*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib;
+package org.altusmetrum.altoslib_14;
-public class AltosIMU {
- public int accel_x;
- public int accel_y;
- public int accel_z;
+import java.util.concurrent.*;
+import java.io.*;
- public int gyro_x;
- public int gyro_y;
- public int gyro_z;
+public class AltosIMU implements Cloneable {
+ private int accel_x = AltosLib.MISSING;
+ private int accel_y = AltosLib.MISSING;
+ private int accel_z = AltosLib.MISSING;
+
+ private int accel_along = AltosLib.MISSING;
+ private int accel_across = AltosLib.MISSING;
+ private int accel_through = AltosLib.MISSING;
+
+ private int gyro_x = AltosLib.MISSING;
+ private int gyro_y = AltosLib.MISSING;
+ private int gyro_z = AltosLib.MISSING;
+
+ private int gyro_roll = AltosLib.MISSING;
+ private int gyro_pitch = AltosLib.MISSING;
+ private int gyro_yaw = AltosLib.MISSING;
+
+ private int mag_x = AltosLib.MISSING;
+ private int mag_y = AltosLib.MISSING;
+ private int mag_z = AltosLib.MISSING;
+
+ private int mag_along = AltosLib.MISSING;
+ private int mag_across = AltosLib.MISSING;
+ private int mag_through = AltosLib.MISSING;
+
+ private int imu_model = AltosLib.MISSING;
+ private int mag_model = AltosLib.MISSING;
+
+ private static final double counts_per_g_mpu = 2048.0;
+ private static final double counts_per_g_bmx = 2048.0;
+ private static final double counts_per_g_adxl = 20.5;
+ private static final double counts_per_g_bmi088 = 1365.0;
+
+ private static double counts_per_g(int imu_type, int imu_model) {
+ switch (imu_model) {
+ case AltosLib.model_mpu6000:
+ case AltosLib.model_mpu9250:
+ return counts_per_g_mpu;
+ case AltosLib.model_adxl375:
+ return counts_per_g_adxl;
+ case AltosLib.model_bmx160:
+ return counts_per_g_bmx;
+ case AltosLib.model_bmi088:
+ return counts_per_g_bmi088;
+ }
+
+ switch (imu_type) {
+ case imu_type_telemega_v1_v2:
+ case imu_type_telemega_v3:
+ case imu_type_easymega_v1:
+ case imu_type_easymega_v2:
+ return counts_per_g_mpu;
+ case imu_type_telemega_v4:
+ case imu_type_easytimer_v1:
+ return counts_per_g_bmx;
+ case imu_type_easymotor_v2:
+ return counts_per_g_adxl;
+ case imu_type_easytimer_v2:
+ return counts_per_g_bmi088;
+ }
+
+ return AltosLib.MISSING;
+ }
+
+ public static double convert_accel(double counts, int imu_type, int imu_model) {
+ double cpg = counts_per_g(imu_type, imu_model);
+ if (cpg == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return counts / cpg * AltosConvert.gravity;
+ }
+
+ private static final double GYRO_FULLSCALE_DEGREES_MPU = 2000.0;
+ private static final double GYRO_COUNTS_MPU = 32767.0;
+ private static final double counts_per_degree_mpu = GYRO_COUNTS_MPU / GYRO_FULLSCALE_DEGREES_MPU;
+ private static final double GYRO_FULLSCALE_DEGREES_BMX = 2000.0;
+ private static final double GYRO_COUNTS_BMX = 32767.0;
+ private static final double counts_per_degree_bmx = GYRO_COUNTS_BMX / GYRO_FULLSCALE_DEGREES_BMX;
+ private static final double counts_per_degree_bmi088 = 16.384;
+
+ private static double counts_per_degree(int imu_type, int imu_model) {
+ switch (imu_model) {
+ case AltosLib.model_mpu6000:
+ case AltosLib.model_mpu9250:
+ return counts_per_degree_mpu;
+ case AltosLib.model_bmx160:
+ return counts_per_degree_bmx;
+ case AltosLib.model_bmi088:
+ return counts_per_degree_bmi088;
+ }
+
+ switch (imu_type) {
+ case imu_type_telemega_v1_v2:
+ case imu_type_telemega_v3:
+ case imu_type_easymega_v1:
+ case imu_type_easymega_v2:
+ return counts_per_degree_mpu;
+ case imu_type_telemega_v4:
+ case imu_type_easytimer_v1:
+ return counts_per_degree_bmx;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ public static double gyro_degrees_per_second(double counts, int imu_type, int imu_model) {
+ double cpd = counts_per_degree(imu_type, imu_model);
+
+ if (cpd == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ return counts / cpd;
+ }
+
+ private static final double MAG_FULLSCALE_GAUSS_MPU = 48.00; /* 4800µT */
+ private static final double MAG_COUNTS_MPU = 32767.0;
+ private static final double counts_per_gauss_mpu = MAG_COUNTS_MPU / MAG_FULLSCALE_GAUSS_MPU;
+
+ private static final double counts_per_gauss_bmx = 100.0; /* BMX driver converts to µT */
+
+ public static double counts_per_gauss(int imu_type, int imu_model) {
+ switch (imu_model) {
+ case AltosLib.model_mpu9250:
+ return counts_per_gauss_mpu;
+ case AltosLib.model_bmx160:
+ return counts_per_gauss_bmx;
+ }
+
+ switch(imu_type) {
+ case imu_type_telemega_v3:
+ case imu_type_easymega_v2:
+ return counts_per_gauss_mpu;
+ case imu_type_telemega_v4:
+ case imu_type_easytimer_v1:
+ return counts_per_gauss_bmx;
+ }
+ return AltosLib.MISSING;
+ }
+
+ private boolean parse_string(String line) {
+ if (line.startsWith("Accel:")) {
+
+ String[] items = line.split("\\s+");
+
+ if (items.length >= 8) {
+ accel_x = Integer.parseInt(items[1]);
+ accel_y = Integer.parseInt(items[2]);
+ accel_z = Integer.parseInt(items[3]);
+ gyro_x = Integer.parseInt(items[5]);
+ gyro_y = Integer.parseInt(items[6]);
+ gyro_z = Integer.parseInt(items[7]);
+ }
+ if (items.length >= 12) {
+ mag_x = Integer.parseInt(items[9]);
+ mag_y = Integer.parseInt(items[10]);
+ mag_z = Integer.parseInt(items[11]);
+ }
+ return true;
+ }
+ if (line.startsWith("MPU6000:")) {
+ String[] items = line.split("\\s+");
+
+ imu_model = AltosLib.model_mpu6000;
+
+ if (items.length >= 7) {
+ accel_along = Integer.parseInt(items[1]);
+ accel_across = Integer.parseInt(items[2]);
+ accel_through = Integer.parseInt(items[3]);
+ gyro_roll = Integer.parseInt(items[4]);
+ gyro_pitch = Integer.parseInt(items[5]);
+ gyro_yaw = Integer.parseInt(items[6]);
+ }
+ return true;
+ }
+ if (line.startsWith("BMI088:")) {
+ String[] items = line.split("\\s+");
+
+ imu_model = AltosLib.model_bmi088;
+
+ if (items.length >= 7) {
+ accel_along = Integer.parseInt(items[1]);
+ accel_across = Integer.parseInt(items[2]);
+ accel_through = Integer.parseInt(items[3]);
+ gyro_roll = Integer.parseInt(items[4]);
+ gyro_pitch = Integer.parseInt(items[5]);
+ gyro_yaw = Integer.parseInt(items[6]);
+ }
+ return true;
+ }
+
+ return false;
+ }
+
+ public AltosIMU clone() {
+ AltosIMU n = new AltosIMU();
+
+ n.accel_x = accel_x;
+ n.accel_y = accel_y;
+ n.accel_z = accel_z;
+
+ n.accel_along = accel_along;
+ n.accel_across = accel_across;
+ n.accel_through = accel_through;
+
+ n.gyro_x = gyro_x;
+ n.gyro_y = gyro_y;
+ n.gyro_z = gyro_z;
+
+ n.gyro_roll = gyro_roll;
+ n.gyro_pitch = gyro_pitch;
+ n.gyro_yaw = gyro_yaw;
+
+ n.mag_x = mag_x;
+ n.mag_y = mag_y;
+ n.mag_z = mag_z;
+
+ n.mag_along = mag_along;
+ n.mag_across = mag_across;
+ n.mag_through = mag_through;
+
+ return n;
+ }
+
+ public static final int imu_type_telemega_v1_v2 = 0; /* MPU6000 */
+ public static final int imu_type_telemega_v3 = 1; /* MPU9250 */
+ public static final int imu_type_telemega_v4 = 2; /* BMX160 */
+
+ public static final int imu_type_easymega_v1 = 3; /* MPU6000 */
+ public static final int imu_type_easymega_v2 = 4; /* MPU9250 */
+
+ public static final int imu_type_easytimer_v1 = 5; /* BMX160 */
+
+ public static final int imu_type_easymotor_v2 = 6; /* ADXL375 (accel only) */
+
+ public static final int imu_type_easytimer_v2 = 7; /* BMI088 */
+
+ private int accel_across(int imu_type) {
+
+ if (accel_across != AltosLib.MISSING)
+ return accel_across;
+
+ switch (imu_type) {
+ case imu_type_telemega_v1_v2:
+ case imu_type_telemega_v3:
+ case imu_type_easymega_v1:
+ return accel_x;
+ case imu_type_easymega_v2:
+ return -accel_y;
+ case imu_type_telemega_v4:
+ case imu_type_easytimer_v1:
+ return -accel_y;
+ case imu_type_easymotor_v2:
+ return accel_y;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int accel_along(int imu_type) {
+ if (accel_along != AltosLib.MISSING) {
+ System.out.printf("accel along %d\n", accel_along);
+ return accel_along;
+ }
+
+ switch (imu_type) {
+ case imu_type_telemega_v1_v2:
+ case imu_type_telemega_v3:
+ case imu_type_easymega_v1:
+ return accel_y;
+ case imu_type_easymega_v2:
+ case imu_type_telemega_v4:
+ case imu_type_easytimer_v1:
+ return accel_x;
+ case imu_type_easymotor_v2:
+ return -accel_x;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int accel_through(int imu_type) {
+ if (accel_through != AltosLib.MISSING)
+ return accel_through;
+
+ return accel_z;
+ }
+
+ private int gyro_roll(int imu_type) {
+ if (gyro_roll != AltosLib.MISSING)
+ return gyro_roll;
+
+ switch (imu_type) {
+ case imu_type_telemega_v1_v2:
+ case imu_type_telemega_v3:
+ case imu_type_easymega_v1:
+ return gyro_y;
+ case imu_type_easymega_v2:
+ case imu_type_telemega_v4:
+ case imu_type_easytimer_v1:
+ return gyro_x;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int gyro_pitch(int imu_type) {
+ if (gyro_pitch != AltosLib.MISSING)
+ return gyro_pitch;
+
+ switch (imu_type) {
+ case imu_type_telemega_v1_v2:
+ case imu_type_telemega_v3:
+ case imu_type_easymega_v1:
+ return gyro_x;
+ case imu_type_easymega_v2:
+ return -gyro_y;
+ case imu_type_telemega_v4:
+ case imu_type_easytimer_v1:
+ return -gyro_y;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int gyro_yaw(int imu_type) {
+ if (gyro_yaw != AltosLib.MISSING)
+ return gyro_yaw;
+
+ return gyro_z;
+ }
+
+ private int mag_across(int imu_type) {
+ if (mag_across != AltosLib.MISSING)
+ return mag_across;
+
+ switch (imu_type) {
+ case imu_type_telemega_v1_v2:
+ case imu_type_telemega_v3:
+ case imu_type_easymega_v1:
+ return mag_x;
+ case imu_type_easymega_v2:
+ return -mag_y;
+ case imu_type_telemega_v4:
+ case imu_type_easytimer_v1:
+ return mag_y;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int mag_along(int imu_type) {
+ if (mag_along != AltosLib.MISSING)
+ return mag_along;
+
+ switch (imu_type) {
+ case imu_type_telemega_v1_v2:
+ case imu_type_telemega_v3:
+ case imu_type_easymega_v1:
+ return mag_y;
+ case imu_type_easymega_v2:
+ case imu_type_telemega_v4:
+ case imu_type_easytimer_v1:
+ return mag_x;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ private int mag_through(int imu_type) {
+ if (mag_through != AltosLib.MISSING)
+ return mag_through;
+
+ return mag_z;
+ }
+
+ private static boolean is_primary_accel(int imu_type) {
+ switch (imu_type) {
+ case imu_type_easytimer_v1:
+ case imu_type_easytimer_v2:
+ return true;
+ default:
+ return false;
+ }
+ }
+
+ static public void provide_data(AltosDataListener listener, AltosLink link, int imu_type) throws InterruptedException {
+ try {
+ AltosIMU imu = new AltosIMU(link);
+ AltosCalData cal_data = listener.cal_data();
+
+ System.out.printf("imu_model %d mag_model %d\n", imu.imu_model, imu.mag_model);
+ if (imu_type != AltosLib.MISSING)
+ cal_data.set_imu_type(imu_type);
+ if (imu != null) {
+ if (imu.imu_model != AltosLib.MISSING)
+ cal_data.set_imu_model(imu.imu_model);
+ if (imu.mag_model != AltosLib.MISSING)
+ cal_data.set_mag_model(imu.mag_model);
+
+ if (imu.gyro_roll(imu_type) != AltosLib.MISSING) {
+ cal_data.set_gyro_zero(0, 0, 0);
+ listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
+ cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
+ cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
+ }
+ listener.set_accel_ground(cal_data.accel_along(imu.accel_along(imu_type)),
+ cal_data.accel_across(imu.accel_across(imu_type)),
+ cal_data.accel_through(imu.accel_through(imu_type)));
+ listener.set_accel(cal_data.accel_along(imu.accel_along(imu_type)),
+ cal_data.accel_across(imu.accel_across(imu_type)),
+ cal_data.accel_through(imu.accel_through(imu_type)));
+ if (is_primary_accel(imu_type)) {
+ int accel = imu.accel_along(imu_type);
+ if (!cal_data.adxl375_inverted)
+ accel = -accel;
+ if (cal_data.pad_orientation == 1)
+ accel = -accel;
+ listener.set_acceleration(cal_data.acceleration(accel));
+ }
+ if (imu.mag_along(imu_type) != AltosLib.MISSING) {
+ listener.set_mag(cal_data.mag_along(imu.mag_along(imu_type)),
+ cal_data.mag_across(imu.mag_across(imu_type)),
+ cal_data.mag_through(imu.mag_through(imu_type)));
+ }
+ }
+ } catch (TimeoutException te) {
+ }
+ }
+
+ public AltosIMU() {
+ }
+
+ public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
+ this();
+ link.printf("I\n");
+ for (;;) {
+ String line = link.get_reply_no_dialog(5000);
+ if (line == null) {
+ throw new TimeoutException();
+ }
+ if (parse_string(line))
+ break;
+ }
+ }
}
-
\ No newline at end of file
projects / fw / altos / blobdiff