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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; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 package org.altusmetrum.altoslib_2;
  19
  20 import java.util.concurrent.*;
  21
  22 public class AltosIMU implements Cloneable {
  23         public double           accel_x;
  24         public double           accel_y;
  25         public double           accel_z;
  26
  27         public double           gyro_x;
  28         public double           gyro_y;
  29         public double           gyro_z;
  30
  31         public static int       counts_per_g = 2048;
  32
  33         public static double convert_accel(int counts) {
  34                 return (double) counts / (double) counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
  35         }
  36
  37         public static double    counts_per_degsec = 16.4;
  38
  39         public static double convert_gyro(int counts) {
  40                 return (double) counts / counts_per_degsec;
  41         }
  42
  43         public boolean parse_string(String line) {
  44                 if (!line.startsWith("Accel:"))
  45                         return false;
  46
  47                 String[] items = line.split("\\s+");
  48
  49                 if (items.length >= 8) {
  50                         accel_x = convert_accel(Integer.parseInt(items[1]));
  51                         accel_y = convert_accel(Integer.parseInt(items[2]));
  52                         accel_z = convert_accel(Integer.parseInt(items[3]));
  53                         gyro_x = convert_gyro(Integer.parseInt(items[5]));
  54                         gyro_y = convert_gyro(Integer.parseInt(items[6]));
  55                         gyro_z = convert_gyro(Integer.parseInt(items[7]));
  56                 }
  57                 return true;
  58         }
  59
  60         public AltosIMU clone() {
  61                 AltosIMU        n = new AltosIMU();
  62
  63                 n.accel_x = accel_x;
  64                 n.accel_y = accel_y;
  65                 n.accel_z = accel_z;
  66
  67                 n.gyro_x = gyro_x;
  68                 n.gyro_y = gyro_y;
  69                 n.gyro_z = gyro_z;
  70                 return n;
  71         }
  72
  73         static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
  74                 try {
  75                         AltosIMU        imu = new AltosIMU(link);
  76
  77                         if (imu != null)
  78                                 state.set_imu(imu);
  79                 } catch (TimeoutException te) {
  80                 }
  81         }
  82
  83         public AltosIMU() {
  84                 accel_x = AltosLib.MISSING;
  85                 accel_y = AltosLib.MISSING;
  86                 accel_z = AltosLib.MISSING;
  87
  88                 gyro_x = AltosLib.MISSING;
  89                 gyro_y = AltosLib.MISSING;
  90                 gyro_z = AltosLib.MISSING;
  91         }
  92
  93         public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
  94                 this();
  95                 link.printf("I\n");
  96                 for (;;) {
  97                         String line = link.get_reply_no_dialog(5000);
  98                         if (line == null) {
  99                                 throw new TimeoutException();
 100                         }
 101                         if (parse_string(line))
 102                                 break;
 103                 }
 104         }
 105 }