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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_5;
  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 /*
  32  * XXX use ground measurements to adjust values
  33
  34         public double           ground_accel_x;
  35         public double           ground_accel_y;
  36         public double           ground_accel_z;
  37
  38         public double           ground_gyro_x;
  39         public double           ground_gyro_y;
  40         public double           ground_gyro_z;
  41 */
  42
  43         public static int       counts_per_g = 2048;
  44
  45         public static double convert_accel(int counts) {
  46                 return (double) counts / (double) counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
  47         }
  48
  49         public static double    counts_per_degsec = 16.4;
  50
  51         public static double convert_gyro(int counts) {
  52                 return (double) counts / counts_per_degsec;
  53         }
  54
  55         public boolean parse_string(String line) {
  56                 if (!line.startsWith("Accel:"))
  57                         return false;
  58
  59                 String[] items = line.split("\\s+");
  60
  61                 if (items.length >= 8) {
  62                         accel_x = convert_accel(Integer.parseInt(items[1]));
  63                         accel_y = convert_accel(Integer.parseInt(items[2]));
  64                         accel_z = convert_accel(Integer.parseInt(items[3]));
  65                         gyro_x = convert_gyro(Integer.parseInt(items[5]));
  66                         gyro_y = convert_gyro(Integer.parseInt(items[6]));
  67                         gyro_z = convert_gyro(Integer.parseInt(items[7]));
  68                 }
  69                 return true;
  70         }
  71
  72         public AltosIMU clone() {
  73                 AltosIMU        n = new AltosIMU();
  74
  75                 n.accel_x = accel_x;
  76                 n.accel_y = accel_y;
  77                 n.accel_z = accel_z;
  78
  79                 n.gyro_x = gyro_x;
  80                 n.gyro_y = gyro_y;
  81                 n.gyro_z = gyro_z;
  82                 return n;
  83         }
  84
  85         static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
  86                 try {
  87                         AltosIMU        imu = new AltosIMU(link);
  88
  89                         if (imu != null)
  90                                 state.set_imu(imu);
  91                 } catch (TimeoutException te) {
  92                 }
  93         }
  94
  95         public AltosIMU() {
  96                 accel_x = AltosLib.MISSING;
  97                 accel_y = AltosLib.MISSING;
  98                 accel_z = AltosLib.MISSING;
  99
 100                 gyro_x = AltosLib.MISSING;
 101                 gyro_y = AltosLib.MISSING;
 102                 gyro_z = AltosLib.MISSING;
 103         }
 104
 105         public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
 106                 this();
 107                 link.printf("I\n");
 108                 for (;;) {
 109                         String line = link.get_reply_no_dialog(5000);
 110                         if (line == null) {
 111                                 throw new TimeoutException();
 112                         }
 113                         if (parse_string(line))
 114                                 break;
 115                 }
 116         }
 117 }