @@ import java.util.ArrayList; import java.awt.*; import javax.swing.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.jfree.ui.*; import org.jfree.chart.*; diff --git a/altosuilib/AltosUIEnable.java b/altosuilib/AltosUIEnable.java index 55486dea..84803c0e 100644 --- a/altosuilib/AltosUIEnable.java +++ b/altosuilib/AltosUIEnable.java @@ -23,7 +23,7 @@ import javax.swing.*; import java.io.*; import java.util.concurrent.*; import java.util.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.jfree.ui.*; import org.jfree.chart.*; diff --git a/altosuilib/AltosUIGraph.java b/altosuilib/AltosUIGraph.java index 5f3a2eef..ef0cc677 100644 --- a/altosuilib/AltosUIGraph.java +++ b/altosuilib/AltosUIGraph.java @@ -22,7 +22,7 @@ import java.util.ArrayList; import java.awt.*; import javax.swing.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.jfree.ui.*; import org.jfree.chart.*; diff --git a/altosuilib/AltosUIGrapher.java b/altosuilib/AltosUIGrapher.java index 8f0ce801..d826072f 100644 --- a/altosuilib/AltosUIGrapher.java +++ b/altosuilib/AltosUIGrapher.java @@ -22,7 +22,7 @@ import java.util.ArrayList; import java.awt.*; import javax.swing.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.jfree.ui.*; import org.jfree.chart.*; diff --git a/altosuilib/AltosUILib.java b/altosuilib/AltosUILib.java index 1b121405..9fcaf6d4 100644 --- a/altosuilib/AltosUILib.java +++ b/altosuilib/AltosUILib.java @@ -20,7 +20,7 @@ package org.altusmetrum.altosuilib_1; import java.awt.*; import libaltosJNI.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosUILib extends AltosLib { diff --git a/altosuilib/AltosUIMarker.java b/altosuilib/AltosUIMarker.java index 0949be6f..e4262abd 100644 --- a/altosuilib/AltosUIMarker.java +++ b/altosuilib/AltosUIMarker.java @@ -22,7 +22,7 @@ import java.util.ArrayList; import java.awt.*; import javax.swing.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.jfree.ui.*; import org.jfree.chart.*; diff --git a/altosuilib/AltosUIPreferences.java b/altosuilib/AltosUIPreferences.java index 49321bce..fc14f24b 100644 --- a/altosuilib/AltosUIPreferences.java +++ b/altosuilib/AltosUIPreferences.java @@ -21,7 +21,7 @@ import java.io.*; import java.util.*; import java.awt.Component; import javax.swing.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; public class AltosUIPreferences extends AltosPreferences { diff --git a/altosuilib/AltosUIPreferencesBackend.java b/altosuilib/AltosUIPreferencesBackend.java index 8a5386c3..55da8d48 100644 --- a/altosuilib/AltosUIPreferencesBackend.java +++ b/altosuilib/AltosUIPreferencesBackend.java @@ -19,7 +19,7 @@ package org.altusmetrum.altosuilib_1; import java.io.File; import java.util.prefs.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import javax.swing.filechooser.FileSystemView; public class AltosUIPreferencesBackend implements AltosPreferencesBackend { diff --git a/altosuilib/AltosUISeries.java b/altosuilib/AltosUISeries.java index ac09a3cc..ff430d1a 100644 --- a/altosuilib/AltosUISeries.java +++ b/altosuilib/AltosUISeries.java @@ -22,7 +22,7 @@ import java.util.ArrayList; import java.awt.*; import javax.swing.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.jfree.ui.*; import org.jfree.chart.*; @@ -34,6 +34,20 @@ import org.jfree.chart.labels.*; import org.jfree.data.xy.*; import org.jfree.data.*; +class AltosUITime extends AltosUnits { + public double value(double v) { return v; } + public String show_units() { return "s"; } + public String say_units() { return "seconds"; } + + public int show_fraction(int width) { + if (width < 5) + return 0; + return width - 5; + } + + public int say_fraction() { return 0; } +} + public class AltosUISeries extends XYSeries implements AltosUIGrapher { AltosUIAxis axis; String label; @@ -47,11 +61,12 @@ public class AltosUISeries extends XYSeries implements AltosUIGrapher { axis.set_units(); StandardXYToolTipGenerator ttg; - String example = units.graph_format(4); + String time_example = (new AltosUITime()).graph_format(7); + String example = units.graph_format(7); ttg = new StandardXYToolTipGenerator(String.format("{1}s: {2}%s ({0})", units.show_units()), - new java.text.DecimalFormat(example), + new java.text.DecimalFormat(time_example), new java.text.DecimalFormat(example)); renderer.setBaseToolTipGenerator(ttg); } diff --git a/ao-tools/ao-telem/ao-telem.c b/ao-tools/ao-telem/ao-telem.c index d2dae5a7..f1755b82 100644 --- a/ao-tools/ao-telem/ao-telem.c +++ b/ao-tools/ao-telem/ao-telem.c @@ -194,6 +194,39 @@ main (int argc, char **argv) telem.mega_data.height); break; + case AO_TELEMETRY_METRUM_SENSOR: + printf ("state %1d accel %5d pres %9d temp %6.2f acceleration %6.2f speed %6.2f height %5d v_batt %5d sense_a %5d sense_m %5d\n", + telem.metrum_sensor.state, + telem.metrum_sensor.accel, + telem.metrum_sensor.pres, + telem.metrum_sensor.temp / 100.0, + telem.metrum_sensor.acceleration / 16.0, + telem.metrum_sensor.speed / 16.0, + telem.metrum_sensor.height, + telem.metrum_sensor.v_batt, + telem.metrum_sensor.sense_a, + telem.metrum_sensor.sense_m); + break; + case AO_TELEMETRY_METRUM_DATA: + printf ("ground_pres %9d ground_accel %5d accel_plus %5d accel_minus %5d\n", + telem.metrum_data.ground_pres, + telem.metrum_data.ground_accel, + telem.metrum_data.accel_plus_g, + telem.metrum_data.accel_minus_g); + break; + case AO_TELEMETRY_MINI: + printf ("state %1d v_batt %5d sense_a %5d sense_m %5d pres %9d temp %6.2f acceleration %6.2f speed %6.2f height %5d ground_pres %9d\n", + telem.mini.state, + telem.mini.v_batt, + telem.mini.sense_a, + telem.mini.sense_m, + telem.mini.pres, + telem.mini.temp / 100.0, + telem.mini.acceleration / 16.0, + telem.mini.speed / 16.0, + telem.mini.height, + telem.mini.ground_pres); + break; default: printf("\n"); } diff --git a/ao-tools/lib/cc-telemetry.h b/ao-tools/lib/cc-telemetry.h index 9a5be49f..c28aceb8 100644 --- a/ao-tools/lib/cc-telemetry.h +++ b/ao-tools/lib/cc-telemetry.h @@ -201,6 +201,72 @@ struct ao_telemetry_mega_data { /* 32 */ }; +#define AO_TELEMETRY_METRUM_SENSOR 0x0A + +struct ao_telemetry_metrum_sensor { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + + uint8_t state; /* 5 flight state */ + int16_t accel; /* 6 Z axis */ + + int32_t pres; /* 8 Pa * 10 */ + int16_t temp; /* 12 °C * 100 */ + + int16_t acceleration; /* 14 m/s² * 16 */ + int16_t speed; /* 16 m/s * 16 */ + int16_t height; /* 18 m */ + + int16_t v_batt; /* 20 battery voltage */ + int16_t sense_a; /* 22 apogee continuity sense */ + int16_t sense_m; /* 24 main continuity sense */ + + uint8_t pad[6]; /* 26 */ + /* 32 */ +}; + +#define AO_TELEMETRY_METRUM_DATA 0x0B + +struct ao_telemetry_metrum_data { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + + int32_t ground_pres; /* 8 average pres on pad */ + int16_t ground_accel; /* 12 average accel on pad */ + int16_t accel_plus_g; /* 14 accel calibration at +1g */ + int16_t accel_minus_g; /* 16 accel calibration at -1g */ + + uint8_t pad[14]; /* 18 */ + /* 32 */ +}; + +#define AO_TELEMETRY_MINI 0x10 + +struct ao_telemetry_mini { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + + uint8_t state; /* 5 flight state */ + int16_t v_batt; /* 6 battery voltage */ + int16_t sense_a; /* 8 apogee continuity */ + int16_t sense_m; /* 10 main continuity */ + + int32_t pres; /* 12 Pa * 10 */ + int16_t temp; /* 16 °C * 100 */ + + int16_t acceleration; /* 18 m/s² * 16 */ + int16_t speed; /* 20 m/s * 16 */ + int16_t height; /* 22 m */ + + int32_t ground_pres; /* 24 average pres on pad */ + + int32_t pad28; /* 28 */ + /* 32 */ +}; + /* #define AO_SEND_ALL_BARO */ #define AO_TELEMETRY_BARO 0x80 @@ -234,6 +300,9 @@ union ao_telemetry_all { struct ao_telemetry_companion companion; struct ao_telemetry_mega_sensor mega_sensor; struct ao_telemetry_mega_data mega_data; + struct ao_telemetry_metrum_sensor metrum_sensor; + struct ao_telemetry_metrum_data metrum_data; + struct ao_telemetry_mini mini; struct ao_telemetry_baro baro; }; diff --git a/configure.ac b/configure.ac index 8f840cb2..729149da 100644 --- a/configure.ac +++ b/configure.ac @@ -31,7 +31,7 @@ dnl ========================================================================== dnl Java library versions ALTOSUILIB_VERSION=1 -ALTOSLIB_VERSION=1 +ALTOSLIB_VERSION=2 AC_SUBST(ALTOSLIB_VERSION) AC_DEFINE(ALTOSLIB_VERSION,$ALTOSLIB_VERSION,[Version of the AltosLib package]) @@ -180,20 +180,150 @@ if test "x$GCC" = "xyes"; then fi AC_SUBST(WARN_CFLAGS) -AC_CHECK_PROG([HAVE_SDCC], [sdcc], yes, no) +# +# Configure SDCC +# + +AC_ARG_WITH([sdcc], + [AS_HELP_STRING([--with-sdcc], + [Name of SDCC])], + [], + [with_sdcc=auto]) + +if test "x$with_sdcc" != "xno"; then + if test "x$with_sdcc" = "xauto"; then + with_sdcc="sdcc" + AC_CHECK_PROG([HAVE_SDCC],[$with_sdcc], yes, no) + else + HAVE_SDCC=yes + fi +else + HAVE_SDCC=no +fi + if test "x$HAVE_SDCC" = "xno"; then - AC_MSG_WARN([No sdcc found, cc1111 binaries will not be built]) + AC_MSG_WARN([SDCC not found, cc1111 binaries will not be built]) +else + SDCC=$with_sdcc fi -AC_CHECK_PROG([HAVE_ARM_GCC],[arm-none-eabi-gcc], yes, no,[/usr/bin]) -if test "x$HAVE_ARM_GCC" = "xno"; then - AC_MSG_WARN([No summon toolchain arm compiler found, STM32L binaries will not be built]) +AC_SUBST(SDCC) +AC_SUBST(HAVE_SDCC) + +# +# Configure ARM compiler for STM32L and LPC11U14 +# + +AC_ARG_WITH([arm-cc], + [AS_HELP_STRING([--with-arm-cc], + [Name of ARM C compiler])], + [], + [with_arm_cc=auto]) + +if test "x$with_arm_cc" != "xno"; then + if test "x$with_arm_cc" = "xauto"; then + with_arm_cc="arm-none-eabi-gcc" + AC_CHECK_PROG([HAVE_ARM_CC],[$with_arm_cc], yes, no) + else + HAVE_ARM_CC=yes + fi +else + HAVE_ARM_CC=no fi -AC_CHECK_PROG([HAVE_ARM_M0_GCC], [arm-none-eabi-gcc], yes, no,[/usr/bin]) -if test "x$HAVE_ARM_M0_GCC" = "xno"; then - AC_MSG_WARN([No linaro toolchain arm cortex-m0 compiler found, LPC11U14 binaries will not be built]) +if test "x$HAVE_ARM_CC" = "xno"; then + AC_MSG_WARN([Arm compiler not found, ARM binaries will not be built]) +else + ARM_CC=$with_arm_cc fi +AC_SUBST(HAVE_ARM_CC) +AC_SUBST(ARM_CC) + +if test "x$HAVE_ARM_CC" = "xyes"; then + save_CC="$CC" + save_CFLAGS="$CFLAGS" + CC="$ARM_CC" + CFLAGS="-mthumb -mcpu=cortex-m0" + AC_LANG_PUSH([C]) + + AC_MSG_CHECKING([if ]$ARM_CC[ supports cortex-m0]) + AC_COMPILE_IFELSE([AC_LANG_PROGRAM([int i;])], + [HAVE_ARM_M0_CC=yes], + [HAVE_ARM_M0_CC=no]) + AC_MSG_RESULT([$HAVE_ARM_M0]) + CFLAGS="-mthumb -mcpu=cortex-m3" + AC_MSG_CHECKING([if ]$ARM_CC[ supports cortex-m3]) + AC_COMPILE_IFELSE([AC_LANG_PROGRAM([int i;])], + [HAVE_ARM_M3_CC=yes], + [HAVE_ARM_M3_CC=no]) + AC_MSG_RESULT([$HAVE_ARM_M3]) + AC_LANG_POP([C]) + CFLAGS="$save_CFLAGS" + CC="$save_CC" +else + HAVE_ARM_M3_CC=no + HAVE_ARM_M0_CC=no +fi +AC_SUBST(HAVE_ARM_M3_CC) +AC_SUBST(HAVE_ARM_M0_CC) + +if test "x$HAVE_ARM_M3_CC" = "xno"; then + AC_MSG_WARN([No cortex-m3 arm compiler found, STM32L binaries will not be built]) +fi + +if test "x$HAVE_ARM_M0_CC" = "xno"; then + AC_MSG_WARN([No cortex-m0 arm compiler found, LPC11U14 binaries will not be built]) +fi + +# +# Configure AVR compiler +# + +AC_ARG_WITH([avr-cc], + [AS_HELP_STRING([--with-avr-cc], + [Name of AVR C compiler])], + [], + [with_avr_cc=auto]) + +if test "x$with_avr_cc" != "xno"; then + if test "x$with_avr_cc" = "xauto"; then + with_avr_cc="avr-gcc" + AC_CHECK_PROG([HAVE_AVR_CC],[$with_avr_cc], yes, no) + else + HAVE_AVR_CC=yes + fi +else + HAVE_AVR_CC=no +fi + +AC_ARG_WITH([avr-objcopy], + [AS_HELP_STRING([--with-avr-objcopy], + [Name of AVR objcopy])], + [], + [with_avr_objcopy=auto]) + +if test "x$with_avr_objcopy" != "xno"; then + if test "x$with_avr_objcopy" = "xauto"; then + with_avr_objcopy="avr-objcopy" + AC_CHECK_PROG([HAVE_AVR_OBJCOPY],[$with_avr_objcopy], yes, no) + else + HAVE_AVR_OBJCOPY=yes + fi +else + HAVE_AVR_OBJCOPY=no +fi + +if test "x$HAVE_AVR_CC" = "xno" -o "x$HAVE_AVR_OBJCOPY" = "xno"; then + AC_MSG_WARN([AVR compiler and objcopy not found, atmel binaries will not be built]) + HAVE_AVR_CC=no +else + AVR_CC=$with_avr_cc + AVR_OBJCOPY=$with_avr_objcopy +fi + +AC_SUBST(AVR_CC) +AC_SUBST(AVR_OBJCOPY) +AC_SUBST(HAVE_AVR_CC) AC_CHECK_PROG([HAVE_NICKLE], [nickle], yes, no) if test "x$HAVE_NICKLE" = "xno"; then @@ -213,6 +343,7 @@ AM_CONDITIONAL([LIBSTLINK], [test x$HAVE_STLINK != xno]) AC_OUTPUT([ Makefile +src/Makedefs altoslib/Makefile altosuilib/Makefile altosuilib/AltosUIVersion.java @@ -248,9 +379,13 @@ echo "" echo " Package: ${PACKAGE_NAME} ${PACKAGE_VERSION}" echo "" echo " Configuration" -echo " STM32L support..............: ${HAVE_ARM_GCC}" -echo " LPC11U14 support............: ${HAVE_ARM_M0_GCC}" +echo " Arm compiler................: ${ARM_CC}" +echo " STM32L support..............: ${HAVE_ARM_M3_CC}" +echo " LPC11U14 support............: ${HAVE_ARM_M0_CC}" +echo " SDCC........................: ${SDCC}" echo " CC1111 support..............: ${HAVE_SDCC}" +echo " AVR compiler................: ${AVR_CC} ${AVR_OBJCOPY}" +echo " AVR support.................: ${HAVE_AVR_CC}" echo " Android support.............: ${HAVE_ANDROID_SDK}" echo " STlink support..............: ${HAVE_STLINK}" echo "" diff --git a/micropeak/MicroData.java b/micropeak/MicroData.java index 4c0ed4c3..07806fa4 100644 --- a/micropeak/MicroData.java +++ b/micropeak/MicroData.java @@ -20,7 +20,7 @@ package org.altusmetrum.micropeak; import java.lang.*; import java.io.*; import java.util.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; class MicroIterator implements Iterator { diff --git a/micropeak/MicroDownload.java b/micropeak/MicroDownload.java index bd6795f8..a9095f9c 100644 --- a/micropeak/MicroDownload.java +++ b/micropeak/MicroDownload.java @@ -23,7 +23,7 @@ import javax.swing.*; import java.io.*; import java.util.concurrent.*; import java.util.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class MicroDownload extends AltosUIDialog implements Runnable, ActionListener { diff --git a/micropeak/MicroExport.java b/micropeak/MicroExport.java index 20a6f79a..5af767c6 100644 --- a/micropeak/MicroExport.java +++ b/micropeak/MicroExport.java @@ -23,7 +23,7 @@ import java.util.ArrayList; import java.awt.*; import javax.swing.*; import javax.swing.filechooser.FileNameExtensionFilter; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class MicroExport extends JFileChooser { diff --git a/micropeak/MicroFile.java b/micropeak/MicroFile.java index cdd42e66..2b02e20a 100644 --- a/micropeak/MicroFile.java +++ b/micropeak/MicroFile.java @@ -19,7 +19,7 @@ package org.altusmetrum.micropeak; import java.io.*; import java.util.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class MicroFile { diff --git a/micropeak/MicroFileChooser.java b/micropeak/MicroFileChooser.java index d52eab2c..3ca128ee 100644 --- a/micropeak/MicroFileChooser.java +++ b/micropeak/MicroFileChooser.java @@ -20,7 +20,7 @@ package org.altusmetrum.micropeak; import javax.swing.*; import javax.swing.filechooser.FileNameExtensionFilter; import java.io.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class MicroFileChooser extends JFileChooser { diff --git a/micropeak/MicroGraph.java b/micropeak/MicroGraph.java index 50508a61..fba62907 100644 --- a/micropeak/MicroGraph.java +++ b/micropeak/MicroGraph.java @@ -22,7 +22,7 @@ import java.util.ArrayList; import java.awt.*; import javax.swing.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; import org.jfree.ui.*; diff --git a/micropeak/MicroPeak.java b/micropeak/MicroPeak.java index cb1c68cb..27a8db02 100644 --- a/micropeak/MicroPeak.java +++ b/micropeak/MicroPeak.java @@ -23,7 +23,7 @@ import javax.swing.*; import java.io.*; import java.util.concurrent.*; import java.util.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class MicroPeak extends MicroFrame implements ActionListener, ItemListener { diff --git a/micropeak/MicroRaw.java b/micropeak/MicroRaw.java index 7337a1de..0520fa71 100644 --- a/micropeak/MicroRaw.java +++ b/micropeak/MicroRaw.java @@ -20,7 +20,7 @@ package org.altusmetrum.micropeak; import java.awt.*; import java.io.*; import javax.swing.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class MicroRaw extends JTextArea { diff --git a/micropeak/MicroSave.java b/micropeak/MicroSave.java index 99f621ce..1f1ef3cb 100644 --- a/micropeak/MicroSave.java +++ b/micropeak/MicroSave.java @@ -24,7 +24,7 @@ import javax.swing.filechooser.FileNameExtensionFilter; import java.io.*; import java.util.concurrent.*; import java.util.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class MicroSave extends JFileChooser { diff --git a/micropeak/MicroStats.java b/micropeak/MicroStats.java index 99479cb4..32d94432 100644 --- a/micropeak/MicroStats.java +++ b/micropeak/MicroStats.java @@ -18,7 +18,7 @@ package org.altusmetrum.micropeak; import java.io.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class MicroStats { diff --git a/micropeak/MicroStatsTable.java b/micropeak/MicroStatsTable.java index 145bb70e..4400a317 100644 --- a/micropeak/MicroStatsTable.java +++ b/micropeak/MicroStatsTable.java @@ -19,7 +19,7 @@ package org.altusmetrum.micropeak; import java.awt.*; import javax.swing.*; -import org.altusmetrum.altoslib_1.*; +import org.altusmetrum.altoslib_2.*; import org.altusmetrum.altosuilib_1.*; public class MicroStatsTable extends JComponent implements AltosFontListener { diff --git a/src/Makedefs.in b/src/Makedefs.in new file mode 100644 index 00000000..6dc9ab0f --- /dev/null +++ b/src/Makedefs.in @@ -0,0 +1,10 @@ +ARM_CC=@ARM_CC@ +HAVE_ARM_M3_CC=@HAVE_ARM_M3_CC@ +HAVE_ARM_M0_CC=@HAVE_ARM_M0_CC@ + +SDCC=@SDCC@ +HAVE_SDCC=@HAVE_SDCC@ + +AVR_CC=@AVR_CC@ +AVR_OBJCOPY=@AVR_OBJCOPY@ +HAVE_AVR_CC=@HAVE_AVR_CC@ diff --git a/src/Makefile b/src/Makefile index af2630fc..ae231c64 100644 --- a/src/Makefile +++ b/src/Makefile @@ -13,6 +13,7 @@ vpath load_csv.5c kalman vpath matrix.5c kalman include Version +include Makedefs SDCCDIRS=\ telemetrum-v1.2 telemetrum-v1.1 telemetrum-v1.0 \ @@ -23,39 +24,38 @@ SDCCDIRS=\ telefire-v0.1 telefire-v0.2 \ telemini-v2.0 -AVRDIRS=\ - telescience-v0.1 telescience-pwm micropeak - -ARMDIRS=\ +ARMM3DIRS=\ telemega-v0.1 telemega-v0.1/flash-loader \ telemega-v0.3 telemega-v0.3/flash-loader \ megadongle-v0.1 megadongle-v0.1/flash-loader \ telegps-v0.3 telegps-v0.3/flash-loader \ stm-bringup stm-demo \ telelco-v0.2 telelco-v0.2/flash-loader \ - telescience-v0.2 telescience-v0.2/flash-loader \ - easymini-v0.1 easymini-v0.1/flash-loader + telescience-v0.2 telescience-v0.2/flash-loader ARMM0DIRS=\ - easymini-v0.1 + easymini-v1.0 easymini-v1.0/flash-loader + +AVRDIRS=\ + telescience-v0.1 telescience-pwm micropeak nanopeak-v0.1 -ifneq ($(shell which sdcc),) +ifeq ($(strip $(HAVE_SDCC)),yes) SUBDIRS += $(SDCCDIRS) endif -ifneq ($(shell which avr-gcc),) - SUBDIRS += $(AVRDIRS) +ifeq ($(strip ($HAVE_ARM_M3_CC)),yes) + SUBDIRS += $(ARMM3DIRS) endif -ifneq ($(shell which /opt/cortex/bin/arm-none-eabi-gcc),) - SUBDIRS += $(ARMDIRS) +ifneq ($(strip ($HAVE_ARM_M0_CC)),yes) + SUBDIRS += $(ARMM0DIRS) endif -ifneq ($(shell which /usr/bin/arm-none-eabi-gcc),) - SUBDIRS += $(ARMM0DIRS) +ifeq ($(strip $(HAVE_AVR_CC)),yes) + SUBDIRS += $(AVRDIRS) endif -ALLDIRS=$(SDCCDIRS) $(AVRDIRS) $(ARMDIRS) +ALLDIRS=$(SDCCDIRS) $(ARMM3DIRS) $(ARMM0DIRS) $(AVRDIRS) all: all-local all-recursive diff --git a/src/attiny/ao_async.c b/src/attiny/ao_async.c new file mode 100644 index 00000000..3556f54c --- /dev/null +++ b/src/attiny/ao_async.c @@ -0,0 +1,71 @@ +/* + * Copyright © 2012 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include +#include + +#define AO_ASYNC_BAUD 38400l +#define AO_ASYNC_DELAY (uint8_t) (1000000l / AO_ASYNC_BAUD) + +#define LED_PORT PORTB + +void +ao_async_start(void) +{ + LED_PORT |= (1 << AO_LED_SERIAL); +} + +void +ao_async_stop(void) +{ + LED_PORT &= ~(1 << AO_LED_SERIAL); +} + +void +ao_async_byte(uint8_t byte) +{ + uint8_t b; + uint16_t w; + + /* start data stop */ + w = (0x000 << 0) | (byte << 1) | (0x001 << 9); + + ao_arch_block_interrupts(); + for (b = 0; b < 10; b++) { + uint8_t v = LED_PORT & ~(1 << AO_LED_SERIAL); + v |= (w & 1) << AO_LED_SERIAL; + LED_PORT = v; + w >>= 1; + + /* Carefully timed to hit around 9600 baud */ + asm volatile ("nop"); + asm volatile ("nop"); + + asm volatile ("nop"); + asm volatile ("nop"); + asm volatile ("nop"); + asm volatile ("nop"); + asm volatile ("nop"); + + asm volatile ("nop"); + asm volatile ("nop"); + asm volatile ("nop"); + asm volatile ("nop"); + asm volatile ("nop"); + } + ao_arch_release_interrupts(); +} diff --git a/src/attiny/ao_async.h b/src/attiny/ao_async.h new file mode 100644 index 00000000..1b239712 --- /dev/null +++ b/src/attiny/ao_async.h @@ -0,0 +1,30 @@ +/* + * Copyright © 2012 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_ASYNC_H_ +#define _AO_ASYNC_H_ + +void +ao_async_start(void); + +void +ao_async_stop(void); + +void +ao_async_byte(uint8_t byte); + +#endif /* _AO_ASYNC_H_ */ diff --git a/src/avr-demo/Makefile b/src/avr-demo/Makefile index 93295166..6d9bfea2 100644 --- a/src/avr-demo/Makefile +++ b/src/avr-demo/Makefile @@ -11,18 +11,12 @@ vpath load_csv.5c ../kalman vpath matrix.5c ../kalman vpath ao-make-product.5c ../util +include ../avr/Makefile.defs + MCU=atmega32u4 DUDECPUTYPE=m32u4 #PROGRAMMER=stk500v2 -P usb -PROGRAMMER=usbtiny -LOADCMD=avrdude LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w: -CC=avr-gcc -OBJCOPY=avr-objcopy - -ifndef VERSION -include ../Version -endif INC = \ ao.h \ diff --git a/src/avr/Makefile.defs b/src/avr/Makefile.defs new file mode 100644 index 00000000..eeb9a881 --- /dev/null +++ b/src/avr/Makefile.defs @@ -0,0 +1,16 @@ +ifndef TOPDIR +TOPDIR=.. +endif + +ifndef VERSION +include $(TOPDIR)/Version +endif + +include $(TOPDIR)/Makedefs + +CC=$(AVR_CC) +OBJCOPY=$(AVR_OBJCOPY) +LDSCRIPTS=/usr/lib/avr/lib/ldscripts + +PROGRAMMER=usbtiny +LOADCMD=avrdude diff --git a/src/cc1111/Makefile.cc1111 b/src/cc1111/Makefile.cc1111 index 0e19603b..78b653b3 100644 --- a/src/cc1111/Makefile.cc1111 +++ b/src/cc1111/Makefile.cc1111 @@ -1,4 +1,5 @@ -CC=sdcc +include ../Makedefs +CC=$(SDCC) CFLAGS=--model-small --debug --opt-code-speed -DCODESIZE=$(CODESIZE) diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c index 1322195b..88dc816d 100644 --- a/src/core/ao_flight.c +++ b/src/core/ao_flight.c @@ -134,8 +134,10 @@ ao_flight(void) ao_rdf_set(1); ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD); #endif +#if HAS_LED /* signal successful initialization by turning off the LED */ ao_led_off(AO_LED_RED); +#endif } else { /* Set idle mode */ ao_flight_state = ao_flight_idle; @@ -145,8 +147,10 @@ ao_flight(void) ao_packet_slave_start(); #endif +#if HAS_LED /* signal successful initialization by turning off the LED */ ao_led_off(AO_LED_RED); +#endif } /* wakeup threads due to state change */ ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); diff --git a/src/core/ao_log.h b/src/core/ao_log.h index f6ab4520..4b09faeb 100644 --- a/src/core/ao_log.h +++ b/src/core/ao_log.h @@ -44,8 +44,9 @@ extern __pdata enum ao_flight_state ao_log_state; #define AO_LOG_FORMAT_TELEMETRY 3 /* 32 byte ao_telemetry records */ #define AO_LOG_FORMAT_TELESCIENCE 4 /* 32 byte typed telescience records */ #define AO_LOG_FORMAT_TELEMEGA 5 /* 32 byte typed telemega records */ -#define AO_LOG_FORMAT_MINI 6 /* 16-byte MS5607 baro only */ +#define AO_LOG_FORMAT_EASYMINI 6 /* 16-byte MS5607 baro only, 3.0V supply */ #define AO_LOG_FORMAT_TELEMETRUM 7 /* 16-byte typed telemetrum records */ +#define AO_LOG_FORMAT_TELEMINI 8 /* 16-byte MS5607 baro only, 3.3V supply */ #define AO_LOG_FORMAT_NONE 127 /* No log at all */ extern __code uint8_t ao_log_format; @@ -275,7 +276,8 @@ struct ao_log_metrum { uint16_t flight; /* 4 */ int16_t ground_accel; /* 6 */ uint32_t ground_pres; /* 8 */ - } flight; /* 12 */ + uint32_t ground_temp; /* 12 */ + } flight; /* 16 */ /* AO_LOG_STATE */ struct { uint16_t state; /* 4 */ diff --git a/src/core/ao_log_micro.c b/src/core/ao_log_micro.c new file mode 100644 index 00000000..d665efb5 --- /dev/null +++ b/src/core/ao_log_micro.c @@ -0,0 +1,121 @@ +/* + * Copyright © 2012 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include +#include +#include +#include + +static uint16_t ao_log_offset = STARTING_LOG_OFFSET; + +void +ao_log_micro_save(void) +{ + uint16_t n_samples = (ao_log_offset - STARTING_LOG_OFFSET) / sizeof (uint16_t); + ao_eeprom_write(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground)); + ao_eeprom_write(PA_MIN_OFFSET, &pa_min, sizeof (pa_min)); + ao_eeprom_write(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples)); +} + +void +ao_log_micro_restore(void) +{ + ao_eeprom_read(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground)); + ao_eeprom_read(PA_MIN_OFFSET, &pa_min, sizeof (pa_min)); +} + +void +ao_log_micro_data(void) +{ + uint16_t low_bits = pa; + + if (ao_log_offset < MAX_LOG_OFFSET) { + ao_eeprom_write(ao_log_offset, &low_bits, sizeof (low_bits)); + ao_log_offset += sizeof (low_bits); + } +} + +#define POLY 0x8408 + +static uint16_t +ao_log_micro_crc(uint16_t crc, uint8_t byte) +{ + uint8_t i; + + for (i = 0; i < 8; i++) { + if ((crc & 0x0001) ^ (byte & 0x0001)) + crc = (crc >> 1) ^ POLY; + else + crc = crc >> 1; + byte >>= 1; + } + return crc; +} + +static void +ao_log_hex_nibble(uint8_t b) +{ + if (b < 10) + ao_async_byte('0' + b); + else + ao_async_byte('a' - 10 + b); +} + +static void +ao_log_hex(uint8_t b) +{ + ao_log_hex_nibble(b>>4); + ao_log_hex_nibble(b&0xf); +} + +static void +ao_log_newline(void) +{ + ao_async_byte('\r'); + ao_async_byte('\n'); +} + +void +ao_log_micro_dump(void) +{ + uint16_t n_samples; + uint16_t nbytes; + uint8_t byte; + uint16_t b; + uint16_t crc = 0xffff; + + ao_eeprom_read(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples)); + if (n_samples == 0xffff) + n_samples = 0; + nbytes = STARTING_LOG_OFFSET + sizeof (uint16_t) * n_samples; + ao_async_start(); + ao_async_byte('M'); + ao_async_byte('P'); + for (b = 0; b < nbytes; b++) { + if ((b & 0xf) == 0) + ao_log_newline(); + ao_eeprom_read(b, &byte, 1); + ao_log_hex(byte); + crc = ao_log_micro_crc(crc, byte); + } + ao_log_newline(); + crc = ~crc; + ao_log_hex(crc >> 8); + ao_log_hex(crc); + ao_log_newline(); + ao_async_stop(); +} diff --git a/src/core/ao_log_micro.h b/src/core/ao_log_micro.h new file mode 100644 index 00000000..976852ee --- /dev/null +++ b/src/core/ao_log_micro.h @@ -0,0 +1,39 @@ +/* + * Copyright © 2012 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_LOG_MICRO_H_ +#define _AO_LOG_MICRO_H_ + +#define PA_GROUND_OFFSET 0 +#define PA_MIN_OFFSET 4 +#define N_SAMPLES_OFFSET 8 +#define STARTING_LOG_OFFSET 10 +#define MAX_LOG_OFFSET 512 + +void +ao_log_micro_save(void); + +void +ao_log_micro_restore(void); + +void +ao_log_micro_data(void); + +void +ao_log_micro_dump(void); + +#endif /* _AO_LOG_MICRO_H_ */ diff --git a/src/core/ao_log_mini.c b/src/core/ao_log_mini.c index 46b285f3..99a85982 100644 --- a/src/core/ao_log_mini.c +++ b/src/core/ao_log_mini.c @@ -23,7 +23,7 @@ static __xdata uint8_t ao_log_mutex; static __xdata struct ao_log_mini log; -__code uint8_t ao_log_format = AO_LOG_FORMAT_MINI; +__code uint8_t ao_log_format = AO_LOG_FORMAT; static uint8_t ao_log_csum(__xdata uint8_t *b) __reentrant diff --git a/src/core/ao_microflight.c b/src/core/ao_microflight.c new file mode 100644 index 00000000..714bb90a --- /dev/null +++ b/src/core/ao_microflight.c @@ -0,0 +1,143 @@ +/* + * Copyright © 2013 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef AO_FLIGHT_TEST +#include +#endif +#include +#include + +uint32_t pa; +uint32_t pa_ground; +uint32_t pa_min; + +static void +ao_microsample(void) +{ + ao_pa_get(); + ao_microkalman_predict(); + ao_microkalman_correct(); +} + +#define NUM_PA_HIST 16 + +#define SKIP_PA_HIST(i,j) (((i) + (j)) & (NUM_PA_HIST - 1)) + +static uint32_t pa_hist[NUM_PA_HIST]; + +void +ao_microflight(void) +{ + int16_t sample_count; + uint16_t time; + uint32_t pa_interval_min, pa_interval_max; + int32_t pa_diff; + uint8_t h, i; + uint8_t accel_lock = 0; + uint32_t pa_sum = 0; + + /* Wait for motion, averaging values to get ground pressure */ + + time = ao_time(); + ao_pa_get(); + ao_microkalman_init(); + pa_ground = pa; + sample_count = 0; + h = 0; + for (;;) { + time += SAMPLE_SLEEP; + if (sample_count == 0) + ao_led_on(AO_LED_REPORT); + ao_delay_until(time); + ao_microsample(); + if (sample_count == 0) + ao_led_off(AO_LED_REPORT); + pa_hist[h] = pa; + h = SKIP_PA_HIST(h,1); + pa_diff = pa_ground - ao_pa; + + /* Check for a significant pressure change */ + if (pa_diff > BOOST_DETECT) + break; + + if (sample_count < GROUND_AVG * 2) { + if (sample_count < GROUND_AVG) + pa_sum += pa; + ++sample_count; + } else { + pa_ground = pa_sum >> GROUND_AVG_SHIFT; + pa_sum = 0; + sample_count = 0; + } + } + + /* Go back and find the first sample a decent interval above the ground */ + pa_min = pa_ground - LAND_DETECT; + for (i = SKIP_PA_HIST(h,2); i != h; i = SKIP_PA_HIST(i,2)) { + if (pa_hist[i] < pa_min) + break; + } + + /* Log the remaining samples so we get a complete history since leaving the ground */ + for (; i != h; i = SKIP_PA_HIST(i,2)) { + pa = pa_hist[i]; + ao_log_micro_data(); + } + + /* Now sit around until the pressure is stable again and record the max */ + + sample_count = 0; + pa_min = ao_pa; + pa_interval_min = ao_pa; + pa_interval_max = ao_pa; + for (;;) { + time += SAMPLE_SLEEP; + ao_delay_until(time); + if ((sample_count & 3) == 0) + ao_led_on(AO_LED_REPORT); + ao_microsample(); + if ((sample_count & 3) == 0) + ao_led_off(AO_LED_REPORT); + if (sample_count & 1) + ao_log_micro_data(); + + /* If accelerating upwards, don't look for min pressure */ + if (ao_pa_accel < ACCEL_LOCK_PA) + accel_lock = ACCEL_LOCK_TIME; + else if (accel_lock) + --accel_lock; + else if (ao_pa < pa_min) + pa_min = ao_pa; + + if (sample_count == (GROUND_AVG - 1)) { + pa_diff = pa_interval_max - pa_interval_min; + + /* Check to see if the pressure is now stable */ + if (pa_diff < LAND_DETECT) + break; + sample_count = 0; + pa_interval_min = ao_pa; + pa_interval_max = ao_pa; + } else { + if (ao_pa < pa_interval_min) + pa_interval_min = ao_pa; + if (ao_pa > pa_interval_max) + pa_interval_max = ao_pa; + ++sample_count; + } + } +} diff --git a/src/core/ao_microkalman.c b/src/core/ao_microkalman.c new file mode 100644 index 00000000..0684ea2b --- /dev/null +++ b/src/core/ao_microkalman.c @@ -0,0 +1,74 @@ +/* + * Copyright © 2013 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef AO_FLIGHT_TEST +#include +#endif +#include + +#define FIX_BITS 16 + +#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5)) +#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5)) +#define from_fix8(x) ((x) >> 8) +#define from_fix(x) ((x) >> 16) +#define fix8_to_fix16(x) ((x) << 8) +#define fix16_to_fix8(x) ((x) >> 8) + +#include + +/* Basic time step (96ms) */ +#define AO_MK_STEP to_fix16(0.096) +/* step ** 2 / 2 */ +#define AO_MK_STEP_2_2 to_fix16(0.004608) + +uint32_t ao_k_pa; /* 24.8 fixed point */ +int32_t ao_k_pa_speed; /* 16.16 fixed point */ +int32_t ao_k_pa_accel; /* 16.16 fixed point */ + +uint32_t ao_pa; /* integer portion */ +int16_t ao_pa_speed; /* integer portion */ +int16_t ao_pa_accel; /* integer portion */ + +void +ao_microkalman_init(void) +{ + ao_pa = pa; + ao_k_pa = pa << 8; +} + +void +ao_microkalman_predict(void) +{ + ao_k_pa += fix16_to_fix8((int32_t) ao_pa_speed * AO_MK_STEP + (int32_t) ao_pa_accel * AO_MK_STEP_2_2); + ao_k_pa_speed += (int32_t) ao_pa_accel * AO_MK_STEP; +} + +void +ao_microkalman_correct(void) +{ + int16_t e; /* Height error in Pa */ + + e = pa - from_fix8(ao_k_pa); + + ao_k_pa += fix16_to_fix8((int32_t) e * AO_MK_BARO_K0_10); + ao_k_pa_speed += (int32_t) e * AO_MK_BARO_K1_10; + ao_k_pa_accel += (int32_t) e * AO_MK_BARO_K2_10; + ao_pa = from_fix8(ao_k_pa); + ao_pa_speed = from_fix(ao_k_pa_speed); + ao_pa_accel = from_fix(ao_k_pa_accel); +} diff --git a/src/core/ao_report_micro.c b/src/core/ao_report_micro.c new file mode 100644 index 00000000..0e8e287f --- /dev/null +++ b/src/core/ao_report_micro.c @@ -0,0 +1,57 @@ +/* + * Copyright © 2012 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include + +#define mid(time) ao_led_for(AO_LED_REPORT, time) +#define pause(time) ao_delay(time) + +static void +ao_report_digit(uint8_t digit) __reentrant +{ + if (!digit) { + mid(AO_MS_TO_TICKS(1000)); + pause(AO_MS_TO_TICKS(300)); + } else { + while (digit--) { + mid(AO_MS_TO_TICKS(300)); + pause(AO_MS_TO_TICKS(300)); + } + } + pause(AO_MS_TO_TICKS(1000)); +} + +void +ao_report_altitude(void) +{ + __pdata alt_t agl = ao_max_height; + static __xdata uint8_t digits[11]; + __pdata uint8_t ndigits, i; + + if (agl < 0) + agl = 0; + ndigits = 0; + do { + digits[ndigits++] = agl % 10; + agl /= 10; + } while (agl); + + i = ndigits; + do + ao_report_digit(digits[--i]); + while (i != 0); +} diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c index cd95aa6b..6b47a06a 100644 --- a/src/core/ao_telemetry.c +++ b/src/core/ao_telemetry.c @@ -182,6 +182,7 @@ ao_send_metrum_sensor(void) { __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)]; + telemetry.generic.tick = packet->tick; telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR; telemetry.metrum_sensor.state = ao_flight_state; diff --git a/src/easymini-v0.1/.gitignore b/src/easymini-v0.1/.gitignore deleted file mode 100644 index e5f7d586..00000000 --- a/src/easymini-v0.1/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -ao_product.h -*.elf diff --git a/src/easymini-v0.1/Makefile b/src/easymini-v0.1/Makefile deleted file mode 100644 index 9847656c..00000000 --- a/src/easymini-v0.1/Makefile +++ /dev/null @@ -1,85 +0,0 @@ -# -# AltOS build -# -# - -include ../lpc/Makefile.defs - -INC = \ - ao.h \ - ao_arch.h \ - ao_arch_funcs.h \ - ao_pins.h \ - ao_product.h \ - lpc.h - -# -# Common AltOS sources -# -ALTOS_SRC = \ - ao_interrupt.c \ - ao_boot_chain.c \ - ao_romconfig.c \ - ao_product.c \ - ao_mutex.c \ - ao_panic.c \ - ao_stdio.c \ - ao_storage.c \ - ao_report.c \ - ao_ignite.c \ - ao_flight.c \ - ao_kalman.c \ - ao_sample.c \ - ao_data.c \ - ao_convert_pa.c \ - ao_led_lpc.c \ - ao_task.c \ - ao_log.c \ - ao_log_mini.c \ - ao_cmd.c \ - ao_config.c \ - ao_timer_lpc.c \ - ao_exti_lpc.c \ - ao_usb_lpc.c \ - ao_spi_lpc.c \ - ao_adc_lpc.c \ - ao_beep_lpc.c \ - ao_m25.c \ - ao_ms5607.c - -PRODUCT=EasyMini-v0.1 -PRODUCT_DEF=-DEASYMINI_V_0_1 -IDPRODUCT=0x0026 - -CFLAGS = $(PRODUCT_DEF) $(LPC_CFLAGS) -g -Os - -PROGNAME=easymini-v0.1 -PROG=$(PROGNAME)-$(VERSION).elf - -SRC=$(ALTOS_SRC) ao_easymini.c -OBJ=$(SRC:.c=.o) - -all: $(PROG) - -LDFLAGS=-L../lpc -Wl,-Taltos.ld - -$(PROG): Makefile $(OBJ) altos.ld - $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(SAT_CLIB) -lgcc - -ao_product.h: ao-make-product.5c ../Version - $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ - -$(OBJ): $(INC) - -load: $(PROG) - lpc-load $(PROG) - -distclean: clean - -clean: - rm -f *.o $(PROG) - rm -f ao_product.h - -install: - -uninstall: diff --git a/src/easymini-v0.1/ao_easymini.c b/src/easymini-v0.1/ao_easymini.c deleted file mode 100644 index 97230b61..00000000 --- a/src/easymini-v0.1/ao_easymini.c +++ /dev/null @@ -1,46 +0,0 @@ -/* - * Copyright © 2011 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -#include -#include - -void -main(void) -{ - ao_clock_init(); - ao_task_init(); - ao_timer_init(); - ao_exti_init(); - - ao_beep_init(); - - ao_adc_init(); - ao_spi_init(); - ao_storage_init(); - - ao_usb_init(); - - ao_cmd_init(); - ao_flight_init(); - ao_ms5607_init(); - ao_log_init(); - ao_report_init(); - ao_igniter_init(); - ao_config_init(); - - ao_start_scheduler(); -} diff --git a/src/easymini-v0.1/ao_pins.h b/src/easymini-v0.1/ao_pins.h deleted file mode 100644 index c09fb4c2..00000000 --- a/src/easymini-v0.1/ao_pins.h +++ /dev/null @@ -1,141 +0,0 @@ -/* - * Copyright © 2013 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -#define HAS_BEEP 1 -#define HAS_LED 1 - -#define AO_STACK_SIZE 384 - -#define IS_FLASH_LOADER 0 - -/* Crystal on the board */ -#define AO_LPC_CLKIN 12000000 - -/* Main clock frequency. 48MHz for USB so we don't use the USB PLL */ -#define AO_LPC_CLKOUT 48000000 - -/* System clock frequency */ -#define AO_LPC_SYSCLK 24000000 - -#define LED_PORT 0 -#define LED_PIN_RED 7 - -#define AO_LED_RED (1 << LED_PIN_RED) - -#define LEDS_AVAILABLE AO_LED_RED - -#define HAS_USB 1 - -#define HAS_USB_CONNECT 0 -#define HAS_USB_VBUS 0 -#define HAS_USB_PULLUP 1 -#define AO_USB_PULLUP_PORT 0 -#define AO_USB_PULLUP_PIN 20 - -#define PACKET_HAS_SLAVE 0 - -/* USART */ - -#define HAS_SERIAL 0 -#define USE_SERIAL_0_STDIN 1 -#define SERIAL_0_18_19 1 -#define SERIAL_0_14_15 0 -#define SERIAL_0_17_18 0 -#define SERIAL_0_26_27 0 - -/* SPI */ - -#define HAS_SPI_0 1 -#define SPI_SCK0_P0_6 1 -#define HAS_SPI_1 1 -#define SPI_SCK1_P1_15 1 -#define SPI_MISO1_P0_22 1 -#define SPI_MOSI1_P0_21 1 - -/* M25 */ - -#define M25_MAX_CHIPS 1 -#define AO_M25_SPI_CS_PORT 0 -#define AO_M25_SPI_CS_MASK (1 << 23) -#define AO_M25_SPI_BUS 1 - -/* MS5607 */ - -#define HAS_MS5607 1 -#define HAS_MS5611 0 -#define AO_MS5607_PRIVATE_PINS 0 -#define AO_MS5607_CS_PORT 0 -#define AO_MS5607_CS_PIN 7 -#define AO_MS5607_CS_MASK (1 << AO_MS5607_CS_PIN) -#define AO_MS5607_MISO_PORT 0 -#define AO_MS5607_MISO_PIN 8 -#define AO_MS5607_MISO_MASK (1 << AO_MS5607_MISO_PIN) -#define AO_MS5607_SPI_INDEX 0 - -#define HAS_ACCEL 0 -#define HAS_GPS 0 -#define HAS_RADIO 0 -#define HAS_FLIGHT 1 -#define HAS_EEPROM 1 -#define HAS_TELEMETRY 0 -#define HAS_APRS 0 -#define HAS_LOG 1 -#define USE_INTERNAL_FLASH 0 -#define HAS_IGNITE 1 -#define HAS_IGNITE_REPORT 1 - -#define AO_DATA_RING 16 - -/* - * ADC - */ - -#define HAS_ADC 1 - -#define AO_NUM_ADC 3 - -#define AO_ADC_0 1 -#define AO_ADC_1 1 -#define AO_ADC_2 1 - -struct ao_adc { - int16_t sense_a; - int16_t sense_m; - int16_t v_batt; -}; - -/* - * Igniter - */ - -#define AO_IGNITER_CLOSED 400 -#define AO_IGNITER_OPEN 60 - -#define AO_IGNITER_DROGUE_PORT 0 -#define AO_IGNITER_DROGUE_PIN 2 -#define AO_IGNITER_SET_DROGUE(v) ao_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, AO_IGNITER_DROGUE, v) - -#define AO_IGNITER_MAIN_PORT 0 -#define AO_IGNITER_MAIN_PIN 3 -#define AO_IGNITER_SET_MAIN(v) ao_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, AO_IGNITER_MAIN, v) - -#define AO_SENSE_DROGUE(p) ((p)->adc.sense_a) -#define AO_SENSE_MAIN(p) ((p)->adc.sense_m) - -#define AO_ADC_DUMP(p) \ - printf("tick: %5u apogee: %5d main: %5d batt: %5d\n", \ - (p)->tick, (p)->adc.sense_a, (p)->adc.sense_m, (p)->adc.v_batt) diff --git a/src/easymini-v0.1/flash-loader/Makefile b/src/easymini-v0.1/flash-loader/Makefile deleted file mode 100644 index ab828b22..00000000 --- a/src/easymini-v0.1/flash-loader/Makefile +++ /dev/null @@ -1,8 +0,0 @@ -# -# AltOS flash loader build -# -# - -TOPDIR=../.. -HARDWARE=easymini-v0.1 -include $(TOPDIR)/lpc/Makefile-flash.defs diff --git a/src/easymini-v0.1/flash-loader/ao_pins.h b/src/easymini-v0.1/flash-loader/ao_pins.h deleted file mode 100644 index 4330151d..00000000 --- a/src/easymini-v0.1/flash-loader/ao_pins.h +++ /dev/null @@ -1,33 +0,0 @@ -/* - * Copyright © 2013 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -#ifndef _AO_PINS_H_ -#define _AO_PINS_H_ - -#include - -#define AO_BOOT_PIN 1 -#define AO_BOOT_APPLICATION_GPIO 0 -#define AO_BOOT_APPLICATION_PIN 19 -#define AO_BOOT_APPLICATION_VALUE 1 -#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP - -#define HAS_USB_PULLUP 1 -#define AO_USB_PULLUP_PORT 0 -#define AO_USB_PULLUP_PIN 20 - -#endif /* _AO_PINS_H_ */ diff --git a/src/easymini-v1.0/.gitignore b/src/easymini-v1.0/.gitignore new file mode 100644 index 00000000..e5f7d586 --- /dev/null +++ b/src/easymini-v1.0/.gitignore @@ -0,0 +1,2 @@ +ao_product.h +*.elf diff --git a/src/easymini-v1.0/Makefile b/src/easymini-v1.0/Makefile new file mode 100644 index 00000000..ec305c94 --- /dev/null +++ b/src/easymini-v1.0/Makefile @@ -0,0 +1,84 @@ +# +# AltOS build +# +# + +include ../lpc/Makefile.defs + +INC = \ + ao.h \ + ao_arch.h \ + ao_arch_funcs.h \ + ao_pins.h \ + ao_product.h \ + lpc.h + +# +# Common AltOS sources +# +ALTOS_SRC = \ + ao_interrupt.c \ + ao_boot_chain.c \ + ao_romconfig.c \ + ao_product.c \ + ao_mutex.c \ + ao_panic.c \ + ao_stdio.c \ + ao_storage.c \ + ao_report.c \ + ao_ignite.c \ + ao_flight.c \ + ao_kalman.c \ + ao_sample.c \ + ao_data.c \ + ao_convert_pa.c \ + ao_task.c \ + ao_log.c \ + ao_log_mini.c \ + ao_cmd.c \ + ao_config.c \ + ao_timer_lpc.c \ + ao_exti_lpc.c \ + ao_usb_lpc.c \ + ao_spi_lpc.c \ + ao_adc_lpc.c \ + ao_beep_lpc.c \ + ao_m25.c \ + ao_ms5607.c + +PRODUCT=EasyMini-v1.0 +PRODUCT_DEF=-DEASYMINI_V_1_0 +IDPRODUCT=0x0026 + +CFLAGS = $(PRODUCT_DEF) $(LPC_CFLAGS) -g -Os + +PROGNAME=easymini-v1.0 +PROG=$(PROGNAME)-$(VERSION).elf + +SRC=$(ALTOS_SRC) ao_easymini.c +OBJ=$(SRC:.c=.o) + +all: $(PROG) + +LDFLAGS=-L../lpc -Wl,-Taltos.ld + +$(PROG): Makefile $(OBJ) altos.ld + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(SAT_CLIB) -lgcc + +ao_product.h: ao-make-product.5c ../Version + $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ + +$(OBJ): $(INC) + +load: $(PROG) + lpc-load $(PROG) + +distclean: clean + +clean: + rm -f *.o $(PROG) + rm -f ao_product.h + +install: + +uninstall: diff --git a/src/easymini-v1.0/ao_easymini.c b/src/easymini-v1.0/ao_easymini.c new file mode 100644 index 00000000..97230b61 --- /dev/null +++ b/src/easymini-v1.0/ao_easymini.c @@ -0,0 +1,46 @@ +/* + * Copyright © 2011 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include +#include + +void +main(void) +{ + ao_clock_init(); + ao_task_init(); + ao_timer_init(); + ao_exti_init(); + + ao_beep_init(); + + ao_adc_init(); + ao_spi_init(); + ao_storage_init(); + + ao_usb_init(); + + ao_cmd_init(); + ao_flight_init(); + ao_ms5607_init(); + ao_log_init(); + ao_report_init(); + ao_igniter_init(); + ao_config_init(); + + ao_start_scheduler(); +} diff --git a/src/easymini-v1.0/ao_pins.h b/src/easymini-v1.0/ao_pins.h new file mode 100644 index 00000000..e721030d --- /dev/null +++ b/src/easymini-v1.0/ao_pins.h @@ -0,0 +1,136 @@ +/* + * Copyright © 2013 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#define HAS_BEEP 1 +#define HAS_LED 0 + +#define AO_STACK_SIZE 384 + +#define IS_FLASH_LOADER 0 + +/* Crystal on the board */ +#define AO_LPC_CLKIN 12000000 + +/* Main clock frequency. 48MHz for USB so we don't use the USB PLL */ +#define AO_LPC_CLKOUT 48000000 + +/* System clock frequency */ +#define AO_LPC_SYSCLK 24000000 + +#define HAS_USB 1 + +#define HAS_USB_CONNECT 0 +#define HAS_USB_VBUS 0 +#define HAS_USB_PULLUP 1 +#define AO_USB_PULLUP_PORT 0 +#define AO_USB_PULLUP_PIN 20 + +#define PACKET_HAS_SLAVE 0 + +#define AO_LOG_FORMAT AO_LOG_FORMAT_EASYMINI + +/* USART */ + +#define HAS_SERIAL 0 +#define USE_SERIAL_0_STDIN 1 +#define SERIAL_0_18_19 1 +#define SERIAL_0_14_15 0 +#define SERIAL_0_17_18 0 +#define SERIAL_0_26_27 0 + +/* SPI */ + +#define HAS_SPI_0 1 +#define SPI_SCK0_P0_6 1 +#define HAS_SPI_1 1 +#define SPI_SCK1_P1_15 1 +#define SPI_MISO1_P0_22 1 +#define SPI_MOSI1_P0_21 1 + +/* M25 */ + +#define M25_MAX_CHIPS 1 +#define AO_M25_SPI_CS_PORT 0 +#define AO_M25_SPI_CS_MASK (1 << 23) +#define AO_M25_SPI_BUS 1 + +/* MS5607 */ + +#define HAS_MS5607 1 +#define HAS_MS5611 0 +#define AO_MS5607_PRIVATE_PINS 0 +#define AO_MS5607_CS_PORT 0 +#define AO_MS5607_CS_PIN 7 +#define AO_MS5607_CS_MASK (1 << AO_MS5607_CS_PIN) +#define AO_MS5607_MISO_PORT 0 +#define AO_MS5607_MISO_PIN 8 +#define AO_MS5607_MISO_MASK (1 << AO_MS5607_MISO_PIN) +#define AO_MS5607_SPI_INDEX 0 + +#define HAS_ACCEL 0 +#define HAS_GPS 0 +#define HAS_RADIO 0 +#define HAS_FLIGHT 1 +#define HAS_EEPROM 1 +#define HAS_TELEMETRY 0 +#define HAS_APRS 0 +#define HAS_LOG 1 +#define USE_INTERNAL_FLASH 0 +#define HAS_IGNITE 1 +#define HAS_IGNITE_REPORT 1 + +#define AO_DATA_RING 16 + +/* + * ADC + */ + +#define HAS_ADC 1 + +#define AO_NUM_ADC 3 + +#define AO_ADC_0 1 +#define AO_ADC_1 1 +#define AO_ADC_2 1 + +struct ao_adc { + int16_t sense_a; + int16_t sense_m; + int16_t v_batt; +}; + +/* + * Igniter + */ + +#define AO_IGNITER_CLOSED 400 +#define AO_IGNITER_OPEN 60 + +#define AO_IGNITER_DROGUE_PORT 0 +#define AO_IGNITER_DROGUE_PIN 2 +#define AO_IGNITER_SET_DROGUE(v) ao_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, AO_IGNITER_DROGUE, v) + +#define AO_IGNITER_MAIN_PORT 0 +#define AO_IGNITER_MAIN_PIN 3 +#define AO_IGNITER_SET_MAIN(v) ao_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, AO_IGNITER_MAIN, v) + +#define AO_SENSE_DROGUE(p) ((p)->adc.sense_a) +#define AO_SENSE_MAIN(p) ((p)->adc.sense_m) + +#define AO_ADC_DUMP(p) \ + printf("tick: %5u apogee: %5d main: %5d batt: %5d\n", \ + (p)->tick, (p)->adc.sense_a, (p)->adc.sense_m, (p)->adc.v_batt) diff --git a/src/easymini-v1.0/flash-loader/Makefile b/src/easymini-v1.0/flash-loader/Makefile new file mode 100644 index 00000000..78bb4092 --- /dev/null +++ b/src/easymini-v1.0/flash-loader/Makefile @@ -0,0 +1,8 @@ +# +# AltOS flash loader build +# +# + +TOPDIR=../.. +HARDWARE=easymini-v1.0 +include $(TOPDIR)/lpc/Makefile-flash.defs diff --git a/src/easymini-v1.0/flash-loader/ao_pins.h b/src/easymini-v1.0/flash-loader/ao_pins.h new file mode 100644 index 00000000..4330151d --- /dev/null +++ b/src/easymini-v1.0/flash-loader/ao_pins.h @@ -0,0 +1,33 @@ +/* + * Copyright © 2013 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_PINS_H_ +#define _AO_PINS_H_ + +#include + +#define AO_BOOT_PIN 1 +#define AO_BOOT_APPLICATION_GPIO 0 +#define AO_BOOT_APPLICATION_PIN 19 +#define AO_BOOT_APPLICATION_VALUE 1 +#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP + +#define HAS_USB_PULLUP 1 +#define AO_USB_PULLUP_PORT 0 +#define AO_USB_PULLUP_PIN 20 + +#endif /* _AO_PINS_H_ */ diff --git a/src/lpc/Makefile-flash.defs b/src/lpc/Makefile-flash.defs index 6bdd204c..ab7181b9 100644 --- a/src/lpc/Makefile-flash.defs +++ b/src/lpc/Makefile-flash.defs @@ -6,14 +6,16 @@ vpath ao-make-product.5c $(TOPDIR)/util .elf.ihx: objcopy -O ihex $*.elf $@ -CC=arm-none-eabi-gcc -SAT=/opt/cortex -SAT_CLIB=$(SAT)/lib/pdclib-cortex-m0.a -SAT_CFLAGS=-I$(SAT)/include ifndef VERSION include $(TOPDIR)/Version endif +include $(TOPDIR)/Makedefs + +CC=$(ARM_CC) +SAT=/opt/cortex +SAT_CLIB=$(SAT)/lib/pdclib-cortex-m0.a +SAT_CFLAGS=-I$(SAT)/include AO_CFLAGS=-I. -I$(TOPDIR)/lpc -I$(TOPDIR)/core -I$(TOPDIR)/drivers -I$(TOPDIR)/product -I$(TOPDIR) STM_CFLAGS=-std=gnu99 -mlittle-endian -mcpu=cortex-m0 -mthumb -ffreestanding -nostdlib $(AO_CFLAGS) $(SAT_CFLAGS) diff --git a/src/lpc/Makefile.defs b/src/lpc/Makefile.defs index 9e87cee1..d541230a 100644 --- a/src/lpc/Makefile.defs +++ b/src/lpc/Makefile.defs @@ -7,21 +7,24 @@ vpath load_csv.5c ../kalman vpath matrix.5c ../kalman vpath ao-make-product.5c ../util -CC=/usr/bin/arm-none-eabi-gcc -SAT=/opt/cortex -SAT_CLIB=$(SAT)/lib/pdclib-cortex-m0.a -SAT_CFLAGS=-I$(SAT)/include - -#CC=/opt/arm-gcc-bits/bin/arm-none-eabi-gcc +ifndef TOPDIR +TOPDIR=.. +endif ifndef VERSION -include ../Version +include $(TOPDIR)/Version endif +include $(TOPDIR)/Makedefs + +CC=$(ARM_CC) +SAT=/opt/cortex +SAT_CLIB=$(SAT)/lib/pdclib-cortex-m0.a +SAT_CFLAGS=-I$(SAT)/include -AO_CFLAGS=-I. -I../lpc -I../core -I../drivers -I.. +AO_CFLAGS=-I. -I$(TOPDIR)/lpc -I$(TOPDIR)/core -I$(TOPDIR)/drivers -I$(TOPDIR) LPC_CFLAGS=-std=gnu99 -mlittle-endian -mcpu=cortex-m0 -mthumb -ffreestanding -nostdlib $(AO_CFLAGS) $(SAT_CFLAGS) -LDFLAGS=-L../stm -Wl,-Taltos.ld +LDFLAGS=$(LPC_CFLAGS) -L$(TOPDIR)/stm -Wl,-Taltos.ld NICKLE=nickle @@ -34,10 +37,10 @@ endif quiet ?= $($1) .c.o: - $(call quiet,CC) -c $(CFLAGS) -o $@ $< + $(call quiet,CC) -c $(CFLAGS) $< -ao_serial_lpc.h: ../lpc/baud_rate ao_pins.h - nickle ../lpc/baud_rate `awk '/AO_LPC_CLKOUT/{print $$3}' ao_pins.h` > $@ +ao_serial_lpc.h: $(TOPDIR)/lpc/baud_rate ao_pins.h + nickle $(TOPDIR)/lpc/baud_rate `awk '/AO_LPC_CLKOUT/{print $$3}' ao_pins.h` > $@ ao_serial_lpc.o: ao_serial_lpc.h diff --git a/src/lpc/ao_arch_funcs.h b/src/lpc/ao_arch_funcs.h index 9a3219a2..0891903e 100644 --- a/src/lpc/ao_arch_funcs.h +++ b/src/lpc/ao_arch_funcs.h @@ -235,6 +235,7 @@ static inline void ao_arch_start_scheduler(void) { asm("mrs %0,control" : "=&r" (control)); control |= (1 << 1); asm("msr control,%0" : : "r" (control)); + asm("isb"); } #endif /* _AO_ARCH_FUNCS_H_ */ diff --git a/src/micropeak/Makefile b/src/micropeak/Makefile index 44e0b873..35dfaab8 100644 --- a/src/micropeak/Makefile +++ b/src/micropeak/Makefile @@ -2,25 +2,19 @@ # Tiny AltOS build # # -vpath % ../attiny:../drivers:../core:.. +vpath % ../attiny:../drivers:../core:../product:.. vpath ao-make-product.5c ../util vpath make-altitude-pa ../util +include ../avr/Makefile.defs + MCU=attiny85 DUDECPUTYPE=t85 #PROGRAMMER=stk500v2 -P usb -PROGRAMMER=usbtiny -LOADCMD=avrdude LOADSLOW=-i 32 -B 32 LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w: -CC=avr-gcc -OBJCOPY=avr-objcopy - -LDFLAGS=-L/usr/lib/ldscripts -Tavr25.x -ifndef VERSION -include ../Version -endif +LDFLAGS=-L$(LDSCRIPTS) -Tavr25.x ALTOS_SRC = \ ao_micropeak.c \ @@ -30,7 +24,7 @@ ALTOS_SRC = \ ao_ms5607.c \ ao_exti.c \ ao_convert_pa.c \ - ao_report_tiny.c \ + ao_report_micro.c \ ao_notask.c \ ao_eeprom_tiny.c \ ao_panic.c \ @@ -53,7 +47,7 @@ INC=\ IDPRODUCT=0 PRODUCT=MicroPeak-v0.1 PRODUCT_DEF=-DMICROPEAK -CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../core -I.. -I../drivers +CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../core -I.. -I../drivers -I../product CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O2 -mcall-prologues -DATTINY NICKLE=nickle diff --git a/src/micropeak/ao_async.c b/src/micropeak/ao_async.c deleted file mode 100644 index 3556f54c..00000000 --- a/src/micropeak/ao_async.c +++ /dev/null @@ -1,71 +0,0 @@ -/* - * Copyright © 2012 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -#include -#include - -#define AO_ASYNC_BAUD 38400l -#define AO_ASYNC_DELAY (uint8_t) (1000000l / AO_ASYNC_BAUD) - -#define LED_PORT PORTB - -void -ao_async_start(void) -{ - LED_PORT |= (1 << AO_LED_SERIAL); -} - -void -ao_async_stop(void) -{ - LED_PORT &= ~(1 << AO_LED_SERIAL); -} - -void -ao_async_byte(uint8_t byte) -{ - uint8_t b; - uint16_t w; - - /* start data stop */ - w = (0x000 << 0) | (byte << 1) | (0x001 << 9); - - ao_arch_block_interrupts(); - for (b = 0; b < 10; b++) { - uint8_t v = LED_PORT & ~(1 << AO_LED_SERIAL); - v |= (w & 1) << AO_LED_SERIAL; - LED_PORT = v; - w >>= 1; - - /* Carefully timed to hit around 9600 baud */ - asm volatile ("nop"); - asm volatile ("nop"); - - asm volatile ("nop"); - asm volatile ("nop"); - asm volatile ("nop"); - asm volatile ("nop"); - asm volatile ("nop"); - - asm volatile ("nop"); - asm volatile ("nop"); - asm volatile ("nop"); - asm volatile ("nop"); - asm volatile ("nop"); - } - ao_arch_release_interrupts(); -} diff --git a/src/micropeak/ao_async.h b/src/micropeak/ao_async.h deleted file mode 100644 index 1b239712..00000000 --- a/src/micropeak/ao_async.h +++ /dev/null @@ -1,30 +0,0 @@ -/* - * Copyright © 2012 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -#ifndef _AO_ASYNC_H_ -#define _AO_ASYNC_H_ - -void -ao_async_start(void); - -void -ao_async_stop(void); - -void -ao_async_byte(uint8_t byte); - -#endif /* _AO_ASYNC_H_ */ diff --git a/src/micropeak/ao_log_micro.c b/src/micropeak/ao_log_micro.c deleted file mode 100644 index d665efb5..00000000 --- a/src/micropeak/ao_log_micro.c +++ /dev/null @@ -1,121 +0,0 @@ -/* - * Copyright © 2012 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -#include -#include -#include -#include - -static uint16_t ao_log_offset = STARTING_LOG_OFFSET; - -void -ao_log_micro_save(void) -{ - uint16_t n_samples = (ao_log_offset - STARTING_LOG_OFFSET) / sizeof (uint16_t); - ao_eeprom_write(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground)); - ao_eeprom_write(PA_MIN_OFFSET, &pa_min, sizeof (pa_min)); - ao_eeprom_write(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples)); -} - -void -ao_log_micro_restore(void) -{ - ao_eeprom_read(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground)); - ao_eeprom_read(PA_MIN_OFFSET, &pa_min, sizeof (pa_min)); -} - -void -ao_log_micro_data(void) -{ - uint16_t low_bits = pa; - - if (ao_log_offset < MAX_LOG_OFFSET) { - ao_eeprom_write(ao_log_offset, &low_bits, sizeof (low_bits)); - ao_log_offset += sizeof (low_bits); - } -} - -#define POLY 0x8408 - -static uint16_t -ao_log_micro_crc(uint16_t crc, uint8_t byte) -{ - uint8_t i; - - for (i = 0; i < 8; i++) { - if ((crc & 0x0001) ^ (byte & 0x0001)) - crc = (crc >> 1) ^ POLY; - else - crc = crc >> 1; - byte >>= 1; - } - return crc; -} - -static void -ao_log_hex_nibble(uint8_t b) -{ - if (b < 10) - ao_async_byte('0' + b); - else - ao_async_byte('a' - 10 + b); -} - -static void -ao_log_hex(uint8_t b) -{ - ao_log_hex_nibble(b>>4); - ao_log_hex_nibble(b&0xf); -} - -static void -ao_log_newline(void) -{ - ao_async_byte('\r'); - ao_async_byte('\n'); -} - -void -ao_log_micro_dump(void) -{ - uint16_t n_samples; - uint16_t nbytes; - uint8_t byte; - uint16_t b; - uint16_t crc = 0xffff; - - ao_eeprom_read(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples)); - if (n_samples == 0xffff) - n_samples = 0; - nbytes = STARTING_LOG_OFFSET + sizeof (uint16_t) * n_samples; - ao_async_start(); - ao_async_byte('M'); - ao_async_byte('P'); - for (b = 0; b < nbytes; b++) { - if ((b & 0xf) == 0) - ao_log_newline(); - ao_eeprom_read(b, &byte, 1); - ao_log_hex(byte); - crc = ao_log_micro_crc(crc, byte); - } - ao_log_newline(); - crc = ~crc; - ao_log_hex(crc >> 8); - ao_log_hex(crc); - ao_log_newline(); - ao_async_stop(); -} diff --git a/src/micropeak/ao_log_micro.h b/src/micropeak/ao_log_micro.h deleted file mode 100644 index 976852ee..00000000 --- a/src/micropeak/ao_log_micro.h +++ /dev/null @@ -1,39 +0,0 @@ -/* - * Copyright © 2012 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -#ifndef _AO_LOG_MICRO_H_ -#define _AO_LOG_MICRO_H_ - -#define PA_GROUND_OFFSET 0 -#define PA_MIN_OFFSET 4 -#define N_SAMPLES_OFFSET 8 -#define STARTING_LOG_OFFSET 10 -#define MAX_LOG_OFFSET 512 - -void -ao_log_micro_save(void); - -void -ao_log_micro_restore(void); - -void -ao_log_micro_data(void); - -void -ao_log_micro_dump(void); - -#endif /* _AO_LOG_MICRO_H_ */ diff --git a/src/micropeak/ao_microflight.c b/src/micropeak/ao_microflight.c deleted file mode 100644 index 714bb90a..00000000 --- a/src/micropeak/ao_microflight.c +++ /dev/null @@ -1,143 +0,0 @@ -/* - * Copyright © 2013 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -#ifndef AO_FLIGHT_TEST -#include -#endif -#include -#include - -uint32_t pa; -uint32_t pa_ground; -uint32_t pa_min; - -static void -ao_microsample(void) -{ - ao_pa_get(); - ao_microkalman_predict(); - ao_microkalman_correct(); -} - -#define NUM_PA_HIST 16 - -#define SKIP_PA_HIST(i,j) (((i) + (j)) & (NUM_PA_HIST - 1)) - -static uint32_t pa_hist[NUM_PA_HIST]; - -void -ao_microflight(void) -{ - int16_t sample_count; - uint16_t time; - uint32_t pa_interval_min, pa_interval_max; - int32_t pa_diff; - uint8_t h, i; - uint8_t accel_lock = 0; - uint32_t pa_sum = 0; - - /* Wait for motion, averaging values to get ground pressure */ - - time = ao_time(); - ao_pa_get(); - ao_microkalman_init(); - pa_ground = pa; - sample_count = 0; - h = 0; - for (;;) { - time += SAMPLE_SLEEP; - if (sample_count == 0) - ao_led_on(AO_LED_REPORT); - ao_delay_until(time); - ao_microsample(); - if (sample_count == 0) - ao_led_off(AO_LED_REPORT); - pa_hist[h] = pa; - h = SKIP_PA_HIST(h,1); - pa_diff = pa_ground - ao_pa; - - /* Check for a significant pressure change */ - if (pa_diff > BOOST_DETECT) - break; - - if (sample_count < GROUND_AVG * 2) { - if (sample_count < GROUND_AVG) - pa_sum += pa; - ++sample_count; - } else { - pa_ground = pa_sum >> GROUND_AVG_SHIFT; - pa_sum = 0; - sample_count = 0; - } - } - - /* Go back and find the first sample a decent interval above the ground */ - pa_min = pa_ground - LAND_DETECT; - for (i = SKIP_PA_HIST(h,2); i != h; i = SKIP_PA_HIST(i,2)) { - if (pa_hist[i] < pa_min) - break; - } - - /* Log the remaining samples so we get a complete history since leaving the ground */ - for (; i != h; i = SKIP_PA_HIST(i,2)) { - pa = pa_hist[i]; - ao_log_micro_data(); - } - - /* Now sit around until the pressure is stable again and record the max */ - - sample_count = 0; - pa_min = ao_pa; - pa_interval_min = ao_pa; - pa_interval_max = ao_pa; - for (;;) { - time += SAMPLE_SLEEP; - ao_delay_until(time); - if ((sample_count & 3) == 0) - ao_led_on(AO_LED_REPORT); - ao_microsample(); - if ((sample_count & 3) == 0) - ao_led_off(AO_LED_REPORT); - if (sample_count & 1) - ao_log_micro_data(); - - /* If accelerating upwards, don't look for min pressure */ - if (ao_pa_accel < ACCEL_LOCK_PA) - accel_lock = ACCEL_LOCK_TIME; - else if (accel_lock) - --accel_lock; - else if (ao_pa < pa_min) - pa_min = ao_pa; - - if (sample_count == (GROUND_AVG - 1)) { - pa_diff = pa_interval_max - pa_interval_min; - - /* Check to see if the pressure is now stable */ - if (pa_diff < LAND_DETECT) - break; - sample_count = 0; - pa_interval_min = ao_pa; - pa_interval_max = ao_pa; - } else { - if (ao_pa < pa_interval_min) - pa_interval_min = ao_pa; - if (ao_pa > pa_interval_max) - pa_interval_max = ao_pa; - ++sample_count; - } - } -} diff --git a/src/micropeak/ao_microkalman.c b/src/micropeak/ao_microkalman.c deleted file mode 100644 index 0684ea2b..00000000 --- a/src/micropeak/ao_microkalman.c +++ /dev/null @@ -1,74 +0,0 @@ -/* - * Copyright © 2013 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -#ifndef AO_FLIGHT_TEST -#include -#endif -#include - -#define FIX_BITS 16 - -#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5)) -#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5)) -#define from_fix8(x) ((x) >> 8) -#define from_fix(x) ((x) >> 16) -#define fix8_to_fix16(x) ((x) << 8) -#define fix16_to_fix8(x) ((x) >> 8) - -#include - -/* Basic time step (96ms) */ -#define AO_MK_STEP to_fix16(0.096) -/* step ** 2 / 2 */ -#define AO_MK_STEP_2_2 to_fix16(0.004608) - -uint32_t ao_k_pa; /* 24.8 fixed point */ -int32_t ao_k_pa_speed; /* 16.16 fixed point */ -int32_t ao_k_pa_accel; /* 16.16 fixed point */ - -uint32_t ao_pa; /* integer portion */ -int16_t ao_pa_speed; /* integer portion */ -int16_t ao_pa_accel; /* integer portion */ - -void -ao_microkalman_init(void) -{ - ao_pa = pa; - ao_k_pa = pa << 8; -} - -void -ao_microkalman_predict(void) -{ - ao_k_pa += fix16_to_fix8((int32_t) ao_pa_speed * AO_MK_STEP + (int32_t) ao_pa_accel * AO_MK_STEP_2_2); - ao_k_pa_speed += (int32_t) ao_pa_accel * AO_MK_STEP; -} - -void -ao_microkalman_correct(void) -{ - int16_t e; /* Height error in Pa */ - - e = pa - from_fix8(ao_k_pa); - - ao_k_pa += fix16_to_fix8((int32_t) e * AO_MK_BARO_K0_10); - ao_k_pa_speed += (int32_t) e * AO_MK_BARO_K1_10; - ao_k_pa_accel += (int32_t) e * AO_MK_BARO_K2_10; - ao_pa = from_fix8(ao_k_pa); - ao_pa_speed = from_fix(ao_k_pa_speed); - ao_pa_accel = from_fix(ao_k_pa_accel); -} diff --git a/src/micropeak/ao_micropeak.c b/src/micropeak/ao_micropeak.c deleted file mode 100644 index 10f0d192..00000000 --- a/src/micropeak/ao_micropeak.c +++ /dev/null @@ -1,89 +0,0 @@ -/* - * Copyright © 2012 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -#include -#include -#include -#include -#include - -static struct ao_ms5607_sample sample; -static struct ao_ms5607_value value; - -alt_t ground_alt, max_alt; -alt_t ao_max_height; - -void -ao_pa_get(void) -{ - ao_ms5607_sample(&sample); - ao_ms5607_convert(&sample, &value); - pa = value.pres; -} - -static void -ao_compute_height(void) -{ - ground_alt = ao_pa_to_altitude(pa_ground); - max_alt = ao_pa_to_altitude(pa_min); - ao_max_height = max_alt - ground_alt; -} - -static void -ao_pips(void) -{ - uint8_t i; - for (i = 0; i < 10; i++) { - ao_led_toggle(AO_LED_REPORT); - ao_delay(AO_MS_TO_TICKS(80)); - } - ao_delay(AO_MS_TO_TICKS(200)); -} - -int -main(void) -{ - ao_led_init(LEDS_AVAILABLE); - ao_timer_init(); - - /* Init external hardware */ - ao_spi_init(); - ao_ms5607_init(); - ao_ms5607_setup(); - - /* Give the person a second to get their finger out of the way */ - ao_delay(AO_MS_TO_TICKS(1000)); - - ao_log_micro_restore(); - ao_compute_height(); - ao_report_altitude(); - ao_pips(); - ao_log_micro_dump(); - - ao_delay(BOOST_DELAY); - - ao_microflight(); - - ao_log_micro_save(); - ao_compute_height(); - ao_report_altitude(); - for (;;) { - cli(); - set_sleep_mode(SLEEP_MODE_PWR_DOWN); - sleep_mode(); - } -} diff --git a/src/micropeak/ao_micropeak.h b/src/micropeak/ao_micropeak.h deleted file mode 100644 index 382b98d9..00000000 --- a/src/micropeak/ao_micropeak.h +++ /dev/null @@ -1,78 +0,0 @@ -/* - * Copyright © 2012 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -#ifndef _AO_MICROPEAK_H_ -#define _AO_MICROPEAK_H_ - -#define SAMPLE_SLEEP AO_MS_TO_TICKS(96) - -/* 16 sample, or about two seconds worth */ -#define GROUND_AVG_SHIFT 4 -#define GROUND_AVG (1 << GROUND_AVG_SHIFT) - -/* Pressure change (in Pa) to detect boost */ -#define BOOST_DETECT 120 /* 10m at sea level, 12m at 2000m */ - -/* Wait after power on before doing anything to give the user time to assemble the rocket */ -#define BOOST_DELAY AO_SEC_TO_TICKS(30) - -/* Pressure change (in Pa) to detect landing */ -#define LAND_DETECT 24 /* 2m at sea level, 2.4m at 2000m */ - -/* Current sensor pressure value */ -extern uint32_t pa; - -/* Average pressure value on ground */ -extern uint32_t pa_ground; - -/* Minimum recorded filtered pressure value */ -extern uint32_t pa_min; - -/* Pressure values converted to altitudes */ -extern alt_t ground_alt, max_alt; - -/* max_alt - ground_alt */ -extern alt_t ao_max_height; - -void -ao_pa_get(void); - -void -ao_microflight(void); - -#define ACCEL_LOCK_PA -20 -#define ACCEL_LOCK_TIME 10 - -extern uint32_t ao_k_pa; /* 24.8 fixed point */ -extern int32_t ao_k_pa_speed; /* 16.16 fixed point */ -extern int32_t ao_k_pa_accel; /* 16.16 fixed point */ - -extern uint32_t ao_pa; /* integer portion */ -extern int16_t ao_pa_speed; /* integer portion */ -extern int16_t ao_pa_accel; /* integer portion */ - -void -ao_microkalman_init(void); - -void -ao_microkalman_predict(void); - -void -ao_microkalman_correct(void); - -#endif - diff --git a/src/micropeak/ao_report_tiny.c b/src/micropeak/ao_report_tiny.c deleted file mode 100644 index 0e8e287f..00000000 --- a/src/micropeak/ao_report_tiny.c +++ /dev/null @@ -1,57 +0,0 @@ -/* - * Copyright © 2012 Keith Packard - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * General Public License for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. - */ - -#include - -#define mid(time) ao_led_for(AO_LED_REPORT, time) -#define pause(time) ao_delay(time) - -static void -ao_report_digit(uint8_t digit) __reentrant -{ - if (!digit) { - mid(AO_MS_TO_TICKS(1000)); - pause(AO_MS_TO_TICKS(300)); - } else { - while (digit--) { - mid(AO_MS_TO_TICKS(300)); - pause(AO_MS_TO_TICKS(300)); - } - } - pause(AO_MS_TO_TICKS(1000)); -} - -void -ao_report_altitude(void) -{ - __pdata alt_t agl = ao_max_height; - static __xdata uint8_t digits[11]; - __pdata uint8_t ndigits, i; - - if (agl < 0) - agl = 0; - ndigits = 0; - do { - digits[ndigits++] = agl % 10; - agl /= 10; - } while (agl); - - i = ndigits; - do - ao_report_digit(digits[--i]); - while (i != 0); -} diff --git a/src/nanopeak-v0.1/.gitignore b/src/nanopeak-v0.1/.gitignore new file mode 100644 index 00000000..27cd0a7c --- /dev/null +++ b/src/nanopeak-v0.1/.gitignore @@ -0,0 +1,2 @@ +ao_product.h +nanopeak-* diff --git a/src/nanopeak-v0.1/Makefile b/src/nanopeak-v0.1/Makefile new file mode 100644 index 00000000..154d78f6 --- /dev/null +++ b/src/nanopeak-v0.1/Makefile @@ -0,0 +1,108 @@ +# +# Tiny AltOS build +# +# +vpath % ../attiny:../drivers:../core:../product:.. +vpath ao-make-product.5c ../util +vpath make-altitude-pa ../util + +include ../avr/Makefile.defs + +MCU=attiny85 +DUDECPUTYPE=t85 +#PROGRAMMER=stk500v2 -P usb +LOADSLOW=-i 32 -B 32 +LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w: + +LDFLAGS=-L$(LDSCRIPTS) -Tavr25.x + +ALTOS_SRC = \ + ao_micropeak.c \ + ao_spi_attiny.c \ + ao_led.c \ + ao_clock.c \ + ao_ms5607.c \ + ao_exti.c \ + ao_convert_pa.c \ + ao_report_micro.c \ + ao_notask.c \ + ao_eeprom_tiny.c \ + ao_panic.c \ + ao_log_micro.c \ + ao_async.c \ + ao_microflight.c \ + ao_microkalman.c + +INC=\ + ao.h \ + ao_pins.h \ + ao_arch.h \ + ao_arch_funcs.h \ + ao_exti.h \ + ao_ms5607.h \ + ao_log_micro.h \ + ao_micropeak.h \ + altitude-pa.h + +IDPRODUCT=0 +PRODUCT=NanoPeak-v0.1 +PRODUCT_DEF=-DNANOPEAK +CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../core -I.. -I../drivers -I../product +CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O2 -mcall-prologues -DATTINY + +NICKLE=nickle + +PROG=nanopeak-v0.1 + +SRC=$(ALTOS_SRC) +OBJ=$(SRC:.c=.o) + +V=0 +# The user has explicitly enabled quiet compilation. +ifeq ($(V),0) +quiet = @printf " $1 $2 $@\n"; $($1) +endif +# Otherwise, print the full command line. +quiet ?= $($1) + +all: $(PROG) $(PROG).hex + +CHECK=sh ../util/check-avr-mem + +$(PROG): Makefile $(OBJ) + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) + $(call quiet,CHECK) $(PROG) || ($(RM) -f $(PROG); exit 1) + +$(PROG).hex: $(PROG) + avr-size $(PROG) + $(OBJCOPY) -R .eeprom -O ihex $(PROG) $@ + + +load: $(PROG).hex + $(LOADCMD) $(LOADARG)$(PROG).hex + +load-slow: $(PROG).hex + $(LOADCMD) $(LOADSLOW) $(LOADARG)$(PROG).hex + +ao_product.h: ao-make-product.5c ../Version + $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ + +ao_product.o: ao_product.c ao_product.h + +%.o : %.c $(INC) + $(call quiet,CC) -c $(CFLAGS) $< + +distclean: clean + +clean: + rm -f *.o $(PROG) $(PROG).hex + rm -f ao_product.h + +../altitude-pa.h: make-altitude-pa + nickle $< > $@ + +install: + +uninstall: + +$(OBJ): ao_product.h $(INC) diff --git a/src/nanopeak-v0.1/ao_pins.h b/src/nanopeak-v0.1/ao_pins.h new file mode 100644 index 00000000..bd4a06d1 --- /dev/null +++ b/src/nanopeak-v0.1/ao_pins.h @@ -0,0 +1,65 @@ +/* + * Copyright © 2011 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_PINS_H_ +#define _AO_PINS_H_ +#include + +#define AO_LED_ORANGE (1<<3) +#define AO_LED_SERIAL 3 +#define AO_LED_PANIC AO_LED_ORANGE +#define AO_LED_REPORT AO_LED_ORANGE +#define LEDS_AVAILABLE (AO_LED_ORANGE) +#define USE_SERIAL_1_STDIN 0 +#define HAS_USB 0 +#define PACKET_HAS_SLAVE 0 +#define HAS_SERIAL_1 0 +#define HAS_TASK 0 +#define HAS_MS5607 1 +#define HAS_MS5611 0 +#define HAS_EEPROM 0 +#define HAS_BEEP 0 +#define AVR_CLOCK 250000UL + +/* SPI */ +#define SPI_PORT PORTB +#define SPI_PIN PINB +#define SPI_DIR DDRB +#define AO_MS5607_CS_PORT PORTB +#define AO_MS5607_CS_PIN 4 + +/* MS5607 */ +#define AO_MS5607_SPI_INDEX 0 +#define AO_MS5607_MISO_PORT PORTB +#define AO_MS5607_MISO_PIN 0 +#define AO_MS5607_BARO_OVERSAMPLE 4096 +#define AO_MS5607_TEMP_OVERSAMPLE 1024 + +/* I2C */ +#define I2C_PORT PORTB +#define I2C_PIN PINB +#define I2C_DIR DDRB +#define I2C_PIN_SCL PINB2 +#define I2C_PIN_SDA PINB0 + +#define AO_CONST_ATTRIB PROGMEM +typedef int32_t alt_t; +#define FETCH_ALT(o) ((alt_t) pgm_read_dword(&altitude_table[o])) + +#define AO_ALT_VALUE(x) ((x) * (alt_t) 10) + +#endif /* _AO_PINS_H_ */ diff --git a/src/product/Makefile.teledongle b/src/product/Makefile.teledongle index 3101b777..da9bcba0 100644 --- a/src/product/Makefile.teledongle +++ b/src/product/Makefile.teledongle @@ -80,9 +80,9 @@ endif # Otherwise, print the full command line. quiet ?= $($1) -all: ../$(PROG) +all: $(PROG) -../$(PROG): $(REL) Makefile +$(PROG): $(REL) Makefile $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) .. $(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@ diff --git a/src/product/Makefile.telelaunch b/src/product/Makefile.telelaunch index 1e55989c..a5e2eb7f 100644 --- a/src/product/Makefile.telelaunch +++ b/src/product/Makefile.telelaunch @@ -82,9 +82,9 @@ endif # Otherwise, print the full command line. quiet ?= $($1) -all: ../$(PROG) +all: $(PROG) -../$(PROG): $(REL) Makefile +$(PROG): $(REL) Makefile $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) .. $(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@ diff --git a/src/product/Makefile.telemetrum b/src/product/Makefile.telemetrum index 5e3eed7f..c740a483 100644 --- a/src/product/Makefile.telemetrum +++ b/src/product/Makefile.telemetrum @@ -94,10 +94,10 @@ endif # Otherwise, print the full command line. quiet ?= $($1) -all: ../$(PROG) +all: $(PROG) -../$(PROG): $(REL) Makefile - $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) .. +$(PROG): $(REL) Makefile + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) $(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@ ao_product.h: ao-make-product.5c ../Version diff --git a/src/product/Makefile.telemini b/src/product/Makefile.telemini index ef8906ba..0884079e 100644 --- a/src/product/Makefile.telemini +++ b/src/product/Makefile.telemini @@ -83,10 +83,10 @@ endif # Otherwise, print the full command line. quiet ?= $($1) -all: ../$(PROG) +all: $(PROG) -../$(PROG): $(REL) Makefile - $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) .. +$(PROG): $(REL) Makefile + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) $(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@ ao_product.h: ao-make-product.5c ../Version diff --git a/src/product/Makefile.telenano b/src/product/Makefile.telenano index 67410ae0..c31989ee 100644 --- a/src/product/Makefile.telenano +++ b/src/product/Makefile.telenano @@ -82,9 +82,9 @@ endif # Otherwise, print the full command line. quiet ?= $($1) -all: ../$(PROG) +all: $(PROG) -../$(PROG): $(REL) Makefile +$(PROG): $(REL) Makefile $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) .. $(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@ diff --git a/src/product/ao_flash_pins.h b/src/product/ao_flash_pins.h index 439ba75c..dd67d820 100644 --- a/src/product/ao_flash_pins.h +++ b/src/product/ao_flash_pins.h @@ -35,7 +35,6 @@ #define HAS_VERSION 0 #define AO_BOOT_CHAIN 1 -#define AO_BOOT_PIN 1 #define IS_FLASH_LOADER 1 diff --git a/src/product/ao_micropeak.c b/src/product/ao_micropeak.c new file mode 100644 index 00000000..10f0d192 --- /dev/null +++ b/src/product/ao_micropeak.c @@ -0,0 +1,89 @@ +/* + * Copyright © 2012 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include +#include +#include +#include +#include + +static struct ao_ms5607_sample sample; +static struct ao_ms5607_value value; + +alt_t ground_alt, max_alt; +alt_t ao_max_height; + +void +ao_pa_get(void) +{ + ao_ms5607_sample(&sample); + ao_ms5607_convert(&sample, &value); + pa = value.pres; +} + +static void +ao_compute_height(void) +{ + ground_alt = ao_pa_to_altitude(pa_ground); + max_alt = ao_pa_to_altitude(pa_min); + ao_max_height = max_alt - ground_alt; +} + +static void +ao_pips(void) +{ + uint8_t i; + for (i = 0; i < 10; i++) { + ao_led_toggle(AO_LED_REPORT); + ao_delay(AO_MS_TO_TICKS(80)); + } + ao_delay(AO_MS_TO_TICKS(200)); +} + +int +main(void) +{ + ao_led_init(LEDS_AVAILABLE); + ao_timer_init(); + + /* Init external hardware */ + ao_spi_init(); + ao_ms5607_init(); + ao_ms5607_setup(); + + /* Give the person a second to get their finger out of the way */ + ao_delay(AO_MS_TO_TICKS(1000)); + + ao_log_micro_restore(); + ao_compute_height(); + ao_report_altitude(); + ao_pips(); + ao_log_micro_dump(); + + ao_delay(BOOST_DELAY); + + ao_microflight(); + + ao_log_micro_save(); + ao_compute_height(); + ao_report_altitude(); + for (;;) { + cli(); + set_sleep_mode(SLEEP_MODE_PWR_DOWN); + sleep_mode(); + } +} diff --git a/src/product/ao_micropeak.h b/src/product/ao_micropeak.h new file mode 100644 index 00000000..3e3dec15 --- /dev/null +++ b/src/product/ao_micropeak.h @@ -0,0 +1,78 @@ +/* + * Copyright © 2012 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_MICROPEAK_H_ +#define _AO_MICROPEAK_H_ + +#define SAMPLE_SLEEP AO_MS_TO_TICKS(96) + +/* 16 sample, or about two seconds worth */ +#define GROUND_AVG_SHIFT 4 +#define GROUND_AVG (1 << GROUND_AVG_SHIFT) + +/* Pressure change (in Pa) to detect boost */ +#define BOOST_DETECT 120 /* 10m at sea level, 12m at 2000m */ + +/* Wait after power on before doing anything to give the user time to assemble the rocket */ +#define BOOST_DELAY AO_SEC_TO_TICKS(60) + +/* Pressure change (in Pa) to detect landing */ +#define LAND_DETECT 24 /* 2m at sea level, 2.4m at 2000m */ + +/* Current sensor pressure value */ +extern uint32_t pa; + +/* Average pressure value on ground */ +extern uint32_t pa_ground; + +/* Minimum recorded filtered pressure value */ +extern uint32_t pa_min; + +/* Pressure values converted to altitudes */ +extern alt_t ground_alt, max_alt; + +/* max_alt - ground_alt */ +extern alt_t ao_max_height; + +void +ao_pa_get(void); + +void +ao_microflight(void); + +#define ACCEL_LOCK_PA -20 +#define ACCEL_LOCK_TIME 10 + +extern uint32_t ao_k_pa; /* 24.8 fixed point */ +extern int32_t ao_k_pa_speed; /* 16.16 fixed point */ +extern int32_t ao_k_pa_accel; /* 16.16 fixed point */ + +extern uint32_t ao_pa; /* integer portion */ +extern int16_t ao_pa_speed; /* integer portion */ +extern int16_t ao_pa_accel; /* integer portion */ + +void +ao_microkalman_init(void); + +void +ao_microkalman_predict(void); + +void +ao_microkalman_correct(void); + +#endif + diff --git a/src/spiradio-v0.1/Makefile b/src/spiradio-v0.1/Makefile index a207d34f..e644bc49 100644 --- a/src/spiradio-v0.1/Makefile +++ b/src/spiradio-v0.1/Makefile @@ -73,10 +73,10 @@ endif # Otherwise, print the full command line. quiet ?= $($1) -all: ../$(PROG) +all: $(PROG) -../$(PROG): $(REL) Makefile - $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) .. +$(PROG): $(REL) Makefile + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) $(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@ ao_product.h: ao-make-product.5c ../Version diff --git a/src/stm/Makefile-flash.defs b/src/stm/Makefile-flash.defs index 86f76d46..f429d9bd 100644 --- a/src/stm/Makefile-flash.defs +++ b/src/stm/Makefile-flash.defs @@ -6,14 +6,15 @@ vpath ao-make-product.5c $(TOPDIR)/util .elf.ihx: objcopy -O ihex $*.elf $@ -CC=/opt/cortex/bin/arm-none-eabi-gcc -SAT=/opt/cortex -SAT_CLIB=$(SAT)/lib/pdclib-cortex-m3.a -SAT_CFLAGS=-I$(SAT)/include - ifndef VERSION include $(TOPDIR)/Version endif +include $(TOPDIR)/Makedefs + +CC=$(ARM_CC) +SAT=/opt/cortex +SAT_CLIB=$(SAT)/lib/pdclib-cortex-m3.a +SAT_CFLAGS=-I$(SAT)/include AO_CFLAGS=-I. -I$(TOPDIR)/stm -I$(TOPDIR)/core -I$(TOPDIR)/drivers -I$(TOPDIR)/product -I$(TOPDIR) STM_CFLAGS=-std=gnu99 -mlittle-endian -mcpu=cortex-m3 -mthumb -ffreestanding -nostdlib $(AO_CFLAGS) $(SAT_CFLAGS) diff --git a/src/stm/Makefile.defs b/src/stm/Makefile.defs index 8ef30521..ede75f80 100644 --- a/src/stm/Makefile.defs +++ b/src/stm/Makefile.defs @@ -12,14 +12,19 @@ vpath ao-make-product.5c ../util .elf.ihx: objcopy -O ihex $*.elf $@ -SAT=/opt/cortex -CC=$(SAT)/bin/arm-none-eabi-gcc -SAT_CLIB=$(SAT)/lib/pdclib-cortex-m3.a -SAT_CFLAGS=-I$(SAT)/include +ifndef TOPDIR +TOPDIR=.. +endif ifndef VERSION -include ../Version +include $(TOPDIR)/Version endif +include $(TOPDIR)/Makedefs + +CC=$(ARM_CC) +SAT=/opt/cortex +SAT_CLIB=$(SAT)/lib/pdclib-cortex-m3.a +SAT_CFLAGS=-I$(SAT)/include AO_CFLAGS=-I. -I../stm -I../core -I../drivers -I.. STM_CFLAGS=-std=gnu99 -mlittle-endian -mcpu=cortex-m3 -mthumb -ffreestanding -nostdlib $(AO_CFLAGS) $(SAT_CFLAGS) diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h index 9bb2d7cd..b461cd3f 100644 --- a/src/stm/ao_arch_funcs.h +++ b/src/stm/ao_arch_funcs.h @@ -329,7 +329,7 @@ static inline void ao_arch_restore_stack(void) { /* Restore APSR */ asm("pop {r0}"); - asm("msr apsr,r0"); + asm("msr apsr_nczvq,r0"); /* Restore general registers */ asm("pop {r0-r12,lr}\n"); @@ -354,6 +354,7 @@ static inline void ao_arch_start_scheduler(void) { asm("mrs %0,control" : "=&r" (control)); control |= (1 << 1); asm("msr control,%0" : : "r" (control)); + asm("isb"); } #endif diff --git a/src/teleballoon-v1.1/Makefile b/src/teleballoon-v1.1/Makefile index 2eea996e..6ff076a9 100644 --- a/src/teleballoon-v1.1/Makefile +++ b/src/teleballoon-v1.1/Makefile @@ -103,7 +103,7 @@ quiet ?= $($1) all: $(PROG) $(PROG): $(REL) Makefile - $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) .. + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) $(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@ ao_product.h: ao-make-product.5c ../Version diff --git a/src/telebt-v1.0/Makefile b/src/telebt-v1.0/Makefile index 911a8b09..40853fc3 100644 --- a/src/telebt-v1.0/Makefile +++ b/src/telebt-v1.0/Makefile @@ -82,7 +82,7 @@ quiet ?= $($1) all: $(PROG) $(PROG): $(REL) Makefile - $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) .. + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) $(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@ ao_product.h: ao-make-product.5c ../Version diff --git a/src/telefire-v0.1/Makefile b/src/telefire-v0.1/Makefile index 712b2e8b..f9e11698 100644 --- a/src/telefire-v0.1/Makefile +++ b/src/telefire-v0.1/Makefile @@ -84,10 +84,10 @@ endif # Otherwise, print the full command line. quiet ?= $($1) -all: ../$(PROG) +all: $(PROG) -../$(PROG): $(REL) Makefile - $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) .. +$(PROG): $(REL) Makefile + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) $(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@ ao_product.h: ao-make-product.5c ../Version diff --git a/src/telefire-v0.2/Makefile b/src/telefire-v0.2/Makefile index 3353bc1a..a820990a 100644 --- a/src/telefire-v0.2/Makefile +++ b/src/telefire-v0.2/Makefile @@ -84,10 +84,10 @@ endif # Otherwise, print the full command line. quiet ?= $($1) -all: ../$(PROG) +all: $(PROG) -../$(PROG): $(REL) Makefile - $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) .. +$(PROG): $(REL) Makefile + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) $(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@ ao_product.h: ao-make-product.5c ../Version diff --git a/src/telegps-v0.3/ao_telegps.c b/src/telegps-v0.3/ao_telegps.c index f9f62316..608817e7 100644 --- a/src/telegps-v0.3/ao_telegps.c +++ b/src/telegps-v0.3/ao_telegps.c @@ -49,6 +49,7 @@ main(void) ao_gps_init(); #if HAS_LOG ao_gps_report_mega_init(); + ao_log_init(); #endif ao_telemetry_init(); diff --git a/src/telemetrum-v2.0/ao_telemetrum.c b/src/telemetrum-v2.0/ao_telemetrum.c index e365417d..d79aba54 100644 --- a/src/telemetrum-v2.0/ao_telemetrum.c +++ b/src/telemetrum-v2.0/ao_telemetrum.c @@ -42,7 +42,7 @@ main(void) ao_task_init(); ao_serial_init(); ao_led_init(LEDS_AVAILABLE); - ao_led_on(AO_LED_GREEN); + ao_led_on(AO_LED_RED); ao_timer_init(); ao_spi_init(); diff --git a/src/telemini-v2.0/Makefile b/src/telemini-v2.0/Makefile index 40878778..fcac2c48 100644 --- a/src/telemini-v2.0/Makefile +++ b/src/telemini-v2.0/Makefile @@ -81,7 +81,7 @@ PROGNAME = telemini-v$(TELEMINI_VER) PROG = $(PROGNAME)-$(VERSION).ihx PRODUCT=TeleMini-v$(TELEMINI_VER) PRODUCT_DEF=-DTELEMINI_V_$(TELEMINI_DEF) -IDPRODUCT=0x000a +IDPRODUCT=0x0027 include ../cc1111/Makefile.cc1111 @@ -96,10 +96,10 @@ endif # Otherwise, print the full command line. quiet ?= $($1) -all: ../$(PROG) +all: $(PROG) -../$(PROG): $(REL) Makefile - $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) .. +$(PROG): $(REL) Makefile + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) $(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@ ao_product.h: ao-make-product.5c ../Version diff --git a/src/telemini-v2.0/ao_pins.h b/src/telemini-v2.0/ao_pins.h index 264ad16d..c4681ee2 100644 --- a/src/telemini-v2.0/ao_pins.h +++ b/src/telemini-v2.0/ao_pins.h @@ -102,6 +102,7 @@ #define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(2000) #define AO_SEND_MINI +#define AO_LOG_FORMAT AO_LOG_FORMAT_TELEMINI /* * ADC diff --git a/src/telemini-v2.0/ao_telemini.c b/src/telemini-v2.0/ao_telemini.c index 294f768a..0d8dd1cb 100644 --- a/src/telemini-v2.0/ao_telemini.c +++ b/src/telemini-v2.0/ao_telemini.c @@ -24,36 +24,42 @@ __xdata uint8_t ao_force_freq; void main(void) { - /* - * Reduce the transient on the ignite pins at startup by - * pulling the pins low as soon as possible at power up - */ - ao_ignite_set_pins(); - ao_clock_init(); +#if HAS_STACK_GUARD + ao_mpu_init(); +#endif + ao_task_init(); + /* Turn on the red LED until the system is stable */ ao_led_init(LEDS_AVAILABLE); ao_led_on(AO_LED_RED); - ao_task_init(); - ao_timer_init(); + + ao_spi_init(); + ao_exti_init(); ao_adc_init(); +#if HAS_BEEP ao_beep_init(); +#endif ao_cmd_init(); - ao_spi_init(); - ao_exti_init(); +#if HAS_MS5607 ao_ms5607_init(); +#endif ao_storage_init(); + ao_flight_init(); ao_log_init(); ao_report_init(); + ao_usb_init(); ao_telemetry_init(); ao_radio_init(); ao_packet_slave_init(TRUE); + ao_igniter_init(); + ao_config_init(); ao_start_scheduler(); } diff --git a/src/telepyro-v0.1/Makefile b/src/telepyro-v0.1/Makefile index 6743ba66..025b324a 100644 --- a/src/telepyro-v0.1/Makefile +++ b/src/telepyro-v0.1/Makefile @@ -5,18 +5,12 @@ vpath % .:..:../core:../product:../drivers:../avr vpath ao-make-product.5c ../util +include ../avr/Makefile.defs + MCU=atmega32u4 DUDECPUTYPE=m32u4 #PROGRAMMER=stk500v2 -P usb -PROGRAMMER=usbtiny -LOADCMD=avrdude LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w: -CC=avr-gcc -OBJCOPY=avr-objcopy - -ifndef VERSION -include ../Version -endif INC = \ ao.h \ diff --git a/src/telescience-pwm/Makefile b/src/telescience-pwm/Makefile index ce2a8fde..7f39d3f1 100644 --- a/src/telescience-pwm/Makefile +++ b/src/telescience-pwm/Makefile @@ -5,20 +5,14 @@ vpath % ..:../core:../product:../drivers:../avr vpath ao-make-product.5c ../util +include ../avr/Makefile.defs + MCU=atmega32u4 DUDECPUTYPE=m32u4 #PROGRAMMER=stk500v2 -P usb -PROGRAMMER=usbtiny -LOADCMD=avrdude LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w: -CC=avr-gcc -OBJCOPY=avr-objcopy - -LDFLAGS=-L/usr/lib/ldscripts -Tavr5.x -ifndef VERSION -include ../Version -endif +LDFLAGS=-L$(LDSCRIPTS) -Tavr5.x INC = \ ao.h \ diff --git a/src/telescience-v0.1/Makefile b/src/telescience-v0.1/Makefile index 81054a75..a65b3ad0 100644 --- a/src/telescience-v0.1/Makefile +++ b/src/telescience-v0.1/Makefile @@ -5,20 +5,14 @@ vpath % ..:../core:../product:../drivers:../avr vpath ao-make-product.5c ../util +include ../avr/Makefile.defs + MCU=atmega32u4 DUDECPUTYPE=m32u4 #PROGRAMMER=stk500v2 -P usb -PROGRAMMER=usbtiny -LOADCMD=avrdude LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w: -CC=avr-gcc -OBJCOPY=avr-objcopy - -LDFLAGS=-L/usr/lib/ldscripts -Tavr5.x -ifndef VERSION -include ../Version -endif +LDFLAGS=-L$(LDSCRIPTS) -Tavr5.x INC = \ ao.h \ diff --git a/src/teleshield-v0.1/Makefile b/src/teleshield-v0.1/Makefile index ab2a025f..e8b262ef 100644 --- a/src/teleshield-v0.1/Makefile +++ b/src/teleshield-v0.1/Makefile @@ -92,10 +92,10 @@ endif # Otherwise, print the full command line. quiet ?= $($1) -all: ../$(PROG) +all: $(PROG) -../$(PROG): $(REL) Makefile - $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) .. +$(PROG): $(REL) Makefile + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) $(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@ ao_product.h: ao-make-product.5c ../Version diff --git a/src/teleterra-v0.2/Makefile b/src/teleterra-v0.2/Makefile index 68a8d1b6..88637360 100644 --- a/src/teleterra-v0.2/Makefile +++ b/src/teleterra-v0.2/Makefile @@ -86,10 +86,10 @@ endif # Otherwise, print the full command line. quiet ?= $($1) -all: ../$(PROG) +all: $(PROG) -../$(PROG): $(REL) Makefile - $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) .. +$(PROG): $(REL) Makefile + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) $(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@ ao_product.h: ao-make-product.5c ../Version diff --git a/src/tidongle/Makefile b/src/tidongle/Makefile index 1514c4df..b2ba537b 100644 --- a/src/tidongle/Makefile +++ b/src/tidongle/Makefile @@ -72,10 +72,10 @@ endif # Otherwise, print the full command line. quiet ?= $($1) -all: ../$(PROG) +all: $(PROG) -../$(PROG): $(REL) Makefile - $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) .. +$(PROG): $(REL) Makefile + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) $(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@ ao_product.h: ao-make-product.5c ../Version