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 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;
39 public static final double counts_per_g_adxl = 20.5;
41 private static double counts_per_g(int imu_type) {
43 case imu_type_telemega_v1_v2:
44 case imu_type_telemega_v3:
45 case imu_type_easymega_v1:
46 case imu_type_easymega_v2:
47 return counts_per_g_mpu;
48 case imu_type_telemega_v4:
49 case imu_type_easytimer_v1:
50 return counts_per_g_bmx;
51 case imu_type_easymotor_v2:
52 return counts_per_g_adxl;
54 return AltosLib.MISSING;
58 public static double convert_accel(double counts, int imu_type) {
59 return counts / counts_per_g(imu_type) * AltosConvert.gravity;
62 public static final double GYRO_FULLSCALE_DEGREES_MPU = 2000.0;
63 public static final double GYRO_COUNTS_MPU = 32767.0;
64 public static final double counts_per_degree_mpu = GYRO_COUNTS_MPU / GYRO_FULLSCALE_DEGREES_MPU;
65 public static final double GYRO_FULLSCALE_DEGREES_BMX = 2000.0;
66 public static final double GYRO_COUNTS_BMX = 32767.0;
67 public static final double counts_per_degree_bmx = GYRO_COUNTS_BMX / GYRO_FULLSCALE_DEGREES_BMX;
69 private static double counts_per_degree(int imu_type) {
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_degree_mpu;
76 case imu_type_telemega_v4:
77 case imu_type_easytimer_v1:
78 return counts_per_degree_bmx;
80 return AltosLib.MISSING;
84 public static double gyro_degrees_per_second(double counts, int imu_type) {
85 return counts / counts_per_degree(imu_type);
88 public static final int imu_axis_x = 0;
89 public static final int imu_axis_y = 1;
90 public static final int imu_axis_z = 2;
92 public static final double MAG_FULLSCALE_GAUSS_MPU = 48.00; /* 4800µT */
93 public static final double MAG_COUNTS_MPU = 32767.0;
94 public static final double counts_per_gauss_mpu = MAG_COUNTS_MPU / MAG_FULLSCALE_GAUSS_MPU;
96 public static final double counts_per_gauss_bmx = 100.0; /* BMX driver converts to µT */
98 public static double counts_per_gauss(int imu_type, int axis) {
100 case imu_type_telemega_v1_v2:
101 case imu_type_easymega_v1:
102 return AltosMag.counts_per_gauss;
103 case imu_type_telemega_v3:
104 case imu_type_easymega_v2:
105 return counts_per_gauss_mpu;
106 case imu_type_telemega_v4:
107 case imu_type_easytimer_v1:
110 return AltosLib.MISSING;
114 public static double convert_gauss(double counts, int imu_type, int imu_axis) {
115 return counts / counts_per_gauss(imu_type, imu_axis);
118 public boolean parse_string(String line) {
119 if (!line.startsWith("Accel:"))
122 String[] items = line.split("\\s+");
124 if (items.length >= 8) {
125 accel_x = Integer.parseInt(items[1]);
126 accel_y = Integer.parseInt(items[2]);
127 accel_z = Integer.parseInt(items[3]);
128 gyro_x = Integer.parseInt(items[5]);
129 gyro_y = Integer.parseInt(items[6]);
130 gyro_z = Integer.parseInt(items[7]);
132 if (items.length >= 12) {
133 mag_x = Integer.parseInt(items[9]);
134 mag_y = Integer.parseInt(items[10]);
135 mag_z = Integer.parseInt(items[11]);
140 public AltosIMU clone() {
141 AltosIMU n = new AltosIMU();
158 public static final int imu_type_telemega_v1_v2 = 0; /* MPU6000 */
159 public static final int imu_type_telemega_v3 = 1; /* MPU9250 */
160 public static final int imu_type_telemega_v4 = 2; /* BMX160 */
162 public static final int imu_type_easymega_v1 = 3; /* MPU6000 */
163 public static final int imu_type_easymega_v2 = 4; /* MPU9250 */
165 public static final int imu_type_easytimer_v1 = 5; /* BMX160 */
167 public static final int imu_type_easymotor_v2 = 6; /* ADXL375 (accel only) */
169 private int accel_across(int imu_type) {
171 case imu_type_telemega_v1_v2:
172 case imu_type_telemega_v3:
173 case imu_type_easymega_v1:
175 case imu_type_easymega_v2:
177 case imu_type_telemega_v4:
178 case imu_type_easytimer_v1:
180 case imu_type_easymotor_v2:
183 return AltosLib.MISSING;
187 private int accel_along(int imu_type) {
189 case imu_type_telemega_v1_v2:
190 case imu_type_telemega_v3:
191 case imu_type_easymega_v1:
193 case imu_type_easymega_v2:
194 case imu_type_telemega_v4:
195 case imu_type_easytimer_v1:
197 case imu_type_easymotor_v2:
200 return AltosLib.MISSING;
204 private int accel_through(int imu_type) {
208 private int gyro_roll(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:
215 case imu_type_telemega_v4:
216 case imu_type_easytimer_v1:
219 return AltosLib.MISSING;
223 private int gyro_pitch(int imu_type) {
225 case imu_type_telemega_v1_v2:
226 case imu_type_telemega_v3:
227 case imu_type_easymega_v1:
229 case imu_type_easymega_v2:
231 case imu_type_telemega_v4:
232 case imu_type_easytimer_v1:
235 return AltosLib.MISSING;
239 private int gyro_yaw(int imu_type) {
243 public static int mag_across_axis(int imu_type) {
245 case imu_type_telemega_v1_v2:
246 case imu_type_telemega_v3:
247 case imu_type_easymega_v1:
249 case imu_type_easymega_v2:
250 case imu_type_telemega_v4:
251 case imu_type_easytimer_v1:
254 return AltosLib.MISSING;
258 private int mag_across(int imu_type) {
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:
266 case imu_type_telemega_v4:
267 case imu_type_easytimer_v1:
270 return AltosLib.MISSING;
274 public static int mag_along_axis(int imu_type) {
276 case imu_type_telemega_v1_v2:
277 case imu_type_telemega_v3:
278 case imu_type_easymega_v1:
280 case imu_type_easymega_v2:
281 case imu_type_telemega_v4:
282 case imu_type_easytimer_v1:
285 return AltosLib.MISSING;
289 private int mag_along(int imu_type) {
291 case imu_type_telemega_v1_v2:
292 case imu_type_telemega_v3:
293 case imu_type_easymega_v1:
295 case imu_type_easymega_v2:
296 case imu_type_telemega_v4:
297 case imu_type_easytimer_v1:
300 return AltosLib.MISSING;
304 public static int mag_through_axis(int imu_type) {
308 private int mag_through(int imu_type) {
312 static public void provide_data(AltosDataListener listener, AltosLink link, int imu_type) throws InterruptedException {
314 AltosIMU imu = new AltosIMU(link);
315 AltosCalData cal_data = listener.cal_data();
317 cal_data.set_imu_type(imu_type);
320 if (imu.gyro_x != AltosLib.MISSING) {
321 listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
322 cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
323 cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
325 listener.set_accel_ground(cal_data.accel_along(imu.accel_along(imu_type)),
326 cal_data.accel_across(imu.accel_across(imu_type)),
327 cal_data.accel_through(imu.accel_through(imu_type)));
328 listener.set_accel(cal_data.accel_along(imu.accel_along(imu_type)),
329 cal_data.accel_across(imu.accel_across(imu_type)),
330 cal_data.accel_through(imu.accel_through(imu_type)));
331 if (imu.mag_x != AltosLib.MISSING) {
332 listener.set_mag(cal_data.mag_along(imu.mag_along(imu_type)),
333 cal_data.mag_across(imu.mag_across(imu_type)),
334 cal_data.mag_through(imu.mag_through(imu_type)));
337 } catch (TimeoutException te) {
342 accel_x = AltosLib.MISSING;
343 accel_y = AltosLib.MISSING;
344 accel_z = AltosLib.MISSING;
346 gyro_x = AltosLib.MISSING;
347 gyro_y = AltosLib.MISSING;
348 gyro_z = AltosLib.MISSING;
350 mag_x = AltosLib.MISSING;
351 mag_y = AltosLib.MISSING;
352 mag_z = AltosLib.MISSING;
355 public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
359 String line = link.get_reply_no_dialog(5000);
361 throw new TimeoutException();
363 if (parse_string(line))