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/*
* Copyright © 2020 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_14;
public class AltosEepromRecordMotor extends AltosEepromRecord {
public static final int record_length = 16;
private int log_format;
/* AO_LOG_FLIGHT elements */
private int flight() { return data16(0); }
private int ground_accel() { return data16(2); }
private int ground_accel_along() { return data16(4); }
private int ground_accel_across() { return data16(6); }
private int ground_accel_through() { return data16(8); }
private int ground_motor_pressure() { return data16(10); }
/* AO_LOG_STATE elements */
private int state() { return data16(0); }
private int reason() { return data16(2); }
/* AO_LOG_SENSOR elements */
private int motor_pres() { return data16(0); }
private int v_batt() { return data16(2); }
private int accel() { return data16(4); }
private int accel_across() { return data16(6); }
private int accel_along() { return -data16(8); }
private int accel_through() { return data16(10); }
private int imu_type() {
switch (log_format) {
case AltosLib.AO_LOG_FORMAT_EASYMOTOR:
return AltosIMU.imu_type_easymotor_v2;
default:
return AltosLib.MISSING;
}
}
public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
super.provide_data(listener, cal_data);
cal_data.set_imu_type(imu_type());
switch (cmd()) {
case AltosLib.AO_LOG_FLIGHT:
cal_data.set_flight(flight());
cal_data.set_ground_accel(ground_accel());
listener.set_accel_ground(cal_data.accel_along(ground_accel_along()),
cal_data.accel_across(ground_accel_across()),
cal_data.accel_through(ground_accel_through()));
cal_data.set_ground_motor_pressure(ground_motor_pressure());
break;
case AltosLib.AO_LOG_STATE:
listener.set_state(state());
break;
case AltosLib.AO_LOG_SENSOR:
AltosConfigData config_data = eeprom.config_data();
listener.set_battery_voltage(AltosConvert.easy_motor_3_voltage(v_batt()));
double pa = AltosConvert.easy_motor_3_motor_pressure(motor_pres(), cal_data.ground_motor_pressure);
listener.set_motor_pressure(pa);
int accel_along = accel_along();
int accel_across = accel_across();
int accel_through = accel_through();
listener.set_accel(cal_data.accel_along(accel_along),
cal_data.accel_across(accel_across),
cal_data.accel_through(accel_through));
listener.set_acceleration(cal_data.acceleration(accel()));
break;
}
}
public AltosEepromRecord next() {
int s = next_start();
if (s < 0)
return null;
return new AltosEepromRecordMotor(eeprom, s);
}
public AltosEepromRecordMotor(AltosEeprom eeprom, int start) {
super(eeprom, start, record_length);
log_format = eeprom.config_data().log_format;
}
public AltosEepromRecordMotor(AltosEeprom eeprom) {
this(eeprom, 0);
}
}
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