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/*
* Copyright © 2011 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_14;
public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
int orient() { return int8(5); }
int accel() { return int16(6); }
int pres() { return int32(8); }
int temp() { return int16(12); }
int accel_x() { return int16(14); }
int accel_y() { return int16(16); }
int accel_z() { return int16(18); }
int gyro_x() { return int16(20); }
int gyro_y() { return int16(22); }
int gyro_z() { return int16(24); }
int mag_x() { return int16(26); }
int mag_z() { return int16(28); }
int mag_y() { return int16(30); }
int imu_type;
private int accel_across(int imu_type) {
switch (imu_type) {
case AltosIMU.imu_type_telemega_v1_v2:
case AltosIMU.imu_type_telemega_v3:
case AltosIMU.imu_type_easymega_v1:
return accel_x();
case AltosIMU.imu_type_easymega_v2:
return -accel_y();
case AltosIMU.imu_type_telemega_v4:
return -accel_y();
default:
return AltosLib.MISSING;
}
}
private int accel_along(int imu_type) {
switch (imu_type) {
case AltosIMU.imu_type_telemega_v1_v2:
case AltosIMU.imu_type_telemega_v3:
case AltosIMU.imu_type_easymega_v1:
return accel_y();
case AltosIMU.imu_type_easymega_v2:
case AltosIMU.imu_type_telemega_v4:
return accel_x();
default:
return AltosLib.MISSING;
}
}
private int accel_through(int imu_type) {
return accel_z();
}
private int gyro_roll(int imu_type) {
switch (imu_type) {
case AltosIMU.imu_type_telemega_v1_v2:
case AltosIMU.imu_type_telemega_v3:
case AltosIMU.imu_type_easymega_v1:
return gyro_y();
case AltosIMU.imu_type_easymega_v2:
case AltosIMU.imu_type_telemega_v4:
return gyro_x();
default:
return AltosLib.MISSING;
}
}
private int gyro_pitch(int imu_type) {
switch (imu_type) {
case AltosIMU.imu_type_telemega_v1_v2:
case AltosIMU.imu_type_telemega_v3:
case AltosIMU.imu_type_easymega_v1:
return gyro_x();
case AltosIMU.imu_type_easymega_v2:
return -gyro_y();
case AltosIMU.imu_type_telemega_v4:
return gyro_y();
default:
return AltosLib.MISSING;
}
}
private int gyro_yaw(int imu_type) {
return gyro_z();
}
private int mag_across(int imu_type) {
switch (imu_type) {
case AltosIMU.imu_type_telemega_v1_v2:
case AltosIMU.imu_type_telemega_v3:
case AltosIMU.imu_type_easymega_v1:
return mag_x();
case AltosIMU.imu_type_telemega_v4:
case AltosIMU.imu_type_easymega_v2:
return -mag_y();
default:
return AltosLib.MISSING;
}
}
private int mag_along(int imu_type) {
switch (imu_type) {
case AltosIMU.imu_type_telemega_v1_v2:
case AltosIMU.imu_type_telemega_v3:
case AltosIMU.imu_type_easymega_v1:
return mag_y();
case AltosIMU.imu_type_easymega_v2:
case AltosIMU.imu_type_telemega_v4:
return mag_x();
default:
return AltosLib.MISSING;
}
}
private int mag_through(int imu_type) {
return mag_z();
}
public AltosTelemetryMegaSensor(int[] bytes, int imu_type) throws AltosCRCException {
super(bytes);
switch (imu_type) {
case AltosIMU.imu_type_telemega_v1_v2:
case AltosIMU.imu_type_telemega_v3:
if (serial() < 3000)
imu_type = AltosIMU.imu_type_telemega_v1_v2;
else
imu_type = AltosIMU.imu_type_telemega_v3;
break;
default:
break;
}
this.imu_type = imu_type;
}
public void provide_data(AltosDataListener listener) {
super.provide_data(listener);
AltosCalData cal_data = listener.cal_data();
listener.set_acceleration(cal_data.acceleration(accel()));
listener.set_pressure(pres());
listener.set_temperature(temp() / 100.0);
listener.set_orient(orient());
cal_data.set_imu_type(imu_type);
/* XXX we have no calibration data for these values */
if (cal_data.accel_zero_along == AltosLib.MISSING)
cal_data.set_accel_zero(0, 0, 0);
if (cal_data.gyro_zero_roll == AltosLib.MISSING)
cal_data.set_gyro_zero(0, 0, 0);
int accel_along = accel_along(imu_type);
int accel_across = accel_across(imu_type);
int accel_through = accel_through(imu_type);
int gyro_roll = gyro_roll(imu_type);
int gyro_pitch = gyro_pitch(imu_type);
int gyro_yaw = gyro_yaw(imu_type);
int mag_along = mag_along(imu_type);
int mag_across = mag_across(imu_type);
int mag_through = mag_through(imu_type);
listener.set_accel(cal_data.accel_along(accel_along),
cal_data.accel_across(accel_across),
cal_data.accel_through(accel_through));
listener.set_gyro(cal_data.gyro_roll(gyro_roll),
cal_data.gyro_pitch(gyro_pitch),
cal_data.gyro_yaw(gyro_yaw));
listener.set_mag(cal_data.mag_along(mag_along),
cal_data.mag_across(mag_across),
cal_data.mag_through(mag_through));
}
}
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