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