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/*
* Copyright © 2012 Keith Packard <keithp@keithp.com>
*
* 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; 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
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
package org.altusmetrum.altoslib_13;
import java.util.concurrent.*;
import java.io.*;
public class AltosIMU implements Cloneable {
public int accel_x = AltosLib.MISSING;
public int accel_y = AltosLib.MISSING;
public int accel_z = AltosLib.MISSING;
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:"))
return false;
String[] items = line.split("\\s+");
if (items.length >= 8) {
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]);
}
if (items.length >= 12) {
mag_x = Integer.parseInt(items[9]);
mag_y = Integer.parseInt(items[10]);
mag_z = Integer.parseInt(items[11]);
}
return true;
}
public AltosIMU clone() {
AltosIMU n = new AltosIMU();
n.accel_x = accel_x;
n.accel_y = accel_y;
n.accel_z = accel_z;
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;
}
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_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) {
}
}
public AltosIMU() {
accel_x = AltosLib.MISSING;
accel_y = AltosLib.MISSING;
accel_z = AltosLib.MISSING;
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 {
this();
link.printf("I\n");
for (;;) {
String line = link.get_reply_no_dialog(5000);
if (line == null) {
throw new TimeoutException();
}
if (parse_string(line))
break;
}
}
}
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