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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_13;
  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         private static double counts_per_g(int imu_type) {
  41                 switch (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;
  49                 default:
  50                         return AltosLib.MISSING;
  51                 }
  52         }
  53
  54         public static double convert_accel(double counts, int imu_type) {
  55                 return counts / counts_per_g(imu_type) * AltosConvert.gravity;
  56         }
  57
  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;
  64
  65         private static double counts_per_degree(int imu_type) {
  66                 switch (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;
  74                 default:
  75                         return AltosLib.MISSING;
  76                 }
  77         }
  78
  79         public static double gyro_degrees_per_second(double counts, int imu_type) {
  80                 return counts / counts_per_degree(imu_type);
  81         }
  82
  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;
  86
  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;
  90
  91         public static final double MAG_FULLSCALE_GAUSS_BMX_XY = 11.50;  /* 1150µT */
  92         public static final double MAG_FULLSCALE_GAUSS_BMX_Z = 25.00;   /* 2500µT */
  93         public static final double MAG_COUNTS_BMX = 32767.0;
  94         public static final double counts_per_gauss_bmx_xy = MAG_COUNTS_BMX / MAG_FULLSCALE_GAUSS_BMX_XY;
  95         public static final double counts_per_gauss_bmx_z = MAG_COUNTS_BMX / MAG_FULLSCALE_GAUSS_BMX_Z;
  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                         switch (axis) {
 107                         case imu_axis_x:
 108                         case imu_axis_y:
 109                                 return counts_per_gauss_bmx_xy;
 110                         case imu_axis_z:
 111                                 return counts_per_gauss_bmx_z;
 112                         }
 113                         /* fall through */
 114                 default:
 115                         return AltosLib.MISSING;
 116                 }
 117         }
 118
 119         public static double convert_gauss(double counts, int imu_type, int imu_axis) {
 120                 return counts / counts_per_gauss(imu_type, imu_axis);
 121         }
 122
 123         public boolean parse_string(String line) {
 124                 if (!line.startsWith("Accel:"))
 125                         return false;
 126
 127                 String[] items = line.split("\\s+");
 128
 129                 System.out.printf("length %d\n", items.length);
 130
 131                 if (items.length >= 8) {
 132                         accel_x = Integer.parseInt(items[1]);
 133                         accel_y = Integer.parseInt(items[2]);
 134                         accel_z = Integer.parseInt(items[3]);
 135                         gyro_x = Integer.parseInt(items[5]);
 136                         gyro_y = Integer.parseInt(items[6]);
 137                         gyro_z = Integer.parseInt(items[7]);
 138                 }
 139                 if (items.length >= 12) {
 140                         mag_x = Integer.parseInt(items[9]);
 141                         mag_y = Integer.parseInt(items[10]);
 142                         mag_z = Integer.parseInt(items[11]);
 143                 }
 144                 return true;
 145         }
 146
 147         public AltosIMU clone() {
 148                 AltosIMU        n = new AltosIMU();
 149
 150                 n.accel_x = accel_x;
 151                 n.accel_y = accel_y;
 152                 n.accel_z = accel_z;
 153
 154                 n.gyro_x = gyro_x;
 155                 n.gyro_y = gyro_y;
 156                 n.gyro_z = gyro_z;
 157
 158                 n.mag_x = mag_x;
 159                 n.mag_y = mag_y;
 160                 n.mag_z = mag_z;
 161
 162                 return n;
 163         }
 164
 165         public static final int imu_type_telemega_v1_v2 = 0;    /* MPU6000 */
 166         public static final int imu_type_telemega_v3 = 1;       /* MPU9250 */
 167         public static final int imu_type_telemega_v4 = 2;       /* BMX160 */
 168
 169         public static final int imu_type_easymega_v1 = 3;       /* MPU6000 */
 170         public static final int imu_type_easymega_v2 = 4;       /* MPU9250 */
 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                         return -accel_y;
 182                 default:
 183                         return AltosLib.MISSING;
 184                 }
 185         }
 186
 187         private int accel_along(int imu_type) {
 188                 switch (imu_type) {
 189                 case imu_type_telemega_v1_v2:
 190                 case imu_type_telemega_v3:
 191                 case imu_type_easymega_v1:
 192                         return accel_y;
 193                 case imu_type_easymega_v2:
 194                 case imu_type_telemega_v4:
 195                         return accel_x;
 196                 default:
 197                         return AltosLib.MISSING;
 198                 }
 199         }
 200
 201         private int accel_through(int imu_type) {
 202                 return accel_z;
 203         }
 204
 205         private int gyro_roll(int imu_type) {
 206                 switch (imu_type) {
 207                 case imu_type_telemega_v1_v2:
 208                 case imu_type_telemega_v3:
 209                 case imu_type_easymega_v1:
 210                         return gyro_y;
 211                 case imu_type_easymega_v2:
 212                 case imu_type_telemega_v4:
 213                         return gyro_x;
 214                 default:
 215                         return AltosLib.MISSING;
 216                 }
 217         }
 218
 219         private int gyro_pitch(int imu_type) {
 220                 switch (imu_type) {
 221                 case imu_type_telemega_v1_v2:
 222                 case imu_type_telemega_v3:
 223                 case imu_type_easymega_v1:
 224                         return gyro_x;
 225                 case imu_type_easymega_v2:
 226                 case imu_type_telemega_v4:
 227                         return -gyro_y;
 228                 default:
 229                         return AltosLib.MISSING;
 230                 }
 231         }
 232
 233         private int gyro_yaw(int imu_type) {
 234                 return gyro_z;
 235         }
 236
 237         public static int mag_across_axis(int imu_type) {
 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 imu_axis_x;
 243                 case imu_type_telemega_v4:
 244                 case imu_type_easymega_v2:
 245                         return imu_axis_y;
 246                 default:
 247                         return AltosLib.MISSING;
 248                 }
 249         }
 250
 251         private int mag_across(int imu_type) {
 252                 switch (imu_type) {
 253                 case imu_type_telemega_v1_v2:
 254                 case imu_type_telemega_v3:
 255                 case imu_type_easymega_v1:
 256                         return mag_x;
 257                 case imu_type_telemega_v4:
 258                 case imu_type_easymega_v2:
 259                         return -mag_y;
 260                 default:
 261                         return AltosLib.MISSING;
 262                 }
 263         }
 264
 265         public static int mag_along_axis(int imu_type) {
 266                 switch (imu_type) {
 267                 case imu_type_telemega_v1_v2:
 268                 case imu_type_telemega_v3:
 269                 case imu_type_easymega_v1:
 270                         return imu_axis_y;
 271                 case imu_type_easymega_v2:
 272                 case imu_type_telemega_v4:
 273                         return imu_axis_x;
 274                 default:
 275                         return AltosLib.MISSING;
 276                 }
 277         }
 278
 279         private int mag_along(int imu_type) {
 280                 switch (imu_type) {
 281                 case imu_type_telemega_v1_v2:
 282                 case imu_type_telemega_v3:
 283                 case imu_type_easymega_v1:
 284                         return mag_y;
 285                 case imu_type_easymega_v2:
 286                 case imu_type_telemega_v4:
 287                         return mag_x;
 288                 default:
 289                         return AltosLib.MISSING;
 290                 }
 291         }
 292
 293         public static int mag_through_axis(int imu_type) {
 294                 return imu_axis_z;
 295         }
 296
 297         private int mag_through(int imu_type) {
 298                 return mag_z;
 299         }
 300
 301         static public void provide_data(AltosDataListener listener, AltosLink link, int imu_type) throws InterruptedException {
 302                 try {
 303                         AltosIMU        imu = new AltosIMU(link);
 304                         AltosCalData    cal_data = listener.cal_data();
 305
 306                         cal_data.set_imu_type(imu_type);
 307
 308                         if (imu != null) {
 309                                 listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
 310                                                   cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
 311                                                   cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
 312                                 listener.set_accel_ground(cal_data.accel_along(imu.accel_along(imu_type)),
 313                                                           cal_data.accel_across(imu.accel_across(imu_type)),
 314                                                           cal_data.accel_through(imu.accel_through(imu_type)));
 315                                 listener.set_accel(cal_data.accel_along(imu.accel_along(imu_type)),
 316                                                    cal_data.accel_across(imu.accel_across(imu_type)),
 317                                                    cal_data.accel_through(imu.accel_through(imu_type)));
 318                                 if (imu.mag_x != AltosLib.MISSING) {
 319                                         listener.set_mag(cal_data.mag_along(imu.mag_along(imu_type)),
 320                                                          cal_data.mag_across(imu.mag_across(imu_type)),
 321                                                          cal_data.mag_through(imu.mag_through(imu_type)));
 322                                 }
 323                         }
 324                 } catch (TimeoutException te) {
 325                 }
 326         }
 327
 328         public AltosIMU() {
 329                 accel_x = AltosLib.MISSING;
 330                 accel_y = AltosLib.MISSING;
 331                 accel_z = AltosLib.MISSING;
 332
 333                 gyro_x = AltosLib.MISSING;
 334                 gyro_y = AltosLib.MISSING;
 335                 gyro_z = AltosLib.MISSING;
 336
 337                 mag_x = AltosLib.MISSING;
 338                 mag_y = AltosLib.MISSING;
 339                 mag_z = AltosLib.MISSING;
 340         }
 341
 342         public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
 343                 this();
 344                 link.printf("I\n");
 345                 for (;;) {
 346                         String line = link.get_reply_no_dialog(5000);
 347                         if (line == null) {
 348                                 throw new TimeoutException();
 349                         }
 350                         if (parse_string(line))
 351                                 break;
 352                 }
 353         }
 354 }