X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=dee28a92319eb8532d5d2556180ae51fa827509d;hp=89d7def4a3bb2066b5ff1adbdd364107dd575ad3;hb=fbe87bd18308cab62eda6d5e956a8618095ed33b;hpb=c8078d352a7f54a4a97d25af080155d3f875536a

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 89d7def4..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
@@ -15,41 +16,32 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_12;
 
 import java.util.concurrent.*;
+import java.io.*;
 
 public class AltosIMU implements Cloneable {
-	public double		accel_x;
-	public double		accel_y;
-	public double		accel_z;
+	public int		accel_x;
+	public int		accel_y;
+	public int		accel_z;
 
-	public double		gyro_x;
-	public double		gyro_y;
-	public double		gyro_z;
+	public int		gyro_x;
+	public int		gyro_y;
+	public int		gyro_z;
 
-/*
- * XXX use ground measurements to adjust values
-
-	public double		ground_accel_x;
-	public double		ground_accel_y;
-	public double		ground_accel_z;
-
-	public double		ground_gyro_x;
-	public double		ground_gyro_y;
-	public double		ground_gyro_z;
-*/
+	public static final double	counts_per_g = 2048.0;
 
-	public static int	counts_per_g = 2048;
-
-	public static double convert_accel(int counts) {
-		return (double) counts / (double) counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
+	public static double convert_accel(double counts) {
+		return counts / counts_per_g * AltosConvert.gravity;
 	}
 
-	public static double	counts_per_degsec = 16.4;
+	/* In radians */
+	public static final double 	GYRO_FULLSCALE_DEGREES = 2000.0;
+	public static final double	GYRO_COUNTS = 32767.0;
 
-	public static double convert_gyro(int counts) {
-		return (double) counts / counts_per_degsec;
+	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) {
@@ -59,12 +51,12 @@ public class AltosIMU implements Cloneable {
 		String[] items = line.split("\\s+");
 
 		if (items.length >= 8) {
-			accel_x = convert_accel(Integer.parseInt(items[1]));
-			accel_y = convert_accel(Integer.parseInt(items[2]));
-			accel_z = convert_accel(Integer.parseInt(items[3]));
-			gyro_x = convert_gyro(Integer.parseInt(items[5]));
-			gyro_y = convert_gyro(Integer.parseInt(items[6]));
-			gyro_z = convert_gyro(Integer.parseInt(items[7]));
+			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]);
 		}
 		return true;
 	}
@@ -82,12 +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);
-
-			if (imu != null)
-				state.set_imu(imu);
+			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));
+			}
 		} catch (TimeoutException te) {
 		}
 	}