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;
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 case imu_type_easytimer_v1:
49 return counts_per_g_bmx;
51 return AltosLib.MISSING;
55 public static double convert_accel(double counts, int imu_type) {
56 return counts / counts_per_g(imu_type) * AltosConvert.gravity;
59 public static final double GYRO_FULLSCALE_DEGREES_MPU = 2000.0;
60 public static final double GYRO_COUNTS_MPU = 32767.0;
61 public static final double counts_per_degree_mpu = GYRO_COUNTS_MPU / GYRO_FULLSCALE_DEGREES_MPU;
62 public static final double GYRO_FULLSCALE_DEGREES_BMX = 2000.0;
63 public static final double GYRO_COUNTS_BMX = 32767.0;
64 public static final double counts_per_degree_bmx = GYRO_COUNTS_BMX / GYRO_FULLSCALE_DEGREES_BMX;
66 private static double counts_per_degree(int imu_type) {
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_degree_mpu;
73 case imu_type_telemega_v4:
74 case imu_type_easytimer_v1:
75 return counts_per_degree_bmx;
77 return AltosLib.MISSING;
81 public static double gyro_degrees_per_second(double counts, int imu_type) {
82 return counts / counts_per_degree(imu_type);
85 public static final int imu_axis_x = 0;
86 public static final int imu_axis_y = 1;
87 public static final int imu_axis_z = 2;
89 public static final double MAG_FULLSCALE_GAUSS_MPU = 48.00; /* 4800µT */
90 public static final double MAG_COUNTS_MPU = 32767.0;
91 public static final double counts_per_gauss_mpu = MAG_COUNTS_MPU / MAG_FULLSCALE_GAUSS_MPU;
93 public static final double counts_per_gauss_bmx = 100.0; /* BMX driver converts to µT */
95 public static double counts_per_gauss(int imu_type, int axis) {
97 case imu_type_telemega_v1_v2:
98 case imu_type_easymega_v1:
99 return AltosMag.counts_per_gauss;
100 case imu_type_telemega_v3:
101 case imu_type_easymega_v2:
102 return counts_per_gauss_mpu;
103 case imu_type_telemega_v4:
104 case imu_type_easytimer_v1:
107 return AltosLib.MISSING;
111 public static double convert_gauss(double counts, int imu_type, int imu_axis) {
112 return counts / counts_per_gauss(imu_type, imu_axis);
115 public boolean parse_string(String line) {
116 if (!line.startsWith("Accel:"))
119 String[] items = line.split("\\s+");
121 if (items.length >= 8) {
122 accel_x = Integer.parseInt(items[1]);
123 accel_y = Integer.parseInt(items[2]);
124 accel_z = Integer.parseInt(items[3]);
125 gyro_x = Integer.parseInt(items[5]);
126 gyro_y = Integer.parseInt(items[6]);
127 gyro_z = Integer.parseInt(items[7]);
129 if (items.length >= 12) {
130 mag_x = Integer.parseInt(items[9]);
131 mag_y = Integer.parseInt(items[10]);
132 mag_z = Integer.parseInt(items[11]);
137 public AltosIMU clone() {
138 AltosIMU n = new AltosIMU();
155 public static final int imu_type_telemega_v1_v2 = 0; /* MPU6000 */
156 public static final int imu_type_telemega_v3 = 1; /* MPU9250 */
157 public static final int imu_type_telemega_v4 = 2; /* BMX160 */
159 public static final int imu_type_easymega_v1 = 3; /* MPU6000 */
160 public static final int imu_type_easymega_v2 = 4; /* MPU9250 */
162 public static final int imu_type_easytimer_v1 = 5; /* BMX160 */
164 private int accel_across(int imu_type) {
166 case imu_type_telemega_v1_v2:
167 case imu_type_telemega_v3:
168 case imu_type_easymega_v1:
170 case imu_type_easymega_v2:
172 case imu_type_telemega_v4:
173 case imu_type_easytimer_v1:
176 return AltosLib.MISSING;
180 private int accel_along(int imu_type) {
182 case imu_type_telemega_v1_v2:
183 case imu_type_telemega_v3:
184 case imu_type_easymega_v1:
186 case imu_type_easymega_v2:
187 case imu_type_telemega_v4:
188 case imu_type_easytimer_v1:
191 return AltosLib.MISSING;
195 private int accel_through(int imu_type) {
199 private int gyro_roll(int imu_type) {
201 case imu_type_telemega_v1_v2:
202 case imu_type_telemega_v3:
203 case imu_type_easymega_v1:
205 case imu_type_easymega_v2:
206 case imu_type_telemega_v4:
207 case imu_type_easytimer_v1:
210 return AltosLib.MISSING;
214 private int gyro_pitch(int imu_type) {
216 case imu_type_telemega_v1_v2:
217 case imu_type_telemega_v3:
218 case imu_type_easymega_v1:
220 case imu_type_easymega_v2:
222 case imu_type_telemega_v4:
223 case imu_type_easytimer_v1:
226 return AltosLib.MISSING;
230 private int gyro_yaw(int imu_type) {
234 public static int mag_across_axis(int imu_type) {
236 case imu_type_telemega_v1_v2:
237 case imu_type_telemega_v3:
238 case imu_type_easymega_v1:
240 case imu_type_easymega_v2:
241 case imu_type_telemega_v4:
242 case imu_type_easytimer_v1:
245 return AltosLib.MISSING;
249 private int mag_across(int imu_type) {
251 case imu_type_telemega_v1_v2:
252 case imu_type_telemega_v3:
253 case imu_type_easymega_v1:
255 case imu_type_easymega_v2:
257 case imu_type_telemega_v4:
258 case imu_type_easytimer_v1:
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:
273 case imu_type_easytimer_v1:
276 return AltosLib.MISSING;
280 private int mag_along(int imu_type) {
282 case imu_type_telemega_v1_v2:
283 case imu_type_telemega_v3:
284 case imu_type_easymega_v1:
286 case imu_type_easymega_v2:
287 case imu_type_telemega_v4:
288 case imu_type_easytimer_v1:
291 return AltosLib.MISSING;
295 public static int mag_through_axis(int imu_type) {
299 private int mag_through(int imu_type) {
303 static public void provide_data(AltosDataListener listener, AltosLink link, int imu_type) throws InterruptedException {
305 AltosIMU imu = new AltosIMU(link);
306 AltosCalData cal_data = listener.cal_data();
308 cal_data.set_imu_type(imu_type);
311 listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
312 cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
313 cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
314 listener.set_accel_ground(cal_data.accel_along(imu.accel_along(imu_type)),
315 cal_data.accel_across(imu.accel_across(imu_type)),
316 cal_data.accel_through(imu.accel_through(imu_type)));
317 listener.set_accel(cal_data.accel_along(imu.accel_along(imu_type)),
318 cal_data.accel_across(imu.accel_across(imu_type)),
319 cal_data.accel_through(imu.accel_through(imu_type)));
320 if (imu.mag_x != AltosLib.MISSING) {
321 listener.set_mag(cal_data.mag_along(imu.mag_along(imu_type)),
322 cal_data.mag_across(imu.mag_across(imu_type)),
323 cal_data.mag_through(imu.mag_through(imu_type)));
326 } catch (TimeoutException te) {
331 accel_x = AltosLib.MISSING;
332 accel_y = AltosLib.MISSING;
333 accel_z = AltosLib.MISSING;
335 gyro_x = AltosLib.MISSING;
336 gyro_y = AltosLib.MISSING;
337 gyro_z = AltosLib.MISSING;
339 mag_x = AltosLib.MISSING;
340 mag_y = AltosLib.MISSING;
341 mag_z = AltosLib.MISSING;
344 public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
348 String line = link.get_reply_no_dialog(5000);
350 throw new TimeoutException();
352 if (parse_string(line))