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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_11;
  20
  21 import java.util.concurrent.*;
  22 import java.io.*;
  23
  24 public class AltosIMU implements Cloneable {
  25         public int              accel_along;
  26         public int              accel_across;
  27         public int              accel_through;
  28
  29         public int              gyro_roll;
  30         public int              gyro_pitch;
  31         public int              gyro_yaw;
  32
  33         public static final double      counts_per_g = 2048.0;
  34
  35         public static double convert_accel(double counts) {
  36                 return counts / counts_per_g * AltosConvert.gravity;
  37         }
  38
  39         /* In radians */
  40         public static final double      GYRO_FULLSCALE_DEGREES = 2000.0;
  41         public static final double      GYRO_COUNTS = 32767.0;
  42
  43         public static double gyro_degrees_per_second(double counts, double cal) {
  44                 return (counts - cal) * GYRO_FULLSCALE_DEGREES / GYRO_COUNTS;
  45         }
  46
  47         public boolean parse_string(String line) {
  48                 if (!line.startsWith("Accel:"))
  49                         return false;
  50
  51                 String[] items = line.split("\\s+");
  52
  53                 if (items.length >= 8) {
  54                         accel_along = Integer.parseInt(items[1]);
  55                         accel_across = Integer.parseInt(items[2]);
  56                         accel_through = Integer.parseInt(items[3]);
  57                         gyro_roll = Integer.parseInt(items[5]);
  58                         gyro_pitch = Integer.parseInt(items[6]);
  59                         gyro_yaw = Integer.parseInt(items[7]);
  60                 }
  61                 return true;
  62         }
  63
  64         public AltosIMU clone() {
  65                 AltosIMU        n = new AltosIMU();
  66
  67                 n.accel_along = accel_along;
  68                 n.accel_across = accel_across;
  69                 n.accel_through = accel_through;
  70
  71                 n.gyro_roll = gyro_roll;
  72                 n.gyro_pitch = gyro_pitch;
  73                 n.gyro_yaw = gyro_yaw;
  74                 return n;
  75         }
  76
  77         static public void provide_data(AltosDataListener listener, AltosLink link, AltosCalData cal_data) throws InterruptedException {
  78                 try {
  79                         AltosIMU        imu = new AltosIMU(link);
  80
  81                         if (imu != null) {
  82                                 listener.set_accel(cal_data.accel_along(imu.accel_along),
  83                                                    cal_data.accel_across(imu.accel_across),
  84                                                    cal_data.accel_through(imu.accel_through));
  85                                 listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll),
  86                                                   cal_data.gyro_pitch(imu.gyro_pitch),
  87                                                   cal_data.gyro_yaw(imu.gyro_yaw));
  88                         }
  89                 } catch (TimeoutException te) {
  90                 }
  91         }
  92
  93         public AltosIMU() {
  94                 accel_along = AltosLib.MISSING;
  95                 accel_across = AltosLib.MISSING;
  96                 accel_through = AltosLib.MISSING;
  97
  98                 gyro_roll = AltosLib.MISSING;
  99                 gyro_pitch = AltosLib.MISSING;
 100                 gyro_yaw = AltosLib.MISSING;
 101         }
 102
 103         public AltosIMU(int accel_along, int accel_across, int accel_through,
 104                         int gyro_roll, int gyro_pitch, int gyro_yaw) {
 105
 106                 this.accel_along = accel_along;
 107                 this.accel_across = accel_across;
 108                 this.accel_through = accel_through;
 109
 110                 this.gyro_roll = gyro_roll;
 111                 this.gyro_pitch = gyro_pitch;
 112                 this.gyro_yaw = gyro_yaw;
 113         }
 114
 115         public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
 116                 this();
 117                 link.printf("I\n");
 118                 for (;;) {
 119                         String line = link.get_reply_no_dialog(5000);
 120                         if (line == null) {
 121                                 throw new TimeoutException();
 122                         }
 123                         if (parse_string(line))
 124                                 break;
 125                 }
 126         }
 127 }