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 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 counts_per_gauss_bmx = 100.0; /* BMX driver converts to µT */
93 public static double counts_per_gauss(int imu_type, int axis) {
95 case imu_type_telemega_v1_v2:
96 case imu_type_easymega_v1:
97 return AltosMag.counts_per_gauss;
98 case imu_type_telemega_v3:
99 case imu_type_easymega_v2:
100 return counts_per_gauss_mpu;
101 case imu_type_telemega_v4:
104 return AltosLib.MISSING;
108 public static double convert_gauss(double counts, int imu_type, int imu_axis) {
109 return counts / counts_per_gauss(imu_type, imu_axis);
112 public boolean parse_string(String line) {
113 if (!line.startsWith("Accel:"))
116 String[] items = line.split("\\s+");
118 if (items.length >= 8) {
119 accel_x = Integer.parseInt(items[1]);
120 accel_y = Integer.parseInt(items[2]);
121 accel_z = Integer.parseInt(items[3]);
122 gyro_x = Integer.parseInt(items[5]);
123 gyro_y = Integer.parseInt(items[6]);
124 gyro_z = Integer.parseInt(items[7]);
126 if (items.length >= 12) {
127 mag_x = Integer.parseInt(items[9]);
128 mag_y = Integer.parseInt(items[10]);
129 mag_z = Integer.parseInt(items[11]);
134 public AltosIMU clone() {
135 AltosIMU n = new AltosIMU();
152 public static final int imu_type_telemega_v1_v2 = 0; /* MPU6000 */
153 public static final int imu_type_telemega_v3 = 1; /* MPU9250 */
154 public static final int imu_type_telemega_v4 = 2; /* BMX160 */
156 public static final int imu_type_easymega_v1 = 3; /* MPU6000 */
157 public static final int imu_type_easymega_v2 = 4; /* MPU9250 */
159 private int accel_across(int imu_type) {
161 case imu_type_telemega_v1_v2:
162 case imu_type_telemega_v3:
163 case imu_type_easymega_v1:
165 case imu_type_easymega_v2:
167 case imu_type_telemega_v4:
170 return AltosLib.MISSING;
174 private int accel_along(int imu_type) {
176 case imu_type_telemega_v1_v2:
177 case imu_type_telemega_v3:
178 case imu_type_easymega_v1:
180 case imu_type_easymega_v2:
181 case imu_type_telemega_v4:
184 return AltosLib.MISSING;
188 private int accel_through(int imu_type) {
192 private int gyro_roll(int imu_type) {
194 case imu_type_telemega_v1_v2:
195 case imu_type_telemega_v3:
196 case imu_type_easymega_v1:
198 case imu_type_easymega_v2:
199 case imu_type_telemega_v4:
202 return AltosLib.MISSING;
206 private int gyro_pitch(int imu_type) {
208 case imu_type_telemega_v1_v2:
209 case imu_type_telemega_v3:
210 case imu_type_easymega_v1:
212 case imu_type_easymega_v2:
214 case imu_type_telemega_v4:
217 return AltosLib.MISSING;
221 private int gyro_yaw(int imu_type) {
225 public static int mag_across_axis(int imu_type) {
227 case imu_type_telemega_v1_v2:
228 case imu_type_telemega_v3:
229 case imu_type_easymega_v1:
231 case imu_type_telemega_v4:
232 case imu_type_easymega_v2:
235 return AltosLib.MISSING;
239 private int mag_across(int imu_type) {
241 case imu_type_telemega_v1_v2:
242 case imu_type_telemega_v3:
243 case imu_type_easymega_v1:
245 case imu_type_easymega_v2:
247 case imu_type_telemega_v4:
250 return AltosLib.MISSING;
254 public static int mag_along_axis(int imu_type) {
256 case imu_type_telemega_v1_v2:
257 case imu_type_telemega_v3:
258 case imu_type_easymega_v1:
260 case imu_type_easymega_v2:
261 case imu_type_telemega_v4:
264 return AltosLib.MISSING;
268 private int mag_along(int imu_type) {
270 case imu_type_telemega_v1_v2:
271 case imu_type_telemega_v3:
272 case imu_type_easymega_v1:
274 case imu_type_easymega_v2:
275 case imu_type_telemega_v4:
278 return AltosLib.MISSING;
282 public static int mag_through_axis(int imu_type) {
286 private int mag_through(int imu_type) {
290 static public void provide_data(AltosDataListener listener, AltosLink link, int imu_type) throws InterruptedException {
292 AltosIMU imu = new AltosIMU(link);
293 AltosCalData cal_data = listener.cal_data();
295 cal_data.set_imu_type(imu_type);
298 listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
299 cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
300 cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
301 listener.set_accel_ground(cal_data.accel_along(imu.accel_along(imu_type)),
302 cal_data.accel_across(imu.accel_across(imu_type)),
303 cal_data.accel_through(imu.accel_through(imu_type)));
304 listener.set_accel(cal_data.accel_along(imu.accel_along(imu_type)),
305 cal_data.accel_across(imu.accel_across(imu_type)),
306 cal_data.accel_through(imu.accel_through(imu_type)));
307 if (imu.mag_x != AltosLib.MISSING) {
308 listener.set_mag(cal_data.mag_along(imu.mag_along(imu_type)),
309 cal_data.mag_across(imu.mag_across(imu_type)),
310 cal_data.mag_through(imu.mag_through(imu_type)));
313 } catch (TimeoutException te) {
318 accel_x = AltosLib.MISSING;
319 accel_y = AltosLib.MISSING;
320 accel_z = AltosLib.MISSING;
322 gyro_x = AltosLib.MISSING;
323 gyro_y = AltosLib.MISSING;
324 gyro_z = AltosLib.MISSING;
326 mag_x = AltosLib.MISSING;
327 mag_y = AltosLib.MISSING;
328 mag_z = AltosLib.MISSING;
331 public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
335 String line = link.get_reply_no_dialog(5000);
337 throw new TimeoutException();
339 if (parse_string(line))