X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=f3c85e9aa112945f6e8b0c0cb98d1d2927a3e2ae;hp=fc9fa5831be8d8012149e6b2b9b942d87421ecc6;hb=40c6aa050654d43f20c6a9c6bd67541e1747ae38;hpb=9ad50b83eca7aea8c9e568a661fcdd98598d0c73

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index fc9fa583..f3c85e9a 100644
--- 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;
@@ -99,6 +110,7 @@ public class AltosIMU implements Cloneable {
 		case imu_type_easymega_v2:
 			return counts_per_gauss_mpu;
 		case imu_type_telemega_v4:
+		case imu_type_easytimer_v1:
 			return 100.0;
 		default:
 			return AltosLib.MISSING;
@@ -106,7 +118,10 @@ public class AltosIMU implements Cloneable {
 	}
 
 	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) {
@@ -115,8 +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]);
@@ -158,6 +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:
@@ -166,8 +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;
 		}
@@ -181,7 +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;
 		}
@@ -199,6 +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;
@@ -214,6 +238,7 @@ public class AltosIMU implements Cloneable {
 		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;
@@ -230,8 +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;
@@ -247,6 +273,7 @@ public class AltosIMU implements Cloneable {
 		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;
@@ -261,6 +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;
@@ -275,12 +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;
 	}
@@ -297,15 +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)),