X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=8adf710e028a03f8e401ec4c48de5c1e9138a805;hp=dee28a92319eb8532d5d2556180ae51fa827509d;hb=8d77d5032781c5ef0dbb19de07ea97389b809f08;hpb=0da4e201041a4420f273c2e0cda77eea78099518

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index dee28a92..8adf710e 100644
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -16,19 +16,23 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_12;
+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;
 
@@ -58,6 +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;
 	}
 
@@ -71,21 +80,112 @@ 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 {
+	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_y),
-						  cal_data.gyro_pitch(imu.gyro_x),
-						  cal_data.gyro_yaw(imu.gyro_z));
-				listener.set_accel_ground(cal_data.accel_along(imu.accel_y),
-							  cal_data.accel_across(imu.accel_x),
-							  cal_data.accel_through(imu.accel_z));
+				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) {
 		}
@@ -99,6 +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 {