X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=8adf710e028a03f8e401ec4c48de5c1e9138a805;hp=6d88ccae9a45f6a45926444528db9debc04993b4;hb=8d77d5032781c5ef0dbb19de07ea97389b809f08;hpb=e26306c9350ef1d107d4257ef1c09d15165c9154

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 6d88ccae..8adf710e 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
@@ -15,18 +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;
 	}
 
@@ -55,15 +80,113 @@ 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) throws InterruptedException {
+	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)
-				state.set_imu(imu);
+			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) {
 		}
 	}
@@ -76,6 +199,10 @@ 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 {