altoslib: Deal with new Mega log format that has 32-bit gyro cal

This adds parsing for the new log format type to get all 32 bits of
the gyro calibration data.

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

4 files changed, 44 insertions, 10 deletions

diff --git a/altoslib/AltosEepromChunk.java b/altoslib/AltosEepromChunk.java
index 4d12f564..73a45717 100644
--- a/altoslib/AltosEepromChunk.java
+++ b/altoslib/AltosEepromChunk.java
@@ -75,7 +75,8 @@ public class AltosEepromChunk {
 		case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
 			break;
 		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
-			eeprom = new AltosEepromMega(this, offset);
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			eeprom = new AltosEepromMega(this, offset, log_format);
 			break;
 		case AltosLib.AO_LOG_FORMAT_TELEMETRUM:
 			eeprom = new AltosEepromMetrum2(this, offset);
diff --git a/altoslib/AltosEepromFile.java b/altoslib/AltosEepromFile.java
index a1579b55..c1dc10b5 100644
--- a/altoslib/AltosEepromFile.java
+++ b/altoslib/AltosEepromFile.java
@@ -94,7 +94,8 @@ public class AltosEepromFile extends AltosStateIterable {
 		case AltosLib.AO_LOG_FORMAT_TELEMETRY:
 		case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
 		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
-			body = new AltosEepromIterable(AltosEepromMega.read(input));
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			body = new AltosEepromIterable(AltosEepromMega.read(input, start.log_format));
 			break;
 		case AltosLib.AO_LOG_FORMAT_TELEMETRUM:
 			body = new AltosEepromIterable(AltosEepromMetrum2.read(input));
diff --git a/altoslib/AltosEepromMega.java b/altoslib/AltosEepromMega.java
index adaa7f31..aaff2410 100644
--- a/altoslib/AltosEepromMega.java
+++ b/altoslib/AltosEepromMega.java
@@ -26,6 +26,8 @@ public class AltosEepromMega extends AltosEeprom {
 
 	public static final int max_sat = 12;
 
+	private int log_format;
+
 	public int record_length() { return record_length; }
 
 	/* AO_LOG_FLIGHT elements */
@@ -35,9 +37,36 @@ public class AltosEepromMega extends AltosEeprom {
 	public int ground_accel_along() { return data16(8); }
 	public int ground_accel_across() { return data16(10); }
 	public int ground_accel_through() { return data16(12); }
-	public int ground_roll() { return data16(14); }
-	public int ground_pitch() { return data16(16); }
-	public int ground_yaw() { return data16(18); }
+	public 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;
+		}
+	}
+	public 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;
+		}
+	}
+	public 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 */
 	public int state() { return data16(0); }
@@ -89,7 +118,8 @@ public class AltosEepromMega extends AltosEeprom {
 	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 {
+	public AltosEepromMega (AltosEepromChunk chunk, int start, int log_format) throws ParseException {
+		this.log_format = log_format;
 		parse_chunk(chunk, start);
 	}
 
@@ -221,11 +251,12 @@ public class AltosEepromMega extends AltosEeprom {
 		}
 	}
 
-	public AltosEepromMega (String line) {
+	public AltosEepromMega (String line, int log_format) {
+		this.log_format = log_format;
 		parse_string(line);
 	}
 
-	static public LinkedList<AltosEeprom> read(FileInputStream input) {
+	static public LinkedList<AltosEeprom> read(FileInputStream input, int log_format) {
 		LinkedList<AltosEeprom> megas = new LinkedList<AltosEeprom>();
 
 		for (;;) {
@@ -234,7 +265,7 @@ public class AltosEepromMega extends AltosEeprom {
 				if (line == null)
 					break;
 				try {
-					AltosEepromMega mega = new AltosEepromMega(line);
+					AltosEepromMega mega = new AltosEepromMega(line, log_format);
 					if (mega.cmd != AltosLib.AO_LOG_INVALID)
 						megas.add(mega);
 				} catch (Exception e) {
diff --git a/altoslib/AltosLib.java b/altoslib/AltosLib.java
index 2e9dc648..92a22ec7 100644
--- a/altoslib/AltosLib.java
+++ b/altoslib/AltosLib.java
@@ -315,11 +315,12 @@ public class AltosLib {
 	public static final int AO_LOG_FORMAT_TINY = 2;
 	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_TELEMEGA_OLD = 5;
 	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_TELEGPS = 9;
+	public static final int AO_LOG_FORMAT_TELEMEGA = 10;
 	public static final int AO_LOG_FORMAT_NONE = 127;
 
 	public static boolean isspace(int c) {