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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         private int             accel_x = AltosLib.MISSING;
  26         private int             accel_y = AltosLib.MISSING;
  27         private int             accel_z = AltosLib.MISSING;
  28
  29         private int             accel_along = AltosLib.MISSING;
  30         private int             accel_across = AltosLib.MISSING;
  31         private int             accel_through = AltosLib.MISSING;
  32
  33         private int             gyro_x = AltosLib.MISSING;
  34         private int             gyro_y = AltosLib.MISSING;
  35         private int             gyro_z = AltosLib.MISSING;
  36
  37         private int             gyro_roll = AltosLib.MISSING;
  38         private int             gyro_pitch = AltosLib.MISSING;
  39         private int             gyro_yaw = AltosLib.MISSING;
  40
  41         private int             mag_x = AltosLib.MISSING;
  42         private int             mag_y = AltosLib.MISSING;
  43         private int             mag_z = AltosLib.MISSING;
  44
  45         private int             mag_along = AltosLib.MISSING;
  46         private int             mag_across = AltosLib.MISSING;
  47         private int             mag_through = AltosLib.MISSING;
  48
  49         private int             imu_model = AltosLib.MISSING;
  50         private int             mag_model = AltosLib.MISSING;
  51
  52         private static final double     counts_per_g_mpu = 2048.0;
  53         private static final double     counts_per_g_bmx = 2048.0;
  54         private static final double     counts_per_g_adxl = 20.5;
  55         private static final double     counts_per_g_bmi088 = 1365.0;
  56
  57         private static double counts_per_g(int imu_type, int imu_model) {
  58                 switch (imu_model) {
  59                 case AltosLib.model_mpu6000:
  60                 case AltosLib.model_mpu9250:
  61                         return counts_per_g_mpu;
  62                 case AltosLib.model_adxl375:
  63                         return counts_per_g_adxl;
  64                 case AltosLib.model_bmx160:
  65                         return counts_per_g_bmx;
  66                 case AltosLib.model_bmi088:
  67                         return counts_per_g_bmi088;
  68                 }
  69
  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_g_mpu;
  76                 case imu_type_telemega_v4:
  77                 case imu_type_easytimer_v1:
  78                         return counts_per_g_bmx;
  79                 case imu_type_easymotor_v2:
  80                         return counts_per_g_adxl;
  81                 case imu_type_easytimer_v2:
  82                         return counts_per_g_bmi088;
  83                 }
  84
  85                 return AltosLib.MISSING;
  86         }
  87
  88         public static double convert_accel(double counts, int imu_type, int imu_model) {
  89                 double cpg = counts_per_g(imu_type, imu_model);
  90                 if (cpg == AltosLib.MISSING)
  91                         return AltosLib.MISSING;
  92                 return counts / cpg * AltosConvert.gravity;
  93         }
  94
  95         private static final double     GYRO_FULLSCALE_DEGREES_MPU = 2000.0;
  96         private static final double     GYRO_COUNTS_MPU = 32767.0;
  97         private static final double     counts_per_degree_mpu = GYRO_COUNTS_MPU / GYRO_FULLSCALE_DEGREES_MPU;
  98         private static final double     GYRO_FULLSCALE_DEGREES_BMX = 2000.0;
  99         private static final double     GYRO_COUNTS_BMX = 32767.0;
 100         private static final double     counts_per_degree_bmx = GYRO_COUNTS_BMX / GYRO_FULLSCALE_DEGREES_BMX;
 101         private static final double     counts_per_degree_bmi088 = 16.384;
 102
 103         private static double counts_per_degree(int imu_type, int imu_model) {
 104                 switch (imu_model) {
 105                 case AltosLib.model_mpu6000:
 106                 case AltosLib.model_mpu9250:
 107                         return counts_per_degree_mpu;
 108                 case AltosLib.model_bmx160:
 109                         return counts_per_degree_bmx;
 110                 case AltosLib.model_bmi088:
 111                         return counts_per_degree_bmi088;
 112                 }
 113
 114                 switch (imu_type) {
 115                 case imu_type_telemega_v1_v2:
 116                 case imu_type_telemega_v3:
 117                 case imu_type_easymega_v1:
 118                 case imu_type_easymega_v2:
 119                         return counts_per_degree_mpu;
 120                 case imu_type_telemega_v4:
 121                 case imu_type_easytimer_v1:
 122                         return counts_per_degree_bmx;
 123                 default:
 124                         return AltosLib.MISSING;
 125                 }
 126         }
 127
 128         public static double gyro_degrees_per_second(double counts, int imu_type, int imu_model) {
 129                 double cpd = counts_per_degree(imu_type, imu_model);
 130
 131                 if (cpd == AltosLib.MISSING)
 132                         return AltosLib.MISSING;
 133                 return counts / cpd;
 134         }
 135
 136         private static final double MAG_FULLSCALE_GAUSS_MPU = 48.00;    /* 4800µT */
 137         private static final double MAG_COUNTS_MPU = 32767.0;
 138         private static final double counts_per_gauss_mpu = MAG_COUNTS_MPU / MAG_FULLSCALE_GAUSS_MPU;
 139
 140         private static final double counts_per_gauss_bmx = 100.0;       /* BMX driver converts to µT */
 141
 142         public static double counts_per_gauss(int imu_type, int imu_model) {
 143                 switch (imu_model) {
 144                 case AltosLib.model_mpu9250:
 145                         return counts_per_gauss_mpu;
 146                 case AltosLib.model_bmx160:
 147                         return counts_per_gauss_bmx;
 148                 }
 149
 150                 switch(imu_type) {
 151                 case imu_type_telemega_v3:
 152                 case imu_type_easymega_v2:
 153                         return counts_per_gauss_mpu;
 154                 case imu_type_telemega_v4:
 155                 case imu_type_easytimer_v1:
 156                         return counts_per_gauss_bmx;
 157                 }
 158                 return AltosLib.MISSING;
 159         }
 160
 161         private boolean parse_string(String line) {
 162                 if (line.startsWith("Accel:")) {
 163
 164                         String[] items = line.split("\\s+");
 165
 166                         if (items.length >= 8) {
 167                                 accel_x = Integer.parseInt(items[1]);
 168                                 accel_y = Integer.parseInt(items[2]);
 169                                 accel_z = Integer.parseInt(items[3]);
 170                                 gyro_x = Integer.parseInt(items[5]);
 171                                 gyro_y = Integer.parseInt(items[6]);
 172                                 gyro_z = Integer.parseInt(items[7]);
 173                         }
 174                         if (items.length >= 12) {
 175                                 mag_x = Integer.parseInt(items[9]);
 176                                 mag_y = Integer.parseInt(items[10]);
 177                                 mag_z = Integer.parseInt(items[11]);
 178                         }
 179                         return true;
 180                 }
 181                 if (line.startsWith("MPU6000:")) {
 182                         String[] items = line.split("\\s+");
 183
 184                         imu_model = AltosLib.model_mpu6000;
 185
 186                         if (items.length >= 7) {
 187                                 accel_along = Integer.parseInt(items[1]);
 188                                 accel_across = Integer.parseInt(items[2]);
 189                                 accel_through = Integer.parseInt(items[3]);
 190                                 gyro_roll = Integer.parseInt(items[4]);
 191                                 gyro_pitch = Integer.parseInt(items[5]);
 192                                 gyro_yaw = Integer.parseInt(items[6]);
 193                         }
 194                         return true;
 195                 }
 196                 if (line.startsWith("BMI088:")) {
 197                         String[] items = line.split("\\s+");
 198
 199                         imu_model = AltosLib.model_bmi088;
 200
 201                         if (items.length >= 7) {
 202                                 accel_along = Integer.parseInt(items[1]);
 203                                 accel_across = Integer.parseInt(items[2]);
 204                                 accel_through = Integer.parseInt(items[3]);
 205                                 gyro_roll = Integer.parseInt(items[4]);
 206                                 gyro_pitch = Integer.parseInt(items[5]);
 207                                 gyro_yaw = Integer.parseInt(items[6]);
 208                         }
 209                         return true;
 210                 }
 211
 212                 return false;
 213         }
 214
 215         public AltosIMU clone() {
 216                 AltosIMU        n = new AltosIMU();
 217
 218                 n.accel_x = accel_x;
 219                 n.accel_y = accel_y;
 220                 n.accel_z = accel_z;
 221
 222                 n.accel_along = accel_along;
 223                 n.accel_across = accel_across;
 224                 n.accel_through = accel_through;
 225
 226                 n.gyro_x = gyro_x;
 227                 n.gyro_y = gyro_y;
 228                 n.gyro_z = gyro_z;
 229
 230                 n.gyro_roll = gyro_roll;
 231                 n.gyro_pitch = gyro_pitch;
 232                 n.gyro_yaw = gyro_yaw;
 233
 234                 n.mag_x = mag_x;
 235                 n.mag_y = mag_y;
 236                 n.mag_z = mag_z;
 237
 238                 n.mag_along = mag_along;
 239                 n.mag_across = mag_across;
 240                 n.mag_through = mag_through;
 241
 242                 return n;
 243         }
 244
 245         public static final int imu_type_telemega_v1_v2 = 0;    /* MPU6000 */
 246         public static final int imu_type_telemega_v3 = 1;       /* MPU9250 */
 247         public static final int imu_type_telemega_v4 = 2;       /* BMX160 */
 248
 249         public static final int imu_type_easymega_v1 = 3;       /* MPU6000 */
 250         public static final int imu_type_easymega_v2 = 4;       /* MPU9250 */
 251
 252         public static final int imu_type_easytimer_v1 = 5;      /* BMX160 */
 253
 254         public static final int imu_type_easymotor_v2 = 6;      /* ADXL375 (accel only) */
 255
 256         public static final int imu_type_easytimer_v2 = 7;      /* BMI088 */
 257
 258         private int accel_across(int imu_type) {
 259
 260                 if (accel_across != AltosLib.MISSING)
 261                         return accel_across;
 262
 263                 switch (imu_type) {
 264                 case imu_type_telemega_v1_v2:
 265                 case imu_type_telemega_v3:
 266                 case imu_type_easymega_v1:
 267                         return accel_x;
 268                 case imu_type_easymega_v2:
 269                         return -accel_y;
 270                 case imu_type_telemega_v4:
 271                 case imu_type_easytimer_v1:
 272                         return -accel_y;
 273                 case imu_type_easymotor_v2:
 274                         return accel_y;
 275                 default:
 276                         return AltosLib.MISSING;
 277                 }
 278         }
 279
 280         private int accel_along(int imu_type) {
 281                 if (accel_along != AltosLib.MISSING) {
 282                         System.out.printf("accel along %d\n", accel_along);
 283                         return accel_along;
 284                 }
 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 accel_y;
 291                 case imu_type_easymega_v2:
 292                 case imu_type_telemega_v4:
 293                 case imu_type_easytimer_v1:
 294                         return accel_x;
 295                 case imu_type_easymotor_v2:
 296                         return -accel_x;
 297                 default:
 298                         return AltosLib.MISSING;
 299                 }
 300         }
 301
 302         private int accel_through(int imu_type) {
 303                 if (accel_through != AltosLib.MISSING)
 304                         return accel_through;
 305
 306                 return accel_z;
 307         }
 308
 309         private int gyro_roll(int imu_type) {
 310                 if (gyro_roll != AltosLib.MISSING)
 311                         return gyro_roll;
 312
 313                 switch (imu_type) {
 314                 case imu_type_telemega_v1_v2:
 315                 case imu_type_telemega_v3:
 316                 case imu_type_easymega_v1:
 317                         return gyro_y;
 318                 case imu_type_easymega_v2:
 319                 case imu_type_telemega_v4:
 320                 case imu_type_easytimer_v1:
 321                         return gyro_x;
 322                 default:
 323                         return AltosLib.MISSING;
 324                 }
 325         }
 326
 327         private int gyro_pitch(int imu_type) {
 328                 if (gyro_pitch != AltosLib.MISSING)
 329                         return gyro_pitch;
 330
 331                 switch (imu_type) {
 332                 case imu_type_telemega_v1_v2:
 333                 case imu_type_telemega_v3:
 334                 case imu_type_easymega_v1:
 335                         return gyro_x;
 336                 case imu_type_easymega_v2:
 337                         return -gyro_y;
 338                 case imu_type_telemega_v4:
 339                 case imu_type_easytimer_v1:
 340                         return -gyro_y;
 341                 default:
 342                         return AltosLib.MISSING;
 343                 }
 344         }
 345
 346         private int gyro_yaw(int imu_type) {
 347                 if (gyro_yaw != AltosLib.MISSING)
 348                         return gyro_yaw;
 349
 350                 return gyro_z;
 351         }
 352
 353         private int mag_across(int imu_type) {
 354                 if (mag_across != AltosLib.MISSING)
 355                         return mag_across;
 356
 357                 switch (imu_type) {
 358                 case imu_type_telemega_v1_v2:
 359                 case imu_type_telemega_v3:
 360                 case imu_type_easymega_v1:
 361                         return mag_x;
 362                 case imu_type_easymega_v2:
 363                         return -mag_y;
 364                 case imu_type_telemega_v4:
 365                 case imu_type_easytimer_v1:
 366                         return mag_y;
 367                 default:
 368                         return AltosLib.MISSING;
 369                 }
 370         }
 371
 372         private int mag_along(int imu_type) {
 373                 if (mag_along != AltosLib.MISSING)
 374                         return mag_along;
 375
 376                 switch (imu_type) {
 377                 case imu_type_telemega_v1_v2:
 378                 case imu_type_telemega_v3:
 379                 case imu_type_easymega_v1:
 380                         return mag_y;
 381                 case imu_type_easymega_v2:
 382                 case imu_type_telemega_v4:
 383                 case imu_type_easytimer_v1:
 384                         return mag_x;
 385                 default:
 386                         return AltosLib.MISSING;
 387                 }
 388         }
 389
 390         private int mag_through(int imu_type) {
 391                 if (mag_through != AltosLib.MISSING)
 392                         return mag_through;
 393
 394                 return mag_z;
 395         }
 396
 397         private static boolean is_primary_accel(int imu_type) {
 398                 switch (imu_type) {
 399                 case imu_type_easytimer_v1:
 400                 case imu_type_easytimer_v2:
 401                         return true;
 402                 default:
 403                         return false;
 404                 }
 405         }
 406
 407         static public void provide_data(AltosDataListener listener, AltosLink link, int imu_type) throws InterruptedException {
 408                 try {
 409                         AltosIMU        imu = new AltosIMU(link);
 410                         AltosCalData    cal_data = listener.cal_data();
 411
 412                         System.out.printf("imu_model %d mag_model %d\n", imu.imu_model, imu.mag_model);
 413                         if (imu_type != AltosLib.MISSING)
 414                                 cal_data.set_imu_type(imu_type);
 415                         if (imu != null) {
 416                                 if (imu.imu_model != AltosLib.MISSING)
 417                                         cal_data.set_imu_model(imu.imu_model);
 418                                 if (imu.mag_model != AltosLib.MISSING)
 419                                         cal_data.set_mag_model(imu.mag_model);
 420
 421                                 if (imu.gyro_roll(imu_type) != AltosLib.MISSING) {
 422                                         cal_data.set_gyro_zero(0, 0, 0);
 423                                         listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
 424                                                           cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
 425                                                           cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
 426                                 }
 427                                 listener.set_accel_ground(cal_data.accel_along(imu.accel_along(imu_type)),
 428                                                           cal_data.accel_across(imu.accel_across(imu_type)),
 429                                                           cal_data.accel_through(imu.accel_through(imu_type)));
 430                                 listener.set_accel(cal_data.accel_along(imu.accel_along(imu_type)),
 431                                                    cal_data.accel_across(imu.accel_across(imu_type)),
 432                                                    cal_data.accel_through(imu.accel_through(imu_type)));
 433                                 if (is_primary_accel(imu_type)) {
 434                                         int accel = imu.accel_along(imu_type);
 435                                         if (!cal_data.adxl375_inverted)
 436                                                 accel = -accel;
 437                                         if (cal_data.pad_orientation == 1)
 438                                                 accel = -accel;
 439                                         listener.set_acceleration(cal_data.acceleration(accel));
 440                                 }
 441                                 if (imu.mag_along(imu_type) != AltosLib.MISSING) {
 442                                         listener.set_mag(cal_data.mag_along(imu.mag_along(imu_type)),
 443                                                          cal_data.mag_across(imu.mag_across(imu_type)),
 444                                                          cal_data.mag_through(imu.mag_through(imu_type)));
 445                                 }
 446                         }
 447                 } catch (TimeoutException te) {
 448                 }
 449         }
 450
 451         public AltosIMU() {
 452         }
 453
 454         public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
 455                 this();
 456                 link.printf("I\n");
 457                 for (;;) {
 458                         String line = link.get_reply_no_dialog(5000);
 459                         if (line == null) {
 460                                 throw new TimeoutException();
 461                         }
 462                         if (parse_string(line))
 463                                 break;
 464                 }
 465         }
 466 }