X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=a22b3fed29290ca6e59f765734c581f388d1e55c;hb=302842ccda46a0a3d58b60d5c7fc82e05f614b0b;hp=8f6731faa5a9bebbbbf1712d0502a4bf4d471042;hpb=bf88c5f829ea5d32043431945e862a9f6c96740a;p=fw%2Faltos

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 8f6731fa..a22b3fed 100644
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -15,15 +15,103 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_4;
 
-public class AltosIMU {
-	public int		accel_x;
-	public int		accel_y;
-	public int		accel_z;
+import java.util.concurrent.*;
 
-	public int		gyro_x;
-	public int		gyro_y;
-	public int		gyro_z;
+public class AltosIMU implements Cloneable {
+	public double		accel_x;
+	public double		accel_y;
+	public double		accel_z;
+
+	public double		gyro_x;
+	public double		gyro_y;
+	public double		gyro_z;
+
+/*
+ * XXX use ground measurements to adjust values
+
+	public double		ground_accel_x;
+	public double		ground_accel_y;
+	public double		ground_accel_z;
+
+	public double		ground_gyro_x;
+	public double		ground_gyro_y;
+	public double		ground_gyro_z;
+*/
+
+	public static int	counts_per_g = 2048;
+
+	public static double convert_accel(int counts) {
+		return (double) counts / (double) counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
+	}
+
+	public static double	counts_per_degsec = 16.4;
+
+	public static double convert_gyro(int counts) {
+		return (double) counts / counts_per_degsec;
+	}
+
+	public boolean parse_string(String line) {
+		if (!line.startsWith("Accel:"))
+			return false;
+
+		String[] items = line.split("\\s+");
+
+		if (items.length >= 8) {
+			accel_x = convert_accel(Integer.parseInt(items[1]));
+			accel_y = convert_accel(Integer.parseInt(items[2]));
+			accel_z = convert_accel(Integer.parseInt(items[3]));
+			gyro_x = convert_gyro(Integer.parseInt(items[5]));
+			gyro_y = convert_gyro(Integer.parseInt(items[6]));
+			gyro_z = convert_gyro(Integer.parseInt(items[7]));
+		}
+		return true;
+	}
+
+	public AltosIMU clone() {
+		AltosIMU	n = new AltosIMU();
+
+		n.accel_x = accel_x;
+		n.accel_y = accel_y;
+		n.accel_z = accel_z;
+
+		n.gyro_x = gyro_x;
+		n.gyro_y = gyro_y;
+		n.gyro_z = gyro_z;
+		return n;
+	}
+
+	static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
+		try {
+			AltosIMU	imu = new AltosIMU(link);
+
+			if (imu != null)
+				state.set_imu(imu);
+		} catch (TimeoutException te) {
+		}
+	}
+
+	public AltosIMU() {
+		accel_x = AltosLib.MISSING;
+		accel_y = AltosLib.MISSING;
+		accel_z = AltosLib.MISSING;
+
+		gyro_x = AltosLib.MISSING;
+		gyro_y = AltosLib.MISSING;
+		gyro_z = AltosLib.MISSING;
+	}
+
+	public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
+		this();
+		link.printf("I\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