Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

1 files changed, 406 insertions, 0 deletions

diff --git a/altoslib/AltosCalData.java b/altoslib/AltosCalData.java
new file mode 100644
index 00000000..b49e3792
--- /dev/null
+++ b/altoslib/AltosCalData.java
@@ -0,0 +1,406 @@
+/*
+ * Copyright © 2017 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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.
+ */
+
+package org.altusmetrum.altoslib_12;
+
+/*
+ * Calibration and other data needed to construct 'real' values from various data
+ * sources.
+ */
+
+public class AltosCalData {
+	public int		flight = AltosLib.MISSING;
+
+	public void set_flight(int flight) {
+		if (flight != AltosLib.MISSING)
+			this.flight = flight;
+	}
+
+	public String		callsign = null;
+
+	public void set_callsign(String callsign) {
+		if (callsign != null)
+			this.callsign = callsign;
+	}
+
+	public String		firmware_version = null;
+
+	public void set_firmware_version(String firmware_version) {
+		if (firmware_version != null)
+			this.firmware_version = firmware_version;
+	}
+
+	public String		product = null;
+
+	public void set_product(String product) {
+		if (product != null)
+			this.product = product;
+	}
+
+	public int		serial = AltosLib.MISSING;
+
+	public void set_serial(int serial) {
+		if (serial != AltosLib.MISSING)
+			this.serial = serial;
+	}
+
+	public int		receiver_serial = AltosLib.MISSING;
+
+	public void set_receiver_serial(int receiver_serial) {
+		if (receiver_serial != AltosLib.MISSING)
+			this.receiver_serial = receiver_serial;
+	}
+
+	public int		device_type = AltosLib.MISSING;
+
+	public void set_device_type(int device_type) {
+		if (device_type != AltosLib.MISSING) {
+			this.device_type = device_type;
+			if (product == null)
+				set_product(AltosLib.product_name(device_type));
+		}
+	}
+
+	public int		config_major = AltosLib.MISSING;
+	public int		config_minor = AltosLib.MISSING;
+	public int		flight_log_max = AltosLib.MISSING;
+
+	public void set_config(int major, int minor, int log_max) {
+		if (major != AltosLib.MISSING)
+			config_major = major;
+		if (minor != AltosLib.MISSING)
+			config_minor = minor;
+		if (log_max != AltosLib.MISSING)
+			flight_log_max = log_max;
+	}
+
+	public double		apogee_delay = AltosLib.MISSING;
+	public double		main_deploy = AltosLib.MISSING;
+
+	public void set_flight_params(double apogee_delay, double main_deploy) {
+		if (apogee_delay != AltosLib.MISSING)
+			this.apogee_delay = apogee_delay;
+		if (main_deploy != AltosLib.MISSING)
+			this.main_deploy = main_deploy;
+	}
+
+	public double		accel_plus_g = AltosLib.MISSING;
+	public double		accel_minus_g = AltosLib.MISSING;
+	public double		ground_accel = AltosLib.MISSING;
+
+	public void set_accel_plus_minus(double plus, double minus) {
+		if (plus != AltosLib.MISSING && minus != AltosLib.MISSING) {
+			if (plus == minus)
+				return;
+			accel_plus_g = plus;
+			accel_minus_g = minus;
+		}
+	}
+
+	public void set_ground_accel(double ground_accel) {
+		if (ground_accel != AltosLib.MISSING)
+			this.ground_accel = ground_accel;
+	}
+
+	/* Raw acceleration value */
+	public double		accel = AltosLib.MISSING;
+
+	public void set_accel(double accel) {
+		this.accel = accel;
+	}
+
+	public boolean mma655x_inverted = false;
+
+	public void set_mma655x_inverted(boolean inverted) {
+		mma655x_inverted = inverted;
+	}
+
+	public int pad_orientation = AltosLib.MISSING;
+
+	public void set_pad_orientation(int orientation) {
+		if (orientation != AltosLib.MISSING)
+			pad_orientation = orientation;
+	}
+
+	/* Compute acceleration */
+	public double acceleration(double sensor) {
+		return AltosConvert.acceleration_from_sensor(sensor, accel_plus_g, accel_minus_g, ground_accel);
+	}
+
+	public AltosMs5607	ms5607 = null;
+
+	public void set_ms5607(AltosMs5607 ms5607) {
+		this.ms5607 = ms5607;
+	}
+
+	public double		ground_pressure = AltosLib.MISSING;
+	public double		ground_altitude = AltosLib.MISSING;
+
+	public void set_ground_pressure(double ground_pressure) {
+		if (ground_pressure != AltosLib.MISSING) {
+			this.ground_pressure = ground_pressure;
+			this.ground_altitude = AltosConvert.pressure_to_altitude(ground_pressure);
+		}
+	}
+
+	public void set_ground_altitude(double ground_altitude) {
+		if (ground_altitude != AltosLib.MISSING)
+			this.ground_altitude = ground_altitude;
+	}
+
+	/* Compute pressure */
+
+	public AltosPresTemp pressure_ms5607(int raw_pres, int raw_temp) {
+		if (ms5607 == null)
+			return new AltosPresTemp(AltosLib.MISSING, AltosLib.MISSING);
+		return ms5607.pres_temp(raw_pres, raw_temp);
+	}
+
+	public int		tick = AltosLib.MISSING;
+	private int		first_tick = AltosLib.MISSING;
+	private int		prev_tick = AltosLib.MISSING;
+
+	public void set_tick(int tick) {
+		if (tick != AltosLib.MISSING) {
+			if (prev_tick != AltosLib.MISSING) {
+				while (tick < prev_tick - 1000) {
+					tick += 65536;
+				}
+			}
+			if (first_tick == AltosLib.MISSING)
+				first_tick = tick;
+			prev_tick = tick;
+			this.tick = tick;
+		}
+	}
+
+	/* Reset all values which change during flight
+	 */
+	public void reset() {
+		state = AltosLib.MISSING;
+		tick = AltosLib.MISSING;
+		prev_tick = AltosLib.MISSING;
+		temp_gps = null;
+		prev_gps = null;
+		temp_gps_sat_tick = AltosLib.MISSING;
+		accel = AltosLib.MISSING;
+	}
+
+	public int		boost_tick = AltosLib.MISSING;
+
+	public void set_boost_tick() {
+		boost_tick = tick;
+	}
+
+	public double		ticks_per_sec = 100.0;
+
+	public void set_ticks_per_sec(double ticks_per_sec) {
+		this.ticks_per_sec = ticks_per_sec;
+	}
+
+	public double time() {
+		if (tick == AltosLib.MISSING)
+			return AltosLib.MISSING;
+		if (boost_tick != AltosLib.MISSING)
+			return (tick - boost_tick) / ticks_per_sec;
+		if (first_tick != AltosLib.MISSING)
+			return (tick - first_tick) / ticks_per_sec;
+		return tick / ticks_per_sec;
+	}
+
+	public double boost_time() {
+		if (boost_tick == AltosLib.MISSING)
+			return AltosLib.MISSING;
+		return boost_tick / ticks_per_sec;
+	}
+
+	public int		state = AltosLib.MISSING;
+
+	public void set_state(int state) {
+		if (state >= AltosLib.ao_flight_boost && boost_tick == AltosLib.MISSING)
+			set_boost_tick();
+		this.state = state;
+	}
+
+	public AltosGPS		gps_pad = null;
+
+	public double		gps_pad_altitude = AltosLib.MISSING;
+
+	public void set_gps(AltosGPS gps) {
+		if ((state != AltosLib.MISSING && state < AltosLib.ao_flight_boost) || gps_pad == null)
+			gps_pad = gps;
+		if (gps_pad_altitude == AltosLib.MISSING && gps.alt != AltosLib.MISSING)
+			gps_pad_altitude = gps.alt;
+	}
+
+	/*
+	 * While receiving GPS data, we construct a temporary GPS state
+	 * object and then deliver the result atomically to the listener
+	 */
+	AltosGPS		temp_gps = null;
+	AltosGPS		prev_gps = null;
+	int			temp_gps_sat_tick = AltosLib.MISSING;
+
+	public AltosGPS temp_gps() {
+		return temp_gps;
+	}
+
+	public void reset_temp_gps() {
+		if (temp_gps != null) {
+			if (temp_gps.locked && temp_gps.nsat >= 4)
+				set_gps(temp_gps);
+			prev_gps = temp_gps;
+			temp_gps = null;
+		}
+	}
+
+	public boolean gps_pending() {
+		return temp_gps != null;
+	}
+
+	public AltosGPS make_temp_gps(int tick, boolean sats) {
+		if (temp_gps == null) {
+			if (prev_gps != null)
+				temp_gps = prev_gps.clone();
+			else
+				temp_gps = new AltosGPS();
+		}
+		if (sats) {
+			if (tick != temp_gps_sat_tick)
+				temp_gps.cc_gps_sat = null;
+			temp_gps_sat_tick = tick;
+		}
+		return temp_gps;
+	}
+
+	public double	accel_zero_along, accel_zero_across, accel_zero_through;
+
+	public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
+		if (zero_along != AltosLib.MISSING) {
+			accel_zero_along = zero_along;
+			accel_zero_across = zero_across;
+			accel_zero_through = zero_through;
+		}
+	}
+
+	public double accel_along(double counts) {
+		return AltosIMU.convert_accel(counts - accel_zero_along);
+	}
+
+	public double accel_across(double counts) {
+		return AltosIMU.convert_accel(counts - accel_zero_across);
+	}
+
+	public double accel_through(double counts) {
+		return AltosIMU.convert_accel(counts - accel_zero_through);
+	}
+
+	public double	gyro_zero_roll,	gyro_zero_pitch, gyro_zero_yaw;
+
+	public void set_gyro_zero(double roll, double pitch, double yaw) {
+		if (roll != AltosLib.MISSING) {
+			gyro_zero_roll = roll;
+			gyro_zero_pitch = pitch;
+			gyro_zero_yaw = yaw;
+			imu_wrap_checked = false;
+		}
+	}
+
+	public double gyro_roll(double counts) {
+		if (gyro_zero_roll == AltosLib.MISSING || counts == AltosLib.MISSING)
+			return AltosLib.MISSING;
+
+		return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_roll);
+	}
+
+	public double gyro_pitch(double counts) {
+		if (gyro_zero_pitch == AltosLib.MISSING || counts == AltosLib.MISSING)
+			return AltosLib.MISSING;
+		return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_pitch);
+	}
+
+	public double gyro_yaw(double counts) {
+		if (gyro_zero_yaw == AltosLib.MISSING || counts == AltosLib.MISSING)
+			return AltosLib.MISSING;
+		return AltosIMU.gyro_degrees_per_second(counts, gyro_zero_yaw);
+	}
+
+	private double gyro_zero_overflow(double first) {
+		double v = first / 128.0;
+		if (v < 0)
+			v = Math.ceil(v);
+		else
+			v = Math.floor(v);
+		if (v != 0)
+			System.out.printf("Adjusting gyro axis by %g steps\n", v);
+		return v * 128.0;
+	}
+
+	/* Initial TeleMega log format had only 16 bits for gyro cal, so the top 9 bits got lost as the
+	 * cal data are scaled by 512. Use the first sample to adjust the cal value, assuming that it is
+	 * from a time of fairly low rotation speed. Fixed in later TeleMega firmware by storing 32 bits
+	 * of cal values.
+	 */
+	private boolean imu_wrap_checked = false;
+
+	public void check_imu_wrap(double roll, double pitch, double yaw) {
+		if (!imu_wrap_checked) {
+			gyro_zero_roll += gyro_zero_overflow(roll);
+			gyro_zero_pitch += gyro_zero_overflow(pitch);
+			gyro_zero_yaw += gyro_zero_overflow(yaw);
+			imu_wrap_checked = true;
+		}
+	}
+
+	public double mag_along(double along) {
+		if (along == AltosLib.MISSING)
+			return AltosLib.MISSING;
+		return AltosMag.convert_gauss(along);
+	}
+
+	public double mag_across(double across) {
+		if (across == AltosLib.MISSING)
+			return AltosLib.MISSING;
+		return AltosMag.convert_gauss(across);
+	}
+
+	public double mag_through(double through) {
+		if (through == AltosLib.MISSING)
+			return AltosLib.MISSING;
+		return AltosMag.convert_gauss(through);
+	}
+
+	public AltosCalData() {
+	}
+
+	public AltosCalData(AltosConfigData config_data) {
+		set_serial(config_data.serial);
+		set_ticks_per_sec(100.0);
+		set_flight(config_data.flight);
+		set_callsign(config_data.callsign);
+		set_config(config_data.config_major, config_data.config_minor, config_data.flight_log_max);
+		set_firmware_version(config_data.version);
+		set_flight_params(config_data.apogee_delay / ticks_per_sec, config_data.apogee_lockout / ticks_per_sec);
+		set_pad_orientation(config_data.pad_orientation);
+		set_product(config_data.product);
+		set_accel_plus_minus(config_data.accel_cal_plus, config_data.accel_cal_minus);
+		set_accel_zero(config_data.accel_zero_along, config_data.accel_zero_across, config_data.accel_zero_through);
+		set_ms5607(config_data.ms5607);
+		try {
+			set_mma655x_inverted(config_data.mma655x_inverted());
+		} catch (AltosUnknownProduct up) {
+		}
+		set_pad_orientation(config_data.pad_orientation);
+	}
+}