122 lines
3.3 KiB
Java
122 lines
3.3 KiB
Java
/*
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* Copyright © 2012 Keith Packard <keithp@keithp.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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*/
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package org.altusmetrum.altoslib_14;
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import java.util.concurrent.*;
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public class AltosAdxl375 implements Cloneable {
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private int[] accels = new int[3];
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private int axis;
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public static final int X_AXIS = 0;
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public static final int Y_AXIS = 1;
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public static final int Z_AXIS = 2;
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public boolean parse_line(String line) throws NumberFormatException {
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if (line.startsWith("ADXL375 value")) {
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String[] items = line.split("\\s+");
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if (axis == AltosLib.MISSING)
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throw new NumberFormatException("No ADXL375 axis specified");
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if (items.length >= 3) {
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for (int i = 0; i < 3; i++)
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accels[i] = Integer.parseInt(items[2+i]);
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return true;
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}
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}
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return false;
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}
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public AltosAdxl375 clone() {
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AltosAdxl375 n = new AltosAdxl375(axis);
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for (int i = 0; i < 3; i++)
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n.accels[i] = accels[i];
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return n;
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}
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private int accel_along() {
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return accels[axis];
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}
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private int accel_across() {
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if (axis == X_AXIS)
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return accels[Y_AXIS];
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else
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return accels[X_AXIS];
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}
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private int accel_through() {
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return accels[Z_AXIS];
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}
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static public void provide_data(AltosDataListener listener, AltosLink link, boolean three_axis, int imu_type) throws InterruptedException, AltosUnknownProduct {
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try {
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AltosCalData cal_data = listener.cal_data();
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AltosAdxl375 adxl375 = new AltosAdxl375(link, cal_data.adxl375_axis);
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if (adxl375 != null) {
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int accel = adxl375.accel_along();
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if (!cal_data.adxl375_inverted)
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accel = -accel;
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if (cal_data.pad_orientation == 1)
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accel = -accel;
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listener.set_acceleration(cal_data.acceleration(accel));
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if (three_axis) {
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cal_data.set_imu_type(imu_type);
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double accel_along = cal_data.accel_along(-accel);
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double accel_across = cal_data.accel_across(adxl375.accel_across());
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double accel_through = cal_data.accel_through(adxl375.accel_through());
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listener.set_accel_ground(accel_along,
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accel_across,
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accel_through);
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listener.set_accel(accel_along,
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accel_across,
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accel_through);
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}
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}
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} catch (TimeoutException te) {
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} catch (NumberFormatException ne) {
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}
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}
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public AltosAdxl375() {
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for (int i = 0; i < 3; i++)
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accels[i] = AltosLib.MISSING;
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axis = AltosLib.MISSING;
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}
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public AltosAdxl375(int axis) {
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this();
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this.axis = axis;
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}
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public AltosAdxl375(AltosLink link, int axis) throws InterruptedException, TimeoutException, NumberFormatException {
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this(axis);
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link.printf("A\n");
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for (;;) {
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String line = link.get_reply_no_dialog(5000);
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if (line == null)
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throw new TimeoutException();
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if (parse_line(line))
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break;
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}
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}
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}
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