X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=114dfcf908624a5905d04ee8b546bb143295ca72;hp=c5ebbb16a8c276b1677e6bb92f2a3e93ae3293fc;hb=e38e1a2f735a1bb4aebf0817cdd99a05567c6340;hpb=de8d9c5630ae46378c50faf97f7d2e97fe139e30

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index c5ebbb16..114dfcf9 100644
--- 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
@@ -15,16 +16,59 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_1;
+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 = 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;
+	}
 
-	public int		gyro_x;
-	public int		gyro_y;
-	public int		gyro_z;
+	/* 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();
@@ -36,7 +80,60 @@ 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 provide_data(AltosDataListener listener, AltosLink link) 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_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) {
+		}
+	}
+
+	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