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_7;
20 import java.util.concurrent.*;
23 public class AltosIMU implements Cloneable, Serializable {
24 public int accel_along;
25 public int accel_across;
26 public int accel_through;
29 public int gyro_pitch;
32 public static double counts_per_g = 2048.0;
34 public static double convert_accel(double counts) {
35 return counts / counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
38 public static double counts_per_degsec = 16.4;
40 public static double convert_gyro(double counts) {
41 return counts / counts_per_degsec;
44 public boolean parse_string(String line) {
45 if (!line.startsWith("Accel:"))
48 String[] items = line.split("\\s+");
50 if (items.length >= 8) {
51 accel_along = Integer.parseInt(items[1]);
52 accel_across = Integer.parseInt(items[2]);
53 accel_through = Integer.parseInt(items[3]);
54 gyro_roll = Integer.parseInt(items[5]);
55 gyro_pitch = Integer.parseInt(items[6]);
56 gyro_yaw = Integer.parseInt(items[7]);
61 public AltosIMU clone() {
62 AltosIMU n = new AltosIMU();
64 n.accel_along = accel_along;
65 n.accel_across = accel_across;
66 n.accel_through = accel_through;
68 n.gyro_roll = gyro_roll;
69 n.gyro_pitch = gyro_pitch;
70 n.gyro_yaw = gyro_yaw;
74 static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
76 AltosIMU imu = new AltosIMU(link);
80 } catch (TimeoutException te) {
85 accel_along = AltosLib.MISSING;
86 accel_across = AltosLib.MISSING;
87 accel_through = AltosLib.MISSING;
89 gyro_roll = AltosLib.MISSING;
90 gyro_pitch = AltosLib.MISSING;
91 gyro_yaw = AltosLib.MISSING;
94 public AltosIMU(int accel_along, int accel_across, int accel_through,
95 int gyro_roll, int gyro_pitch, int gyro_yaw) {
97 this.accel_along = accel_along;
98 this.accel_across = accel_across;
99 this.accel_through = accel_through;
101 this.gyro_roll = gyro_roll;
102 this.gyro_pitch = gyro_pitch;
103 this.gyro_yaw = gyro_yaw;
106 public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
110 String line = link.get_reply_no_dialog(5000);
112 throw new TimeoutException();
114 if (parse_string(line))