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