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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_12;
  20
  21 import java.util.concurrent.*;
  22 import java.io.*;
  23
  24 public class AltosIMU implements Cloneable {
  25         public int              accel_x;
  26         public int              accel_y;
  27         public int              accel_z;
  28
  29         public int              gyro_x;
  30         public int              gyro_y;
  31         public int              gyro_z;
  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_x = Integer.parseInt(items[1]);
  55                         accel_y = Integer.parseInt(items[2]);
  56                         accel_z = Integer.parseInt(items[3]);
  57                         gyro_x = Integer.parseInt(items[5]);
  58                         gyro_y = Integer.parseInt(items[6]);
  59                         gyro_z = Integer.parseInt(items[7]);
  60                 }
  61                 return true;
  62         }
  63
  64         public AltosIMU clone() {
  65                 AltosIMU        n = new AltosIMU();
  66
  67                 n.accel_x = accel_x;
  68                 n.accel_y = accel_y;
  69                 n.accel_z = accel_z;
  70
  71                 n.gyro_x = gyro_x;
  72                 n.gyro_y = gyro_y;
  73                 n.gyro_z = gyro_z;
  74                 return n;
  75         }
  76
  77         static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException {
  78                 try {
  79                         AltosIMU        imu = new AltosIMU(link);
  80                         AltosCalData    cal_data = listener.cal_data();
  81
  82                         if (imu != null) {
  83                                 listener.set_gyro(cal_data.gyro_roll(imu.gyro_y),
  84                                                   cal_data.gyro_pitch(imu.gyro_x),
  85                                                   cal_data.gyro_yaw(imu.gyro_z));
  86                                 listener.set_accel_ground(cal_data.accel_along(imu.accel_y),
  87                                                           cal_data.accel_across(imu.accel_x),
  88                                                           cal_data.accel_through(imu.accel_z));
  89                         }
  90                 } catch (TimeoutException te) {
  91                 }
  92         }
  93
  94         public AltosIMU() {
  95                 accel_x = AltosLib.MISSING;
  96                 accel_y = AltosLib.MISSING;
  97                 accel_z = AltosLib.MISSING;
  98
  99                 gyro_x = AltosLib.MISSING;
 100                 gyro_y = AltosLib.MISSING;
 101                 gyro_z = AltosLib.MISSING;
 102         }
 103
 104         public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
 105                 this();
 106                 link.printf("I\n");
 107                 for (;;) {
 108                         String line = link.get_reply_no_dialog(5000);
 109                         if (line == null) {
 110                                 throw new TimeoutException();
 111                         }
 112                         if (parse_string(line))
 113                                 break;
 114                 }
 115         }
 116 }