2 * Copyright © 2012 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
19 package org.altusmetrum.altoslib_13;
21 import java.util.concurrent.*;
24 public class AltosIMU implements Cloneable {
25 public int accel_x = AltosLib.MISSING;
26 public int accel_y = AltosLib.MISSING;
27 public int accel_z = AltosLib.MISSING;
29 public int gyro_x = AltosLib.MISSING;
30 public int gyro_y = AltosLib.MISSING;
31 public int gyro_z = AltosLib.MISSING;
33 public int mag_x = AltosLib.MISSING;
34 public int mag_y = AltosLib.MISSING;
35 public int mag_z = AltosLib.MISSING;
37 public static final double counts_per_g_mpu = 2048.0;
38 public static final double counts_per_g_bmx = 2048.0;
40 private static double counts_per_g(int imu_type) {
42 case imu_type_telemega_v1_v2:
43 case imu_type_telemega_v3:
44 case imu_type_easymega_v1:
45 case imu_type_easymega_v2:
46 return counts_per_g_mpu;
47 case imu_type_telemega_v4:
48 return counts_per_g_bmx;
50 return AltosLib.MISSING;
54 public static double convert_accel(double counts, int imu_type) {
55 return counts / counts_per_g(imu_type) * AltosConvert.gravity;
58 public static final double GYRO_FULLSCALE_DEGREES_MPU = 2000.0;
59 public static final double GYRO_COUNTS_MPU = 32767.0;
60 public static final double counts_per_degree_mpu = GYRO_COUNTS_MPU / GYRO_FULLSCALE_DEGREES_MPU;
61 public static final double GYRO_FULLSCALE_DEGREES_BMX = 2000.0;
62 public static final double GYRO_COUNTS_BMX = 32767.0;
63 public static final double counts_per_degree_bmx = GYRO_COUNTS_BMX / GYRO_FULLSCALE_DEGREES_BMX;
65 private static double counts_per_degree(int imu_type) {
67 case imu_type_telemega_v1_v2:
68 case imu_type_telemega_v3:
69 case imu_type_easymega_v1:
70 case imu_type_easymega_v2:
71 return counts_per_degree_mpu;
72 case imu_type_telemega_v4:
73 return counts_per_degree_bmx;
75 return AltosLib.MISSING;
79 public static double gyro_degrees_per_second(double counts, int imu_type) {
80 return counts / counts_per_degree(imu_type);
83 public static final int imu_axis_x = 0;
84 public static final int imu_axis_y = 1;
85 public static final int imu_axis_z = 2;
87 public static final double MAG_FULLSCALE_GAUSS_MPU = 48.00; /* 4800µT */
88 public static final double MAG_COUNTS_MPU = 32767.0;
89 public static final double counts_per_gauss_mpu = MAG_COUNTS_MPU / MAG_FULLSCALE_GAUSS_MPU;
91 public static final double counts_per_gauss_bmx = 100.0; /* BMX driver converts to µT */
93 public static double counts_per_gauss(int imu_type, int axis) {
95 case imu_type_telemega_v1_v2:
96 case imu_type_easymega_v1:
97 return AltosMag.counts_per_gauss;
98 case imu_type_telemega_v3:
99 case imu_type_easymega_v2:
100 return counts_per_gauss_mpu;
101 case imu_type_telemega_v4:
104 return AltosLib.MISSING;
108 public static double convert_gauss(double counts, int imu_type, int imu_axis) {
109 return counts / counts_per_gauss(imu_type, imu_axis);
112 public boolean parse_string(String line) {
113 if (!line.startsWith("Accel:"))
116 String[] items = line.split("\\s+");
118 System.out.printf("length %d\n", items.length);
120 if (items.length >= 8) {
121 accel_x = Integer.parseInt(items[1]);
122 accel_y = Integer.parseInt(items[2]);
123 accel_z = Integer.parseInt(items[3]);
124 gyro_x = Integer.parseInt(items[5]);
125 gyro_y = Integer.parseInt(items[6]);
126 gyro_z = Integer.parseInt(items[7]);
128 if (items.length >= 12) {
129 mag_x = Integer.parseInt(items[9]);
130 mag_y = Integer.parseInt(items[10]);
131 mag_z = Integer.parseInt(items[11]);
136 public AltosIMU clone() {
137 AltosIMU n = new AltosIMU();
154 public static final int imu_type_telemega_v1_v2 = 0; /* MPU6000 */
155 public static final int imu_type_telemega_v3 = 1; /* MPU9250 */
156 public static final int imu_type_telemega_v4 = 2; /* BMX160 */
158 public static final int imu_type_easymega_v1 = 3; /* MPU6000 */
159 public static final int imu_type_easymega_v2 = 4; /* MPU9250 */
161 private int accel_across(int imu_type) {
163 case imu_type_telemega_v1_v2:
164 case imu_type_telemega_v3:
165 case imu_type_easymega_v1:
167 case imu_type_easymega_v2:
169 case imu_type_telemega_v4:
172 return AltosLib.MISSING;
176 private int accel_along(int imu_type) {
178 case imu_type_telemega_v1_v2:
179 case imu_type_telemega_v3:
180 case imu_type_easymega_v1:
182 case imu_type_easymega_v2:
183 case imu_type_telemega_v4:
186 return AltosLib.MISSING;
190 private int accel_through(int imu_type) {
194 private int gyro_roll(int imu_type) {
196 case imu_type_telemega_v1_v2:
197 case imu_type_telemega_v3:
198 case imu_type_easymega_v1:
200 case imu_type_easymega_v2:
201 case imu_type_telemega_v4:
204 return AltosLib.MISSING;
208 private int gyro_pitch(int imu_type) {
210 case imu_type_telemega_v1_v2:
211 case imu_type_telemega_v3:
212 case imu_type_easymega_v1:
214 case imu_type_easymega_v2:
216 case imu_type_telemega_v4:
219 return AltosLib.MISSING;
223 private int gyro_yaw(int imu_type) {
227 public static int mag_across_axis(int imu_type) {
229 case imu_type_telemega_v1_v2:
230 case imu_type_telemega_v3:
231 case imu_type_easymega_v1:
233 case imu_type_telemega_v4:
234 case imu_type_easymega_v2:
237 return AltosLib.MISSING;
241 private int mag_across(int imu_type) {
243 case imu_type_telemega_v1_v2:
244 case imu_type_telemega_v3:
245 case imu_type_easymega_v1:
247 case imu_type_easymega_v2:
249 case imu_type_telemega_v4:
252 return AltosLib.MISSING;
256 public static int mag_along_axis(int imu_type) {
258 case imu_type_telemega_v1_v2:
259 case imu_type_telemega_v3:
260 case imu_type_easymega_v1:
262 case imu_type_easymega_v2:
263 case imu_type_telemega_v4:
266 return AltosLib.MISSING;
270 private int mag_along(int imu_type) {
272 case imu_type_telemega_v1_v2:
273 case imu_type_telemega_v3:
274 case imu_type_easymega_v1:
276 case imu_type_easymega_v2:
277 case imu_type_telemega_v4:
280 return AltosLib.MISSING;
284 public static int mag_through_axis(int imu_type) {
288 private int mag_through(int imu_type) {
292 static public void provide_data(AltosDataListener listener, AltosLink link, int imu_type) throws InterruptedException {
294 AltosIMU imu = new AltosIMU(link);
295 AltosCalData cal_data = listener.cal_data();
297 cal_data.set_imu_type(imu_type);
300 listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
301 cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
302 cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
303 listener.set_accel_ground(cal_data.accel_along(imu.accel_along(imu_type)),
304 cal_data.accel_across(imu.accel_across(imu_type)),
305 cal_data.accel_through(imu.accel_through(imu_type)));
306 listener.set_accel(cal_data.accel_along(imu.accel_along(imu_type)),
307 cal_data.accel_across(imu.accel_across(imu_type)),
308 cal_data.accel_through(imu.accel_through(imu_type)));
309 if (imu.mag_x != AltosLib.MISSING) {
310 listener.set_mag(cal_data.mag_along(imu.mag_along(imu_type)),
311 cal_data.mag_across(imu.mag_across(imu_type)),
312 cal_data.mag_through(imu.mag_through(imu_type)));
315 } catch (TimeoutException te) {
320 accel_x = AltosLib.MISSING;
321 accel_y = AltosLib.MISSING;
322 accel_z = AltosLib.MISSING;
324 gyro_x = AltosLib.MISSING;
325 gyro_y = AltosLib.MISSING;
326 gyro_z = AltosLib.MISSING;
328 mag_x = AltosLib.MISSING;
329 mag_y = AltosLib.MISSING;
330 mag_z = AltosLib.MISSING;
333 public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
337 String line = link.get_reply_no_dialog(5000);
339 throw new TimeoutException();
341 if (parse_string(line))