git.gag.com Git - fw/altos/blob - altoslib/AltosIMU.java

   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              accel_along = AltosLib.MISSING;
  30         public int              accel_across = AltosLib.MISSING;
  31         public int              accel_through = AltosLib.MISSING;
  32
  33         public int              gyro_x = AltosLib.MISSING;
  34         public int              gyro_y = AltosLib.MISSING;
  35         public int              gyro_z = AltosLib.MISSING;
  36
  37         public int              gyro_roll = AltosLib.MISSING;
  38         public int              gyro_pitch = AltosLib.MISSING;
  39         public int              gyro_yaw = AltosLib.MISSING;
  40
  41         public int              mag_x = AltosLib.MISSING;
  42         public int              mag_y = AltosLib.MISSING;
  43         public int              mag_z = AltosLib.MISSING;
  44
  45         public int              mag_along = AltosLib.MISSING;
  46         public int              mag_across = AltosLib.MISSING;
  47         public int              mag_through = AltosLib.MISSING;
  48
  49         public int              imu_model = AltosLib.MISSING;
  50         public int              mag_model = AltosLib.MISSING;
  51
  52         public static final double      counts_per_g_mpu = 2048.0;
  53         public static final double      counts_per_g_bmx = 2048.0;
  54         public static final double      counts_per_g_adxl = 20.5;
  55
  56         private static double counts_per_g(int imu_type, int imu_model) {
  57                 switch (imu_model) {
  58                 case AltosLib.model_mpu6000:
  59                 case AltosLib.model_mpu9250:
  60                         return counts_per_g_mpu;
  61                 case AltosLib.model_adxl375:
  62                         return counts_per_g_adxl;
  63                 case AltosLib.model_bmx160:
  64                         return counts_per_g_bmx;
  65                 }
  66
  67                 switch (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_g_mpu;
  73                 case  imu_type_telemega_v4:
  74                 case imu_type_easytimer_v1:
  75                         return counts_per_g_bmx;
  76                 case imu_type_easymotor_v2:
  77                         return counts_per_g_adxl;
  78                 }
  79
  80                 return AltosLib.MISSING;
  81         }
  82
  83         public static double convert_accel(double counts, int imu_type, int imu_model) {
  84                 double cpg = counts_per_g(imu_type, imu_model);
  85                 if (cpg == AltosLib.MISSING)
  86                         return AltosLib.MISSING;
  87                 return counts / cpg * AltosConvert.gravity;
  88         }
  89
  90         public static final double      GYRO_FULLSCALE_DEGREES_MPU = 2000.0;
  91         public static final double      GYRO_COUNTS_MPU = 32767.0;
  92         public static final double      counts_per_degree_mpu = GYRO_COUNTS_MPU / GYRO_FULLSCALE_DEGREES_MPU;
  93         public static final double      GYRO_FULLSCALE_DEGREES_BMX = 2000.0;
  94         public static final double      GYRO_COUNTS_BMX = 32767.0;
  95         public static final double      counts_per_degree_bmx = GYRO_COUNTS_BMX / GYRO_FULLSCALE_DEGREES_BMX;
  96
  97         private static double counts_per_degree(int imu_type, int imu_model) {
  98                 switch (imu_model) {
  99                 case AltosLib.model_mpu6000:
 100                 case AltosLib.model_mpu9250:
 101                         return counts_per_degree_mpu;
 102                 case AltosLib.model_bmx160:
 103                         return counts_per_degree_bmx;
 104                 }
 105
 106                 switch (imu_type) {
 107                 case imu_type_telemega_v1_v2:
 108                 case imu_type_telemega_v3:
 109                 case imu_type_easymega_v1:
 110                 case imu_type_easymega_v2:
 111                         return counts_per_degree_mpu;
 112                 case imu_type_telemega_v4:
 113                 case imu_type_easytimer_v1:
 114                         return counts_per_degree_bmx;
 115                 default:
 116                         return AltosLib.MISSING;
 117                 }
 118         }
 119
 120         public static double gyro_degrees_per_second(double counts, int imu_type, int imu_model) {
 121                 double cpd = counts_per_degree(imu_type, imu_model);
 122
 123                 if (cpd == AltosLib.MISSING)
 124                         return AltosLib.MISSING;
 125                 return counts / cpd;
 126         }
 127
 128         public static final double MAG_FULLSCALE_GAUSS_MPU = 48.00;     /* 4800µT */
 129         public static final double MAG_COUNTS_MPU = 32767.0;
 130         public static final double counts_per_gauss_mpu = MAG_COUNTS_MPU / MAG_FULLSCALE_GAUSS_MPU;
 131
 132         public static final double counts_per_gauss_bmx = 100.0;        /* BMX driver converts to µT */
 133
 134         public static double counts_per_gauss(int imu_type, int imu_model) {
 135                 switch (imu_model) {
 136                 case AltosLib.model_mpu9250:
 137                         return counts_per_gauss_mpu;
 138                 case AltosLib.model_bmx160:
 139                         return counts_per_gauss_bmx;
 140                 }
 141
 142                 switch(imu_type) {
 143                 case imu_type_telemega_v3:
 144                 case imu_type_easymega_v2:
 145                         return counts_per_gauss_mpu;
 146                 case imu_type_telemega_v4:
 147                 case imu_type_easytimer_v1:
 148                         return counts_per_gauss_bmx;
 149                 }
 150                 return AltosLib.MISSING;
 151         }
 152
 153         public boolean parse_string(String line) {
 154                 if (line.startsWith("Accel:")) {
 155
 156                         String[] items = line.split("\\s+");
 157
 158                         if (items.length >= 8) {
 159                                 accel_x = Integer.parseInt(items[1]);
 160                                 accel_y = Integer.parseInt(items[2]);
 161                                 accel_z = Integer.parseInt(items[3]);
 162                                 gyro_x = Integer.parseInt(items[5]);
 163                                 gyro_y = Integer.parseInt(items[6]);
 164                                 gyro_z = Integer.parseInt(items[7]);
 165                         }
 166                         if (items.length >= 12) {
 167                                 mag_x = Integer.parseInt(items[9]);
 168                                 mag_y = Integer.parseInt(items[10]);
 169                                 mag_z = Integer.parseInt(items[11]);
 170                         }
 171                         return true;
 172                 }
 173                 if (line.startsWith("MPU6000:")) {
 174                         String[] items = line.split("\\s+");
 175
 176                         imu_model = AltosLib.model_mpu6000;
 177
 178                         if (items.length >= 7) {
 179                                 accel_along = Integer.parseInt(items[1]);
 180                                 accel_across = Integer.parseInt(items[2]);
 181                                 accel_through = Integer.parseInt(items[3]);
 182                                 gyro_roll = Integer.parseInt(items[4]);
 183                                 gyro_pitch = Integer.parseInt(items[5]);
 184                                 gyro_yaw = Integer.parseInt(items[6]);
 185                         }
 186                         return true;
 187                 }
 188
 189                 return false;
 190         }
 191
 192         public AltosIMU clone() {
 193                 AltosIMU        n = new AltosIMU();
 194
 195                 n.accel_x = accel_x;
 196                 n.accel_y = accel_y;
 197                 n.accel_z = accel_z;
 198
 199                 n.accel_along = accel_along;
 200                 n.accel_across = accel_across;
 201                 n.accel_through = accel_through;
 202
 203                 n.gyro_x = gyro_x;
 204                 n.gyro_y = gyro_y;
 205                 n.gyro_z = gyro_z;
 206
 207                 n.gyro_roll = gyro_roll;
 208                 n.gyro_pitch = gyro_pitch;
 209                 n.gyro_yaw = gyro_yaw;
 210
 211                 n.mag_x = mag_x;
 212                 n.mag_y = mag_y;
 213                 n.mag_z = mag_z;
 214
 215                 n.mag_along = mag_along;
 216                 n.mag_across = mag_across;
 217                 n.mag_through = mag_through;
 218
 219                 return n;
 220         }
 221
 222         public static final int imu_type_telemega_v1_v2 = 0;    /* MPU6000 */
 223         public static final int imu_type_telemega_v3 = 1;       /* MPU9250 */
 224         public static final int imu_type_telemega_v4 = 2;       /* BMX160 */
 225
 226         public static final int imu_type_easymega_v1 = 3;       /* MPU6000 */
 227         public static final int imu_type_easymega_v2 = 4;       /* MPU9250 */
 228
 229         public static final int imu_type_easytimer_v1 = 5;      /* BMX160 */
 230
 231         public static final int imu_type_easymotor_v2 = 6;      /* ADXL375 (accel only) */
 232
 233         private int accel_across(int imu_type) {
 234
 235                 if (accel_across != AltosLib.MISSING)
 236                         return accel_across;
 237
 238                 switch (imu_type) {
 239                 case imu_type_telemega_v1_v2:
 240                 case imu_type_telemega_v3:
 241                 case imu_type_easymega_v1:
 242                         return accel_x;
 243                 case imu_type_easymega_v2:
 244                         return -accel_y;
 245                 case imu_type_telemega_v4:
 246                 case imu_type_easytimer_v1:
 247                         return -accel_y;
 248                 case imu_type_easymotor_v2:
 249                         return accel_y;
 250                 default:
 251                         return AltosLib.MISSING;
 252                 }
 253         }
 254
 255         private int accel_along(int imu_type) {
 256                 if (accel_along != AltosLib.MISSING)
 257                         return accel_along;
 258
 259                 switch (imu_type) {
 260                 case imu_type_telemega_v1_v2:
 261                 case imu_type_telemega_v3:
 262                 case imu_type_easymega_v1:
 263                         return accel_y;
 264                 case imu_type_easymega_v2:
 265                 case imu_type_telemega_v4:
 266                 case imu_type_easytimer_v1:
 267                         return accel_x;
 268                 case imu_type_easymotor_v2:
 269                         return -accel_x;
 270                 default:
 271                         return AltosLib.MISSING;
 272                 }
 273         }
 274
 275         private int accel_through(int imu_type) {
 276                 if (accel_through != AltosLib.MISSING)
 277                         return accel_through;
 278
 279                 return accel_z;
 280         }
 281
 282         private int gyro_roll(int imu_type) {
 283                 if (gyro_roll != AltosLib.MISSING)
 284                         return gyro_roll;
 285
 286                 switch (imu_type) {
 287                 case imu_type_telemega_v1_v2:
 288                 case imu_type_telemega_v3:
 289                 case imu_type_easymega_v1:
 290                         return gyro_y;
 291                 case imu_type_easymega_v2:
 292                 case imu_type_telemega_v4:
 293                 case imu_type_easytimer_v1:
 294                         return gyro_x;
 295                 default:
 296                         return AltosLib.MISSING;
 297                 }
 298         }
 299
 300         private int gyro_pitch(int imu_type) {
 301                 if (gyro_pitch != AltosLib.MISSING)
 302                         return gyro_pitch;
 303
 304                 switch (imu_type) {
 305                 case imu_type_telemega_v1_v2:
 306                 case imu_type_telemega_v3:
 307                 case imu_type_easymega_v1:
 308                         return gyro_x;
 309                 case imu_type_easymega_v2:
 310                         return -gyro_y;
 311                 case imu_type_telemega_v4:
 312                 case imu_type_easytimer_v1:
 313                         return -gyro_y;
 314                 default:
 315                         return AltosLib.MISSING;
 316                 }
 317         }
 318
 319         private int gyro_yaw(int imu_type) {
 320                 if (gyro_yaw != AltosLib.MISSING)
 321                         return gyro_yaw;
 322
 323                 return gyro_z;
 324         }
 325
 326         private int mag_across(int imu_type) {
 327                 if (mag_across != AltosLib.MISSING)
 328                         return mag_across;
 329
 330                 switch (imu_type) {
 331                 case imu_type_telemega_v1_v2:
 332                 case imu_type_telemega_v3:
 333                 case imu_type_easymega_v1:
 334                         return mag_x;
 335                 case imu_type_easymega_v2:
 336                         return -mag_y;
 337                 case imu_type_telemega_v4:
 338                 case imu_type_easytimer_v1:
 339                         return mag_y;
 340                 default:
 341                         return AltosLib.MISSING;
 342                 }
 343         }
 344
 345         private int mag_along(int imu_type) {
 346                 if (mag_along != AltosLib.MISSING)
 347                         return mag_along;
 348
 349                 switch (imu_type) {
 350                 case imu_type_telemega_v1_v2:
 351                 case imu_type_telemega_v3:
 352                 case imu_type_easymega_v1:
 353                         return mag_y;
 354                 case imu_type_easymega_v2:
 355                 case imu_type_telemega_v4:
 356                 case imu_type_easytimer_v1:
 357                         return mag_x;
 358                 default:
 359                         return AltosLib.MISSING;
 360                 }
 361         }
 362
 363         private int mag_through(int imu_type) {
 364                 if (mag_through != AltosLib.MISSING)
 365                         return mag_through;
 366
 367                 return mag_z;
 368         }
 369
 370         private static boolean is_primary_accel(int imu_type) {
 371                 switch (imu_type) {
 372                 case imu_type_easytimer_v1:
 373                         return true;
 374                 default:
 375                         return false;
 376                 }
 377         }
 378
 379         static public void provide_data(AltosDataListener listener, AltosLink link, int imu_type) throws InterruptedException {
 380                 try {
 381                         AltosIMU        imu = new AltosIMU(link);
 382                         AltosCalData    cal_data = listener.cal_data();
 383
 384                         if (imu_type != AltosLib.MISSING)
 385                                 cal_data.set_imu_type(imu_type);
 386                         if (imu != null) {
 387                                 if (imu.imu_model != AltosLib.MISSING)
 388                                         cal_data.set_imu_model(imu.imu_model);
 389                                 if (imu.mag_model != AltosLib.MISSING)
 390                                         cal_data.set_mag_model(imu.mag_model);
 391
 392                                 if (imu.gyro_roll(imu_type) != AltosLib.MISSING) {
 393                                         cal_data.set_gyro_zero(0, 0, 0);
 394                                         listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
 395                                                           cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
 396                                                           cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
 397                                 }
 398                                 listener.set_accel_ground(cal_data.accel_along(imu.accel_along(imu_type)),
 399                                                           cal_data.accel_across(imu.accel_across(imu_type)),
 400                                                           cal_data.accel_through(imu.accel_through(imu_type)));
 401                                 listener.set_accel(cal_data.accel_along(imu.accel_along(imu_type)),
 402                                                    cal_data.accel_across(imu.accel_across(imu_type)),
 403                                                    cal_data.accel_through(imu.accel_through(imu_type)));
 404                                 if (is_primary_accel(imu_type)) {
 405                                         int accel = imu.accel_along(imu_type);
 406                                         if (!cal_data.adxl375_inverted)
 407                                                 accel = -accel;
 408                                         if (cal_data.pad_orientation == 1)
 409                                                 accel = -accel;
 410                                         listener.set_acceleration(cal_data.acceleration(accel));
 411                                 }
 412                                 if (imu.mag_along(imu_type) != AltosLib.MISSING) {
 413                                         listener.set_mag(cal_data.mag_along(imu.mag_along(imu_type)),
 414                                                          cal_data.mag_across(imu.mag_across(imu_type)),
 415                                                          cal_data.mag_through(imu.mag_through(imu_type)));
 416                                 }
 417                         }
 418                 } catch (TimeoutException te) {
 419                 }
 420         }
 421
 422         public AltosIMU() {
 423         }
 424
 425         public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
 426                 this();
 427                 link.printf("I\n");
 428                 for (;;) {
 429                         String line = link.get_reply_no_dialog(5000);
 430                         if (line == null) {
 431                                 throw new TimeoutException();
 432                         }
 433                         if (parse_string(line))
 434                                 break;
 435                 }
 436         }
 437 }