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   1 /*
   2  * Copyright © 2012 Keith Packard <keithp@keithp.com>
   3  *
   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.
   8  *
   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.
  13  *
  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.
  17  */
  18
  19 package org.altusmetrum.altoslib_14;
  20
  21 import java.util.concurrent.*;
  22 import java.io.*;
  23
  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;
  28
  29         public int              gyro_x = AltosLib.MISSING;
  30         public int              gyro_y = AltosLib.MISSING;
  31         public int              gyro_z = AltosLib.MISSING;
  32
  33         public int              mag_x = AltosLib.MISSING;
  34         public int              mag_y = AltosLib.MISSING;
  35         public int              mag_z = AltosLib.MISSING;
  36
  37         public static final double      counts_per_g_mpu = 2048.0;
  38         public static final double      counts_per_g_bmx = 2048.0;
  39
  40         int                     pad_orientation;
  41
  42         private static double counts_per_g(int imu_type) {
  43                 switch (imu_type) {
  44                 case imu_type_telemega_v1_v2:
  45                 case imu_type_telemega_v3:
  46                 case imu_type_easymega_v1:
  47                 case imu_type_easymega_v2:
  48                         return counts_per_g_mpu;
  49                 case  imu_type_telemega_v4:
  50                 case imu_type_easytimer_v1:
  51                         return counts_per_g_bmx;
  52                 default:
  53                         return AltosLib.MISSING;
  54                 }
  55         }
  56
  57         public static double convert_accel(double counts, int imu_type) {
  58                 return counts / counts_per_g(imu_type) * AltosConvert.gravity;
  59         }
  60
  61         public static final double      GYRO_FULLSCALE_DEGREES_MPU = 2000.0;
  62         public static final double      GYRO_COUNTS_MPU = 32767.0;
  63         public static final double      counts_per_degree_mpu = GYRO_COUNTS_MPU / GYRO_FULLSCALE_DEGREES_MPU;
  64         public static final double      GYRO_FULLSCALE_DEGREES_BMX = 2000.0;
  65         public static final double      GYRO_COUNTS_BMX = 32767.0;
  66         public static final double      counts_per_degree_bmx = GYRO_COUNTS_BMX / GYRO_FULLSCALE_DEGREES_BMX;
  67
  68         private static double counts_per_degree(int imu_type) {
  69                 switch (imu_type) {
  70                 case imu_type_telemega_v1_v2:
  71                 case imu_type_telemega_v3:
  72                 case imu_type_easymega_v1:
  73                 case imu_type_easymega_v2:
  74                         return counts_per_degree_mpu;
  75                 case imu_type_telemega_v4:
  76                 case imu_type_easytimer_v1:
  77                         return counts_per_degree_bmx;
  78                 default:
  79                         return AltosLib.MISSING;
  80                 }
  81         }
  82
  83         public static double gyro_degrees_per_second(double counts, int imu_type) {
  84                 return counts / counts_per_degree(imu_type);
  85         }
  86
  87         public static final int imu_axis_x = 0;
  88         public static final int imu_axis_y = 1;
  89         public static final int imu_axis_z = 2;
  90
  91         public static final double MAG_FULLSCALE_GAUSS_MPU = 48.00;     /* 4800µT */
  92         public static final double MAG_COUNTS_MPU = 32767.0;
  93         public static final double counts_per_gauss_mpu = MAG_COUNTS_MPU / MAG_FULLSCALE_GAUSS_MPU;
  94
  95         public static final double counts_per_gauss_bmx = 100.0;        /* BMX driver converts to µT */
  96
  97         public static double counts_per_gauss(int imu_type, int axis) {
  98                 switch(imu_type) {
  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:
 106                 case imu_type_easytimer_v1:
 107                         return 100.0;
 108                 default:
 109                         return AltosLib.MISSING;
 110                 }
 111         }
 112
 113         public static double convert_gauss(double counts, int imu_type, int imu_axis) {
 114                 return counts / counts_per_gauss(imu_type, imu_axis);
 115         }
 116
 117         public boolean parse_string(String line, AltosLink link) {
 118                 if (!line.startsWith("Accel:"))
 119                         return false;
 120
 121                 try {
 122                         pad_orientation = link.config_data().pad_orientation;
 123                 } catch (Exception e) {
 124                         return false;
 125                 }
 126
 127                 String[] items = line.split("\\s+");
 128
 129                 if (items.length >= 8) {
 130                         accel_x = Integer.parseInt(items[1]);
 131                         accel_y = Integer.parseInt(items[2]);
 132                         accel_z = Integer.parseInt(items[3]);
 133                         gyro_x = Integer.parseInt(items[5]);
 134                         gyro_y = Integer.parseInt(items[6]);
 135                         gyro_z = Integer.parseInt(items[7]);
 136                 }
 137                 if (items.length >= 12) {
 138                         mag_x = Integer.parseInt(items[9]);
 139                         mag_y = Integer.parseInt(items[10]);
 140                         mag_z = Integer.parseInt(items[11]);
 141                 }
 142                 return true;
 143         }
 144
 145         public AltosIMU clone() {
 146                 AltosIMU        n = new AltosIMU();
 147
 148                 n.accel_x = accel_x;
 149                 n.accel_y = accel_y;
 150                 n.accel_z = accel_z;
 151
 152                 n.gyro_x = gyro_x;
 153                 n.gyro_y = gyro_y;
 154                 n.gyro_z = gyro_z;
 155
 156                 n.mag_x = mag_x;
 157                 n.mag_y = mag_y;
 158                 n.mag_z = mag_z;
 159
 160                 return n;
 161         }
 162
 163         public static final int imu_type_telemega_v1_v2 = 0;    /* MPU6000 */
 164         public static final int imu_type_telemega_v3 = 1;       /* MPU9250 */
 165         public static final int imu_type_telemega_v4 = 2;       /* BMX160 */
 166
 167         public static final int imu_type_easymega_v1 = 3;       /* MPU6000 */
 168         public static final int imu_type_easymega_v2 = 4;       /* MPU9250 */
 169
 170         public static final int imu_type_easytimer_v1 = 5;      /* BMX160 */
 171
 172         private int accel_across(int imu_type) {
 173                 switch (imu_type) {
 174                 case imu_type_telemega_v1_v2:
 175                 case imu_type_telemega_v3:
 176                 case imu_type_easymega_v1:
 177                         return accel_x;
 178                 case imu_type_easymega_v2:
 179                         return -accel_y;
 180                 case imu_type_telemega_v4:
 181                 case imu_type_easytimer_v1:
 182                         return -accel_y;
 183                 default:
 184                         return AltosLib.MISSING;
 185                 }
 186         }
 187
 188         private int accel_along(int imu_type) {
 189                 switch (imu_type) {
 190                 case imu_type_telemega_v1_v2:
 191                 case imu_type_telemega_v3:
 192                 case imu_type_easymega_v1:
 193                         return accel_y;
 194                 case imu_type_easymega_v2:
 195                 case imu_type_telemega_v4:
 196                 case imu_type_easytimer_v1:
 197                         return accel_x;
 198                 default:
 199                         return AltosLib.MISSING;
 200                 }
 201         }
 202
 203         private int accel_through(int imu_type) {
 204                 return accel_z;
 205         }
 206
 207         private int gyro_roll(int imu_type) {
 208                 switch (imu_type) {
 209                 case imu_type_telemega_v1_v2:
 210                 case imu_type_telemega_v3:
 211                 case imu_type_easymega_v1:
 212                         return gyro_y;
 213                 case imu_type_easymega_v2:
 214                 case imu_type_telemega_v4:
 215                 case imu_type_easytimer_v1:
 216                         return gyro_x;
 217                 default:
 218                         return AltosLib.MISSING;
 219                 }
 220         }
 221
 222         private int gyro_pitch(int imu_type) {
 223                 switch (imu_type) {
 224                 case imu_type_telemega_v1_v2:
 225                 case imu_type_telemega_v3:
 226                 case imu_type_easymega_v1:
 227                         return gyro_x;
 228                 case imu_type_easymega_v2:
 229                         return -gyro_y;
 230                 case imu_type_telemega_v4:
 231                 case imu_type_easytimer_v1:
 232                         return -gyro_y;
 233                 default:
 234                         return AltosLib.MISSING;
 235                 }
 236         }
 237
 238         private int gyro_yaw(int imu_type) {
 239                 return gyro_z;
 240         }
 241
 242         public static int mag_across_axis(int imu_type) {
 243                 switch (imu_type) {
 244                 case imu_type_telemega_v1_v2:
 245                 case imu_type_telemega_v3:
 246                 case imu_type_easymega_v1:
 247                         return imu_axis_x;
 248                 case imu_type_easymega_v2:
 249                 case imu_type_telemega_v4:
 250                 case imu_type_easytimer_v1:
 251                         return imu_axis_y;
 252                 default:
 253                         return AltosLib.MISSING;
 254                 }
 255         }
 256
 257         private int mag_across(int imu_type) {
 258                 switch (imu_type) {
 259                 case imu_type_telemega_v1_v2:
 260                 case imu_type_telemega_v3:
 261                 case imu_type_easymega_v1:
 262                         return mag_x;
 263                 case imu_type_easymega_v2:
 264                         return -mag_y;
 265                 case imu_type_telemega_v4:
 266                 case imu_type_easytimer_v1:
 267                         return mag_y;
 268                 default:
 269                         return AltosLib.MISSING;
 270                 }
 271         }
 272
 273         public static int mag_along_axis(int imu_type) {
 274                 switch (imu_type) {
 275                 case imu_type_telemega_v1_v2:
 276                 case imu_type_telemega_v3:
 277                 case imu_type_easymega_v1:
 278                         return imu_axis_y;
 279                 case imu_type_easymega_v2:
 280                 case imu_type_telemega_v4:
 281                 case imu_type_easytimer_v1:
 282                         return imu_axis_x;
 283                 default:
 284                         return AltosLib.MISSING;
 285                 }
 286         }
 287
 288         private int mag_along(int imu_type) {
 289                 switch (imu_type) {
 290                 case imu_type_telemega_v1_v2:
 291                 case imu_type_telemega_v3:
 292                 case imu_type_easymega_v1:
 293                         return mag_y;
 294                 case imu_type_easymega_v2:
 295                 case imu_type_telemega_v4:
 296                 case imu_type_easytimer_v1:
 297                         return mag_x;
 298                 default:
 299                         return AltosLib.MISSING;
 300                 }
 301         }
 302
 303         public static int mag_through_axis(int imu_type) {
 304                 return imu_axis_z;
 305         }
 306
 307         private int mag_through(int imu_type) {
 308                 return mag_z;
 309         }
 310
 311         static public void provide_data(AltosDataListener listener, AltosLink link, int imu_type) throws InterruptedException {
 312                 try {
 313                         AltosIMU        imu = new AltosIMU(link);
 314                         AltosCalData    cal_data = listener.cal_data();
 315
 316                         cal_data.set_imu_type(imu_type);
 317
 318                         if (imu != null) {
 319                                 listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
 320                                                   cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
 321                                                   cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
 322                                 listener.set_accel_ground(cal_data.accel_along(imu.accel_along(imu_type)),
 323                                                           cal_data.accel_across(imu.accel_across(imu_type)),
 324                                                           cal_data.accel_through(imu.accel_through(imu_type)));
 325                                 listener.set_accel(cal_data.accel_along(imu.accel_along(imu_type)),
 326                                                    cal_data.accel_across(imu.accel_across(imu_type)),
 327                                                    cal_data.accel_through(imu.accel_through(imu_type)));
 328                                 if (imu.mag_x != AltosLib.MISSING) {
 329                                         listener.set_mag(cal_data.mag_along(imu.mag_along(imu_type)),
 330                                                          cal_data.mag_across(imu.mag_across(imu_type)),
 331                                                          cal_data.mag_through(imu.mag_through(imu_type)));
 332                                 }
 333                         }
 334                 } catch (TimeoutException te) {
 335                 }
 336         }
 337
 338         public AltosIMU() {
 339                 accel_x = AltosLib.MISSING;
 340                 accel_y = AltosLib.MISSING;
 341                 accel_z = AltosLib.MISSING;
 342
 343                 gyro_x = AltosLib.MISSING;
 344                 gyro_y = AltosLib.MISSING;
 345                 gyro_z = AltosLib.MISSING;
 346
 347                 mag_x = AltosLib.MISSING;
 348                 mag_y = AltosLib.MISSING;
 349                 mag_z = AltosLib.MISSING;
 350         }
 351
 352         public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
 353                 this();
 354                 link.printf("I\n");
 355                 for (;;) {
 356                         String line = link.get_reply_no_dialog(5000);
 357                         if (line == null) {
 358                                 throw new TimeoutException();
 359                         }
 360                         if (parse_string(line, link))
 361                                 break;
 362                 }
 363         }
 364 }