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 MAG_FULLSCALE_GAUSS_BMX_XY = 11.50; /* 1150µT */
92 public static final double MAG_FULLSCALE_GAUSS_BMX_Z = 25.00; /* 2500µT */
93 public static final double MAG_COUNTS_BMX = 32767.0;
94 public static final double counts_per_gauss_bmx_xy = MAG_COUNTS_BMX / MAG_FULLSCALE_GAUSS_BMX_XY;
95 public static final double counts_per_gauss_bmx_z = MAG_COUNTS_BMX / MAG_FULLSCALE_GAUSS_BMX_Z;
97 public static double counts_per_gauss(int imu_type, int axis) {
99 case imu_type_telemega_v1_v2:
100 case imu_type_easymega_v1:
101 return AltosMag.counts_per_gauss;
102 case imu_type_telemega_v3:
103 case imu_type_easymega_v2:
104 return counts_per_gauss_mpu;
105 case imu_type_telemega_v4:
109 return counts_per_gauss_bmx_xy;
111 return counts_per_gauss_bmx_z;
115 return AltosLib.MISSING;
119 public static double convert_gauss(double counts, int imu_type, int imu_axis) {
120 return counts / counts_per_gauss(imu_type, imu_axis);
123 public boolean parse_string(String line) {
124 if (!line.startsWith("Accel:"))
127 String[] items = line.split("\\s+");
129 System.out.printf("length %d\n", items.length);
131 if (items.length >= 8) {
132 accel_x = Integer.parseInt(items[1]);
133 accel_y = Integer.parseInt(items[2]);
134 accel_z = Integer.parseInt(items[3]);
135 gyro_x = Integer.parseInt(items[5]);
136 gyro_y = Integer.parseInt(items[6]);
137 gyro_z = Integer.parseInt(items[7]);
139 if (items.length >= 12) {
140 mag_x = Integer.parseInt(items[9]);
141 mag_y = Integer.parseInt(items[10]);
142 mag_z = Integer.parseInt(items[11]);
147 public AltosIMU clone() {
148 AltosIMU n = new AltosIMU();
165 public static final int imu_type_telemega_v1_v2 = 0; /* MPU6000 */
166 public static final int imu_type_telemega_v3 = 1; /* MPU9250 */
167 public static final int imu_type_telemega_v4 = 2; /* BMX160 */
169 public static final int imu_type_easymega_v1 = 3; /* MPU6000 */
170 public static final int imu_type_easymega_v2 = 4; /* MPU9250 */
172 private int accel_across(int imu_type) {
174 case imu_type_telemega_v1_v2:
175 case imu_type_telemega_v3:
176 case imu_type_easymega_v1:
178 case imu_type_easymega_v2:
180 case imu_type_telemega_v4:
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:
197 return AltosLib.MISSING;
201 private int accel_through(int imu_type) {
205 private int gyro_roll(int imu_type) {
207 case imu_type_telemega_v1_v2:
208 case imu_type_telemega_v3:
209 case imu_type_easymega_v1:
211 case imu_type_easymega_v2:
212 case imu_type_telemega_v4:
215 return AltosLib.MISSING;
219 private int gyro_pitch(int imu_type) {
221 case imu_type_telemega_v1_v2:
222 case imu_type_telemega_v3:
223 case imu_type_easymega_v1:
225 case imu_type_easymega_v2:
226 case imu_type_telemega_v4:
229 return AltosLib.MISSING;
233 private int gyro_yaw(int imu_type) {
237 public static int mag_across_axis(int imu_type) {
239 case imu_type_telemega_v1_v2:
240 case imu_type_telemega_v3:
241 case imu_type_easymega_v1:
243 case imu_type_telemega_v4:
244 case imu_type_easymega_v2:
247 return AltosLib.MISSING;
251 private int mag_across(int imu_type) {
253 case imu_type_telemega_v1_v2:
254 case imu_type_telemega_v3:
255 case imu_type_easymega_v1:
257 case imu_type_telemega_v4:
258 case imu_type_easymega_v2:
261 return AltosLib.MISSING;
265 public static int mag_along_axis(int imu_type) {
267 case imu_type_telemega_v1_v2:
268 case imu_type_telemega_v3:
269 case imu_type_easymega_v1:
271 case imu_type_easymega_v2:
272 case imu_type_telemega_v4:
275 return AltosLib.MISSING;
279 private int mag_along(int imu_type) {
281 case imu_type_telemega_v1_v2:
282 case imu_type_telemega_v3:
283 case imu_type_easymega_v1:
285 case imu_type_easymega_v2:
286 case imu_type_telemega_v4:
289 return AltosLib.MISSING;
293 public static int mag_through_axis(int imu_type) {
297 private int mag_through(int imu_type) {
301 static public void provide_data(AltosDataListener listener, AltosLink link, int imu_type) throws InterruptedException {
303 AltosIMU imu = new AltosIMU(link);
304 AltosCalData cal_data = listener.cal_data();
306 cal_data.set_imu_type(imu_type);
309 listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
310 cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
311 cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
312 listener.set_accel_ground(cal_data.accel_along(imu.accel_along(imu_type)),
313 cal_data.accel_across(imu.accel_across(imu_type)),
314 cal_data.accel_through(imu.accel_through(imu_type)));
315 listener.set_accel(cal_data.accel_along(imu.accel_along(imu_type)),
316 cal_data.accel_across(imu.accel_across(imu_type)),
317 cal_data.accel_through(imu.accel_through(imu_type)));
318 if (imu.mag_x != AltosLib.MISSING) {
319 listener.set_mag(cal_data.mag_along(imu.mag_along(imu_type)),
320 cal_data.mag_across(imu.mag_across(imu_type)),
321 cal_data.mag_through(imu.mag_through(imu_type)));
324 } catch (TimeoutException te) {
329 accel_x = AltosLib.MISSING;
330 accel_y = AltosLib.MISSING;
331 accel_z = AltosLib.MISSING;
333 gyro_x = AltosLib.MISSING;
334 gyro_y = AltosLib.MISSING;
335 gyro_z = AltosLib.MISSING;
337 mag_x = AltosLib.MISSING;
338 mag_y = AltosLib.MISSING;
339 mag_z = AltosLib.MISSING;
342 public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
346 String line = link.get_reply_no_dialog(5000);
348 throw new TimeoutException();
350 if (parse_string(line))