X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=3ce49499ba3d60359e309df843e18f2cb8d48e2e;hp=99efb76f198f5d12f93af9e9ee8ae16028b69b4d;hb=a4039a60bbe972fd022699d62ab06a8f1bc4af69;hpb=d2e6efa810b7fccc5af937386a40ae5af064bf26

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 99efb76f..3ce49499 100644
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -3,7 +3,8 @@
  *
  * 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
@@ -15,41 +16,108 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_3;
+package org.altusmetrum.altoslib_13;
 
 import java.util.concurrent.*;
+import java.io.*;
 
 public class AltosIMU implements Cloneable {
-	public double		accel_x;
-	public double		accel_y;
-	public double		accel_z;
+	public int		accel_x = AltosLib.MISSING;
+	public int		accel_y = AltosLib.MISSING;
+	public int		accel_z = AltosLib.MISSING;
 
-	public double		gyro_x;
-	public double		gyro_y;
-	public double		gyro_z;
+	public int		gyro_x = AltosLib.MISSING;
+	public int		gyro_y = AltosLib.MISSING;
+	public int		gyro_z = AltosLib.MISSING;
 
-/*
- * XXX use ground measurements to adjust values
+	public int		mag_x = AltosLib.MISSING;
+	public int		mag_y = AltosLib.MISSING;
+	public int		mag_z = AltosLib.MISSING;
 
-	public double		ground_accel_x;
-	public double		ground_accel_y;
-	public double		ground_accel_z;
+	public static final double	counts_per_g_mpu = 2048.0;
+	public static final double	counts_per_g_bmx = 2048.0;
 
-	public double		ground_gyro_x;
-	public double		ground_gyro_y;
-	public double		ground_gyro_z;
-*/
+	private static double counts_per_g(int imu_type) {
+		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:
+			return counts_per_g_bmx;
+		default:
+			return AltosLib.MISSING;
+		}
+	}
 
-	public static int	counts_per_g = 2048;
+	public static double convert_accel(double counts, int imu_type) {
+		return counts / counts_per_g(imu_type) * AltosConvert.gravity;
+	}
+
+	public static final double 	GYRO_FULLSCALE_DEGREES_MPU = 2000.0;
+	public static final double	GYRO_COUNTS_MPU = 32767.0;
+	public static final double	counts_per_degree_mpu = GYRO_COUNTS_MPU / GYRO_FULLSCALE_DEGREES_MPU;
+	public static final double 	GYRO_FULLSCALE_DEGREES_BMX = 2000.0;
+	public static final double	GYRO_COUNTS_BMX = 32767.0;
+	public static final double	counts_per_degree_bmx = GYRO_COUNTS_BMX / GYRO_FULLSCALE_DEGREES_BMX;
+
+	private static double counts_per_degree(int imu_type) {
+		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:
+			return counts_per_degree_bmx;
+		default:
+			return AltosLib.MISSING;
+		}
+	}
 
-	public static double convert_accel(int counts) {
-		return (double) counts / (double) counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
+	public static double gyro_degrees_per_second(double counts, int imu_type) {
+		return counts / counts_per_degree(imu_type);
 	}
 
-	public static double	counts_per_degsec = 16.4;
+	public static final int imu_axis_x = 0;
+	public static final int imu_axis_y = 1;
+	public static final int imu_axis_z = 2;
+
+	public static final double MAG_FULLSCALE_GAUSS_MPU = 48.00;	/* 4800µT */
+	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 double counts_per_gauss(int imu_type, int axis) {
+		switch(imu_type) {
+		case imu_type_telemega_v1_v2:
+		case imu_type_easymega_v1:
+			return AltosMag.counts_per_gauss;
+		case imu_type_telemega_v3:
+		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 */
+		default:
+			return AltosLib.MISSING;
+		}
+	}
 
-	public static double convert_gyro(int counts) {
-		return (double) counts / counts_per_degsec;
+	public static double convert_gauss(double counts, int imu_type, int imu_axis) {
+		return counts / counts_per_gauss(imu_type, imu_axis);
 	}
 
 	public boolean parse_string(String line) {
@@ -58,13 +126,20 @@ public class AltosIMU implements Cloneable {
 
 		String[] items = line.split("\\s+");
 
+		System.out.printf("length %d\n", items.length);
+
 		if (items.length >= 8) {
-			accel_x = convert_accel(Integer.parseInt(items[1]));
-			accel_y = convert_accel(Integer.parseInt(items[2]));
-			accel_z = convert_accel(Integer.parseInt(items[3]));
-			gyro_x = convert_gyro(Integer.parseInt(items[5]));
-			gyro_y = convert_gyro(Integer.parseInt(items[6]));
-			gyro_z = convert_gyro(Integer.parseInt(items[7]));
+			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;
 	}
@@ -79,15 +154,175 @@ public class AltosIMU implements Cloneable {
 		n.gyro_x = gyro_x;
 		n.gyro_y = gyro_y;
 		n.gyro_z = gyro_z;
+
+		n.mag_x = mag_x;
+		n.mag_y = mag_y;
+		n.mag_z = mag_z;
+
 		return n;
 	}
 
-	static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
+	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 */
+
+	private int accel_across(int imu_type) {
+		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:
+			return -accel_y;
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	private int accel_along(int imu_type) {
+		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:
+			return accel_x;
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	private int accel_through(int imu_type) {
+		return accel_z;
+	}
+
+	private int gyro_roll(int imu_type) {
+		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:
+			return gyro_x;
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	private int gyro_pitch(int imu_type) {
+		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:
+			return -gyro_y;
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	private int gyro_yaw(int imu_type) {
+		return gyro_z;
+	}
+
+	public static int mag_across_axis(int imu_type) {
+		switch (imu_type) {
+		case imu_type_telemega_v1_v2:
+		case imu_type_telemega_v3:
+		case imu_type_easymega_v1:
+			return imu_axis_x;
+		case imu_type_telemega_v4:
+		case imu_type_easymega_v2:
+			return imu_axis_y;
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	private int mag_across(int imu_type) {
+		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:
+			return mag_y;
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	public static int mag_along_axis(int imu_type) {
+		switch (imu_type) {
+		case imu_type_telemega_v1_v2:
+		case imu_type_telemega_v3:
+		case imu_type_easymega_v1:
+			return imu_axis_y;
+		case imu_type_easymega_v2:
+		case imu_type_telemega_v4:
+			return imu_axis_x;
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	private int mag_along(int imu_type) {
+		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:
+			return mag_x;
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+
+	public static int mag_through_axis(int imu_type) {
+		return imu_axis_z;
+	}
+
+	private int mag_through(int imu_type) {
+		return mag_z;
+	}
+
+	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();
 
-			if (imu != null)
-				state.set_imu(imu);
+			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)));
+				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 (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)),
+							 cal_data.mag_through(imu.mag_through(imu_type)));
+				}
+			}
 		} catch (TimeoutException te) {
 		}
 	}
@@ -100,6 +335,10 @@ public class AltosIMU implements Cloneable {
 		gyro_x = AltosLib.MISSING;
 		gyro_y = AltosLib.MISSING;
 		gyro_z = AltosLib.MISSING;
+
+		mag_x = AltosLib.MISSING;
+		mag_y = AltosLib.MISSING;
+		mag_z = AltosLib.MISSING;
 	}
 
 	public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {