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_11;
21 import java.util.concurrent.*;
24 public class AltosIMU implements Cloneable {
25 public int accel_along;
26 public int accel_across;
27 public int accel_through;
30 public int gyro_pitch;
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.GRAVITATIONAL_ACCELERATION);
39 public static final double counts_per_degsec = 16.4;
41 public static double convert_gyro(double counts) {
42 return counts / counts_per_degsec;
45 public boolean parse_string(String line) {
46 if (!line.startsWith("Accel:"))
49 String[] items = line.split("\\s+");
51 if (items.length >= 8) {
52 accel_along = Integer.parseInt(items[1]);
53 accel_across = Integer.parseInt(items[2]);
54 accel_through = Integer.parseInt(items[3]);
55 gyro_roll = Integer.parseInt(items[5]);
56 gyro_pitch = Integer.parseInt(items[6]);
57 gyro_yaw = Integer.parseInt(items[7]);
62 public AltosIMU clone() {
63 AltosIMU n = new AltosIMU();
65 n.accel_along = accel_along;
66 n.accel_across = accel_across;
67 n.accel_through = accel_through;
69 n.gyro_roll = gyro_roll;
70 n.gyro_pitch = gyro_pitch;
71 n.gyro_yaw = gyro_yaw;
75 static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
77 AltosIMU imu = new AltosIMU(link);
81 } catch (TimeoutException te) {
86 accel_along = AltosLib.MISSING;
87 accel_across = AltosLib.MISSING;
88 accel_through = AltosLib.MISSING;
90 gyro_roll = AltosLib.MISSING;
91 gyro_pitch = AltosLib.MISSING;
92 gyro_yaw = AltosLib.MISSING;
95 public AltosIMU(int accel_along, int accel_across, int accel_through,
96 int gyro_roll, int gyro_pitch, int gyro_yaw) {
98 this.accel_along = accel_along;
99 this.accel_across = accel_across;
100 this.accel_through = accel_through;
102 this.gyro_roll = gyro_roll;
103 this.gyro_pitch = gyro_pitch;
104 this.gyro_yaw = gyro_yaw;
107 public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
111 String line = link.get_reply_no_dialog(5000);
113 throw new TimeoutException();
115 if (parse_string(line))