altos: More cleanups for moving files to altoslib

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

4 files changed, 758 insertions, 0 deletions

diff --git a/altoslib/AltosEepromMega.java b/altoslib/AltosEepromMega.java
new file mode 100644
index 00000000..2628279e
--- /dev/null
+++ b/altoslib/AltosEepromMega.java
@@ -0,0 +1,213 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.*;
+
+public class AltosEepromMega {
+	public int	cmd;
+	public int	tick;
+	public boolean	valid;
+	public String	data;
+	public int	a, b;
+
+	public int	data8[];
+
+	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);
+	}
+
+	/* 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_x() { return data16(8); }
+	public int accel_y() { return data16(10); }
+	public int accel_z() { return data16(12); }
+	public int gyro_x() { return data16(14); }
+	public int gyro_y() { return data16(16); }
+	public int gyro_z() { return data16(18); }
+	public int mag_x() { return data16(20); }
+	public int mag_y() { return data16(22); }
+	public int mag_z() { return data16(24); }
+	public int accel() {
+		int a = data16(26);
+		if (a != 0xffff)
+			return a;
+		return accel_y();
+	}
+
+	/* AO_LOG_VOLT elements */
+	public int v_batt() { return data16(0); }
+	public int v_pbatt() { return data16(2); }
+	public int nsense() { return data16(4); }
+	public int sense(int i) { return data16(6 + i * 2); }
+
+	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;
+		}
+
+		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);
+	}
+
+	public AltosEepromMega (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;
+					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 if (tokens[0].equals("ms5607")) {
+					if (tokens[1].equals("reserved:")) {
+						cmd = AltosLib.AO_LOG_BARO_RESERVED;
+						a = Integer.parseInt(tokens[2]);
+					} else if (tokens[1].equals("sens:")) {
+						cmd = AltosLib.AO_LOG_BARO_SENS;
+						a = Integer.parseInt(tokens[2]);
+					} else if (tokens[1].equals("off:")) {
+						cmd = AltosLib.AO_LOG_BARO_OFF;
+						a = Integer.parseInt(tokens[2]);
+					} else if (tokens[1].equals("tcs:")) {
+						cmd = AltosLib.AO_LOG_BARO_TCS;
+						a = Integer.parseInt(tokens[2]);
+					} else if (tokens[1].equals("tco:")) {
+						cmd = AltosLib.AO_LOG_BARO_TCO;
+						a = Integer.parseInt(tokens[2]);
+					} else if (tokens[1].equals("tref:")) {
+						cmd = AltosLib.AO_LOG_BARO_TREF;
+						a = Integer.parseInt(tokens[2]);
+					} else if (tokens[1].equals("tempsens:")) {
+						cmd = AltosLib.AO_LOG_BARO_TEMPSENS;
+						a = Integer.parseInt(tokens[2]);
+					} else if (tokens[1].equals("crc:")) {
+						cmd = AltosLib.AO_LOG_BARO_CRC;
+						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;
+			}
+		}
+	}
+
+	public AltosEepromMega(int in_cmd, int in_tick) {
+		cmd = in_cmd;
+		tick = in_tick;
+		valid = true;
+	}
+}
diff --git a/altoslib/AltosEepromMegaIterable.java b/altoslib/AltosEepromMegaIterable.java
new file mode 100644
index 00000000..28a298b3
--- /dev/null
+++ b/altoslib/AltosEepromMegaIterable.java
@@ -0,0 +1,518 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.LinkedBlockingQueue;
+
+/*
+ * AltosRecords with an index field so they can be sorted by tick while preserving
+ * the original ordering for elements with matching ticks
+ */
+class AltosOrderedMegaRecord extends AltosEepromMega implements Comparable<AltosOrderedMegaRecord> {
+
+	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 AltosOrderedMegaRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) {
+		super(in_cmd, in_tick);
+		a = in_a;
+		b = in_b;
+		index = in_index;
+	}
+
+	public String toString() {
+		return String.format("%d.%d %04x %04x %04x",
+				     cmd, index, tick, a, b);
+	}
+
+	public int compareTo(AltosOrderedMegaRecord o) {
+		int	tick_diff = tick - o.tick;
+		if (tick_diff != 0)
+			return tick_diff;
+		return index - o.index;
+	}
+}
+
+public class AltosEepromMegaIterable extends AltosRecordIterable {
+
+	static final int	seen_flight = 1;
+	static final int	seen_sensor = 2;
+	static final int	seen_temp_volt = 4;
+	static final int	seen_deploy = 8;
+	static final int	seen_gps_time = 16;
+	static final int	seen_gps_lat = 32;
+	static final int	seen_gps_lon = 64;
+
+	static final int	seen_basic = seen_flight|seen_sensor;
+
+	boolean			has_accel;
+	boolean			has_gps;
+	boolean			has_ignite;
+
+	AltosEepromMega	flight_record;
+	AltosEepromMega	gps_date_record;
+
+	TreeSet<AltosOrderedMegaRecord>	records;
+
+	AltosMs5607		baro;
+
+	LinkedList<AltosRecord>	list;
+
+	class EepromState {
+		int	seen;
+		int	n_pad_samples;
+		double	ground_pres;
+		int	gps_tick;
+		int	boost_tick;
+		int	sensor_tick;
+
+		EepromState() {
+			seen = 0;
+			n_pad_samples = 0;
+			ground_pres = 0.0;
+			gps_tick = 0;
+		}
+	}
+
+	void update_state(AltosRecord 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();
+			state.pres = baro.set(record.pres(), record.temp());
+			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_PRESSURE:
+			state.pres = record.b;
+			state.flight_pres = state.pres;
+			if (eeprom.n_pad_samples == 0) {
+				eeprom.n_pad_samples++;
+				state.ground_pres = state.pres;
+			}
+			eeprom.seen |= seen_sensor;
+			break;
+		case AltosLib.AO_LOG_TEMP_VOLT:
+			state.batt = record.v_batt();
+			eeprom.seen |= seen_temp_volt;
+			break;
+		case AltosLib.AO_LOG_DEPLOY:
+			state.drogue = record.a;
+			state.main = record.b;
+			eeprom.seen |= seen_deploy;
+			has_ignite = true;
+			break;
+		case AltosLib.AO_LOG_STATE:
+			state.state = record.state();
+			break;
+		case AltosLib.AO_LOG_GPS_TIME:
+			eeprom.gps_tick = state.tick;
+			AltosGPS old = state.gps;
+			state.gps = new AltosGPS();
+
+			/* GPS date doesn't get repeated through the file */
+			if (old != null) {
+				state.gps.year = old.year;
+				state.gps.month = old.month;
+				state.gps.day = old.day;
+			}
+			state.gps.hour = (record.a & 0xff);
+			state.gps.minute = (record.a >> 8);
+			state.gps.second = (record.b & 0xff);
+
+			int flags = (record.b >> 8);
+			state.gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
+			state.gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
+			state.gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
+				AltosLib.AO_GPS_NUM_SAT_SHIFT;
+			state.new_gps = true;
+			has_gps = true;
+			break;
+		case AltosLib.AO_LOG_GPS_LAT:
+			int lat32 = record.a | (record.b << 16);
+			state.gps.lat = (double) lat32 / 1e7;
+			break;
+		case AltosLib.AO_LOG_GPS_LON:
+			int lon32 = record.a | (record.b << 16);
+			state.gps.lon = (double) lon32 / 1e7;
+			break;
+		case AltosLib.AO_LOG_GPS_ALT:
+			state.gps.alt = record.a;
+			break;
+		case AltosLib.AO_LOG_GPS_SAT:
+			if (state.tick == eeprom.gps_tick) {
+				int svid = record.a;
+				int c_n0 = record.b >> 8;
+				state.gps.add_sat(svid, c_n0);
+			}
+			break;
+		case AltosLib.AO_LOG_GPS_DATE:
+			state.gps.year = (record.a & 0xff) + 2000;
+			state.gps.month = record.a >> 8;
+			state.gps.day = record.b & 0xff;
+			break;
+
+		case AltosLib.AO_LOG_CONFIG_VERSION:
+			break;
+		case AltosLib.AO_LOG_MAIN_DEPLOY:
+			break;
+		case AltosLib.AO_LOG_APOGEE_DELAY:
+			break;
+		case AltosLib.AO_LOG_RADIO_CHANNEL:
+			break;
+		case AltosLib.AO_LOG_CALLSIGN:
+			state.callsign = record.data;
+			break;
+		case AltosLib.AO_LOG_ACCEL_CAL:
+			state.accel_plus_g = record.a;
+			state.accel_minus_g = record.b;
+			break;
+		case AltosLib.AO_LOG_RADIO_CAL:
+			break;
+		case AltosLib.AO_LOG_MANUFACTURER:
+			break;
+		case AltosLib.AO_LOG_PRODUCT:
+			break;
+		case AltosLib.AO_LOG_SERIAL_NUMBER:
+			state.serial = record.a;
+			break;
+		case AltosLib.AO_LOG_SOFTWARE_VERSION:
+			break;
+		case AltosLib.AO_LOG_BARO_RESERVED:
+			baro.reserved = record.a;
+			break;
+		case AltosLib.AO_LOG_BARO_SENS:
+			baro.sens =record.a;
+			break;
+		case AltosLib.AO_LOG_BARO_OFF:
+			baro.off =record.a;
+			break;
+		case AltosLib.AO_LOG_BARO_TCS:
+			baro.tcs =record.a;
+			break;
+		case AltosLib.AO_LOG_BARO_TCO:
+			baro.tco =record.a;
+			break;
+		case AltosLib.AO_LOG_BARO_TREF:
+			baro.tref =record.a;
+			break;
+		case AltosLib.AO_LOG_BARO_TEMPSENS:
+			baro.tempsens =record.a;
+			break;
+		case AltosLib.AO_LOG_BARO_CRC:
+			baro.crc =record.a;
+			break;
+		}
+		state.seen |= eeprom.seen;
+	}
+
+	LinkedList<AltosRecord> make_list() {
+		LinkedList<AltosRecord>		list = new LinkedList<AltosRecord>();
+		Iterator<AltosOrderedMegaRecord>	iterator = records.iterator();
+		AltosOrderedMegaRecord		record = null;
+		AltosRecord			state = new AltosRecord();
+		boolean				last_reported = false;
+		EepromState			eeprom = new EepromState();
+
+		state.state = AltosLib.ao_flight_pad;
+		state.accel_plus_g = 15758;
+		state.accel_minus_g = 16294;
+
+		/* Pull in static data from the flight and gps_date records */
+		if (flight_record != null)
+			update_state(state, flight_record, eeprom);
+		if (gps_date_record != null)
+			update_state(state, gps_date_record, eeprom);
+
+		while (iterator.hasNext()) {
+			record = iterator.next();
+			if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
+				AltosRecord r = new AltosRecord(state);
+				r.time = (r.tick - eeprom.boost_tick) / 100.0;
+				list.add(r);
+			}
+			update_state(state, record, eeprom);
+		}
+		AltosRecord r = new AltosRecord(state);
+		r.time = (r.tick - eeprom.boost_tick) / 100.0;
+		list.add(r);
+		return list;
+	}
+
+	public Iterator<AltosRecord> iterator() {
+		if (list == null)
+			list = make_list();
+		return list.iterator();
+	}
+
+	public boolean has_gps() { return has_gps; }
+	public boolean has_accel() { return has_accel; }
+	public boolean has_ignite() { return has_ignite; }
+
+	public void write_comments(PrintStream out) {
+		Iterator<AltosOrderedMegaRecord>	iterator = records.iterator();
+		out.printf("# Comments\n");
+		while (iterator.hasNext()) {
+			AltosOrderedMegaRecord	record = iterator.next();
+			switch (record.cmd) {
+			case AltosLib.AO_LOG_CONFIG_VERSION:
+				out.printf("# Config version: %s\n", record.data);
+				break;
+			case AltosLib.AO_LOG_MAIN_DEPLOY:
+				out.printf("# Main deploy: %s\n", record.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;
+			}
+		}
+	}
+
+	/*
+	 * 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(AltosOrderedMegaRecord good, AltosOrderedMegaRecord bad) {
+
+		int diff = (bad.tick - good.tick + 50) / 100;
+
+		int hour = (good.a & 0xff);
+		int minute = (good.a >> 8);
+		int second = (good.b & 0xff);
+		int flags = (good.b >> 8);
+		int seconds = hour * 3600 + minute * 60 + second;
+
+		/* Make sure this looks like a good GPS value */
+		if ((flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> AltosLib.AO_GPS_NUM_SAT_SHIFT < 4)
+			flags = (flags & ~AltosLib.AO_GPS_NUM_SAT_MASK) | (4 << AltosLib.AO_GPS_NUM_SAT_SHIFT);
+		flags |= AltosLib.AO_GPS_RUNNING;
+		flags |= AltosLib.AO_GPS_VALID;
+
+		int new_seconds = seconds + diff;
+		if (new_seconds < 0)
+			new_seconds += 24 * 3600;
+		int new_second = (new_seconds % 60);
+		int new_minutes = (new_seconds / 60);
+		int new_minute = (new_minutes % 60);
+		int new_hours = (new_minutes / 60);
+		int new_hour = (new_hours % 24);
+
+		bad.a = new_hour + (new_minute << 8);
+		bad.b = new_second + (flags << 8);
+	}
+
+	/*
+	 * Read the whole file, dumping records into a RB tree so
+	 * we can enumerate them in time order -- the eeprom data
+	 * are sometimes out of order with GPS data getting timestamps
+	 * matching the first packet out of the GPS unit but not
+	 * written until the final GPS packet has been received.
+	 */
+	public AltosEepromMegaIterable (FileInputStream input) {
+		records = new TreeSet<AltosOrderedMegaRecord>();
+
+		AltosOrderedMegaRecord last_gps_time = null;
+
+		baro = new AltosMs5607();
+
+		int index = 0;
+		int prev_tick = 0;
+		boolean prev_tick_valid = false;
+		boolean missing_time = false;
+
+		try {
+			for (;;) {
+				String line = AltosRecord.gets(input);
+				if (line == null)
+					break;
+				AltosOrderedMegaRecord record = new AltosOrderedMegaRecord(line, index++, prev_tick, prev_tick_valid);
+				if (record == null)
+					break;
+				if (record.cmd == AltosLib.AO_LOG_INVALID)
+					continue;
+				prev_tick = record.tick;
+				if (record.cmd < AltosLib.AO_LOG_CONFIG_VERSION)
+					prev_tick_valid = true;
+				if (record.cmd == AltosLib.AO_LOG_FLIGHT) {
+					flight_record = record;
+					continue;
+				}
+
+				/* Two firmware bugs caused the loss of some GPS data.
+				 * The flight date would never be recorded, and often
+				 * the flight time would get overwritten by another
+				 * record. Detect the loss of the GPS date and fix up the
+				 * missing time records
+				 */
+				if (record.cmd == AltosLib.AO_LOG_GPS_DATE) {
+					gps_date_record = record;
+					continue;
+				}
+
+				/* go back and fix up any missing time values */
+				if (record.cmd == AltosLib.AO_LOG_GPS_TIME) {
+					last_gps_time = record;
+					if (missing_time) {
+						Iterator<AltosOrderedMegaRecord> iterator = records.iterator();
+						while (iterator.hasNext()) {
+							AltosOrderedMegaRecord old = iterator.next();
+							if (old.cmd == AltosLib.AO_LOG_GPS_TIME &&
+							    old.a == -1 && old.b == -1)
+							{
+								update_time(record, old);
+							}
+						}
+						missing_time = false;
+					}
+				}
+
+				if (record.cmd == AltosLib.AO_LOG_GPS_LAT) {
+					if (last_gps_time == null || last_gps_time.tick != record.tick) {
+						AltosOrderedMegaRecord add_gps_time = new AltosOrderedMegaRecord(AltosLib.AO_LOG_GPS_TIME,
+													 record.tick,
+													 -1, -1, index-1);
+						if (last_gps_time != null)
+							update_time(last_gps_time, add_gps_time);
+						else
+							missing_time = true;
+
+						records.add(add_gps_time);
+						record.index = index++;
+					}
+				}
+				records.add(record);
+
+				/* Bail after reading the 'landed' record; we're all done */
+				if (record.cmd == AltosLib.AO_LOG_STATE &&
+				    record.a == AltosLib.ao_flight_landed)
+					break;
+			}
+		} catch (IOException io) {
+		} catch (ParseException pe) {
+		}
+		try {
+			input.close();
+		} catch (IOException ie) {
+		}
+	}
+}
diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java
index 9b80e916..77b400fc 100644
--- a/altoslib/AltosLink.java
+++ b/altoslib/AltosLink.java
@@ -141,6 +141,31 @@ public abstract class AltosLink {
 		return AltosLib.telemetry_len(telemetry);
 	}
 
+	private void set_radio_freq(int frequency) {
+		if (monitor_mode)
+			printf("m 0\nc F %d\nm %x\n",
+			       frequency, telemetry_len());
+		else
+			printf("c F %d\n", frequency);
+		flush_output();
+	}
+
+	public void set_radio_frequency(double frequency,
+					boolean has_frequency,
+					boolean has_setting,
+					int cal) {
+		if (debug)
+			System.out.printf("set_radio_frequency %7.3f (freq %b) (set %b) %d\n", frequency, has_frequency, has_setting, cal);
+		if (frequency == 0)
+			return;
+		if (has_frequency)
+			set_radio_freq((int) Math.floor (frequency * 1000));
+		else if (has_setting)
+			set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal));
+		else
+			set_channel(AltosConvert.radio_frequency_to_channel(frequency));
+	}
+
 	public void set_telemetry(int in_telemetry) {
 		telemetry = in_telemetry;
 		if (monitor_mode)
diff --git a/altoslib/Makefile.am b/altoslib/Makefile.am
index 2e4a795a..f644d46a 100644
--- a/altoslib/Makefile.am
+++ b/altoslib/Makefile.am
@@ -17,6 +17,8 @@ AltosLib_JAVA = \
 	$(SRC)/AltosEepromChunk.java \
 	$(SRC)/AltosEepromIterable.java \
 	$(SRC)/AltosEepromLog.java \
+	$(SRC)/AltosEepromMega.java \
+	$(SRC)/AltosEepromMegaIterable.java \
 	$(SRC)/AltosEepromRecord.java \
 	$(SRC)/AltosEepromTeleScience.java \
 	$(SRC)/AltosFile.java \