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   1 /*
   2  * Copyright © 2012 Keith Packard <keithp@keithp.com>
   3  *
   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.
   8  *
   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.
  13  *
  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.
  17  */
  18
  19 package org.altusmetrum.altoslib_14;
  20
  21 import java.util.concurrent.*;
  22
  23 public class AltosAdxl375 implements Cloneable {
  24
  25         private int[]   accels = new int[3];
  26         private int     axis;
  27
  28         public static final int X_AXIS = 0;
  29         public static final int Y_AXIS = 1;
  30         public static final int Z_AXIS = 2;
  31
  32         public boolean parse_line(String line) throws NumberFormatException {
  33                 if (line.startsWith("ADXL375 value")) {
  34                         String[] items = line.split("\\s+");
  35                         if (axis == AltosLib.MISSING)
  36                                 throw new NumberFormatException("No ADXL375 axis specified");
  37                         if (items.length >= 3) {
  38                                 for (int i = 0; i < 3; i++)
  39                                         accels[i] = Integer.parseInt(items[2+i]);
  40                                 return true;
  41                         }
  42                 }
  43                 return false;
  44         }
  45
  46         public AltosAdxl375 clone() {
  47                 AltosAdxl375    n = new AltosAdxl375(axis);
  48
  49                 for (int i = 0; i < 3; i++)
  50                         n.accels[i] = accels[i];
  51                 return n;
  52         }
  53
  54         private int accel_along() {
  55                 return accels[axis];
  56         }
  57
  58         private int accel_across() {
  59                 if (axis == X_AXIS)
  60                         return accels[Y_AXIS];
  61                 else
  62                         return accels[X_AXIS];
  63         }
  64
  65         private int accel_through() {
  66                 return accels[Z_AXIS];
  67         }
  68
  69         static public void provide_data(AltosDataListener listener, AltosLink link, boolean three_axis, int imu_type) throws InterruptedException, AltosUnknownProduct {
  70                 try {
  71                         AltosCalData    cal_data = listener.cal_data();
  72                         AltosAdxl375    adxl375 = new AltosAdxl375(link, cal_data.adxl375_axis);
  73
  74                         if (adxl375 != null) {
  75                                 int accel = adxl375.accel_along();
  76                                 if (!cal_data.adxl375_inverted)
  77                                         accel = -accel;
  78                                 if (cal_data.pad_orientation == 1)
  79                                         accel = -accel;
  80                                 listener.set_acceleration(cal_data.acceleration(accel));
  81                                 if (three_axis) {
  82                                         cal_data.set_imu_type(imu_type);
  83                                         double accel_along = cal_data.accel_along(-accel);
  84                                         double accel_across = cal_data.accel_across(adxl375.accel_across());
  85                                         double accel_through = cal_data.accel_through(adxl375.accel_through());
  86                                         listener.set_accel_ground(accel_along,
  87                                                                   accel_across,
  88                                                                   accel_through);
  89                                         listener.set_accel(accel_along,
  90                                                            accel_across,
  91                                                            accel_through);
  92                                 }
  93                         }
  94                 } catch (TimeoutException te) {
  95                 } catch (NumberFormatException ne) {
  96                 }
  97         }
  98
  99         public AltosAdxl375() {
 100                 for (int i = 0; i < 3; i++)
 101                         accels[i] = AltosLib.MISSING;
 102                 axis = AltosLib.MISSING;
 103         }
 104
 105         public AltosAdxl375(int axis) {
 106                 this();
 107                 this.axis = axis;
 108         }
 109
 110         public AltosAdxl375(AltosLink link, int axis) throws InterruptedException, TimeoutException, NumberFormatException {
 111                 this(axis);
 112                 link.printf("A\n");
 113                 for (;;) {
 114                         String line = link.get_reply_no_dialog(5000);
 115                         if (line == null)
 116                                 throw new TimeoutException();
 117                         if (parse_line(line))
 118                                 break;
 119                 }
 120         }
 121 }