* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_13;
+package org.altusmetrum.altoslib_14;
import java.util.concurrent.*;
public class AltosAdxl375 implements Cloneable {
- private int accel;
+ private int[] accels = new int[3];
private int axis;
public static final int X_AXIS = 0;
public boolean parse_line(String line) throws NumberFormatException {
if (line.startsWith("ADXL375 value")) {
- System.out.printf("adxl parse line %s\n", line);
String[] items = line.split("\\s+");
if (axis == AltosLib.MISSING)
throw new NumberFormatException("No ADXL375 axis specified");
if (items.length >= 3) {
- accel = Integer.parseInt(items[2 + axis]);
- System.out.printf("accel %d\n", accel);
+ for (int i = 0; i < 3; i++)
+ accels[i] = Integer.parseInt(items[2+i]);
return true;
}
}
public AltosAdxl375 clone() {
AltosAdxl375 n = new AltosAdxl375(axis);
- n.accel = accel;
+ for (int i = 0; i < 3; i++)
+ n.accels[i] = accels[i];
return n;
}
- static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException, AltosUnknownProduct {
+ private int accel_along() {
+ return accels[axis];
+ }
+
+ private int accel_across() {
+ if (axis == X_AXIS)
+ return accels[Y_AXIS];
+ else
+ return accels[X_AXIS];
+ }
+
+ private int accel_through() {
+ return accels[Z_AXIS];
+ }
+
+ static public void provide_data(AltosDataListener listener, AltosLink link, boolean three_axis, int imu_type) throws InterruptedException, AltosUnknownProduct {
try {
AltosCalData cal_data = listener.cal_data();
AltosAdxl375 adxl375 = new AltosAdxl375(link, cal_data.adxl375_axis);
if (adxl375 != null) {
- int accel = adxl375.accel;
- if (cal_data.adxl375_inverted)
+ int accel = adxl375.accel_along();
+ if (!cal_data.adxl375_inverted)
accel = -accel;
if (cal_data.pad_orientation == 1)
accel = -accel;
listener.set_acceleration(cal_data.acceleration(accel));
+ if (three_axis) {
+ cal_data.set_imu_type(imu_type);
+ double accel_along = cal_data.accel_along(-accel);
+ double accel_across = cal_data.accel_across(adxl375.accel_across());
+ double accel_through = cal_data.accel_through(adxl375.accel_through());
+ listener.set_accel_ground(accel_along,
+ accel_across,
+ accel_through);
+ listener.set_accel(accel_along,
+ accel_across,
+ accel_through);
+ }
}
} catch (TimeoutException te) {
} catch (NumberFormatException ne) {
}
public AltosAdxl375() {
- accel = AltosLib.MISSING;
+ for (int i = 0; i < 3; i++)
+ accels[i] = AltosLib.MISSING;
axis = AltosLib.MISSING;
}