X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=2944a2a5e1131035b74eb21f2bca7a4cf0420406;hb=02c7bb11a8a4270e40bd1f42abd00ae849ff7539;hp=98998956bf75ad6544bd51792690456bdc060d40;hpb=a5a8a4d8de49484a2edba62cc9b84377aa5415a6;p=fw%2Faltos diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java index 98998956..2944a2a5 100644 --- a/altoslib/AltosIMU.java +++ b/altoslib/AltosIMU.java @@ -16,7 +16,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_13; +package org.altusmetrum.altoslib_14; import java.util.concurrent.*; import java.io.*; @@ -36,6 +36,7 @@ public class AltosIMU implements Cloneable { public static final double counts_per_g_mpu = 2048.0; public static final double counts_per_g_bmx = 2048.0; + public static final double counts_per_g_adxl = 20.5; private static double counts_per_g(int imu_type) { switch (imu_type) { @@ -45,7 +46,10 @@ public class AltosIMU implements Cloneable { case imu_type_easymega_v2: return counts_per_g_mpu; case imu_type_telemega_v4: + case imu_type_easytimer_v1: return counts_per_g_bmx; + case imu_type_easymotor_v2: + return counts_per_g_adxl; default: return AltosLib.MISSING; } @@ -69,7 +73,8 @@ public class AltosIMU implements Cloneable { case imu_type_easymega_v1: case imu_type_easymega_v2: return counts_per_degree_mpu; - case imu_type_telemega_v4: + case imu_type_telemega_v4: + case imu_type_easytimer_v1: return counts_per_degree_bmx; default: return AltosLib.MISSING; @@ -88,11 +93,7 @@ public class AltosIMU implements Cloneable { public static final double MAG_COUNTS_MPU = 32767.0; public static final double counts_per_gauss_mpu = MAG_COUNTS_MPU / MAG_FULLSCALE_GAUSS_MPU; - public static final double MAG_FULLSCALE_GAUSS_BMX_XY = 11.50; /* 1150µT */ - public static final double MAG_FULLSCALE_GAUSS_BMX_Z = 25.00; /* 2500µT */ - public static final double MAG_COUNTS_BMX = 32767.0; - public static final double counts_per_gauss_bmx_xy = MAG_COUNTS_BMX / MAG_FULLSCALE_GAUSS_BMX_XY; - public static final double counts_per_gauss_bmx_z = MAG_COUNTS_BMX / MAG_FULLSCALE_GAUSS_BMX_Z; + public static final double counts_per_gauss_bmx = 100.0; /* BMX driver converts to µT */ public static double counts_per_gauss(int imu_type, int axis) { switch(imu_type) { @@ -103,14 +104,8 @@ public class AltosIMU implements Cloneable { case imu_type_easymega_v2: return counts_per_gauss_mpu; case imu_type_telemega_v4: - switch (axis) { - case imu_axis_x: - case imu_axis_y: - return counts_per_gauss_bmx_xy; - case imu_axis_z: - return counts_per_gauss_bmx_z; - } - /* fall through */ + case imu_type_easytimer_v1: + return 100.0; default: return AltosLib.MISSING; } @@ -126,8 +121,6 @@ public class AltosIMU implements Cloneable { String[] items = line.split("\\s+"); - System.out.printf("length %d\n", items.length); - if (items.length >= 8) { accel_x = Integer.parseInt(items[1]); accel_y = Integer.parseInt(items[2]); @@ -169,6 +162,10 @@ public class AltosIMU implements Cloneable { public static final int imu_type_easymega_v1 = 3; /* MPU6000 */ public static final int imu_type_easymega_v2 = 4; /* MPU9250 */ + public static final int imu_type_easytimer_v1 = 5; /* BMX160 */ + + public static final int imu_type_easymotor_v2 = 6; /* ADXL375 (accel only) */ + private int accel_across(int imu_type) { switch (imu_type) { case imu_type_telemega_v1_v2: @@ -177,8 +174,11 @@ public class AltosIMU implements Cloneable { return accel_x; case imu_type_easymega_v2: return -accel_y; - case imu_type_telemega_v4: + case imu_type_telemega_v4: + case imu_type_easytimer_v1: return -accel_y; + case imu_type_easymotor_v2: + return accel_y; default: return AltosLib.MISSING; } @@ -192,7 +192,10 @@ public class AltosIMU implements Cloneable { return accel_y; case imu_type_easymega_v2: case imu_type_telemega_v4: + case imu_type_easytimer_v1: return accel_x; + case imu_type_easymotor_v2: + return -accel_x; default: return AltosLib.MISSING; } @@ -210,6 +213,7 @@ public class AltosIMU implements Cloneable { return gyro_y; case imu_type_easymega_v2: case imu_type_telemega_v4: + case imu_type_easytimer_v1: return gyro_x; default: return AltosLib.MISSING; @@ -225,7 +229,8 @@ public class AltosIMU implements Cloneable { case imu_type_easymega_v2: return -gyro_y; case imu_type_telemega_v4: - return gyro_y; + case imu_type_easytimer_v1: + return -gyro_y; default: return AltosLib.MISSING; } @@ -241,8 +246,9 @@ public class AltosIMU implements Cloneable { case imu_type_telemega_v3: case imu_type_easymega_v1: return imu_axis_x; - case imu_type_telemega_v4: case imu_type_easymega_v2: + case imu_type_telemega_v4: + case imu_type_easytimer_v1: return imu_axis_y; default: return AltosLib.MISSING; @@ -255,9 +261,11 @@ public class AltosIMU implements Cloneable { case imu_type_telemega_v3: case imu_type_easymega_v1: return mag_x; - case imu_type_telemega_v4: case imu_type_easymega_v2: return -mag_y; + case imu_type_telemega_v4: + case imu_type_easytimer_v1: + return mag_y; default: return AltosLib.MISSING; } @@ -271,6 +279,7 @@ public class AltosIMU implements Cloneable { return imu_axis_y; case imu_type_easymega_v2: case imu_type_telemega_v4: + case imu_type_easytimer_v1: return imu_axis_x; default: return AltosLib.MISSING; @@ -285,6 +294,7 @@ public class AltosIMU implements Cloneable { return mag_y; case imu_type_easymega_v2: case imu_type_telemega_v4: + case imu_type_easytimer_v1: return mag_x; default: return AltosLib.MISSING; @@ -307,9 +317,11 @@ public class AltosIMU implements Cloneable { cal_data.set_imu_type(imu_type); if (imu != null) { - listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)), - cal_data.gyro_pitch(imu.gyro_pitch(imu_type)), - cal_data.gyro_yaw(imu.gyro_yaw(imu_type))); + if (imu.gyro_x != AltosLib.MISSING) { + listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)), + cal_data.gyro_pitch(imu.gyro_pitch(imu_type)), + cal_data.gyro_yaw(imu.gyro_yaw(imu_type))); + } listener.set_accel_ground(cal_data.accel_along(imu.accel_along(imu_type)), cal_data.accel_across(imu.accel_across(imu_type)), cal_data.accel_through(imu.accel_through(imu_type)));