* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_11;
+package org.altusmetrum.altoslib_14;
import java.util.concurrent.*;
import java.io.*;
public class AltosMag implements Cloneable {
- public int x;
- public int z;
- public int y;
+ public int along = AltosLib.MISSING;
+ public int across = AltosLib.MISSING;
+ public int through = AltosLib.MISSING;
- public static final double counts_per_gauss = 1090;
+ public static final int model_hmc5883 = 0;
+ public static final int model_mmc5983 = 1;
- public static double convert_gauss(double counts) {
- return counts / counts_per_gauss;
+ public int mag_model = AltosLib.MISSING;
+
+ public static final double counts_per_gauss_hmc5883 = 1090;
+ public static final double counts_per_gauss_mmc5983 = 4096;
+
+ public static double counts_per_gauss(int imu_type, int mag_model) {
+ switch(mag_model) {
+ case AltosLib.model_hmc5883:
+ return counts_per_gauss_hmc5883;
+ case AltosLib.model_mmc5983:
+ return counts_per_gauss_mmc5983;
+ }
+ switch (imu_type) {
+ case AltosIMU.imu_type_telemega_v1_v2:
+ case AltosIMU.imu_type_easymega_v1:
+ return counts_per_gauss_hmc5883;
+ }
+
+ return AltosIMU.counts_per_gauss(imu_type, mag_model);
+ }
+
+ public static double convert_gauss(double counts, int imu_type, int mag_model) {
+ double cpg = counts_per_gauss(imu_type, mag_model);
+
+ if (cpg == AltosLib.MISSING)
+ return AltosLib.MISSING;
+
+ return counts / cpg;
}
public boolean parse_string(String line) {
- if (!line.startsWith("X:"))
- return false;
+ if (line.startsWith("X:")) {
- String[] items = line.split("\\s+");
+ String[] items = line.split("\\s+");
- if (items.length >= 6) {
- x = Integer.parseInt(items[1]);
- z = Integer.parseInt(items[3]);
- y = Integer.parseInt(items[5]);
+ mag_model = model_hmc5883;
+
+ if (items.length >= 6) {
+ across = Integer.parseInt(items[1]);
+ through = Integer.parseInt(items[3]);
+ along = Integer.parseInt(items[5]);
+ }
+ return true;
+ }
+ if (line.startsWith("MMC5983:")) {
+ String[] items = line.split("\\s+");
+
+ mag_model = model_mmc5983;
+
+ if (items.length >= 4) {
+ along = Integer.parseInt(items[1]);
+ across = Integer.parseInt(items[2]);
+ through = Integer.parseInt(items[3]);
+ }
+ return true;
}
- return true;
+
+ return false;
}
public AltosMag clone() {
AltosMag n = new AltosMag();
- n.x = x;
- n.z = z;
- n.y = y;
+ n.along = along;
+ n.across = across;
+ n.through = through;
return n;
}
public AltosMag() {
- x = AltosLib.MISSING;
- z = AltosLib.MISSING;
- y = AltosLib.MISSING;
}
- static public void provide_data(AltosDataListener listener, AltosLink link, AltosCalData cal_data) throws InterruptedException {
+ static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException {
try {
AltosMag mag = new AltosMag(link);
+ AltosCalData cal_data = listener.cal_data();
- if (mag != null)
- listener.set_mag(cal_data.mag_along(mag.y),
- cal_data.mag_across(mag.x),
- cal_data.mag_through(mag.z));
+ if (mag != null) {
+ if (mag.mag_model != AltosLib.MISSING)
+ cal_data.set_mag_model(mag.mag_model);
+ listener.set_mag(cal_data.mag_along(mag.along),
+ cal_data.mag_across(mag.across),
+ cal_data.mag_through(mag.through));
+ }
} catch (TimeoutException te) {
}
}