136 lines
3.5 KiB
Java
136 lines
3.5 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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import java.io.*;
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public class AltosMag implements Cloneable {
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public int along = AltosLib.MISSING;
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public int across = AltosLib.MISSING;
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public int through = AltosLib.MISSING;
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public static final int model_hmc5883 = 0;
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public static final int model_mmc5983 = 1;
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public int mag_model = AltosLib.MISSING;
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public static final double counts_per_gauss_hmc5883 = 1090;
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public static final double counts_per_gauss_mmc5983 = 4096;
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public static double counts_per_gauss(int imu_type, int mag_model) {
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switch(mag_model) {
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case AltosLib.model_hmc5883:
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return counts_per_gauss_hmc5883;
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case AltosLib.model_mmc5983:
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return counts_per_gauss_mmc5983;
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}
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switch (imu_type) {
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case AltosIMU.imu_type_telemega_v1_v2:
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case AltosIMU.imu_type_easymega_v1:
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return counts_per_gauss_hmc5883;
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case AltosIMU.imu_type_easytimer_v2:
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return counts_per_gauss_mmc5983;
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}
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return AltosIMU.counts_per_gauss(imu_type, mag_model);
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}
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public static double convert_gauss(double counts, int imu_type, int mag_model) {
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double cpg = counts_per_gauss(imu_type, mag_model);
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if (cpg == AltosLib.MISSING)
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return AltosLib.MISSING;
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return counts / cpg;
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}
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public boolean parse_string(String line) {
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if (line.startsWith("X:")) {
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String[] items = line.split("\\s+");
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mag_model = model_hmc5883;
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if (items.length >= 6) {
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across = Integer.parseInt(items[1]);
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through = Integer.parseInt(items[3]);
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along = Integer.parseInt(items[5]);
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}
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return true;
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}
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if (line.startsWith("MMC5983:")) {
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String[] items = line.split("\\s+");
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mag_model = model_mmc5983;
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if (items.length >= 4) {
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along = Integer.parseInt(items[1]);
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across = Integer.parseInt(items[2]);
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through = Integer.parseInt(items[3]);
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}
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return true;
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}
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return false;
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}
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public AltosMag clone() {
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AltosMag n = new AltosMag();
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n.along = along;
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n.across = across;
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n.through = through;
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return n;
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}
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public AltosMag() {
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}
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static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException {
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try {
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AltosMag mag = new AltosMag(link);
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AltosCalData cal_data = listener.cal_data();
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if (mag != null) {
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if (mag.mag_model != AltosLib.MISSING)
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cal_data.set_mag_model(mag.mag_model);
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listener.set_mag(cal_data.mag_along(mag.along),
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cal_data.mag_across(mag.across),
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cal_data.mag_through(mag.through));
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}
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} catch (TimeoutException te) {
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}
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}
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public AltosMag(AltosLink link) throws InterruptedException, TimeoutException {
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this();
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link.printf("M\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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}
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if (parse_string(line))
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break;
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}
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}
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}
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