git.gag.com Git - fw/altos/blob - altoslib/AltosTelemetryMegaSensor.java

   1 /*
   2  * Copyright © 2011 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 public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
  22         int     orient() { return int8(5); }
  23
  24         int     accel() { return int16(6); }
  25         int     pres() { return int32(8); }
  26         int     temp() { return int16(12); }
  27
  28         int     accel_x() { return int16(14); }
  29         int     accel_y() { return int16(16); }
  30         int     accel_z() { return int16(18); }
  31
  32         int     gyro_x() { return int16(20); }
  33         int     gyro_y() { return int16(22); }
  34         int     gyro_z() { return int16(24); }
  35
  36         int     mag_x() { return int16(26); }
  37         int     mag_z() { return int16(28); }
  38         int     mag_y() { return int16(30); }
  39
  40         int imu_type;
  41
  42         private int accel_across(int imu_type) {
  43                 switch (imu_type) {
  44                 case AltosIMU.imu_type_telemega_v1_v2:
  45                 case AltosIMU.imu_type_telemega_v3:
  46                 case AltosIMU.imu_type_easymega_v1:
  47                         return accel_x();
  48                 case AltosIMU.imu_type_easymega_v2:
  49                         return -accel_y();
  50                 case  AltosIMU.imu_type_telemega_v4:
  51                         return -accel_y();
  52                 default:
  53                         return AltosLib.MISSING;
  54                 }
  55         }
  56
  57         private int accel_along(int imu_type) {
  58                 switch (imu_type) {
  59                 case AltosIMU.imu_type_telemega_v1_v2:
  60                 case AltosIMU.imu_type_telemega_v3:
  61                 case AltosIMU.imu_type_easymega_v1:
  62                         return accel_y();
  63                 case AltosIMU.imu_type_easymega_v2:
  64                 case AltosIMU.imu_type_telemega_v4:
  65                         return accel_x();
  66                 default:
  67                         return AltosLib.MISSING;
  68                 }
  69         }
  70
  71         private int accel_through(int imu_type) {
  72                 return accel_z();
  73         }
  74
  75         private int gyro_roll(int imu_type) {
  76                 switch (imu_type) {
  77                 case AltosIMU.imu_type_telemega_v1_v2:
  78                 case AltosIMU.imu_type_telemega_v3:
  79                 case AltosIMU.imu_type_easymega_v1:
  80                         return gyro_y();
  81                 case AltosIMU.imu_type_easymega_v2:
  82                 case AltosIMU.imu_type_telemega_v4:
  83                         return gyro_x();
  84                 default:
  85                         return AltosLib.MISSING;
  86                 }
  87         }
  88
  89         private int gyro_pitch(int imu_type) {
  90                 switch (imu_type) {
  91                 case AltosIMU.imu_type_telemega_v1_v2:
  92                 case AltosIMU.imu_type_telemega_v3:
  93                 case AltosIMU.imu_type_easymega_v1:
  94                         return gyro_x();
  95                 case AltosIMU.imu_type_easymega_v2:
  96                         return -gyro_y();
  97                 case AltosIMU.imu_type_telemega_v4:
  98                         return gyro_y();
  99                 default:
 100                         return AltosLib.MISSING;
 101                 }
 102         }
 103
 104         private int gyro_yaw(int imu_type) {
 105                 return gyro_z();
 106         }
 107
 108         private int mag_across(int imu_type) {
 109                 switch (imu_type) {
 110                 case AltosIMU.imu_type_telemega_v1_v2:
 111                 case AltosIMU.imu_type_telemega_v3:
 112                 case AltosIMU.imu_type_easymega_v1:
 113                         return mag_x();
 114                 case AltosIMU.imu_type_telemega_v4:
 115                 case AltosIMU.imu_type_easymega_v2:
 116                         return -mag_y();
 117                 default:
 118                         return AltosLib.MISSING;
 119                 }
 120         }
 121
 122         private int mag_along(int imu_type) {
 123                 switch (imu_type) {
 124                 case AltosIMU.imu_type_telemega_v1_v2:
 125                 case AltosIMU.imu_type_telemega_v3:
 126                 case AltosIMU.imu_type_easymega_v1:
 127                         return mag_y();
 128                 case AltosIMU.imu_type_easymega_v2:
 129                 case AltosIMU.imu_type_telemega_v4:
 130                         return mag_x();
 131                 default:
 132                         return AltosLib.MISSING;
 133                 }
 134         }
 135
 136         private int mag_through(int imu_type) {
 137                 return mag_z();
 138         }
 139
 140         public AltosTelemetryMegaSensor(int[] bytes, int imu_type) throws AltosCRCException {
 141                 super(bytes);
 142                 switch (imu_type) {
 143                 case AltosIMU.imu_type_telemega_v1_v2:
 144                 case AltosIMU.imu_type_telemega_v3:
 145                         if (serial() < 3000)
 146                                 imu_type = AltosIMU.imu_type_telemega_v1_v2;
 147                         else
 148                                 imu_type = AltosIMU.imu_type_telemega_v3;
 149                         break;
 150                 default:
 151                         break;
 152                 }
 153                 this.imu_type = imu_type;
 154         }
 155
 156         public void provide_data(AltosDataListener listener) {
 157                 super.provide_data(listener);
 158
 159                 AltosCalData cal_data = listener.cal_data();
 160
 161                 listener.set_acceleration(cal_data.acceleration(accel()));
 162                 listener.set_pressure(pres());
 163                 listener.set_temperature(temp() / 100.0);
 164
 165                 listener.set_orient(orient());
 166                 cal_data.set_imu_type(imu_type);
 167
 168                 /* XXX we have no calibration data for these values */
 169
 170                 if (cal_data.accel_zero_along == AltosLib.MISSING)
 171                         cal_data.set_accel_zero(0, 0, 0);
 172                 if (cal_data.gyro_zero_roll == AltosLib.MISSING)
 173                         cal_data.set_gyro_zero(0, 0, 0);
 174
 175                 int     accel_along = accel_along(imu_type);
 176                 int     accel_across = accel_across(imu_type);
 177                 int     accel_through = accel_through(imu_type);
 178
 179                 int     gyro_roll = gyro_roll(imu_type);
 180                 int     gyro_pitch = gyro_pitch(imu_type);
 181                 int     gyro_yaw = gyro_yaw(imu_type);
 182
 183                 int     mag_along = mag_along(imu_type);
 184                 int     mag_across = mag_across(imu_type);
 185                 int     mag_through = mag_through(imu_type);
 186
 187                 listener.set_accel(cal_data.accel_along(accel_along),
 188                                    cal_data.accel_across(accel_across),
 189                                    cal_data.accel_through(accel_through));
 190                 listener.set_gyro(cal_data.gyro_roll(gyro_roll),
 191                                   cal_data.gyro_pitch(gyro_pitch),
 192                                   cal_data.gyro_yaw(gyro_yaw));
 193                 listener.set_mag(cal_data.mag_along(mag_along),
 194                                  cal_data.mag_across(mag_across),
 195                                  cal_data.mag_through(mag_through));
 196         }
 197 }