*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_14;
-public class AltosMag {
- public int x;
- public int y;
- public int z;
+import java.util.concurrent.*;
+import java.io.*;
+
+public class AltosMag implements Cloneable {
+ public int along = AltosLib.MISSING;
+ public int across = AltosLib.MISSING;
+ public int through = AltosLib.MISSING;
+
+ public static final int model_hmc5883 = 0;
+ public static final int model_mmc5983 = 1;
+
+ 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:")) {
+
+ String[] items = line.split("\\s+");
+
+ 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 false;
+ }
+
+ public AltosMag clone() {
+ AltosMag n = new AltosMag();
+
+ n.along = along;
+ n.across = across;
+ n.through = through;
+ return n;
+ }
+
+ public AltosMag() {
+ }
+
+ 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) {
+ 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) {
+ }
+ }
+
+ public AltosMag(AltosLink link) throws InterruptedException, TimeoutException {
+ this();
+ link.printf("M\n");
+ for (;;) {
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null) {
+ throw new TimeoutException();
+ }
+ if (parse_string(line))
+ break;
+ }
+ }
}
-
\ No newline at end of file