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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_11;
import java.util.concurrent.*;
import java.io.*;
public class AltosIMU implements Cloneable {
public int accel_along;
public int accel_across;
public int accel_through;
public int gyro_roll;
public int gyro_pitch;
public int gyro_yaw;
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_along = Integer.parseInt(items[1]);
accel_across = Integer.parseInt(items[2]);
accel_through = Integer.parseInt(items[3]);
gyro_roll = Integer.parseInt(items[5]);
gyro_pitch = Integer.parseInt(items[6]);
gyro_yaw = Integer.parseInt(items[7]);
}
return true;
}
public AltosIMU clone() {
AltosIMU n = new AltosIMU();
n.accel_along = accel_along;
n.accel_across = accel_across;
n.accel_through = accel_through;
n.gyro_roll = gyro_roll;
n.gyro_pitch = gyro_pitch;
n.gyro_yaw = gyro_yaw;
return n;
}
static public void provide_data(AltosDataListener listener, AltosLink link, AltosCalData cal_data) throws InterruptedException {
try {
AltosIMU imu = new AltosIMU(link);
if (imu != null) {
listener.set_accel(cal_data.accel_along(imu.accel_along),
cal_data.accel_across(imu.accel_across),
cal_data.accel_through(imu.accel_through));
listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll),
cal_data.gyro_pitch(imu.gyro_pitch),
cal_data.gyro_yaw(imu.gyro_yaw));
}
} catch (TimeoutException te) {
}
}
public AltosIMU() {
accel_along = AltosLib.MISSING;
accel_across = AltosLib.MISSING;
accel_through = AltosLib.MISSING;
gyro_roll = AltosLib.MISSING;
gyro_pitch = AltosLib.MISSING;
gyro_yaw = AltosLib.MISSING;
}
public AltosIMU(int accel_along, int accel_across, int accel_through,
int gyro_roll, int gyro_pitch, int gyro_yaw) {
this.accel_along = accel_along;
this.accel_across = accel_across;
this.accel_through = accel_through;
this.gyro_roll = gyro_roll;
this.gyro_pitch = gyro_pitch;
this.gyro_yaw = gyro_yaw;
}
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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