diff options
Diffstat (limited to 'altoslib')
| -rw-r--r-- | altoslib/AltosEepromMini.java | 193 | ||||
| -rw-r--r-- | altoslib/AltosEepromMiniIterable.java | 297 | ||||
| -rw-r--r-- | altoslib/AltosLib.java | 1 | ||||
| -rw-r--r-- | altoslib/AltosOrderedMiniRecord.java | 52 | ||||
| -rw-r--r-- | altoslib/AltosRecordMini.java | 129 | ||||
| -rw-r--r-- | altoslib/Makefile.am | 4 |
6 files changed, 676 insertions, 0 deletions
diff --git a/altoslib/AltosEepromMini.java b/altoslib/AltosEepromMini.java new file mode 100644 index 00000000..215cd3d9 --- /dev/null +++ b/altoslib/AltosEepromMini.java @@ -0,0 +1,193 @@ +/* + * 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_1; + +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 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); + } + + /* AO_LOG_FLIGHT elements */ + public int flight() { return data16(0); } + public int ground_pres() { return data32(4); } + + /* AO_LOG_STATE elements */ + public int state() { return data16(0); } + public int reason() { return data16(2); } + + /* AO_LOG_SENSOR elements */ + public int pres() { return data24(0); } + public int temp() { return data24(3); } + public int sense_a() { return data16(6); } + 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; + } + + 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 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; + } + } + } + + public AltosEepromMini(int in_cmd, int in_tick) { + cmd = in_cmd; + tick = in_tick; + valid = true; + } +} diff --git a/altoslib/AltosEepromMiniIterable.java b/altoslib/AltosEepromMiniIterable.java new file mode 100644 index 00000000..1f221187 --- /dev/null +++ b/altoslib/AltosEepromMiniIterable.java @@ -0,0 +1,297 @@ +/* + * 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_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<AltosOrderedMiniRecord> records; + + AltosMs5607 baro; + + LinkedList<AltosRecord> 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<AltosRecord> make_list() { + LinkedList<AltosRecord> list = new LinkedList<AltosRecord>(); + Iterator<AltosOrderedMiniRecord> 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<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<AltosOrderedMiniRecord> 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>(); + + 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/AltosLib.java b/altoslib/AltosLib.java index 25d17e72..a629260b 100644 --- a/altoslib/AltosLib.java +++ b/altoslib/AltosLib.java @@ -216,6 +216,7 @@ 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_NONE = 127; public static boolean isspace(int c) { diff --git a/altoslib/AltosOrderedMiniRecord.java b/altoslib/AltosOrderedMiniRecord.java new file mode 100644 index 00000000..96888941 --- /dev/null +++ b/altoslib/AltosOrderedMiniRecord.java @@ -0,0 +1,52 @@ +/* + * 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_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<AltosOrderedMiniRecord> { + + 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/AltosRecordMini.java b/altoslib/AltosRecordMini.java new file mode 100644 index 00000000..253f3804 --- /dev/null +++ b/altoslib/AltosRecordMini.java @@ -0,0 +1,129 @@ +/* + * Copyright © 2012 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_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/Makefile.am b/altoslib/Makefile.am index 18b028d6..8c1cf2ad 100644 --- a/altoslib/Makefile.am +++ b/altoslib/Makefile.am @@ -24,6 +24,8 @@ altoslib_JAVA = \ AltosEepromMegaIterable.java \ AltosEepromRecord.java \ AltosEepromTeleScience.java \ + AltosEepromMini.java \ + AltosEepromMiniIterable.java \ AltosFile.java \ AltosFlash.java \ AltosFlashListener.java \ @@ -47,6 +49,7 @@ altoslib_JAVA = \ AltosMs5607Query.java \ AltosOrderedRecord.java \ AltosOrderedMegaRecord.java \ + AltosOrderedMiniRecord.java \ AltosParse.java \ AltosPreferences.java \ AltosPreferencesBackend.java \ @@ -56,6 +59,7 @@ altoslib_JAVA = \ AltosRecordNone.java \ AltosRecordTM.java \ AltosRecordMM.java \ + AltosRecordMini.java \ AltosReplayReader.java \ AltosRomconfig.java \ AltosSensorMM.java \ |