altoslib: Add new eeprom management code

Generic .eeprom file parsing, simpler per-type eeprom data extraction.

Signed-off-by: Keith Packard <keithp@keithp.com>

1 files changed, 253 insertions, 0 deletions

diff --git a/altoslib/AltosEepromRecordMega.java b/altoslib/AltosEepromRecordMega.java
new file mode 100644
index 00000000..167f666b
--- /dev/null
+++ b/altoslib/AltosEepromRecordMega.java
@@ -0,0 +1,253 @@
+/*
+ * 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_11;
+
+public class AltosEepromRecordMega extends AltosEepromRecord {
+	public static final int	record_length = 32;
+
+	public static final int max_sat = 12;
+
+	private int log_format;
+
+	/* AO_LOG_FLIGHT elements */
+	private int flight() { return data16(0); }
+	private int ground_accel() { return data16(2); }
+	private int ground_pres() { return data32(4); }
+	private int ground_accel_along() { return data16(8); }
+	private int ground_accel_across() { return data16(10); }
+	private int ground_accel_through() { return data16(12); }
+	private int ground_roll() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+			return data32(16);
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return data16(14);
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+	private int ground_pitch() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+			return data32(20);
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return data16(16);
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+	private int ground_yaw() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+			return data32(24);
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return data16(18);
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	/* AO_LOG_STATE elements */
+	private int state() { return data16(0); }
+	private int reason() { return data16(2); }
+
+	/* AO_LOG_SENSOR elements */
+	private int pres() { return data32(0); }
+	private int temp() { return data32(4); }
+	private int accel_x() { return data16(8); }
+	private int accel_y() { return data16(10); }
+	private int accel_z() { return data16(12); }
+	private int gyro_x() { return data16(14); }
+	private int gyro_y() { return data16(16); }
+	private int gyro_z() { return data16(18); }
+	private int mag_x() { return data16(20); }
+	private int mag_y() { return data16(22); }
+	private int mag_z() { return data16(24); }
+	private int accel() { return data16(26); }
+
+	/* AO_LOG_TEMP_VOLT elements */
+	private int v_batt() { return data16(0); }
+	private int v_pbatt() { return data16(2); }
+	private int nsense() { return data16(4); }
+	private int sense(int i) { return data16(6 + i * 2); }
+	private int pyro() { return data16(26); }
+
+	/* AO_LOG_GPS_TIME elements */
+	private int latitude() { return data32(0); }
+	private int longitude() { return data32(4); }
+	private int altitude_low() { return data16(8); }
+	private int hour() { return data8(10); }
+	private int minute() { return data8(11); }
+	private int second() { return data8(12); }
+	private int flags() { return data8(13); }
+	private int year() { return data8(14); }
+	private int month() { return data8(15); }
+	private int day() { return data8(16); }
+	private int course() { return data8(17); }
+	private int ground_speed() { return data16(18); }
+	private int climb_rate() { return data16(20); }
+	private int pdop() { return data8(22); }
+	private int hdop() { return data8(23); }
+	private int vdop() { return data8(24); }
+	private int mode() { return data8(25); }
+	private int altitude_high() { return data16(26); }
+
+	/* AO_LOG_GPS_SAT elements */
+	private int nsat() { return data16(0); }
+	private int svid(int n) { return data8(2 + n * 2); }
+	private int c_n(int n) { return data8(2 + n * 2 + 1); }
+
+	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_flight(flight());
+			state.set_ground_accel(ground_accel());
+			state.set_ground_pressure(ground_pres());
+			state.set_accel_ground(ground_accel_along(),
+					       ground_accel_across(),
+					       ground_accel_through());
+			state.set_gyro_zero(ground_roll() / 512.0,
+					    ground_pitch() / 512.0,
+					    ground_yaw() / 512.0);
+			break;
+		case AltosLib.AO_LOG_STATE:
+			state.set_state(state());
+			break;
+		case AltosLib.AO_LOG_SENSOR:
+			state.set_ms5607(pres(), temp());
+
+			AltosIMU	imu = new AltosIMU(accel_y(),	/* along */
+							   accel_x(),	/* across */
+							   accel_z(),	/* through */
+							   gyro_y(),	/* roll */
+							   gyro_x(),	/* pitch */
+							   gyro_z());	/* yaw */
+
+			if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
+				state.check_imu_wrap(imu);
+
+			state.set_imu(imu);
+
+			state.set_mag(new AltosMag(mag_x(),
+						   mag_y(),
+						   mag_z()));
+
+			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);
+			state.set_pyro_fired(pyro());
+			break;
+		case AltosLib.AO_LOG_GPS_TIME:
+			gps = state.make_temp_gps(false);
+			gps.lat = latitude() / 1e7;
+			gps.lon = longitude() / 1e7;
+
+			if (state.altitude_32())
+				gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
+			else
+				gps.alt = altitude_low();
+
+			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();
+			gps.ground_speed = ground_speed() * 1.0e-2;
+			gps.course = course() * 2;
+			gps.climb_rate = climb_rate() * 1.0e-2;
+			if (state.compare_version("1.4.9") >= 0) {
+				gps.pdop = pdop() / 10.0;
+				gps.hdop = hdop() / 10.0;
+				gps.vdop = vdop() / 10.0;
+			} else {
+				gps.pdop = pdop() / 100.0;
+				if (gps.pdop < 0.8)
+					gps.pdop += 2.56;
+				gps.hdop = hdop() / 100.0;
+				if (gps.hdop < 0.8)
+					gps.hdop += 2.56;
+				gps.vdop = vdop() / 100.0;
+				if (gps.vdop < 0.8)
+					gps.vdop += 2.56;
+			}
+			break;
+		case AltosLib.AO_LOG_GPS_SAT:
+			gps = state.make_temp_gps(true);
+
+			int n = nsat();
+			if (n > max_sat)
+				n = max_sat;
+			for (int i = 0; i < n; i++)
+				gps.add_sat(svid(i), c_n(i));
+			break;
+		}
+	}
+
+	public AltosEepromRecord next() {
+		if (start + length + length < eeprom.data.size())
+			return new AltosEepromRecordMega(eeprom, start + length);
+		return null;
+	}
+
+	public AltosEepromRecordMega(AltosEepromNew eeprom, int start) {
+		super(eeprom, start, record_length);
+		log_format = eeprom.config_data().log_format;
+	}
+
+	public AltosEepromRecordMega(AltosEepromNew eeprom) {
+		this(eeprom, 0);
+	}
+}