altos/stm32f4: Wrong value for CK48MSEL_PLL_Q

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index c231dda74c6f8f9cc2a76c1a8e123478e2d9a232..114dfcf908624a5905d04ee8b546bb143295ca72 100644 (file)
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -15,18 +16,37 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_2;
+package org.altusmetrum.altoslib_13;
 
 import java.util.concurrent.*;
+import java.io.*;
 
 public class AltosIMU implements Cloneable {
-       public int              accel_x;
-       public int              accel_y;
-       public int              accel_z;
+       public int              accel_x = AltosLib.MISSING;
+       public int              accel_y = AltosLib.MISSING;
+       public int              accel_z = AltosLib.MISSING;
 
-       public int              gyro_x;
-       public int              gyro_y;
-       public int              gyro_z;
+       public int              gyro_x = AltosLib.MISSING;
+       public int              gyro_y = AltosLib.MISSING;
+       public int              gyro_z = AltosLib.MISSING;
+
+       public int              mag_x = AltosLib.MISSING;
+       public int              mag_y = AltosLib.MISSING;
+       public int              mag_z = AltosLib.MISSING;
+
+       public static final double      counts_per_g = 2048.0;
+
+       public static double convert_accel(double counts) {
+               return counts / counts_per_g * AltosConvert.gravity;
+       }
+
+       /* In radians */
+       public static final double      GYRO_FULLSCALE_DEGREES = 2000.0;
+       public static final double      GYRO_COUNTS = 32767.0;
+
+       public static double gyro_degrees_per_second(double counts, double cal) {
+               return (counts - cal) * GYRO_FULLSCALE_DEGREES / GYRO_COUNTS;
+       }
 
        public boolean parse_string(String line) {
                if (!line.startsWith("Accel:"))
@@ -42,6 +62,11 @@ public class AltosIMU implements Cloneable {
                        gyro_y = Integer.parseInt(items[6]);
                        gyro_z = Integer.parseInt(items[7]);
                }
+               if (items.length >= 12) {
+                       mag_x = Integer.parseInt(items[9]);
+                       mag_y = Integer.parseInt(items[10]);
+                       mag_z = Integer.parseInt(items[11]);
+               }
                return true;
        }
 
@@ -55,17 +80,33 @@ public class AltosIMU implements Cloneable {
                n.gyro_x = gyro_x;
                n.gyro_y = gyro_y;
                n.gyro_z = gyro_z;
+
+               n.mag_x = mag_x;
+               n.mag_y = mag_y;
+               n.mag_z = mag_z;
+
                return n;
        }
 
-       static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) {
+       static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException {
                try {
                        AltosIMU        imu = new AltosIMU(link);
+                       AltosCalData    cal_data = listener.cal_data();
 
-                       if (imu != null)
-                               state.set_imu(imu);
+                       if (imu != null) {
+                               listener.set_gyro(cal_data.gyro_roll(imu.gyro_y),
+                                                 cal_data.gyro_pitch(imu.gyro_x),
+                                                 cal_data.gyro_yaw(imu.gyro_z));
+                               listener.set_accel_ground(imu.accel_y,
+                                                         imu.accel_x,
+                                                         imu.accel_z);
+                               if (imu.mag_x != AltosLib.MISSING) {
+                                       listener.set_mag(cal_data.mag_along(imu.mag_y),
+                                                        cal_data.mag_across(imu.mag_x),
+                                                        cal_data.mag_through(imu.mag_z));
+                               }
+                       }
                } catch (TimeoutException te) {
-               } catch (InterruptedException ie) {
                }
        }
 
@@ -77,6 +118,10 @@ public class AltosIMU implements Cloneable {
                gyro_x = AltosLib.MISSING;
                gyro_y = AltosLib.MISSING;
                gyro_z = AltosLib.MISSING;
+
+               mag_x = AltosLib.MISSING;
+               mag_y = AltosLib.MISSING;
+               mag_z = AltosLib.MISSING;
        }
 
        public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {