2 * Copyright © 2012 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
19 package org.altusmetrum.altoslib_12;
21 import java.util.concurrent.*;
24 public class AltosIMU implements Cloneable {
33 public static final double counts_per_g = 2048.0;
35 public static double convert_accel(double counts) {
36 return counts / counts_per_g * AltosConvert.gravity;
40 public static final double GYRO_FULLSCALE_DEGREES = 2000.0;
41 public static final double GYRO_COUNTS = 32767.0;
43 public static double gyro_degrees_per_second(double counts, double cal) {
44 return (counts - cal) * GYRO_FULLSCALE_DEGREES / GYRO_COUNTS;
47 public boolean parse_string(String line) {
48 if (!line.startsWith("Accel:"))
51 String[] items = line.split("\\s+");
53 if (items.length >= 8) {
54 accel_x = Integer.parseInt(items[1]);
55 accel_y = Integer.parseInt(items[2]);
56 accel_z = Integer.parseInt(items[3]);
57 gyro_x = Integer.parseInt(items[5]);
58 gyro_y = Integer.parseInt(items[6]);
59 gyro_z = Integer.parseInt(items[7]);
64 public AltosIMU clone() {
65 AltosIMU n = new AltosIMU();
77 static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException {
79 AltosIMU imu = new AltosIMU(link);
80 AltosCalData cal_data = listener.cal_data();
83 listener.set_gyro(cal_data.gyro_roll(imu.gyro_y),
84 cal_data.gyro_pitch(imu.gyro_x),
85 cal_data.gyro_yaw(imu.gyro_z));
86 listener.set_accel_ground(imu.accel_y,
90 } catch (TimeoutException te) {
95 accel_x = AltosLib.MISSING;
96 accel_y = AltosLib.MISSING;
97 accel_z = AltosLib.MISSING;
99 gyro_x = AltosLib.MISSING;
100 gyro_y = AltosLib.MISSING;
101 gyro_z = AltosLib.MISSING;
104 public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
108 String line = link.get_reply_no_dialog(5000);
110 throw new TimeoutException();
112 if (parse_string(line))