X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosMag.java;h=c7f1ac1dfabba9bea522fc55d9c577cf0e9f20d3;hp=ab5d3f57e38cb5385350f673912b1df35b566c73;hb=db950e97caefdd3257c1a2de3547ab88a2bd2344;hpb=064e30c73ff539ec53d15efe6cbab982b9c35eaf

diff --git a/altoslib/AltosMag.java b/altoslib/AltosMag.java
index ab5d3f57..c7f1ac1d 100644
--- a/altoslib/AltosMag.java
+++ b/altoslib/AltosMag.java
@@ -22,44 +22,84 @@ import java.util.concurrent.*;
 import java.io.*;
 
 public class AltosMag implements Cloneable {
-	public int		x;
-	public int		z;
-	public int		y;
+	public int		along = AltosLib.MISSING;
+	public int		across = AltosLib.MISSING;
+	public int		through = AltosLib.MISSING;
 
-	public static final double counts_per_gauss = 1090;
+	public static final int model_hmc5883 = 0;
+	public static final int model_mmc5983 = 1;
 
-	public static double convert_gauss(double counts) {
-		return counts / counts_per_gauss;
+	public int mag_model = AltosLib.MISSING;
+
+	public static final double counts_per_gauss_hmc5883 = 1090;
+	public static final double counts_per_gauss_mmc5983 = 4096;
+
+	public static double counts_per_gauss(int imu_type, int mag_model) {
+		switch(mag_model) {
+		case AltosLib.model_hmc5883:
+			return counts_per_gauss_hmc5883;
+		case AltosLib.model_mmc5983:
+			return counts_per_gauss_mmc5983;
+		}
+		switch (imu_type) {
+		case AltosIMU.imu_type_telemega_v1_v2:
+		case AltosIMU.imu_type_easymega_v1:
+			return counts_per_gauss_hmc5883;
+		}
+
+		return AltosIMU.counts_per_gauss(imu_type, mag_model);
+	}
+
+	public static double convert_gauss(double counts, int imu_type, int mag_model) {
+		double cpg = counts_per_gauss(imu_type, mag_model);
+
+		if (cpg == AltosLib.MISSING)
+			return AltosLib.MISSING;
+
+		return counts / cpg;
 	}
 
 	public boolean parse_string(String line) {
 
-		if (!line.startsWith("X:"))
-			return false;
+		if (line.startsWith("X:")) {
 
-		String[] items = line.split("\\s+");
+			String[] items = line.split("\\s+");
 
-		if (items.length >= 6) {
-			x = Integer.parseInt(items[1]);
-			z = Integer.parseInt(items[3]);
-			y = Integer.parseInt(items[5]);
+			mag_model = model_hmc5883;
+
+			if (items.length >= 6) {
+				across = Integer.parseInt(items[1]);
+				through = Integer.parseInt(items[3]);
+				along = Integer.parseInt(items[5]);
+			}
+			return true;
+		}
+		if (line.startsWith("MMC5983:")) {
+			String[] items = line.split("\\s+");
+
+			mag_model = model_mmc5983;
+
+			if (items.length >= 4) {
+				along = Integer.parseInt(items[1]);
+				across = Integer.parseInt(items[2]);
+				through = Integer.parseInt(items[3]);
+			}
+			return true;
 		}
-		return true;
+
+		return false;
 	}
 
 	public AltosMag clone() {
 		AltosMag n = new AltosMag();
 
-		n.x = x;
-		n.z = z;
-		n.y = y;
+		n.along = along;
+		n.across = across;
+		n.through = through;
 		return n;
 	}
 
 	public AltosMag() {
-		x = AltosLib.MISSING;
-		z = AltosLib.MISSING;
-		y = AltosLib.MISSING;
 	}
 
 	static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException {
@@ -67,10 +107,13 @@ public class AltosMag implements Cloneable {
 			AltosMag	mag = new AltosMag(link);
 			AltosCalData	cal_data = listener.cal_data();
 
-			if (mag != null)
-				listener.set_mag(cal_data.mag_along(mag.y),
-						 cal_data.mag_across(mag.x),
-						 cal_data.mag_through(mag.z));
+			if (mag != null) {
+				if (mag.mag_model != AltosLib.MISSING)
+					cal_data.set_mag_model(mag.mag_model);
+				listener.set_mag(cal_data.mag_along(mag.along),
+						 cal_data.mag_across(mag.across),
+						 cal_data.mag_through(mag.through));
+			}
 		} catch (TimeoutException te) {
 		}
 	}