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 public int accel_x = AltosLib.MISSING;
26 public int accel_y = AltosLib.MISSING;
27 public int accel_z = AltosLib.MISSING;
29 public int accel_along = AltosLib.MISSING;
30 public int accel_across = AltosLib.MISSING;
31 public int accel_through = AltosLib.MISSING;
33 public int gyro_x = AltosLib.MISSING;
34 public int gyro_y = AltosLib.MISSING;
35 public int gyro_z = AltosLib.MISSING;
37 public int gyro_roll = AltosLib.MISSING;
38 public int gyro_pitch = AltosLib.MISSING;
39 public int gyro_yaw = AltosLib.MISSING;
41 public int mag_x = AltosLib.MISSING;
42 public int mag_y = AltosLib.MISSING;
43 public int mag_z = AltosLib.MISSING;
45 public int mag_along = AltosLib.MISSING;
46 public int mag_across = AltosLib.MISSING;
47 public int mag_through = AltosLib.MISSING;
49 public int imu_model = AltosLib.MISSING;
50 public int mag_model = AltosLib.MISSING;
52 public static final double counts_per_g_mpu = 2048.0;
53 public static final double counts_per_g_bmx = 2048.0;
54 public static final double counts_per_g_adxl = 20.5;
56 private static double counts_per_g(int imu_type, int imu_model) {
58 case AltosLib.model_mpu6000:
59 case AltosLib.model_mpu9250:
60 return counts_per_g_mpu;
61 case AltosLib.model_adxl375:
62 return counts_per_g_adxl;
63 case AltosLib.model_bmx160:
64 return counts_per_g_bmx;
68 case imu_type_telemega_v1_v2:
69 case imu_type_telemega_v3:
70 case imu_type_easymega_v1:
71 case imu_type_easymega_v2:
72 return counts_per_g_mpu;
73 case imu_type_telemega_v4:
74 case imu_type_easytimer_v1:
75 return counts_per_g_bmx;
76 case imu_type_easymotor_v2:
77 return counts_per_g_adxl;
80 return AltosLib.MISSING;
83 public static double convert_accel(double counts, int imu_type, int imu_model) {
84 double cpg = counts_per_g(imu_type, imu_model);
85 if (cpg == AltosLib.MISSING)
86 return AltosLib.MISSING;
87 return counts / cpg * AltosConvert.gravity;
90 public static final double GYRO_FULLSCALE_DEGREES_MPU = 2000.0;
91 public static final double GYRO_COUNTS_MPU = 32767.0;
92 public static final double counts_per_degree_mpu = GYRO_COUNTS_MPU / GYRO_FULLSCALE_DEGREES_MPU;
93 public static final double GYRO_FULLSCALE_DEGREES_BMX = 2000.0;
94 public static final double GYRO_COUNTS_BMX = 32767.0;
95 public static final double counts_per_degree_bmx = GYRO_COUNTS_BMX / GYRO_FULLSCALE_DEGREES_BMX;
97 private static double counts_per_degree(int imu_type, int imu_model) {
99 case AltosLib.model_mpu6000:
100 case AltosLib.model_mpu9250:
101 return counts_per_degree_mpu;
102 case AltosLib.model_bmx160:
103 return counts_per_degree_bmx;
107 case imu_type_telemega_v1_v2:
108 case imu_type_telemega_v3:
109 case imu_type_easymega_v1:
110 case imu_type_easymega_v2:
111 return counts_per_degree_mpu;
112 case imu_type_telemega_v4:
113 case imu_type_easytimer_v1:
114 return counts_per_degree_bmx;
116 return AltosLib.MISSING;
120 public static double gyro_degrees_per_second(double counts, int imu_type, int imu_model) {
121 double cpd = counts_per_degree(imu_type, imu_model);
123 if (cpd == AltosLib.MISSING)
124 return AltosLib.MISSING;
128 public static final double MAG_FULLSCALE_GAUSS_MPU = 48.00; /* 4800µT */
129 public static final double MAG_COUNTS_MPU = 32767.0;
130 public static final double counts_per_gauss_mpu = MAG_COUNTS_MPU / MAG_FULLSCALE_GAUSS_MPU;
132 public static final double counts_per_gauss_bmx = 100.0; /* BMX driver converts to µT */
134 public static double counts_per_gauss(int imu_type, int imu_model) {
136 case AltosLib.model_mpu9250:
137 return counts_per_gauss_mpu;
138 case AltosLib.model_bmx160:
139 return counts_per_gauss_bmx;
143 case imu_type_telemega_v3:
144 case imu_type_easymega_v2:
145 return counts_per_gauss_mpu;
146 case imu_type_telemega_v4:
147 case imu_type_easytimer_v1:
148 return counts_per_gauss_bmx;
150 return AltosLib.MISSING;
153 public boolean parse_string(String line) {
154 if (line.startsWith("Accel:")) {
156 String[] items = line.split("\\s+");
158 if (items.length >= 8) {
159 accel_x = Integer.parseInt(items[1]);
160 accel_y = Integer.parseInt(items[2]);
161 accel_z = Integer.parseInt(items[3]);
162 gyro_x = Integer.parseInt(items[5]);
163 gyro_y = Integer.parseInt(items[6]);
164 gyro_z = Integer.parseInt(items[7]);
166 if (items.length >= 12) {
167 mag_x = Integer.parseInt(items[9]);
168 mag_y = Integer.parseInt(items[10]);
169 mag_z = Integer.parseInt(items[11]);
173 if (line.startsWith("MPU6000:")) {
174 String[] items = line.split("\\s+");
176 imu_model = AltosLib.model_mpu6000;
178 if (items.length >= 7) {
179 accel_along = Integer.parseInt(items[1]);
180 accel_across = Integer.parseInt(items[2]);
181 accel_through = Integer.parseInt(items[3]);
182 gyro_roll = Integer.parseInt(items[4]);
183 gyro_pitch = Integer.parseInt(items[5]);
184 gyro_yaw = Integer.parseInt(items[6]);
192 public AltosIMU clone() {
193 AltosIMU n = new AltosIMU();
199 n.accel_along = accel_along;
200 n.accel_across = accel_across;
201 n.accel_through = accel_through;
207 n.gyro_roll = gyro_roll;
208 n.gyro_pitch = gyro_pitch;
209 n.gyro_yaw = gyro_yaw;
215 n.mag_along = mag_along;
216 n.mag_across = mag_across;
217 n.mag_through = mag_through;
222 public static final int imu_type_telemega_v1_v2 = 0; /* MPU6000 */
223 public static final int imu_type_telemega_v3 = 1; /* MPU9250 */
224 public static final int imu_type_telemega_v4 = 2; /* BMX160 */
226 public static final int imu_type_easymega_v1 = 3; /* MPU6000 */
227 public static final int imu_type_easymega_v2 = 4; /* MPU9250 */
229 public static final int imu_type_easytimer_v1 = 5; /* BMX160 */
231 public static final int imu_type_easymotor_v2 = 6; /* ADXL375 (accel only) */
233 private int accel_across(int imu_type) {
235 if (accel_across != AltosLib.MISSING)
239 case imu_type_telemega_v1_v2:
240 case imu_type_telemega_v3:
241 case imu_type_easymega_v1:
243 case imu_type_easymega_v2:
245 case imu_type_telemega_v4:
246 case imu_type_easytimer_v1:
248 case imu_type_easymotor_v2:
251 return AltosLib.MISSING;
255 private int accel_along(int imu_type) {
256 if (accel_along != AltosLib.MISSING)
260 case imu_type_telemega_v1_v2:
261 case imu_type_telemega_v3:
262 case imu_type_easymega_v1:
264 case imu_type_easymega_v2:
265 case imu_type_telemega_v4:
266 case imu_type_easytimer_v1:
268 case imu_type_easymotor_v2:
271 return AltosLib.MISSING;
275 private int accel_through(int imu_type) {
276 if (accel_through != AltosLib.MISSING)
277 return accel_through;
282 private int gyro_roll(int imu_type) {
283 if (gyro_roll != AltosLib.MISSING)
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:
296 return AltosLib.MISSING;
300 private int gyro_pitch(int imu_type) {
301 if (gyro_pitch != AltosLib.MISSING)
305 case imu_type_telemega_v1_v2:
306 case imu_type_telemega_v3:
307 case imu_type_easymega_v1:
309 case imu_type_easymega_v2:
311 case imu_type_telemega_v4:
312 case imu_type_easytimer_v1:
315 return AltosLib.MISSING;
319 private int gyro_yaw(int imu_type) {
320 if (gyro_yaw != AltosLib.MISSING)
326 private int mag_across(int imu_type) {
327 if (mag_across != AltosLib.MISSING)
331 case imu_type_telemega_v1_v2:
332 case imu_type_telemega_v3:
333 case imu_type_easymega_v1:
335 case imu_type_easymega_v2:
337 case imu_type_telemega_v4:
338 case imu_type_easytimer_v1:
341 return AltosLib.MISSING;
345 private int mag_along(int imu_type) {
346 if (mag_along != AltosLib.MISSING)
350 case imu_type_telemega_v1_v2:
351 case imu_type_telemega_v3:
352 case imu_type_easymega_v1:
354 case imu_type_easymega_v2:
355 case imu_type_telemega_v4:
356 case imu_type_easytimer_v1:
359 return AltosLib.MISSING;
363 private int mag_through(int imu_type) {
364 if (mag_through != AltosLib.MISSING)
370 private static boolean is_primary_accel(int imu_type) {
372 case imu_type_easytimer_v1:
379 static public void provide_data(AltosDataListener listener, AltosLink link, int imu_type) throws InterruptedException {
381 AltosIMU imu = new AltosIMU(link);
382 AltosCalData cal_data = listener.cal_data();
384 if (imu_type != AltosLib.MISSING)
385 cal_data.set_imu_type(imu_type);
387 if (imu.imu_model != AltosLib.MISSING)
388 cal_data.set_imu_model(imu.imu_model);
389 if (imu.mag_model != AltosLib.MISSING)
390 cal_data.set_mag_model(imu.mag_model);
392 if (imu.gyro_roll(imu_type) != AltosLib.MISSING) {
393 cal_data.set_gyro_zero(0, 0, 0);
394 listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
395 cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
396 cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
398 listener.set_accel_ground(cal_data.accel_along(imu.accel_along(imu_type)),
399 cal_data.accel_across(imu.accel_across(imu_type)),
400 cal_data.accel_through(imu.accel_through(imu_type)));
401 listener.set_accel(cal_data.accel_along(imu.accel_along(imu_type)),
402 cal_data.accel_across(imu.accel_across(imu_type)),
403 cal_data.accel_through(imu.accel_through(imu_type)));
404 if (is_primary_accel(imu_type)) {
405 int accel = imu.accel_along(imu_type);
406 if (!cal_data.adxl375_inverted)
408 if (cal_data.pad_orientation == 1)
410 listener.set_acceleration(cal_data.acceleration(accel));
412 if (imu.mag_along(imu_type) != AltosLib.MISSING) {
413 listener.set_mag(cal_data.mag_along(imu.mag_along(imu_type)),
414 cal_data.mag_across(imu.mag_across(imu_type)),
415 cal_data.mag_through(imu.mag_through(imu_type)));
418 } catch (TimeoutException te) {
425 public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
429 String line = link.get_reply_no_dialog(5000);
431 throw new TimeoutException();
433 if (parse_string(line))