2 * Copyright © 2011 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_14;
21 public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
22 int orient() { return int8(5); }
24 int accel() { return int16(6); }
25 int pres() { return int32(8); }
26 int temp() { return int16(12); }
28 int accel_x() { return int16(14); }
29 int accel_y() { return int16(16); }
30 int accel_z() { return int16(18); }
32 int gyro_x() { return int16(20); }
33 int gyro_y() { return int16(22); }
34 int gyro_z() { return int16(24); }
36 int mag_x() { return int16(26); }
37 int mag_z() { return int16(28); }
38 int mag_y() { return int16(30); }
42 private int accel_across(int imu_type) {
44 case AltosIMU.imu_type_telemega_v1_v2:
45 case AltosIMU.imu_type_telemega_v3:
46 case AltosIMU.imu_type_easymega_v1:
48 case AltosIMU.imu_type_easymega_v2:
50 case AltosIMU.imu_type_telemega_v4:
53 return AltosLib.MISSING;
57 private int accel_along(int imu_type) {
59 case AltosIMU.imu_type_telemega_v1_v2:
60 case AltosIMU.imu_type_telemega_v3:
61 case AltosIMU.imu_type_easymega_v1:
63 case AltosIMU.imu_type_easymega_v2:
64 case AltosIMU.imu_type_telemega_v4:
67 return AltosLib.MISSING;
71 private int accel_through(int imu_type) {
75 private int gyro_roll(int imu_type) {
77 case AltosIMU.imu_type_telemega_v1_v2:
78 case AltosIMU.imu_type_telemega_v3:
79 case AltosIMU.imu_type_easymega_v1:
81 case AltosIMU.imu_type_easymega_v2:
82 case AltosIMU.imu_type_telemega_v4:
85 return AltosLib.MISSING;
89 private int gyro_pitch(int imu_type) {
91 case AltosIMU.imu_type_telemega_v1_v2:
92 case AltosIMU.imu_type_telemega_v3:
93 case AltosIMU.imu_type_easymega_v1:
95 case AltosIMU.imu_type_easymega_v2:
97 case AltosIMU.imu_type_telemega_v4:
100 return AltosLib.MISSING;
104 private int gyro_yaw(int imu_type) {
108 public static int mag_across_axis(int imu_type) {
110 case AltosIMU.imu_type_telemega_v1_v2:
111 case AltosIMU.imu_type_telemega_v3:
112 case AltosIMU.imu_type_easymega_v1:
113 return AltosIMU.imu_axis_x;
114 case AltosIMU.imu_type_telemega_v4:
115 case AltosIMU.imu_type_easymega_v2:
116 return AltosIMU.imu_axis_y;
118 return AltosLib.MISSING;
122 private int mag_across(int imu_type) {
124 case AltosIMU.imu_type_telemega_v1_v2:
125 case AltosIMU.imu_type_telemega_v3:
126 case AltosIMU.imu_type_easymega_v1:
128 case AltosIMU.imu_type_telemega_v4:
129 case AltosIMU.imu_type_easymega_v2:
132 return AltosLib.MISSING;
136 public static int mag_along_axis(int imu_type) {
138 case AltosIMU.imu_type_telemega_v1_v2:
139 case AltosIMU.imu_type_telemega_v3:
140 case AltosIMU.imu_type_easymega_v1:
141 return AltosIMU.imu_axis_y;
142 case AltosIMU.imu_type_easymega_v2:
143 case AltosIMU.imu_type_telemega_v4:
144 return AltosIMU.imu_axis_x;
146 return AltosLib.MISSING;
150 private int mag_along(int imu_type) {
152 case AltosIMU.imu_type_telemega_v1_v2:
153 case AltosIMU.imu_type_telemega_v3:
154 case AltosIMU.imu_type_easymega_v1:
156 case AltosIMU.imu_type_easymega_v2:
157 case AltosIMU.imu_type_telemega_v4:
160 return AltosLib.MISSING;
164 public static int mag_through_axis(int imu_type) {
165 return AltosIMU.imu_axis_z;
168 private int mag_through(int imu_type) {
172 public AltosTelemetryMegaSensor(int[] bytes, int imu_type) throws AltosCRCException {
175 case AltosIMU.imu_type_telemega_v1_v2:
176 case AltosIMU.imu_type_telemega_v3:
178 imu_type = AltosIMU.imu_type_telemega_v1_v2;
180 imu_type = AltosIMU.imu_type_telemega_v3;
185 this.imu_type = imu_type;
188 public void provide_data(AltosDataListener listener) {
189 super.provide_data(listener);
191 AltosCalData cal_data = listener.cal_data();
193 listener.set_acceleration(cal_data.acceleration(accel()));
194 listener.set_pressure(pres());
195 listener.set_temperature(temp() / 100.0);
197 listener.set_orient(orient());
198 cal_data.set_imu_type(imu_type);
200 /* XXX we have no calibration data for these values */
202 if (cal_data.accel_zero_along == AltosLib.MISSING)
203 cal_data.set_accel_zero(0, 0, 0);
204 if (cal_data.gyro_zero_roll == AltosLib.MISSING)
205 cal_data.set_gyro_zero(0, 0, 0);
207 int accel_along = accel_along(imu_type);
208 int accel_across = accel_across(imu_type);
209 int accel_through = accel_through(imu_type);
211 int gyro_roll = gyro_roll(imu_type);
212 int gyro_pitch = gyro_pitch(imu_type);
213 int gyro_yaw = gyro_yaw(imu_type);
215 int mag_along = mag_along(imu_type);
216 int mag_across = mag_across(imu_type);
217 int mag_through = mag_through(imu_type);
219 listener.set_accel(cal_data.accel_along(accel_along),
220 cal_data.accel_across(accel_across),
221 cal_data.accel_through(accel_through));
222 listener.set_gyro(cal_data.gyro_roll(gyro_roll),
223 cal_data.gyro_pitch(gyro_pitch),
224 cal_data.gyro_yaw(gyro_yaw));
225 listener.set_mag(cal_data.mag_along(mag_along),
226 cal_data.mag_across(mag_across),
227 cal_data.mag_through(mag_through));