X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosTelemetryMegaSensor.java;h=cda977eb36b3a54f071caa1f550bee33239ad1c0;hp=8afabd3064afc9e8327602a92764eb6fefdc71c7;hb=ec46adee44ea08120b1940ca55a5fbdf56874bb1;hpb=91bcfae2e64ecb2e7de1292b264910382b635aea diff --git a/altoslib/AltosTelemetryMegaSensor.java b/altoslib/AltosTelemetryMegaSensor.java index 8afabd30..cda977eb 100644 --- a/altoslib/AltosTelemetryMegaSensor.java +++ b/altoslib/AltosTelemetryMegaSensor.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 @@ -15,70 +16,214 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -package org.altusmetrum.altoslib_2; +package org.altusmetrum.altoslib_14; public class AltosTelemetryMegaSensor extends AltosTelemetryStandard { - int accel; - int pres; - int temp; + int orient() { return int8(5); } + + int accel() { return int16(6); } + int pres() { return int32(8); } + int temp() { return int16(12); } + + int accel_x() { return int16(14); } + int accel_y() { return int16(16); } + int accel_z() { return int16(18); } + + int gyro_x() { return int16(20); } + int gyro_y() { return int16(22); } + int gyro_z() { return int16(24); } + + int mag_x() { return int16(26); } + int mag_z() { return int16(28); } + int mag_y() { return int16(30); } + + int imu_type; + + private int accel_across(int imu_type) { + switch (imu_type) { + case AltosIMU.imu_type_telemega_v1_v2: + case AltosIMU.imu_type_telemega_v3: + case AltosIMU.imu_type_easymega_v1: + return accel_x(); + case AltosIMU.imu_type_easymega_v2: + return -accel_y(); + case AltosIMU.imu_type_telemega_v4: + return -accel_y(); + default: + return AltosLib.MISSING; + } + } - int accel_x; - int accel_y; - int accel_z; + private int accel_along(int imu_type) { + switch (imu_type) { + case AltosIMU.imu_type_telemega_v1_v2: + case AltosIMU.imu_type_telemega_v3: + case AltosIMU.imu_type_easymega_v1: + return accel_y(); + case AltosIMU.imu_type_easymega_v2: + case AltosIMU.imu_type_telemega_v4: + return accel_x(); + default: + return AltosLib.MISSING; + } + } - int gyro_x; - int gyro_y; - int gyro_z; + private int accel_through(int imu_type) { + return accel_z(); + } - int mag_x; - int mag_y; - int mag_z; + private int gyro_roll(int imu_type) { + switch (imu_type) { + case AltosIMU.imu_type_telemega_v1_v2: + case AltosIMU.imu_type_telemega_v3: + case AltosIMU.imu_type_easymega_v1: + return gyro_y(); + case AltosIMU.imu_type_easymega_v2: + case AltosIMU.imu_type_telemega_v4: + return gyro_x(); + default: + return AltosLib.MISSING; + } + } - public AltosTelemetryMegaSensor(int[] bytes) { - super(bytes); + private int gyro_pitch(int imu_type) { + switch (imu_type) { + case AltosIMU.imu_type_telemega_v1_v2: + case AltosIMU.imu_type_telemega_v3: + case AltosIMU.imu_type_easymega_v1: + return gyro_x(); + case AltosIMU.imu_type_easymega_v2: + return -gyro_y(); + case AltosIMU.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 AltosIMU.imu_type_telemega_v1_v2: + case AltosIMU.imu_type_telemega_v3: + case AltosIMU.imu_type_easymega_v1: + return AltosIMU.imu_axis_x; + case AltosIMU.imu_type_telemega_v4: + case AltosIMU.imu_type_easymega_v2: + return AltosIMU.imu_axis_y; + default: + return AltosLib.MISSING; + } + } - accel = int16(6); - pres = int32(8); - temp = int16(12); + private int mag_across(int imu_type) { + switch (imu_type) { + case AltosIMU.imu_type_telemega_v1_v2: + case AltosIMU.imu_type_telemega_v3: + case AltosIMU.imu_type_easymega_v1: + return mag_x(); + case AltosIMU.imu_type_telemega_v4: + case AltosIMU.imu_type_easymega_v2: + return -mag_y(); + default: + return AltosLib.MISSING; + } + } + + public static int mag_along_axis(int imu_type) { + switch (imu_type) { + case AltosIMU.imu_type_telemega_v1_v2: + case AltosIMU.imu_type_telemega_v3: + case AltosIMU.imu_type_easymega_v1: + return AltosIMU.imu_axis_y; + case AltosIMU.imu_type_easymega_v2: + case AltosIMU.imu_type_telemega_v4: + return AltosIMU.imu_axis_x; + default: + return AltosLib.MISSING; + } + } + + private int mag_along(int imu_type) { + switch (imu_type) { + case AltosIMU.imu_type_telemega_v1_v2: + case AltosIMU.imu_type_telemega_v3: + case AltosIMU.imu_type_easymega_v1: + return mag_y(); + case AltosIMU.imu_type_easymega_v2: + case AltosIMU.imu_type_telemega_v4: + return mag_x(); + default: + return AltosLib.MISSING; + } + } - accel_x = int16(14); - accel_y = int16(16); - accel_z = int16(18); + public static int mag_through_axis(int imu_type) { + return AltosIMU.imu_axis_z; + } - gyro_x = int16(20); - gyro_y = int16(22); - gyro_z = int16(24); + private int mag_through(int imu_type) { + return mag_z(); + } - mag_x = int16(26); - mag_y = int16(28); - mag_z = int16(30); + public AltosTelemetryMegaSensor(int[] bytes, int imu_type) throws AltosCRCException { + super(bytes); + switch (imu_type) { + case AltosIMU.imu_type_telemega_v1_v2: + case AltosIMU.imu_type_telemega_v3: + if (serial() < 3000) + imu_type = AltosIMU.imu_type_telemega_v1_v2; + else + imu_type = AltosIMU.imu_type_telemega_v3; + break; + default: + break; + } + this.imu_type = imu_type; } - public void update_state(AltosState state) { - super.update_state(state); + public void provide_data(AltosDataListener listener) { + super.provide_data(listener); + + AltosCalData cal_data = listener.cal_data(); + + listener.set_acceleration(cal_data.acceleration(accel())); + listener.set_pressure(pres()); + listener.set_temperature(temp() / 100.0); - state.set_accel(accel); - state.set_pressure(pres); - state.set_temperature(temp / 100.0); + listener.set_orient(orient()); + cal_data.set_imu_type(imu_type); - AltosIMU imu = new AltosIMU(); - - imu.accel_x = AltosIMU.convert_accel(accel_x); - imu.accel_y = AltosIMU.convert_accel(accel_y); - imu.accel_z = AltosIMU.convert_accel(accel_z); + /* XXX we have no calibration data for these values */ - imu.gyro_x = AltosIMU.convert_gyro(gyro_x); - imu.gyro_y = AltosIMU.convert_gyro(gyro_y); - imu.gyro_z = AltosIMU.convert_gyro(gyro_z); + if (cal_data.accel_zero_along == AltosLib.MISSING) + cal_data.set_accel_zero(0, 0, 0); + if (cal_data.gyro_zero_roll == AltosLib.MISSING) + cal_data.set_gyro_zero(0, 0, 0); - state.imu = imu; + int accel_along = accel_along(imu_type); + int accel_across = accel_across(imu_type); + int accel_through = accel_through(imu_type); - AltosMag mag = new AltosMag(); + int gyro_roll = gyro_roll(imu_type); + int gyro_pitch = gyro_pitch(imu_type); + int gyro_yaw = gyro_yaw(imu_type); - mag.x = AltosMag.convert_gauss(mag_x); - mag.y = AltosMag.convert_gauss(mag_y); - mag.z = AltosMag.convert_gauss(mag_z); + int mag_along = mag_along(imu_type); + int mag_across = mag_across(imu_type); + int mag_through = mag_through(imu_type); - state.mag = mag; + listener.set_accel(cal_data.accel_along(accel_along), + cal_data.accel_across(accel_across), + cal_data.accel_through(accel_through)); + listener.set_gyro(cal_data.gyro_roll(gyro_roll), + cal_data.gyro_pitch(gyro_pitch), + cal_data.gyro_yaw(gyro_yaw)); + listener.set_mag(cal_data.mag_along(mag_along), + cal_data.mag_across(mag_across), + cal_data.mag_through(mag_through)); } }