X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=dee28a92319eb8532d5d2556180ae51fa827509d;hp=6d88ccae9a45f6a45926444528db9debc04993b4;hb=fbe87bd18308cab62eda6d5e956a8618095ed33b;hpb=e26306c9350ef1d107d4257ef1c09d15165c9154

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 6d88ccae..dee28a92 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
@@ -15,9 +16,10 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_2;
+package org.altusmetrum.altoslib_12;
 
 import java.util.concurrent.*;
+import java.io.*;
 
 public class AltosIMU implements Cloneable {
 	public int		accel_x;
@@ -28,6 +30,20 @@ public class AltosIMU implements Cloneable {
 	public int		gyro_y;
 	public int		gyro_z;
 
+	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;
@@ -58,12 +74,19 @@ public class AltosIMU implements Cloneable {
 		return n;
 	}
 
-	static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
+	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(cal_data.accel_along(imu.accel_y),
+							  cal_data.accel_across(imu.accel_x),
+							  cal_data.accel_through(imu.accel_z));
+			}
 		} catch (TimeoutException te) {
 		}
 	}