104 lines
3.3 KiB
Java
104 lines
3.3 KiB
Java
/*
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* Copyright © 2020 Keith Packard <keithp@keithp.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* General Public License for more details.
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*/
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package org.altusmetrum.altoslib_14;
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public class AltosEepromRecordMotor extends AltosEepromRecord {
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public static final int record_length = 16;
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private int log_format;
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/* AO_LOG_FLIGHT elements */
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private int flight() { return data16(0); }
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private int ground_accel() { return data16(2); }
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private int ground_accel_along() { return data16(4); }
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private int ground_accel_across() { return data16(6); }
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private int ground_accel_through() { return data16(8); }
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private int ground_motor_pressure() { return data16(10); }
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/* AO_LOG_STATE elements */
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private int state() { return data16(0); }
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private int reason() { return data16(2); }
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/* AO_LOG_SENSOR elements */
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private int motor_pres() { return data16(0); }
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private int v_batt() { return data16(2); }
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private int accel() { return data16(4); }
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private int accel_across() { return data16(6); }
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private int accel_along() { return -data16(8); }
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private int accel_through() { return data16(10); }
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private int imu_type() {
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switch (log_format) {
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case AltosLib.AO_LOG_FORMAT_EASYMOTOR:
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return AltosIMU.imu_type_easymotor_v2;
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default:
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return AltosLib.MISSING;
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}
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}
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public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
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super.provide_data(listener, cal_data);
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cal_data.set_imu_type(imu_type());
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switch (cmd()) {
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case AltosLib.AO_LOG_FLIGHT:
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cal_data.set_flight(flight());
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cal_data.set_ground_accel(ground_accel());
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listener.set_accel_ground(cal_data.accel_along(ground_accel_along()),
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cal_data.accel_across(ground_accel_across()),
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cal_data.accel_through(ground_accel_through()));
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cal_data.set_ground_motor_pressure(ground_motor_pressure());
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break;
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case AltosLib.AO_LOG_STATE:
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listener.set_state(state());
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break;
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case AltosLib.AO_LOG_SENSOR:
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AltosConfigData config_data = eeprom.config_data();
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listener.set_battery_voltage(AltosConvert.easy_motor_3_voltage(v_batt()));
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double pa = AltosConvert.easy_motor_3_motor_pressure(motor_pres(), cal_data.ground_motor_pressure);
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listener.set_motor_pressure(pa);
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int accel_along = accel_along();
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int accel_across = accel_across();
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int accel_through = accel_through();
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listener.set_accel(cal_data.accel_along(accel_along),
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cal_data.accel_across(accel_across),
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cal_data.accel_through(accel_through));
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listener.set_acceleration(cal_data.acceleration(accel()));
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break;
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}
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}
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public AltosEepromRecord next() {
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int s = next_start();
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if (s < 0)
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return null;
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return new AltosEepromRecordMotor(eeprom, s);
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}
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public AltosEepromRecordMotor(AltosEeprom eeprom, int start) {
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super(eeprom, start, record_length);
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log_format = eeprom.config_data().log_format;
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}
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public AltosEepromRecordMotor(AltosEeprom eeprom) {
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this(eeprom, 0);
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}
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}
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