X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=8adf710e028a03f8e401ec4c48de5c1e9138a805;hp=0ff27c75421618a49753afdd7538af45da7bbcd6;hb=HEAD;hpb=db950e97caefdd3257c1a2de3547ab88a2bd2344

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 0ff27c75..01ecc161 100644
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -22,36 +22,37 @@ import java.util.concurrent.*;
 import java.io.*;
 
 public class AltosIMU implements Cloneable {
-	public int		accel_x = AltosLib.MISSING;
-	public int		accel_y = AltosLib.MISSING;
-	public int		accel_z = AltosLib.MISSING;
+	private int		accel_x = AltosLib.MISSING;
+	private int		accel_y = AltosLib.MISSING;
+	private int		accel_z = AltosLib.MISSING;
 
-	public int		accel_along = AltosLib.MISSING;
-	public int		accel_across = AltosLib.MISSING;
-	public int		accel_through = AltosLib.MISSING;
+	private int		accel_along = AltosLib.MISSING;
+	private int		accel_across = AltosLib.MISSING;
+	private int		accel_through = AltosLib.MISSING;
 
-	public int		gyro_x = AltosLib.MISSING;
-	public int		gyro_y = AltosLib.MISSING;
-	public int		gyro_z = AltosLib.MISSING;
+	private int		gyro_x = AltosLib.MISSING;
+	private int		gyro_y = AltosLib.MISSING;
+	private int		gyro_z = AltosLib.MISSING;
 
-	public int		gyro_roll = AltosLib.MISSING;
-	public int		gyro_pitch = AltosLib.MISSING;
-	public int		gyro_yaw = AltosLib.MISSING;
+	private int		gyro_roll = AltosLib.MISSING;
+	private int		gyro_pitch = AltosLib.MISSING;
+	private int		gyro_yaw = AltosLib.MISSING;
 
-	public int		mag_x = AltosLib.MISSING;
-	public int		mag_y = AltosLib.MISSING;
-	public int		mag_z = AltosLib.MISSING;
+	private int		mag_x = AltosLib.MISSING;
+	private int		mag_y = AltosLib.MISSING;
+	private int		mag_z = AltosLib.MISSING;
 
-	public int		mag_along = AltosLib.MISSING;
-	public int		mag_across = AltosLib.MISSING;
-	public int		mag_through = AltosLib.MISSING;
+	private int		mag_along = AltosLib.MISSING;
+	private int		mag_across = AltosLib.MISSING;
+	private int		mag_through = AltosLib.MISSING;
 
-	public int		imu_model = AltosLib.MISSING;
-	public int		mag_model = AltosLib.MISSING;
+	private int		imu_model = AltosLib.MISSING;
+	private int		mag_model = AltosLib.MISSING;
 
-	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 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) {
@@ -62,6 +63,8 @@ public class AltosIMU implements Cloneable {
 			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) {
@@ -70,11 +73,13 @@ public class AltosIMU implements Cloneable {
 		case imu_type_easymega_v1:
 		case imu_type_easymega_v2:
 			return counts_per_g_mpu;
-		case  imu_type_telemega_v4:
+		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;
@@ -87,12 +92,13 @@ public class AltosIMU implements Cloneable {
 		return counts / cpg * 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 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) {
@@ -101,6 +107,8 @@ public class AltosIMU implements Cloneable {
 			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) {
@@ -125,11 +133,11 @@ public class AltosIMU implements Cloneable {
 		return counts / cpd;
 	}
 
-	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;
+	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;
 
-	public static final double counts_per_gauss_bmx = 100.0;	/* BMX driver converts to µT */
+	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) {
@@ -150,7 +158,7 @@ public class AltosIMU implements Cloneable {
 		return AltosLib.MISSING;
 	}
 
-	public boolean parse_string(String line) {
+	private boolean parse_string(String line) {
 		if (line.startsWith("Accel:")) {
 
 			String[] items = line.split("\\s+");
@@ -185,6 +193,21 @@ public class AltosIMU implements Cloneable {
 			}
 			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;
 	}
@@ -230,6 +253,8 @@ public class AltosIMU implements Cloneable {
 
 	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)
@@ -253,8 +278,10 @@ public class AltosIMU implements Cloneable {
 	}
 
 	private int accel_along(int imu_type) {
-		if (accel_along != AltosLib.MISSING)
+		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:
@@ -370,6 +397,7 @@ public class AltosIMU implements Cloneable {
 	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;
@@ -381,6 +409,7 @@ public class AltosIMU implements Cloneable {
 			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) {