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/*
* 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;
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_z() { return data16(22); }
private int mag_y() { 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 provide_data(AltosDataListener listener, AltosCalData cal_data) {
super.provide_data(listener, cal_data);
AltosGPS gps;
switch (cmd()) {
case AltosLib.AO_LOG_FLIGHT:
cal_data.set_flight(flight());
cal_data.set_ground_accel(ground_accel());
cal_data.set_ground_pressure(ground_pres());
listener.set_accel_ground(ground_accel_along(),
ground_accel_across(),
ground_accel_through());
cal_data.set_gyro_zero(ground_roll() / 512.0,
ground_pitch() / 512.0,
ground_yaw() / 512.0);
break;
case AltosLib.AO_LOG_STATE:
listener.set_state(state());
break;
case AltosLib.AO_LOG_SENSOR:
AltosConfigData config_data = eeprom.config_data();
AltosPresTemp pt = config_data.ms5607().pres_temp(pres(), temp());;
listener.set_pressure(pt.pres);
listener.set_temperature(pt.temp);
int accel_along = accel_y();
int accel_across = accel_x();
int accel_through = accel_z();
int gyro_roll = gyro_y();
int gyro_pitch = gyro_x();
int gyro_yaw = gyro_z();
int mag_along = mag_y();
int mag_across = mag_x();
int mag_through = mag_z();
if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw);
listener.set_accel(cal_data.accel_along(accel_along),
cal_data.accel_across(accel_across),
cal_data.accel_through(accel_through));
listener.set_gyro(cal_data.gyro_roll(gyro_roll),
cal_data.gyro_pitch(gyro_pitch),
cal_data.gyro_yaw(gyro_yaw));
listener.set_mag(cal_data.mag_along(mag_along),
cal_data.mag_across(mag_across),
cal_data.mag_through(mag_through));
final double lsb_per_g = 1920.0/105.5;
double acceleration = AltosConvert.acceleration_from_sensor(
accel(),
cal_data.ground_accel,
cal_data.ground_accel + 2 * lsb_per_g,
cal_data.ground_accel);
listener.set_acceleration(acceleration);
break;
case AltosLib.AO_LOG_TEMP_VOLT:
listener.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt()));
listener.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pbatt()));
int nsense = nsense();
listener.set_apogee_voltage(AltosConvert.mega_pyro_voltage(sense(nsense-2)));
listener.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));
listener.set_igniter_voltage(voltages);
listener.set_pyro_fired(pyro());
break;
case AltosLib.AO_LOG_GPS_TIME:
gps = cal_data.make_temp_gps(tick(), false);
gps.lat = latitude() / 1e7;
gps.lon = longitude() / 1e7;
if (config_data().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 (config_data().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 = cal_data.make_temp_gps(tick(), 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() {
int s = next_start();
if (s < 0)
return null;
return new AltosEepromRecordMega(eeprom, s);
}
public AltosEepromRecordMega(AltosEeprom eeprom, int start) {
super(eeprom, start, record_length);
log_format = eeprom.config_data().log_format;
}
public AltosEepromRecordMega(AltosEeprom eeprom) {
this(eeprom, 0);
}
}
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