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                 case AltosIMU.imu_type_easytimer_v2:
  49                         return counts_per_gauss_mmc5983;
  50                 }
  51
  52                 return AltosIMU.counts_per_gauss(imu_type, mag_model);
  53         }
  54
  55         public static double convert_gauss(double counts, int imu_type, int mag_model) {
  56                 double cpg = counts_per_gauss(imu_type, mag_model);
  57
  58                 if (cpg == AltosLib.MISSING)
  59                         return AltosLib.MISSING;
  60
  61                 return counts / cpg;
  62         }
  63
  64         public boolean parse_string(String line) {
  65
  66                 if (line.startsWith("X:")) {
  67
  68                         String[] items = line.split("\\s+");
  69
  70                         mag_model = model_hmc5883;
  71
  72                         if (items.length >= 6) {
  73                                 across = Integer.parseInt(items[1]);
  74                                 through = Integer.parseInt(items[3]);
  75                                 along = Integer.parseInt(items[5]);
  76                         }
  77                         return true;
  78                 }
  79                 if (line.startsWith("MMC5983:")) {
  80                         String[] items = line.split("\\s+");
  81
  82                         mag_model = model_mmc5983;
  83
  84                         if (items.length >= 4) {
  85                                 along = Integer.parseInt(items[1]);
  86                                 across = Integer.parseInt(items[2]);
  87                                 through = Integer.parseInt(items[3]);
  88                         }
  89                         return true;
  90                 }
  91
  92                 return false;
  93         }
  94
  95         public AltosMag clone() {
  96                 AltosMag n = new AltosMag();
  97
  98                 n.along = along;
  99                 n.across = across;
 100                 n.through = through;
 101                 return n;
 102         }
 103
 104         public AltosMag() {
 105         }
 106
 107         static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException {
 108                 try {
 109                         AltosMag        mag = new AltosMag(link);
 110                         AltosCalData    cal_data = listener.cal_data();
 111
 112                         if (mag != null) {
 113                                 if (mag.mag_model != AltosLib.MISSING)
 114                                         cal_data.set_mag_model(mag.mag_model);
 115                                 listener.set_mag(cal_data.mag_along(mag.along),
 116                                                  cal_data.mag_across(mag.across),
 117                                                  cal_data.mag_through(mag.through));
 118                         }
 119                 } catch (TimeoutException te) {
 120                 }
 121         }
 122
 123         public AltosMag(AltosLink link) throws InterruptedException, TimeoutException {
 124                 this();
 125                 link.printf("M\n");
 126                 for (;;) {
 127                         String line = link.get_reply_no_dialog(5000);
 128                         if (line == null) {
 129                                 throw new TimeoutException();
 130                         }
 131                         if (parse_string(line))
 132                                 break;
 133                 }
 134         }
 135 }