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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_13;
  20
  21 import java.util.concurrent.*;
  22 import java.io.*;
  23
  24 public class AltosIMU implements Cloneable {
  25         public int              accel_x = AltosLib.MISSING;
  26         public int              accel_y = AltosLib.MISSING;
  27         public int              accel_z = AltosLib.MISSING;
  28
  29         public int              gyro_x = AltosLib.MISSING;
  30         public int              gyro_y = AltosLib.MISSING;
  31         public int              gyro_z = AltosLib.MISSING;
  32
  33         public int              mag_x = AltosLib.MISSING;
  34         public int              mag_y = AltosLib.MISSING;
  35         public int              mag_z = AltosLib.MISSING;
  36
  37         public static final double      counts_per_g = 2048.0;
  38
  39         public static double convert_accel(double counts) {
  40                 return counts / counts_per_g * AltosConvert.gravity;
  41         }
  42
  43         /* In radians */
  44         public static final double      GYRO_FULLSCALE_DEGREES = 2000.0;
  45         public static final double      GYRO_COUNTS = 32767.0;
  46
  47         public static double gyro_degrees_per_second(double counts, double cal) {
  48                 return (counts - cal) * GYRO_FULLSCALE_DEGREES / GYRO_COUNTS;
  49         }
  50
  51         public boolean parse_string(String line) {
  52                 if (!line.startsWith("Accel:"))
  53                         return false;
  54
  55                 String[] items = line.split("\\s+");
  56
  57                 if (items.length >= 8) {
  58                         accel_x = Integer.parseInt(items[1]);
  59                         accel_y = Integer.parseInt(items[2]);
  60                         accel_z = Integer.parseInt(items[3]);
  61                         gyro_x = Integer.parseInt(items[5]);
  62                         gyro_y = Integer.parseInt(items[6]);
  63                         gyro_z = Integer.parseInt(items[7]);
  64                 }
  65                 if (items.length >= 12) {
  66                         mag_x = Integer.parseInt(items[9]);
  67                         mag_y = Integer.parseInt(items[10]);
  68                         mag_z = Integer.parseInt(items[11]);
  69                 }
  70                 return true;
  71         }
  72
  73         public AltosIMU clone() {
  74                 AltosIMU        n = new AltosIMU();
  75
  76                 n.accel_x = accel_x;
  77                 n.accel_y = accel_y;
  78                 n.accel_z = accel_z;
  79
  80                 n.gyro_x = gyro_x;
  81                 n.gyro_y = gyro_y;
  82                 n.gyro_z = gyro_z;
  83
  84                 n.mag_x = mag_x;
  85                 n.mag_y = mag_y;
  86                 n.mag_z = mag_z;
  87
  88                 return n;
  89         }
  90
  91         static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException {
  92                 try {
  93                         AltosIMU        imu = new AltosIMU(link);
  94                         AltosCalData    cal_data = listener.cal_data();
  95
  96                         if (imu != null) {
  97                                 listener.set_gyro(cal_data.gyro_roll(imu.gyro_y),
  98                                                   cal_data.gyro_pitch(imu.gyro_x),
  99                                                   cal_data.gyro_yaw(imu.gyro_z));
 100                                 listener.set_accel_ground(imu.accel_y,
 101                                                           imu.accel_x,
 102                                                           imu.accel_z);
 103                                 if (imu.mag_x != AltosLib.MISSING) {
 104                                         listener.set_mag(cal_data.mag_along(imu.mag_y),
 105                                                          cal_data.mag_across(imu.mag_x),
 106                                                          cal_data.mag_through(imu.mag_z));
 107                                 }
 108                         }
 109                 } catch (TimeoutException te) {
 110                 }
 111         }
 112
 113         public AltosIMU() {
 114                 accel_x = AltosLib.MISSING;
 115                 accel_y = AltosLib.MISSING;
 116                 accel_z = AltosLib.MISSING;
 117
 118                 gyro_x = AltosLib.MISSING;
 119                 gyro_y = AltosLib.MISSING;
 120                 gyro_z = AltosLib.MISSING;
 121
 122                 mag_x = AltosLib.MISSING;
 123                 mag_y = AltosLib.MISSING;
 124                 mag_z = AltosLib.MISSING;
 125         }
 126
 127         public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
 128                 this();
 129                 link.printf("I\n");
 130                 for (;;) {
 131                         String line = link.get_reply_no_dialog(5000);
 132                         if (line == null) {
 133                                 throw new TimeoutException();
 134                         }
 135                         if (parse_string(line))
 136                                 break;
 137                 }
 138         }
 139 }