*
* 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
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_13;
-public class AltosIMU {
- public int accel_x;
- public int accel_y;
- public int accel_z;
+import java.util.concurrent.*;
+import java.io.*;
- public int gyro_x;
- public int gyro_y;
- public int gyro_z;
+public class AltosIMU implements Cloneable {
+ public int accel_x = AltosLib.MISSING;
+ public int accel_y = AltosLib.MISSING;
+ public int accel_z = AltosLib.MISSING;
+
+ 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:"))
+ return false;
+
+ String[] items = line.split("\\s+");
+
+ if (items.length >= 8) {
+ accel_x = Integer.parseInt(items[1]);
+ accel_y = Integer.parseInt(items[2]);
+ accel_z = Integer.parseInt(items[3]);
+ gyro_x = Integer.parseInt(items[5]);
+ 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;
+ }
+
+ public AltosIMU clone() {
+ AltosIMU n = new AltosIMU();
+
+ n.accel_x = accel_x;
+ n.accel_y = accel_y;
+ n.accel_z = accel_z;
+
+ 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;
+ }
+
+ public static final int orient_telemega = 0;
+ public static final int orient_easymega_v2 = 1;
+
+ private int accel_across(int orient) {
+ switch (orient) {
+ case orient_telemega:
+ return accel_x;
+ case orient_easymega_v2:
+ return -accel_y;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int accel_along(int orient) {
+ switch (orient) {
+ case orient_telemega:
+ return accel_y;
+ case orient_easymega_v2:
+ return accel_x;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int accel_through(int orient) {
+ return accel_z;
+ }
+
+ private int gyro_roll(int orient) {
+ switch (orient) {
+ case orient_telemega:
+ return gyro_y;
+ case orient_easymega_v2:
+ return gyro_x;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int gyro_pitch(int orient) {
+ switch (orient) {
+ case orient_telemega:
+ return gyro_x;
+ case orient_easymega_v2:
+ return -gyro_y;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int gyro_yaw(int orient) {
+ return gyro_z;
+ }
+
+ private int mag_across(int orient) {
+ switch (orient) {
+ case orient_telemega:
+ return mag_x;
+ case orient_easymega_v2:
+ return -mag_y;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int mag_along(int orient) {
+ switch (orient) {
+ case orient_telemega:
+ return mag_y;
+ case orient_easymega_v2:
+ return mag_x;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int mag_through(int orient) {
+ return mag_z;
+ }
+
+ static public void provide_data(AltosDataListener listener, AltosLink link, int orient) throws InterruptedException {
+ try {
+ AltosIMU imu = new AltosIMU(link);
+ AltosCalData cal_data = listener.cal_data();
+
+ if (imu != null) {
+ listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(orient)),
+ cal_data.gyro_pitch(imu.gyro_pitch(orient)),
+ cal_data.gyro_yaw(imu.gyro_yaw(orient)));
+ listener.set_accel_ground(imu.accel_along(orient),
+ imu.accel_across(orient),
+ imu.accel_through(orient));
+ if (imu.mag_x != AltosLib.MISSING) {
+ listener.set_mag(cal_data.mag_along(imu.mag_along(orient)),
+ cal_data.mag_across(imu.mag_across(orient)),
+ cal_data.mag_through(imu.mag_through(orient)));
+ }
+ }
+ } catch (TimeoutException te) {
+ }
+ }
+
+ public AltosIMU() {
+ accel_x = AltosLib.MISSING;
+ accel_y = AltosLib.MISSING;
+ accel_z = AltosLib.MISSING;
+
+ 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 {
+ this();
+ link.printf("I\n");
+ for (;;) {
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null) {
+ throw new TimeoutException();
+ }
+ if (parse_string(line))
+ break;
+ }
+ }
}
-
\ No newline at end of file
projects / fw / altos / blobdiff