X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=8adf710e028a03f8e401ec4c48de5c1e9138a805;hp=88e36544e63afc75acb59ccfac6b933d27842c8d;hb=HEAD;hpb=dd43a2ae7594f062a8980d1756a07488ee54b447

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 88e36544..01ecc161 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
@@ -15,15 +16,451 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package 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