altoslib, altosuilib: Get Idle Monitor working with EasyTimer and EasyMotor

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 7a5c222e1df43e675e119c6b0443cc990721da48..f3c85e9aa112945f6e8b0c0cb98d1d2927a3e2ae 100644 (file)
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -16,7 +16,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_13;
+package org.altusmetrum.altoslib_14;
 
 import java.util.concurrent.*;
 import java.io.*;
@@ -36,6 +36,7 @@ public class AltosIMU implements Cloneable {
 
        public static final double      counts_per_g_mpu = 2048.0;
        public static final double      counts_per_g_bmx = 2048.0;
+       public static final double      counts_per_g_adxl = 20.5;
 
        private static double counts_per_g(int imu_type) {
                switch (imu_type) {
@@ -45,14 +46,20 @@ public class AltosIMU implements Cloneable {
                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;
                default:
                        return AltosLib.MISSING;
                }
        }
 
        public static double convert_accel(double counts, int imu_type) {
-               return counts / counts_per_g(imu_type) * AltosConvert.gravity;
+               double cpg = counts_per_g(imu_type);
+               if (cpg == AltosLib.MISSING)
+                       return AltosLib.MISSING;
+               return counts / cpg * AltosConvert.gravity;
        }
 
        public static final double      GYRO_FULLSCALE_DEGREES_MPU = 2000.0;
@@ -69,7 +76,8 @@ public class AltosIMU implements Cloneable {
                case imu_type_easymega_v1:
                case imu_type_easymega_v2:
                        return counts_per_degree_mpu;
-               case  imu_type_telemega_v4:
+               case imu_type_telemega_v4:
+               case imu_type_easytimer_v1:
                        return counts_per_degree_bmx;
                default:
                        return AltosLib.MISSING;
@@ -77,7 +85,10 @@ public class AltosIMU implements Cloneable {
        }
 
        public static double gyro_degrees_per_second(double counts, int imu_type) {
-               return counts / counts_per_degree(imu_type);
+               double cpd = counts_per_degree(imu_type);
+               if (cpd == AltosLib.MISSING)
+                       return AltosLib.MISSING;
+               return counts / cpd;
        }
 
        public static final int imu_axis_x = 0;
@@ -88,11 +99,7 @@ public class AltosIMU implements Cloneable {
        public static final double MAG_COUNTS_MPU = 32767.0;
        public static final double counts_per_gauss_mpu = MAG_COUNTS_MPU / MAG_FULLSCALE_GAUSS_MPU;
 
-       public static final double MAG_FULLSCALE_GAUSS_BMX_XY = 11.50;  /* 1150µT */
-       public static final double MAG_FULLSCALE_GAUSS_BMX_Z = 25.00;   /* 2500µT */
-       public static final double MAG_COUNTS_BMX = 32767.0;
-       public static final double counts_per_gauss_bmx_xy = MAG_COUNTS_BMX / MAG_FULLSCALE_GAUSS_BMX_XY;
-       public static final double counts_per_gauss_bmx_z = MAG_COUNTS_BMX / MAG_FULLSCALE_GAUSS_BMX_Z;
+       public static final double counts_per_gauss_bmx = 100.0;        /* BMX driver converts to µT */
 
        public static double counts_per_gauss(int imu_type, int axis) {
                switch(imu_type) {
@@ -103,21 +110,18 @@ public class AltosIMU implements Cloneable {
                case imu_type_easymega_v2:
                        return counts_per_gauss_mpu;
                case imu_type_telemega_v4:
-                       switch (axis) {
-                       case imu_axis_x:
-                       case imu_axis_y:
-                               return counts_per_gauss_bmx_xy;
-                       case imu_axis_z:
-                               return counts_per_gauss_bmx_z;
-                       }
-                       /* fall through */
+               case imu_type_easytimer_v1:
+                       return 100.0;
                default:
                        return AltosLib.MISSING;
                }
        }
 
        public static double convert_gauss(double counts, int imu_type, int imu_axis) {
-               return counts / counts_per_gauss(imu_type, imu_axis);
+               double cpg = counts_per_gauss(imu_type, imu_axis);
+               if (cpg == AltosLib.MISSING)
+                       return AltosLib.MISSING;
+               return counts / cpg;
        }
 
        public boolean parse_string(String line) {
@@ -126,8 +130,6 @@ public class AltosIMU implements Cloneable {
 
                String[] items = line.split("\\s+");
 
-               System.out.printf("length %d\n", items.length);
-
                if (items.length >= 8) {
                        accel_x = Integer.parseInt(items[1]);
                        accel_y = Integer.parseInt(items[2]);
@@ -169,6 +171,10 @@ public class AltosIMU implements Cloneable {
        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) */
+
        private int accel_across(int imu_type) {
                switch (imu_type) {
                case imu_type_telemega_v1_v2:
@@ -177,8 +183,11 @@ public class AltosIMU implements Cloneable {
                        return accel_x;
                case imu_type_easymega_v2:
                        return -accel_y;
-               case  imu_type_telemega_v4:
+               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;
                }
@@ -192,7 +201,10 @@ public class AltosIMU implements Cloneable {
                        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;
                }
@@ -210,6 +222,7 @@ public class AltosIMU implements Cloneable {
                        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;
@@ -223,7 +236,9 @@ public class AltosIMU implements Cloneable {
                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;
@@ -240,8 +255,9 @@ public class AltosIMU implements Cloneable {
                case imu_type_telemega_v3:
                case imu_type_easymega_v1:
                        return imu_axis_x;
-               case imu_type_telemega_v4:
                case imu_type_easymega_v2:
+               case imu_type_telemega_v4:
+               case imu_type_easytimer_v1:
                        return imu_axis_y;
                default:
                        return AltosLib.MISSING;
@@ -254,9 +270,11 @@ public class AltosIMU implements Cloneable {
                case imu_type_telemega_v3:
                case imu_type_easymega_v1:
                        return mag_x;
-               case imu_type_telemega_v4:
                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;
                }
@@ -270,6 +288,7 @@ public class AltosIMU implements Cloneable {
                        return imu_axis_y;
                case imu_type_easymega_v2:
                case imu_type_telemega_v4:
+               case imu_type_easytimer_v1:
                        return imu_axis_x;
                default:
                        return AltosLib.MISSING;
@@ -284,12 +303,22 @@ public class AltosIMU implements Cloneable {
                        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 static boolean is_primary_accel(int imu_type) {
+               switch (imu_type) {
+               case imu_type_easytimer_v1:
+                       return true;
+               default:
+                       return false;
+               }
+       }
+
        public static int mag_through_axis(int imu_type) {
                return imu_axis_z;
        }
@@ -306,15 +335,26 @@ public class AltosIMU implements Cloneable {
                        cal_data.set_imu_type(imu_type);
 
                        if (imu != null) {
-                               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)));
+                               if (imu.gyro_x != 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_x != AltosLib.MISSING) {
                                        listener.set_mag(cal_data.mag_along(imu.mag_along(imu_type)),
                                                         cal_data.mag_across(imu.mag_across(imu_type)),