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/*
* 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_5;
import java.io.*;
import java.util.*;
import java.text.*;
public class AltosEepromMega extends AltosEeprom {
public static final int record_length = 32;
public static final int max_sat = 12;
public int record_length() { return record_length; }
/* 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_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); }
/* 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() { return data16(26); }
/* AO_LOG_TEMP_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 int pyro() { return data16(26); }
/* AO_LOG_GPS_TIME elements */
public int latitude() { return data32(0); }
public int longitude() { return data32(4); }
public int altitude_low() { return data16(8); }
public int hour() { return data8(10); }
public int minute() { return data8(11); }
public int second() { return data8(12); }
public int flags() { return data8(13); }
public int year() { return data8(14); }
public int month() { return data8(15); }
public int day() { return data8(16); }
public int course() { return data8(17); }
public int ground_speed() { return data16(18); }
public int climb_rate() { return data16(20); }
public int pdop() { return data8(22); }
public int hdop() { return data8(23); }
public int vdop() { return data8(24); }
public int mode() { return data8(25); }
public int altitude_high() { return data16(26); }
/* AO_LOG_GPS_SAT elements */
public int nsat() { return data16(0); }
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 {
parse_chunk(chunk, start);
}
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_boost_tick(tick);
state.set_flight(flight());
state.set_ground_accel(ground_accel());
state.set_ground_pressure(ground_pres());
break;
case AltosLib.AO_LOG_STATE:
state.set_tick(tick);
state.set_state(state());
break;
case AltosLib.AO_LOG_SENSOR:
state.set_tick(tick);
state.set_ms5607(pres(), temp());
AltosIMU imu = new AltosIMU();
imu.accel_x = AltosIMU.convert_accel(accel_x());
imu.accel_y = AltosIMU.convert_accel(accel_y());
imu.accel_z = AltosIMU.convert_accel(accel_z());
imu.gyro_x = AltosIMU.convert_gyro(gyro_x());
imu.gyro_y = AltosIMU.convert_gyro(gyro_y());
imu.gyro_z = AltosIMU.convert_gyro(gyro_z());
state.imu = imu;
AltosMag mag = new AltosMag();
mag.x = AltosMag.convert_gauss(mag_x());
mag.y = AltosMag.convert_gauss(mag_y());
mag.z = AltosMag.convert_gauss(mag_z());
state.mag = mag;
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:
state.set_tick(tick);
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:
state.set_tick(tick);
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 AltosEepromMega (String line) {
parse_string(line);
}
static public LinkedList<AltosEeprom> read(FileInputStream input) {
LinkedList<AltosEeprom> megas = new LinkedList<AltosEeprom>();
for (;;) {
try {
String line = AltosLib.gets(input);
if (line == null)
break;
try {
AltosEepromMega mega = new AltosEepromMega(line);
if (mega.cmd != AltosLib.AO_LOG_INVALID)
megas.add(mega);
} catch (Exception e) {
System.out.printf ("exception\n");
}
} catch (IOException ie) {
break;
}
}
return megas;
}
}
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