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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         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 counts_per_gauss_bmx = 100.0;        /* BMX driver converts to µT */
  92
  93         public static double counts_per_gauss(int imu_type, int axis) {
  94                 switch(imu_type) {
  95                 case imu_type_telemega_v1_v2:
  96                 case imu_type_easymega_v1:
  97                         return AltosMag.counts_per_gauss;
  98                 case imu_type_telemega_v3:
  99                 case imu_type_easymega_v2:
 100                         return counts_per_gauss_mpu;
 101                 case imu_type_telemega_v4:
 102                         return 100.0;
 103                 default:
 104                         return AltosLib.MISSING;
 105                 }
 106         }
 107
 108         public static double convert_gauss(double counts, int imu_type, int imu_axis) {
 109                 return counts / counts_per_gauss(imu_type, imu_axis);
 110         }
 111
 112         public boolean parse_string(String line) {
 113                 if (!line.startsWith("Accel:"))
 114                         return false;
 115
 116                 String[] items = line.split("\\s+");
 117
 118                 if (items.length >= 8) {
 119                         accel_x = Integer.parseInt(items[1]);
 120                         accel_y = Integer.parseInt(items[2]);
 121                         accel_z = Integer.parseInt(items[3]);
 122                         gyro_x = Integer.parseInt(items[5]);
 123                         gyro_y = Integer.parseInt(items[6]);
 124                         gyro_z = Integer.parseInt(items[7]);
 125                 }
 126                 if (items.length >= 12) {
 127                         mag_x = Integer.parseInt(items[9]);
 128                         mag_y = Integer.parseInt(items[10]);
 129                         mag_z = Integer.parseInt(items[11]);
 130                 }
 131                 return true;
 132         }
 133
 134         public AltosIMU clone() {
 135                 AltosIMU        n = new AltosIMU();
 136
 137                 n.accel_x = accel_x;
 138                 n.accel_y = accel_y;
 139                 n.accel_z = accel_z;
 140
 141                 n.gyro_x = gyro_x;
 142                 n.gyro_y = gyro_y;
 143                 n.gyro_z = gyro_z;
 144
 145                 n.mag_x = mag_x;
 146                 n.mag_y = mag_y;
 147                 n.mag_z = mag_z;
 148
 149                 return n;
 150         }
 151
 152         public static final int imu_type_telemega_v1_v2 = 0;    /* MPU6000 */
 153         public static final int imu_type_telemega_v3 = 1;       /* MPU9250 */
 154         public static final int imu_type_telemega_v4 = 2;       /* BMX160 */
 155
 156         public static final int imu_type_easymega_v1 = 3;       /* MPU6000 */
 157         public static final int imu_type_easymega_v2 = 4;       /* MPU9250 */
 158
 159         private int accel_across(int imu_type) {
 160                 switch (imu_type) {
 161                 case imu_type_telemega_v1_v2:
 162                 case imu_type_telemega_v3:
 163                 case imu_type_easymega_v1:
 164                         return accel_x;
 165                 case imu_type_easymega_v2:
 166                         return -accel_y;
 167                 case  imu_type_telemega_v4:
 168                         return -accel_y;
 169                 default:
 170                         return AltosLib.MISSING;
 171                 }
 172         }
 173
 174         private int accel_along(int imu_type) {
 175                 switch (imu_type) {
 176                 case imu_type_telemega_v1_v2:
 177                 case imu_type_telemega_v3:
 178                 case imu_type_easymega_v1:
 179                         return accel_y;
 180                 case imu_type_easymega_v2:
 181                 case imu_type_telemega_v4:
 182                         return accel_x;
 183                 default:
 184                         return AltosLib.MISSING;
 185                 }
 186         }
 187
 188         private int accel_through(int imu_type) {
 189                 return accel_z;
 190         }
 191
 192         private int gyro_roll(int imu_type) {
 193                 switch (imu_type) {
 194                 case imu_type_telemega_v1_v2:
 195                 case imu_type_telemega_v3:
 196                 case imu_type_easymega_v1:
 197                         return gyro_y;
 198                 case imu_type_easymega_v2:
 199                 case imu_type_telemega_v4:
 200                         return gyro_x;
 201                 default:
 202                         return AltosLib.MISSING;
 203                 }
 204         }
 205
 206         private int gyro_pitch(int imu_type) {
 207                 switch (imu_type) {
 208                 case imu_type_telemega_v1_v2:
 209                 case imu_type_telemega_v3:
 210                 case imu_type_easymega_v1:
 211                         return gyro_x;
 212                 case imu_type_easymega_v2:
 213                         return -gyro_y;
 214                 case imu_type_telemega_v4:
 215                         return -gyro_y;
 216                 default:
 217                         return AltosLib.MISSING;
 218                 }
 219         }
 220
 221         private int gyro_yaw(int imu_type) {
 222                 return gyro_z;
 223         }
 224
 225         public static int mag_across_axis(int imu_type) {
 226                 switch (imu_type) {
 227                 case imu_type_telemega_v1_v2:
 228                 case imu_type_telemega_v3:
 229                 case imu_type_easymega_v1:
 230                         return imu_axis_x;
 231                 case imu_type_telemega_v4:
 232                 case imu_type_easymega_v2:
 233                         return imu_axis_y;
 234                 default:
 235                         return AltosLib.MISSING;
 236                 }
 237         }
 238
 239         private int mag_across(int imu_type) {
 240                 switch (imu_type) {
 241                 case imu_type_telemega_v1_v2:
 242                 case imu_type_telemega_v3:
 243                 case imu_type_easymega_v1:
 244                         return mag_x;
 245                 case imu_type_easymega_v2:
 246                         return -mag_y;
 247                 case imu_type_telemega_v4:
 248                         return mag_y;
 249                 default:
 250                         return AltosLib.MISSING;
 251                 }
 252         }
 253
 254         public static int mag_along_axis(int imu_type) {
 255                 switch (imu_type) {
 256                 case imu_type_telemega_v1_v2:
 257                 case imu_type_telemega_v3:
 258                 case imu_type_easymega_v1:
 259                         return imu_axis_y;
 260                 case imu_type_easymega_v2:
 261                 case imu_type_telemega_v4:
 262                         return imu_axis_x;
 263                 default:
 264                         return AltosLib.MISSING;
 265                 }
 266         }
 267
 268         private int mag_along(int imu_type) {
 269                 switch (imu_type) {
 270                 case imu_type_telemega_v1_v2:
 271                 case imu_type_telemega_v3:
 272                 case imu_type_easymega_v1:
 273                         return mag_y;
 274                 case imu_type_easymega_v2:
 275                 case imu_type_telemega_v4:
 276                         return mag_x;
 277                 default:
 278                         return AltosLib.MISSING;
 279                 }
 280         }
 281
 282         public static int mag_through_axis(int imu_type) {
 283                 return imu_axis_z;
 284         }
 285
 286         private int mag_through(int imu_type) {
 287                 return mag_z;
 288         }
 289
 290         static public void provide_data(AltosDataListener listener, AltosLink link, int imu_type) throws InterruptedException {
 291                 try {
 292                         AltosIMU        imu = new AltosIMU(link);
 293                         AltosCalData    cal_data = listener.cal_data();
 294
 295                         cal_data.set_imu_type(imu_type);
 296
 297                         if (imu != null) {
 298                                 listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
 299                                                   cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
 300                                                   cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
 301                                 listener.set_accel_ground(cal_data.accel_along(imu.accel_along(imu_type)),
 302                                                           cal_data.accel_across(imu.accel_across(imu_type)),
 303                                                           cal_data.accel_through(imu.accel_through(imu_type)));
 304                                 listener.set_accel(cal_data.accel_along(imu.accel_along(imu_type)),
 305                                                    cal_data.accel_across(imu.accel_across(imu_type)),
 306                                                    cal_data.accel_through(imu.accel_through(imu_type)));
 307                                 if (imu.mag_x != AltosLib.MISSING) {
 308                                         listener.set_mag(cal_data.mag_along(imu.mag_along(imu_type)),
 309                                                          cal_data.mag_across(imu.mag_across(imu_type)),
 310                                                          cal_data.mag_through(imu.mag_through(imu_type)));
 311                                 }
 312                         }
 313                 } catch (TimeoutException te) {
 314                 }
 315         }
 316
 317         public AltosIMU() {
 318                 accel_x = AltosLib.MISSING;
 319                 accel_y = AltosLib.MISSING;
 320                 accel_z = AltosLib.MISSING;
 321
 322                 gyro_x = AltosLib.MISSING;
 323                 gyro_y = AltosLib.MISSING;
 324                 gyro_z = AltosLib.MISSING;
 325
 326                 mag_x = AltosLib.MISSING;
 327                 mag_y = AltosLib.MISSING;
 328                 mag_z = AltosLib.MISSING;
 329         }
 330
 331         public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
 332                 this();
 333                 link.printf("I\n");
 334                 for (;;) {
 335                         String line = link.get_reply_no_dialog(5000);
 336                         if (line == null) {
 337                                 throw new TimeoutException();
 338                         }
 339                         if (parse_string(line))
 340                                 break;
 341                 }
 342         }
 343 }