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; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
18 package org.altusmetrum.altoslib_5;
20 import java.util.concurrent.*;
22 public class AltosIMU implements Cloneable {
23 public int accel_along;
24 public int accel_across;
25 public int accel_through;
28 public int gyro_pitch;
31 public static double counts_per_g = 2048.0;
33 public static double convert_accel(double counts) {
34 return counts / counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
37 public static double counts_per_degsec = 16.4;
39 public static double convert_gyro(double counts) {
40 return counts / counts_per_degsec;
43 public boolean parse_string(String line) {
44 if (!line.startsWith("Accel:"))
47 String[] items = line.split("\\s+");
49 if (items.length >= 8) {
50 accel_along = Integer.parseInt(items[1]);
51 accel_across = Integer.parseInt(items[2]);
52 accel_through = Integer.parseInt(items[3]);
53 gyro_roll = Integer.parseInt(items[5]);
54 gyro_pitch = Integer.parseInt(items[6]);
55 gyro_yaw = Integer.parseInt(items[7]);
60 public AltosIMU clone() {
61 AltosIMU n = new AltosIMU();
63 n.accel_along = accel_along;
64 n.accel_across = accel_across;
65 n.accel_through = accel_through;
67 n.gyro_roll = gyro_roll;
68 n.gyro_pitch = gyro_pitch;
69 n.gyro_yaw = gyro_yaw;
73 static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
75 AltosIMU imu = new AltosIMU(link);
79 } catch (TimeoutException te) {
84 accel_along = AltosLib.MISSING;
85 accel_across = AltosLib.MISSING;
86 accel_through = AltosLib.MISSING;
88 gyro_roll = AltosLib.MISSING;
89 gyro_pitch = AltosLib.MISSING;
90 gyro_yaw = AltosLib.MISSING;
93 public AltosIMU(int accel_along, int accel_across, int accel_through,
94 int gyro_roll, int gyro_pitch, int gyro_yaw) {
96 this.accel_along = accel_along;
97 this.accel_across = accel_across;
98 this.accel_through = accel_through;
100 this.gyro_roll = gyro_roll;
101 this.gyro_pitch = gyro_pitch;
102 this.gyro_yaw = gyro_yaw;
105 public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
109 String line = link.get_reply_no_dialog(5000);
111 throw new TimeoutException();
113 if (parse_string(line))