git.gag.com Git - fw/altos/blob - altoslib/AltosMag.java

   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_14;
  20
  21 import java.util.concurrent.*;
  22 import java.io.*;
  23
  24 public class AltosMag implements Cloneable {
  25         public int              along = AltosLib.MISSING;
  26         public int              across = AltosLib.MISSING;
  27         public int              through = AltosLib.MISSING;
  28
  29         public static final int model_hmc5883 = 0;
  30         public static final int model_mmc5983 = 1;
  31
  32         public int mag_model = AltosLib.MISSING;
  33
  34         public static final double counts_per_gauss_hmc5883 = 1090;
  35         public static final double counts_per_gauss_mmc5983 = 4096;
  36
  37         public static double counts_per_gauss(int imu_type, int mag_model) {
  38                 switch(mag_model) {
  39                 case AltosLib.model_hmc5883:
  40                         return counts_per_gauss_hmc5883;
  41                 case AltosLib.model_mmc5983:
  42                         return counts_per_gauss_mmc5983;
  43                 }
  44                 switch (imu_type) {
  45                 case AltosIMU.imu_type_telemega_v1_v2:
  46                 case AltosIMU.imu_type_easymega_v1:
  47                         return counts_per_gauss_hmc5883;
  48                 }
  49
  50                 return AltosIMU.counts_per_gauss(imu_type, mag_model);
  51         }
  52
  53         public static double convert_gauss(double counts, int imu_type, int mag_model) {
  54                 double cpg = counts_per_gauss(imu_type, mag_model);
  55
  56                 if (cpg == AltosLib.MISSING)
  57                         return AltosLib.MISSING;
  58
  59                 return counts / cpg;
  60         }
  61
  62         public boolean parse_string(String line) {
  63
  64                 if (line.startsWith("X:")) {
  65
  66                         String[] items = line.split("\\s+");
  67
  68                         mag_model = model_hmc5883;
  69
  70                         if (items.length >= 6) {
  71                                 across = Integer.parseInt(items[1]);
  72                                 through = Integer.parseInt(items[3]);
  73                                 along = Integer.parseInt(items[5]);
  74                         }
  75                         return true;
  76                 }
  77                 if (line.startsWith("MMC5983:")) {
  78                         String[] items = line.split("\\s+");
  79
  80                         mag_model = model_mmc5983;
  81
  82                         if (items.length >= 4) {
  83                                 along = Integer.parseInt(items[1]);
  84                                 across = Integer.parseInt(items[2]);
  85                                 through = Integer.parseInt(items[3]);
  86                         }
  87                         return true;
  88                 }
  89
  90                 return false;
  91         }
  92
  93         public AltosMag clone() {
  94                 AltosMag n = new AltosMag();
  95
  96                 n.along = along;
  97                 n.across = across;
  98                 n.through = through;
  99                 return n;
 100         }
 101
 102         public AltosMag() {
 103         }
 104
 105         static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException {
 106                 try {
 107                         AltosMag        mag = new AltosMag(link);
 108                         AltosCalData    cal_data = listener.cal_data();
 109
 110                         if (mag != null) {
 111                                 if (mag.mag_model != AltosLib.MISSING)
 112                                         cal_data.set_mag_model(mag.mag_model);
 113                                 listener.set_mag(cal_data.mag_along(mag.along),
 114                                                  cal_data.mag_across(mag.across),
 115                                                  cal_data.mag_through(mag.through));
 116                         }
 117                 } catch (TimeoutException te) {
 118                 }
 119         }
 120
 121         public AltosMag(AltosLink link) throws InterruptedException, TimeoutException {
 122                 this();
 123                 link.printf("M\n");
 124                 for (;;) {
 125                         String line = link.get_reply_no_dialog(5000);
 126                         if (line == null) {
 127                                 throw new TimeoutException();
 128                         }
 129                         if (parse_string(line))
 130                                 break;
 131                 }
 132         }
 133 }