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/*
* Copyright © 2024 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 AltosEepromRecordTimer extends AltosEepromRecord {
public static final int record_length = 32;
private int log_format;
private int imu_type() {
switch (log_format) {
case AltosLib.AO_LOG_FORMAT_EASYTIMER_2:
return AltosIMU.imu_type_easytimer_v2;
default:
return AltosLib.MISSING;
}
}
private int imu_model() {
switch (log_format) {
case AltosLib.AO_LOG_FORMAT_EASYTIMER_2:
return AltosLib.model_bmi088;
}
return AltosLib.MISSING;
}
private boolean sensor_normalized() {
switch (log_format) {
case AltosLib.AO_LOG_FORMAT_EASYTIMER_2:
return true;
}
return false;
}
private int mag_model() {
switch (log_format) {
case AltosLib.AO_LOG_FORMAT_EASYTIMER_2:
return AltosLib.model_mmc5983;
}
return AltosLib.MISSING;
}
/* AO_LOG_FLIGHT elements */
private int flight() { return data16(0); }
private int ground_accel() { return data16(2); }
private int ground_pres() { return AltosLib.MISSING; }
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_roll() { return data32(12); }
private int ground_pitch() { return data32(16); }
private int ground_yaw() { return data32(20); }
/* AO_LOG_STATE elements */
private int state() { return data16(0); }
private int reason() { return data16(2); }
/* AO_LOG_SENSOR elements */
private int accel_along() { return data16(0); }
private int accel_across() { return data16(2); }
private int accel_through() { return data16(4); }
private int gyro_roll() { return data16(6); }
private int gyro_pitch() { return data16(8); }
private int gyro_yaw() { return data16(10); }
private int mag_along() { return data16(12); }
private int mag_across() { return data16(14); }
private int mag_through() { return data16(16); }
private int accel() { return -accel_along(); }
private int v_batt() { return data16(18); }
private int v_pbatt() { return data16(20); }
private int nsense() { return 2; }
private int sense(int i) { return data16(22 + i * 2); }
private int pyro() { return data16(26); }
public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
super.provide_data(listener, cal_data);
cal_data.set_imu_type(imu_type());
cal_data.set_imu_model(imu_model());
cal_data.set_mag_model(mag_model());
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_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();
int accel_along = accel_along();
int accel_across = accel_across();
int accel_through = accel_through();
int gyro_roll = gyro_roll();
int gyro_pitch = gyro_pitch();
int gyro_yaw = gyro_yaw();
int mag_along = mag_along();
int mag_across = mag_across();
int mag_through = mag_through();
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));
listener.set_acceleration(cal_data.acceleration(accel()));
listener.set_battery_voltage(AltosConvert.easy_timer_battery_voltage(v_batt()));
listener.set_pyro_voltage(AltosConvert.easy_timer_pyro_voltage_15v(v_pbatt()));
int nsense = nsense();
listener.set_apogee_voltage(AltosConvert.easy_timer_pyro_voltage_15v(sense(nsense-2)));
listener.set_main_voltage(AltosConvert.easy_timer_pyro_voltage_15v(sense(nsense-1)));
double voltages[] = new double[nsense-2];
for (int i = 0; i < nsense-2; i++)
voltages[i] = AltosConvert.easy_timer_pyro_voltage_15v(sense(i));
listener.set_igniter_voltage(voltages);
listener.set_pyro_fired(pyro());
break;
}
}
public AltosEepromRecord next() {
int s = next_start();
if (s < 0)
return null;
return new AltosEepromRecordTimer(eeprom, s);
}
public AltosEepromRecordTimer(AltosEeprom eeprom, int start) {
super(eeprom, start, record_length);
log_format = eeprom.config_data().log_format;
}
public AltosEepromRecordTimer(AltosEeprom eeprom) {
this(eeprom, 0);
}
}
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