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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         public static final double      counts_per_g_adxl = 20.5;
  40
  41         private static double counts_per_g(int imu_type) {
  42                 switch (imu_type) {
  43                 case imu_type_telemega_v1_v2:
  44                 case imu_type_telemega_v3:
  45                 case imu_type_easymega_v1:
  46                 case imu_type_easymega_v2:
  47                         return counts_per_g_mpu;
  48                 case  imu_type_telemega_v4:
  49                 case imu_type_easytimer_v1:
  50                         return counts_per_g_bmx;
  51                 case imu_type_easymotor_v2:
  52                         return counts_per_g_adxl;
  53                 default:
  54                         return AltosLib.MISSING;
  55                 }
  56         }
  57
  58         public static double convert_accel(double counts, int imu_type) {
  59                 return counts / counts_per_g(imu_type) * AltosConvert.gravity;
  60         }
  61
  62         public static final double      GYRO_FULLSCALE_DEGREES_MPU = 2000.0;
  63         public static final double      GYRO_COUNTS_MPU = 32767.0;
  64         public static final double      counts_per_degree_mpu = GYRO_COUNTS_MPU / GYRO_FULLSCALE_DEGREES_MPU;
  65         public static final double      GYRO_FULLSCALE_DEGREES_BMX = 2000.0;
  66         public static final double      GYRO_COUNTS_BMX = 32767.0;
  67         public static final double      counts_per_degree_bmx = GYRO_COUNTS_BMX / GYRO_FULLSCALE_DEGREES_BMX;
  68
  69         private static double counts_per_degree(int imu_type) {
  70                 switch (imu_type) {
  71                 case imu_type_telemega_v1_v2:
  72                 case imu_type_telemega_v3:
  73                 case imu_type_easymega_v1:
  74                 case imu_type_easymega_v2:
  75                         return counts_per_degree_mpu;
  76                 case imu_type_telemega_v4:
  77                 case imu_type_easytimer_v1:
  78                         return counts_per_degree_bmx;
  79                 default:
  80                         return AltosLib.MISSING;
  81                 }
  82         }
  83
  84         public static double gyro_degrees_per_second(double counts, int imu_type) {
  85                 return counts / counts_per_degree(imu_type);
  86         }
  87
  88         public static final int imu_axis_x = 0;
  89         public static final int imu_axis_y = 1;
  90         public static final int imu_axis_z = 2;
  91
  92         public static final double MAG_FULLSCALE_GAUSS_MPU = 48.00;     /* 4800µT */
  93         public static final double MAG_COUNTS_MPU = 32767.0;
  94         public static final double counts_per_gauss_mpu = MAG_COUNTS_MPU / MAG_FULLSCALE_GAUSS_MPU;
  95
  96         public static final double counts_per_gauss_bmx = 100.0;        /* BMX driver converts to µT */
  97
  98         public static double counts_per_gauss(int imu_type, int axis) {
  99                 switch(imu_type) {
 100                 case imu_type_telemega_v1_v2:
 101                 case imu_type_easymega_v1:
 102                         return AltosMag.counts_per_gauss;
 103                 case imu_type_telemega_v3:
 104                 case imu_type_easymega_v2:
 105                         return counts_per_gauss_mpu;
 106                 case imu_type_telemega_v4:
 107                 case imu_type_easytimer_v1:
 108                         return 100.0;
 109                 default:
 110                         return AltosLib.MISSING;
 111                 }
 112         }
 113
 114         public static double convert_gauss(double counts, int imu_type, int imu_axis) {
 115                 return counts / counts_per_gauss(imu_type, imu_axis);
 116         }
 117
 118         public boolean parse_string(String line) {
 119                 if (!line.startsWith("Accel:"))
 120                         return false;
 121
 122                 String[] items = line.split("\\s+");
 123
 124                 if (items.length >= 8) {
 125                         accel_x = Integer.parseInt(items[1]);
 126                         accel_y = Integer.parseInt(items[2]);
 127                         accel_z = Integer.parseInt(items[3]);
 128                         gyro_x = Integer.parseInt(items[5]);
 129                         gyro_y = Integer.parseInt(items[6]);
 130                         gyro_z = Integer.parseInt(items[7]);
 131                 }
 132                 if (items.length >= 12) {
 133                         mag_x = Integer.parseInt(items[9]);
 134                         mag_y = Integer.parseInt(items[10]);
 135                         mag_z = Integer.parseInt(items[11]);
 136                 }
 137                 return true;
 138         }
 139
 140         public AltosIMU clone() {
 141                 AltosIMU        n = new AltosIMU();
 142
 143                 n.accel_x = accel_x;
 144                 n.accel_y = accel_y;
 145                 n.accel_z = accel_z;
 146
 147                 n.gyro_x = gyro_x;
 148                 n.gyro_y = gyro_y;
 149                 n.gyro_z = gyro_z;
 150
 151                 n.mag_x = mag_x;
 152                 n.mag_y = mag_y;
 153                 n.mag_z = mag_z;
 154
 155                 return n;
 156         }
 157
 158         public static final int imu_type_telemega_v1_v2 = 0;    /* MPU6000 */
 159         public static final int imu_type_telemega_v3 = 1;       /* MPU9250 */
 160         public static final int imu_type_telemega_v4 = 2;       /* BMX160 */
 161
 162         public static final int imu_type_easymega_v1 = 3;       /* MPU6000 */
 163         public static final int imu_type_easymega_v2 = 4;       /* MPU9250 */
 164
 165         public static final int imu_type_easytimer_v1 = 5;      /* BMX160 */
 166
 167         public static final int imu_type_easymotor_v2 = 6;      /* ADXL375 (accel only) */
 168
 169         private int accel_across(int imu_type) {
 170                 switch (imu_type) {
 171                 case imu_type_telemega_v1_v2:
 172                 case imu_type_telemega_v3:
 173                 case imu_type_easymega_v1:
 174                         return accel_x;
 175                 case imu_type_easymega_v2:
 176                         return -accel_y;
 177                 case imu_type_telemega_v4:
 178                 case imu_type_easytimer_v1:
 179                         return -accel_y;
 180                 case imu_type_easymotor_v2:
 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                 case imu_type_easytimer_v1:
 196                         return accel_x;
 197                 case imu_type_easymotor_v2:
 198                         return -accel_x;
 199                 default:
 200                         return AltosLib.MISSING;
 201                 }
 202         }
 203
 204         private int accel_through(int imu_type) {
 205                 return accel_z;
 206         }
 207
 208         private int gyro_roll(int imu_type) {
 209                 switch (imu_type) {
 210                 case imu_type_telemega_v1_v2:
 211                 case imu_type_telemega_v3:
 212                 case imu_type_easymega_v1:
 213                         return gyro_y;
 214                 case imu_type_easymega_v2:
 215                 case imu_type_telemega_v4:
 216                 case imu_type_easytimer_v1:
 217                         return gyro_x;
 218                 default:
 219                         return AltosLib.MISSING;
 220                 }
 221         }
 222
 223         private int gyro_pitch(int imu_type) {
 224                 switch (imu_type) {
 225                 case imu_type_telemega_v1_v2:
 226                 case imu_type_telemega_v3:
 227                 case imu_type_easymega_v1:
 228                         return gyro_x;
 229                 case imu_type_easymega_v2:
 230                         return -gyro_y;
 231                 case imu_type_telemega_v4:
 232                 case imu_type_easytimer_v1:
 233                         return -gyro_y;
 234                 default:
 235                         return AltosLib.MISSING;
 236                 }
 237         }
 238
 239         private int gyro_yaw(int imu_type) {
 240                 return gyro_z;
 241         }
 242
 243         public static int mag_across_axis(int imu_type) {
 244                 switch (imu_type) {
 245                 case imu_type_telemega_v1_v2:
 246                 case imu_type_telemega_v3:
 247                 case imu_type_easymega_v1:
 248                         return imu_axis_x;
 249                 case imu_type_easymega_v2:
 250                 case imu_type_telemega_v4:
 251                 case imu_type_easytimer_v1:
 252                         return imu_axis_y;
 253                 default:
 254                         return AltosLib.MISSING;
 255                 }
 256         }
 257
 258         private int mag_across(int imu_type) {
 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 mag_x;
 264                 case imu_type_easymega_v2:
 265                         return -mag_y;
 266                 case imu_type_telemega_v4:
 267                 case imu_type_easytimer_v1:
 268                         return mag_y;
 269                 default:
 270                         return AltosLib.MISSING;
 271                 }
 272         }
 273
 274         public static int mag_along_axis(int imu_type) {
 275                 switch (imu_type) {
 276                 case imu_type_telemega_v1_v2:
 277                 case imu_type_telemega_v3:
 278                 case imu_type_easymega_v1:
 279                         return imu_axis_y;
 280                 case imu_type_easymega_v2:
 281                 case imu_type_telemega_v4:
 282                 case imu_type_easytimer_v1:
 283                         return imu_axis_x;
 284                 default:
 285                         return AltosLib.MISSING;
 286                 }
 287         }
 288
 289         private int mag_along(int imu_type) {
 290                 switch (imu_type) {
 291                 case imu_type_telemega_v1_v2:
 292                 case imu_type_telemega_v3:
 293                 case imu_type_easymega_v1:
 294                         return mag_y;
 295                 case imu_type_easymega_v2:
 296                 case imu_type_telemega_v4:
 297                 case imu_type_easytimer_v1:
 298                         return mag_x;
 299                 default:
 300                         return AltosLib.MISSING;
 301                 }
 302         }
 303
 304         public static int mag_through_axis(int imu_type) {
 305                 return imu_axis_z;
 306         }
 307
 308         private int mag_through(int imu_type) {
 309                 return mag_z;
 310         }
 311
 312         static public void provide_data(AltosDataListener listener, AltosLink link, int imu_type) throws InterruptedException {
 313                 try {
 314                         AltosIMU        imu = new AltosIMU(link);
 315                         AltosCalData    cal_data = listener.cal_data();
 316
 317                         cal_data.set_imu_type(imu_type);
 318
 319                         if (imu != null) {
 320                                 if (imu.gyro_x != AltosLib.MISSING) {
 321                                         listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
 322                                                           cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
 323                                                           cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
 324                                 }
 325                                 listener.set_accel_ground(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                                 listener.set_accel(cal_data.accel_along(imu.accel_along(imu_type)),
 329                                                    cal_data.accel_across(imu.accel_across(imu_type)),
 330                                                    cal_data.accel_through(imu.accel_through(imu_type)));
 331                                 if (imu.mag_x != AltosLib.MISSING) {
 332                                         listener.set_mag(cal_data.mag_along(imu.mag_along(imu_type)),
 333                                                          cal_data.mag_across(imu.mag_across(imu_type)),
 334                                                          cal_data.mag_through(imu.mag_through(imu_type)));
 335                                 }
 336                         }
 337                 } catch (TimeoutException te) {
 338                 }
 339         }
 340
 341         public AltosIMU() {
 342                 accel_x = AltosLib.MISSING;
 343                 accel_y = AltosLib.MISSING;
 344                 accel_z = AltosLib.MISSING;
 345
 346                 gyro_x = AltosLib.MISSING;
 347                 gyro_y = AltosLib.MISSING;
 348                 gyro_z = AltosLib.MISSING;
 349
 350                 mag_x = AltosLib.MISSING;
 351                 mag_y = AltosLib.MISSING;
 352                 mag_z = AltosLib.MISSING;
 353         }
 354
 355         public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
 356                 this();
 357                 link.printf("I\n");
 358                 for (;;) {
 359                         String line = link.get_reply_no_dialog(5000);
 360                         if (line == null) {
 361                                 throw new TimeoutException();
 362                         }
 363                         if (parse_string(line))
 364                                 break;
 365                 }
 366         }
 367 }