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 double cpg = counts_per_g(imu_type);
60 if (cpg == AltosLib.MISSING)
61 return AltosLib.MISSING;
62 return counts / cpg * AltosConvert.gravity;
65 public static final double GYRO_FULLSCALE_DEGREES_MPU = 2000.0;
66 public static final double GYRO_COUNTS_MPU = 32767.0;
67 public static final double counts_per_degree_mpu = GYRO_COUNTS_MPU / GYRO_FULLSCALE_DEGREES_MPU;
68 public static final double GYRO_FULLSCALE_DEGREES_BMX = 2000.0;
69 public static final double GYRO_COUNTS_BMX = 32767.0;
70 public static final double counts_per_degree_bmx = GYRO_COUNTS_BMX / GYRO_FULLSCALE_DEGREES_BMX;
72 private static double counts_per_degree(int imu_type) {
74 case imu_type_telemega_v1_v2:
75 case imu_type_telemega_v3:
76 case imu_type_easymega_v1:
77 case imu_type_easymega_v2:
78 return counts_per_degree_mpu;
79 case imu_type_telemega_v4:
80 case imu_type_easytimer_v1:
81 return counts_per_degree_bmx;
83 return AltosLib.MISSING;
87 public static double gyro_degrees_per_second(double counts, int imu_type) {
88 double cpd = counts_per_degree(imu_type);
89 if (cpd == AltosLib.MISSING)
90 return AltosLib.MISSING;
94 public static final int imu_axis_x = 0;
95 public static final int imu_axis_y = 1;
96 public static final int imu_axis_z = 2;
98 public static final double MAG_FULLSCALE_GAUSS_MPU = 48.00; /* 4800µT */
99 public static final double MAG_COUNTS_MPU = 32767.0;
100 public static final double counts_per_gauss_mpu = MAG_COUNTS_MPU / MAG_FULLSCALE_GAUSS_MPU;
102 public static final double counts_per_gauss_bmx = 100.0; /* BMX driver converts to µT */
104 public static double counts_per_gauss(int imu_type, int axis) {
106 case imu_type_telemega_v1_v2:
107 case imu_type_easymega_v1:
108 return AltosMag.counts_per_gauss;
109 case imu_type_telemega_v3:
110 case imu_type_easymega_v2:
111 return counts_per_gauss_mpu;
112 case imu_type_telemega_v4:
113 case imu_type_easytimer_v1:
116 return AltosLib.MISSING;
120 public static double convert_gauss(double counts, int imu_type, int imu_axis) {
121 double cpg = counts_per_gauss(imu_type, imu_axis);
122 if (cpg == AltosLib.MISSING)
123 return AltosLib.MISSING;
127 public boolean parse_string(String line) {
128 if (!line.startsWith("Accel:"))
131 String[] items = line.split("\\s+");
133 if (items.length >= 8) {
134 accel_x = Integer.parseInt(items[1]);
135 accel_y = Integer.parseInt(items[2]);
136 accel_z = Integer.parseInt(items[3]);
137 gyro_x = Integer.parseInt(items[5]);
138 gyro_y = Integer.parseInt(items[6]);
139 gyro_z = Integer.parseInt(items[7]);
141 if (items.length >= 12) {
142 mag_x = Integer.parseInt(items[9]);
143 mag_y = Integer.parseInt(items[10]);
144 mag_z = Integer.parseInt(items[11]);
149 public AltosIMU clone() {
150 AltosIMU n = new AltosIMU();
167 public static final int imu_type_telemega_v1_v2 = 0; /* MPU6000 */
168 public static final int imu_type_telemega_v3 = 1; /* MPU9250 */
169 public static final int imu_type_telemega_v4 = 2; /* BMX160 */
171 public static final int imu_type_easymega_v1 = 3; /* MPU6000 */
172 public static final int imu_type_easymega_v2 = 4; /* MPU9250 */
174 public static final int imu_type_easytimer_v1 = 5; /* BMX160 */
176 public static final int imu_type_easymotor_v2 = 6; /* ADXL375 (accel only) */
178 private int accel_across(int imu_type) {
180 case imu_type_telemega_v1_v2:
181 case imu_type_telemega_v3:
182 case imu_type_easymega_v1:
184 case imu_type_easymega_v2:
186 case imu_type_telemega_v4:
187 case imu_type_easytimer_v1:
189 case imu_type_easymotor_v2:
192 return AltosLib.MISSING;
196 private int accel_along(int imu_type) {
198 case imu_type_telemega_v1_v2:
199 case imu_type_telemega_v3:
200 case imu_type_easymega_v1:
202 case imu_type_easymega_v2:
203 case imu_type_telemega_v4:
204 case imu_type_easytimer_v1:
206 case imu_type_easymotor_v2:
209 return AltosLib.MISSING;
213 private int accel_through(int imu_type) {
217 private int gyro_roll(int imu_type) {
219 case imu_type_telemega_v1_v2:
220 case imu_type_telemega_v3:
221 case imu_type_easymega_v1:
223 case imu_type_easymega_v2:
224 case imu_type_telemega_v4:
225 case imu_type_easytimer_v1:
228 return AltosLib.MISSING;
232 private int gyro_pitch(int imu_type) {
234 case imu_type_telemega_v1_v2:
235 case imu_type_telemega_v3:
236 case imu_type_easymega_v1:
238 case imu_type_easymega_v2:
240 case imu_type_telemega_v4:
241 case imu_type_easytimer_v1:
244 return AltosLib.MISSING;
248 private int gyro_yaw(int imu_type) {
252 public static int mag_across_axis(int imu_type) {
254 case imu_type_telemega_v1_v2:
255 case imu_type_telemega_v3:
256 case imu_type_easymega_v1:
258 case imu_type_easymega_v2:
259 case imu_type_telemega_v4:
260 case imu_type_easytimer_v1:
263 return AltosLib.MISSING;
267 private int mag_across(int imu_type) {
269 case imu_type_telemega_v1_v2:
270 case imu_type_telemega_v3:
271 case imu_type_easymega_v1:
273 case imu_type_easymega_v2:
275 case imu_type_telemega_v4:
276 case imu_type_easytimer_v1:
279 return AltosLib.MISSING;
283 public static int mag_along_axis(int imu_type) {
285 case imu_type_telemega_v1_v2:
286 case imu_type_telemega_v3:
287 case imu_type_easymega_v1:
289 case imu_type_easymega_v2:
290 case imu_type_telemega_v4:
291 case imu_type_easytimer_v1:
294 return AltosLib.MISSING;
298 private int mag_along(int imu_type) {
300 case imu_type_telemega_v1_v2:
301 case imu_type_telemega_v3:
302 case imu_type_easymega_v1:
304 case imu_type_easymega_v2:
305 case imu_type_telemega_v4:
306 case imu_type_easytimer_v1:
309 return AltosLib.MISSING;
313 private static boolean is_primary_accel(int imu_type) {
315 case imu_type_easytimer_v1:
322 public static int mag_through_axis(int imu_type) {
326 private int mag_through(int imu_type) {
330 static public void provide_data(AltosDataListener listener, AltosLink link, int imu_type) throws InterruptedException {
332 AltosIMU imu = new AltosIMU(link);
333 AltosCalData cal_data = listener.cal_data();
335 cal_data.set_imu_type(imu_type);
338 if (imu.gyro_x != AltosLib.MISSING) {
339 cal_data.set_gyro_zero(0, 0, 0);
340 listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
341 cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
342 cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
344 listener.set_accel_ground(cal_data.accel_along(imu.accel_along(imu_type)),
345 cal_data.accel_across(imu.accel_across(imu_type)),
346 cal_data.accel_through(imu.accel_through(imu_type)));
347 listener.set_accel(cal_data.accel_along(imu.accel_along(imu_type)),
348 cal_data.accel_across(imu.accel_across(imu_type)),
349 cal_data.accel_through(imu.accel_through(imu_type)));
350 if (is_primary_accel(imu_type)) {
351 int accel = imu.accel_along(imu_type);
352 if (!cal_data.adxl375_inverted)
354 if (cal_data.pad_orientation == 1)
356 listener.set_acceleration(cal_data.acceleration(accel));
358 if (imu.mag_x != AltosLib.MISSING) {
359 listener.set_mag(cal_data.mag_along(imu.mag_along(imu_type)),
360 cal_data.mag_across(imu.mag_across(imu_type)),
361 cal_data.mag_through(imu.mag_through(imu_type)));
364 } catch (TimeoutException te) {
369 accel_x = AltosLib.MISSING;
370 accel_y = AltosLib.MISSING;
371 accel_z = AltosLib.MISSING;
373 gyro_x = AltosLib.MISSING;
374 gyro_y = AltosLib.MISSING;
375 gyro_z = AltosLib.MISSING;
377 mag_x = AltosLib.MISSING;
378 mag_y = AltosLib.MISSING;
379 mag_z = AltosLib.MISSING;
382 public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
386 String line = link.get_reply_no_dialog(5000);
388 throw new TimeoutException();
390 if (parse_string(line))