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_14;
21 import java.util.concurrent.*;
24 public class AltosIMU implements Cloneable {
25 private int accel_x = AltosLib.MISSING;
26 private int accel_y = AltosLib.MISSING;
27 private int accel_z = AltosLib.MISSING;
29 private int accel_along = AltosLib.MISSING;
30 private int accel_across = AltosLib.MISSING;
31 private int accel_through = AltosLib.MISSING;
33 private int gyro_x = AltosLib.MISSING;
34 private int gyro_y = AltosLib.MISSING;
35 private int gyro_z = AltosLib.MISSING;
37 private int gyro_roll = AltosLib.MISSING;
38 private int gyro_pitch = AltosLib.MISSING;
39 private int gyro_yaw = AltosLib.MISSING;
41 private int mag_x = AltosLib.MISSING;
42 private int mag_y = AltosLib.MISSING;
43 private int mag_z = AltosLib.MISSING;
45 private int mag_along = AltosLib.MISSING;
46 private int mag_across = AltosLib.MISSING;
47 private int mag_through = AltosLib.MISSING;
49 private int imu_model = AltosLib.MISSING;
50 private int mag_model = AltosLib.MISSING;
52 private static final double counts_per_g_mpu = 2048.0;
53 private static final double counts_per_g_bmx = 2048.0;
54 private static final double counts_per_g_adxl = 20.5;
55 private static final double counts_per_g_bmi088 = 1365.0;
57 private static double counts_per_g(int imu_type, int imu_model) {
59 case AltosLib.model_mpu6000:
60 case AltosLib.model_mpu9250:
61 return counts_per_g_mpu;
62 case AltosLib.model_adxl375:
63 return counts_per_g_adxl;
64 case AltosLib.model_bmx160:
65 return counts_per_g_bmx;
66 case AltosLib.model_bmi088:
67 return counts_per_g_bmi088;
71 case imu_type_telemega_v1_v2:
72 case imu_type_telemega_v3:
73 case imu_type_easymega_v1:
74 case imu_type_easymega_v2:
75 return counts_per_g_mpu;
76 case imu_type_telemega_v4:
77 case imu_type_easytimer_v1:
78 return counts_per_g_bmx;
79 case imu_type_easymotor_v2:
80 return counts_per_g_adxl;
81 case imu_type_easytimer_v2:
82 return counts_per_g_bmi088;
85 return AltosLib.MISSING;
88 public static double convert_accel(double counts, int imu_type, int imu_model) {
89 double cpg = counts_per_g(imu_type, imu_model);
90 if (cpg == AltosLib.MISSING)
91 return AltosLib.MISSING;
92 return counts / cpg * AltosConvert.gravity;
95 private static final double GYRO_FULLSCALE_DEGREES_MPU = 2000.0;
96 private static final double GYRO_COUNTS_MPU = 32767.0;
97 private static final double counts_per_degree_mpu = GYRO_COUNTS_MPU / GYRO_FULLSCALE_DEGREES_MPU;
98 private static final double GYRO_FULLSCALE_DEGREES_BMX = 2000.0;
99 private static final double GYRO_COUNTS_BMX = 32767.0;
100 private static final double counts_per_degree_bmx = GYRO_COUNTS_BMX / GYRO_FULLSCALE_DEGREES_BMX;
101 private static final double counts_per_degree_bmi088 = 16.384;
103 private static double counts_per_degree(int imu_type, int imu_model) {
105 case AltosLib.model_mpu6000:
106 case AltosLib.model_mpu9250:
107 return counts_per_degree_mpu;
108 case AltosLib.model_bmx160:
109 return counts_per_degree_bmx;
110 case AltosLib.model_bmi088:
111 return counts_per_degree_bmi088;
115 case imu_type_telemega_v1_v2:
116 case imu_type_telemega_v3:
117 case imu_type_easymega_v1:
118 case imu_type_easymega_v2:
119 return counts_per_degree_mpu;
120 case imu_type_telemega_v4:
121 case imu_type_easytimer_v1:
122 return counts_per_degree_bmx;
124 return AltosLib.MISSING;
128 public static double gyro_degrees_per_second(double counts, int imu_type, int imu_model) {
129 double cpd = counts_per_degree(imu_type, imu_model);
131 if (cpd == AltosLib.MISSING)
132 return AltosLib.MISSING;
136 private static final double MAG_FULLSCALE_GAUSS_MPU = 48.00; /* 4800µT */
137 private static final double MAG_COUNTS_MPU = 32767.0;
138 private static final double counts_per_gauss_mpu = MAG_COUNTS_MPU / MAG_FULLSCALE_GAUSS_MPU;
140 private static final double counts_per_gauss_bmx = 100.0; /* BMX driver converts to µT */
142 public static double counts_per_gauss(int imu_type, int imu_model) {
144 case AltosLib.model_mpu9250:
145 return counts_per_gauss_mpu;
146 case AltosLib.model_bmx160:
147 return counts_per_gauss_bmx;
151 case imu_type_telemega_v3:
152 case imu_type_easymega_v2:
153 return counts_per_gauss_mpu;
154 case imu_type_telemega_v4:
155 case imu_type_easytimer_v1:
156 return counts_per_gauss_bmx;
158 return AltosLib.MISSING;
161 private boolean parse_string(String line) {
162 if (line.startsWith("Accel:")) {
164 String[] items = line.split("\\s+");
166 if (items.length >= 8) {
167 accel_x = Integer.parseInt(items[1]);
168 accel_y = Integer.parseInt(items[2]);
169 accel_z = Integer.parseInt(items[3]);
170 gyro_x = Integer.parseInt(items[5]);
171 gyro_y = Integer.parseInt(items[6]);
172 gyro_z = Integer.parseInt(items[7]);
174 if (items.length >= 12) {
175 mag_x = Integer.parseInt(items[9]);
176 mag_y = Integer.parseInt(items[10]);
177 mag_z = Integer.parseInt(items[11]);
181 if (line.startsWith("MPU6000:")) {
182 String[] items = line.split("\\s+");
184 imu_model = AltosLib.model_mpu6000;
186 if (items.length >= 7) {
187 accel_along = Integer.parseInt(items[1]);
188 accel_across = Integer.parseInt(items[2]);
189 accel_through = Integer.parseInt(items[3]);
190 gyro_roll = Integer.parseInt(items[4]);
191 gyro_pitch = Integer.parseInt(items[5]);
192 gyro_yaw = Integer.parseInt(items[6]);
196 if (line.startsWith("BMI088:")) {
197 String[] items = line.split("\\s+");
199 imu_model = AltosLib.model_bmi088;
201 if (items.length >= 7) {
202 accel_along = Integer.parseInt(items[1]);
203 accel_across = Integer.parseInt(items[2]);
204 accel_through = Integer.parseInt(items[3]);
205 gyro_roll = Integer.parseInt(items[4]);
206 gyro_pitch = Integer.parseInt(items[5]);
207 gyro_yaw = Integer.parseInt(items[6]);
215 public AltosIMU clone() {
216 AltosIMU n = new AltosIMU();
222 n.accel_along = accel_along;
223 n.accel_across = accel_across;
224 n.accel_through = accel_through;
230 n.gyro_roll = gyro_roll;
231 n.gyro_pitch = gyro_pitch;
232 n.gyro_yaw = gyro_yaw;
238 n.mag_along = mag_along;
239 n.mag_across = mag_across;
240 n.mag_through = mag_through;
245 public static final int imu_type_telemega_v1_v2 = 0; /* MPU6000 */
246 public static final int imu_type_telemega_v3 = 1; /* MPU9250 */
247 public static final int imu_type_telemega_v4 = 2; /* BMX160 */
249 public static final int imu_type_easymega_v1 = 3; /* MPU6000 */
250 public static final int imu_type_easymega_v2 = 4; /* MPU9250 */
252 public static final int imu_type_easytimer_v1 = 5; /* BMX160 */
254 public static final int imu_type_easymotor_v2 = 6; /* ADXL375 (accel only) */
256 public static final int imu_type_easytimer_v2 = 7; /* BMI088 */
258 private int accel_across(int imu_type) {
260 if (accel_across != AltosLib.MISSING)
264 case imu_type_telemega_v1_v2:
265 case imu_type_telemega_v3:
266 case imu_type_easymega_v1:
268 case imu_type_easymega_v2:
270 case imu_type_telemega_v4:
271 case imu_type_easytimer_v1:
273 case imu_type_easymotor_v2:
276 return AltosLib.MISSING;
280 private int accel_along(int imu_type) {
281 if (accel_along != AltosLib.MISSING) {
282 System.out.printf("accel along %d\n", accel_along);
287 case imu_type_telemega_v1_v2:
288 case imu_type_telemega_v3:
289 case imu_type_easymega_v1:
291 case imu_type_easymega_v2:
292 case imu_type_telemega_v4:
293 case imu_type_easytimer_v1:
295 case imu_type_easymotor_v2:
298 return AltosLib.MISSING;
302 private int accel_through(int imu_type) {
303 if (accel_through != AltosLib.MISSING)
304 return accel_through;
309 private int gyro_roll(int imu_type) {
310 if (gyro_roll != AltosLib.MISSING)
314 case imu_type_telemega_v1_v2:
315 case imu_type_telemega_v3:
316 case imu_type_easymega_v1:
318 case imu_type_easymega_v2:
319 case imu_type_telemega_v4:
320 case imu_type_easytimer_v1:
323 return AltosLib.MISSING;
327 private int gyro_pitch(int imu_type) {
328 if (gyro_pitch != AltosLib.MISSING)
332 case imu_type_telemega_v1_v2:
333 case imu_type_telemega_v3:
334 case imu_type_easymega_v1:
336 case imu_type_easymega_v2:
338 case imu_type_telemega_v4:
339 case imu_type_easytimer_v1:
342 return AltosLib.MISSING;
346 private int gyro_yaw(int imu_type) {
347 if (gyro_yaw != AltosLib.MISSING)
353 private int mag_across(int imu_type) {
354 if (mag_across != AltosLib.MISSING)
358 case imu_type_telemega_v1_v2:
359 case imu_type_telemega_v3:
360 case imu_type_easymega_v1:
362 case imu_type_easymega_v2:
364 case imu_type_telemega_v4:
365 case imu_type_easytimer_v1:
368 return AltosLib.MISSING;
372 private int mag_along(int imu_type) {
373 if (mag_along != AltosLib.MISSING)
377 case imu_type_telemega_v1_v2:
378 case imu_type_telemega_v3:
379 case imu_type_easymega_v1:
381 case imu_type_easymega_v2:
382 case imu_type_telemega_v4:
383 case imu_type_easytimer_v1:
386 return AltosLib.MISSING;
390 private int mag_through(int imu_type) {
391 if (mag_through != AltosLib.MISSING)
397 private static boolean is_primary_accel(int imu_type) {
399 case imu_type_easytimer_v1:
400 case imu_type_easytimer_v2:
407 static public void provide_data(AltosDataListener listener, AltosLink link, int imu_type) throws InterruptedException {
409 AltosIMU imu = new AltosIMU(link);
410 AltosCalData cal_data = listener.cal_data();
412 System.out.printf("imu_model %d mag_model %d\n", imu.imu_model, imu.mag_model);
413 if (imu_type != AltosLib.MISSING)
414 cal_data.set_imu_type(imu_type);
416 if (imu.imu_model != AltosLib.MISSING)
417 cal_data.set_imu_model(imu.imu_model);
418 if (imu.mag_model != AltosLib.MISSING)
419 cal_data.set_mag_model(imu.mag_model);
421 if (imu.gyro_roll(imu_type) != AltosLib.MISSING) {
422 cal_data.set_gyro_zero(0, 0, 0);
423 listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
424 cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
425 cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
427 listener.set_accel_ground(cal_data.accel_along(imu.accel_along(imu_type)),
428 cal_data.accel_across(imu.accel_across(imu_type)),
429 cal_data.accel_through(imu.accel_through(imu_type)));
430 listener.set_accel(cal_data.accel_along(imu.accel_along(imu_type)),
431 cal_data.accel_across(imu.accel_across(imu_type)),
432 cal_data.accel_through(imu.accel_through(imu_type)));
433 if (is_primary_accel(imu_type)) {
434 int accel = imu.accel_along(imu_type);
435 if (!cal_data.adxl375_inverted)
437 if (cal_data.pad_orientation == 1)
439 listener.set_acceleration(cal_data.acceleration(accel));
441 if (imu.mag_along(imu_type) != AltosLib.MISSING) {
442 listener.set_mag(cal_data.mag_along(imu.mag_along(imu_type)),
443 cal_data.mag_across(imu.mag_across(imu_type)),
444 cal_data.mag_through(imu.mag_through(imu_type)));
447 } catch (TimeoutException te) {
454 public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
458 String line = link.get_reply_no_dialog(5000);
460 throw new TimeoutException();
462 if (parse_string(line))