467 lines
13 KiB
Java
467 lines
13 KiB
Java
/*
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* Copyright © 2012 Keith Packard <keithp@keithp.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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*/
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package org.altusmetrum.altoslib_14;
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import java.util.concurrent.*;
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import java.io.*;
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public class AltosIMU implements Cloneable {
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private int accel_x = AltosLib.MISSING;
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private int accel_y = AltosLib.MISSING;
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private int accel_z = AltosLib.MISSING;
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private int accel_along = AltosLib.MISSING;
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private int accel_across = AltosLib.MISSING;
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private int accel_through = AltosLib.MISSING;
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private int gyro_x = AltosLib.MISSING;
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private int gyro_y = AltosLib.MISSING;
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private int gyro_z = AltosLib.MISSING;
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private int gyro_roll = AltosLib.MISSING;
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private int gyro_pitch = AltosLib.MISSING;
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private int gyro_yaw = AltosLib.MISSING;
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private int mag_x = AltosLib.MISSING;
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private int mag_y = AltosLib.MISSING;
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private int mag_z = AltosLib.MISSING;
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private int mag_along = AltosLib.MISSING;
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private int mag_across = AltosLib.MISSING;
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private int mag_through = AltosLib.MISSING;
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private int imu_model = AltosLib.MISSING;
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private int mag_model = AltosLib.MISSING;
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private static final double counts_per_g_mpu = 2048.0;
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private static final double counts_per_g_bmx = 2048.0;
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private static final double counts_per_g_adxl = 20.5;
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private static final double counts_per_g_bmi088 = 1365.0;
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private static double counts_per_g(int imu_type, int imu_model) {
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switch (imu_model) {
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case AltosLib.model_mpu6000:
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case AltosLib.model_mpu9250:
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return counts_per_g_mpu;
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case AltosLib.model_adxl375:
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return counts_per_g_adxl;
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case AltosLib.model_bmx160:
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return counts_per_g_bmx;
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case AltosLib.model_bmi088:
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return counts_per_g_bmi088;
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}
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switch (imu_type) {
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case imu_type_telemega_v1_v2:
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case imu_type_telemega_v3:
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case imu_type_easymega_v1:
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case imu_type_easymega_v2:
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return counts_per_g_mpu;
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case imu_type_telemega_v4:
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case imu_type_easytimer_v1:
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return counts_per_g_bmx;
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case imu_type_easymotor_v2:
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return counts_per_g_adxl;
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case imu_type_easytimer_v2:
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return counts_per_g_bmi088;
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}
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return AltosLib.MISSING;
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}
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public static double convert_accel(double counts, int imu_type, int imu_model) {
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double cpg = counts_per_g(imu_type, imu_model);
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if (cpg == AltosLib.MISSING)
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return AltosLib.MISSING;
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return counts / cpg * AltosConvert.gravity;
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}
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private static final double GYRO_FULLSCALE_DEGREES_MPU = 2000.0;
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private static final double GYRO_COUNTS_MPU = 32767.0;
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private static final double counts_per_degree_mpu = GYRO_COUNTS_MPU / GYRO_FULLSCALE_DEGREES_MPU;
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private static final double GYRO_FULLSCALE_DEGREES_BMX = 2000.0;
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private static final double GYRO_COUNTS_BMX = 32767.0;
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private static final double counts_per_degree_bmx = GYRO_COUNTS_BMX / GYRO_FULLSCALE_DEGREES_BMX;
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private static final double counts_per_degree_bmi088 = 16.384;
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private static double counts_per_degree(int imu_type, int imu_model) {
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switch (imu_model) {
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case AltosLib.model_mpu6000:
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case AltosLib.model_mpu9250:
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return counts_per_degree_mpu;
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case AltosLib.model_bmx160:
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return counts_per_degree_bmx;
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case AltosLib.model_bmi088:
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return counts_per_degree_bmi088;
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}
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switch (imu_type) {
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case imu_type_telemega_v1_v2:
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case imu_type_telemega_v3:
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case imu_type_easymega_v1:
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case imu_type_easymega_v2:
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return counts_per_degree_mpu;
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case imu_type_telemega_v4:
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case imu_type_easytimer_v1:
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return counts_per_degree_bmx;
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default:
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return AltosLib.MISSING;
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}
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}
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public static double gyro_degrees_per_second(double counts, int imu_type, int imu_model) {
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double cpd = counts_per_degree(imu_type, imu_model);
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if (cpd == AltosLib.MISSING)
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return AltosLib.MISSING;
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return counts / cpd;
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}
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private static final double MAG_FULLSCALE_GAUSS_MPU = 48.00; /* 4800µT */
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private static final double MAG_COUNTS_MPU = 32767.0;
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private static final double counts_per_gauss_mpu = MAG_COUNTS_MPU / MAG_FULLSCALE_GAUSS_MPU;
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private static final double counts_per_gauss_bmx = 100.0; /* BMX driver converts to µT */
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public static double counts_per_gauss(int imu_type, int imu_model) {
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switch (imu_model) {
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case AltosLib.model_mpu9250:
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return counts_per_gauss_mpu;
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case AltosLib.model_bmx160:
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return counts_per_gauss_bmx;
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}
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switch(imu_type) {
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case imu_type_telemega_v3:
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case imu_type_easymega_v2:
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return counts_per_gauss_mpu;
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case imu_type_telemega_v4:
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case imu_type_easytimer_v1:
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return counts_per_gauss_bmx;
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}
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return AltosLib.MISSING;
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}
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private boolean parse_string(String line) {
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if (line.startsWith("Accel:")) {
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String[] items = line.split("\\s+");
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if (items.length >= 8) {
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accel_x = Integer.parseInt(items[1]);
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accel_y = Integer.parseInt(items[2]);
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accel_z = Integer.parseInt(items[3]);
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gyro_x = Integer.parseInt(items[5]);
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gyro_y = Integer.parseInt(items[6]);
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gyro_z = Integer.parseInt(items[7]);
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}
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if (items.length >= 12) {
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mag_x = Integer.parseInt(items[9]);
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mag_y = Integer.parseInt(items[10]);
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mag_z = Integer.parseInt(items[11]);
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}
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return true;
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}
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if (line.startsWith("MPU6000:")) {
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String[] items = line.split("\\s+");
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imu_model = AltosLib.model_mpu6000;
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if (items.length >= 7) {
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accel_along = Integer.parseInt(items[1]);
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accel_across = Integer.parseInt(items[2]);
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accel_through = Integer.parseInt(items[3]);
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gyro_roll = Integer.parseInt(items[4]);
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gyro_pitch = Integer.parseInt(items[5]);
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gyro_yaw = Integer.parseInt(items[6]);
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}
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return true;
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}
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if (line.startsWith("BMI088:")) {
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String[] items = line.split("\\s+");
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imu_model = AltosLib.model_bmi088;
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if (items.length >= 7) {
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accel_along = Integer.parseInt(items[1]);
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accel_across = Integer.parseInt(items[2]);
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accel_through = Integer.parseInt(items[3]);
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gyro_roll = Integer.parseInt(items[4]);
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gyro_pitch = Integer.parseInt(items[5]);
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gyro_yaw = Integer.parseInt(items[6]);
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}
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return true;
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}
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return false;
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}
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public AltosIMU clone() {
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AltosIMU n = new AltosIMU();
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n.accel_x = accel_x;
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n.accel_y = accel_y;
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n.accel_z = accel_z;
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n.accel_along = accel_along;
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n.accel_across = accel_across;
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n.accel_through = accel_through;
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n.gyro_x = gyro_x;
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n.gyro_y = gyro_y;
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n.gyro_z = gyro_z;
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n.gyro_roll = gyro_roll;
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n.gyro_pitch = gyro_pitch;
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n.gyro_yaw = gyro_yaw;
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n.mag_x = mag_x;
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n.mag_y = mag_y;
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n.mag_z = mag_z;
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n.mag_along = mag_along;
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n.mag_across = mag_across;
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n.mag_through = mag_through;
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return n;
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}
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public static final int imu_type_telemega_v1_v2 = 0; /* MPU6000 */
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public static final int imu_type_telemega_v3 = 1; /* MPU9250 */
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public static final int imu_type_telemega_v4 = 2; /* BMX160 */
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public static final int imu_type_easymega_v1 = 3; /* MPU6000 */
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public static final int imu_type_easymega_v2 = 4; /* MPU9250 */
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public static final int imu_type_easytimer_v1 = 5; /* BMX160 */
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public static final int imu_type_easymotor_v2 = 6; /* ADXL375 (accel only) */
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public static final int imu_type_easytimer_v2 = 7; /* BMI088 */
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private int accel_across(int imu_type) {
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if (accel_across != AltosLib.MISSING)
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return accel_across;
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switch (imu_type) {
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case imu_type_telemega_v1_v2:
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case imu_type_telemega_v3:
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case imu_type_easymega_v1:
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return accel_x;
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case imu_type_easymega_v2:
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return -accel_y;
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case imu_type_telemega_v4:
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case imu_type_easytimer_v1:
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return -accel_y;
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case imu_type_easymotor_v2:
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return accel_y;
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default:
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return AltosLib.MISSING;
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}
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}
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private int accel_along(int imu_type) {
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if (accel_along != AltosLib.MISSING) {
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System.out.printf("accel along %d\n", accel_along);
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return accel_along;
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}
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switch (imu_type) {
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case imu_type_telemega_v1_v2:
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case imu_type_telemega_v3:
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case imu_type_easymega_v1:
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return accel_y;
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case imu_type_easymega_v2:
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case imu_type_telemega_v4:
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case imu_type_easytimer_v1:
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return accel_x;
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case imu_type_easymotor_v2:
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return -accel_x;
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default:
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return AltosLib.MISSING;
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}
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}
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private int accel_through(int imu_type) {
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if (accel_through != AltosLib.MISSING)
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return accel_through;
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return accel_z;
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}
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private int gyro_roll(int imu_type) {
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if (gyro_roll != AltosLib.MISSING)
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return gyro_roll;
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switch (imu_type) {
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case imu_type_telemega_v1_v2:
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case imu_type_telemega_v3:
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case imu_type_easymega_v1:
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return gyro_y;
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case imu_type_easymega_v2:
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case imu_type_telemega_v4:
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case imu_type_easytimer_v1:
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return gyro_x;
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default:
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return AltosLib.MISSING;
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}
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}
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private int gyro_pitch(int imu_type) {
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if (gyro_pitch != AltosLib.MISSING)
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return gyro_pitch;
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switch (imu_type) {
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case imu_type_telemega_v1_v2:
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case imu_type_telemega_v3:
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case imu_type_easymega_v1:
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return gyro_x;
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case imu_type_easymega_v2:
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return -gyro_y;
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case imu_type_telemega_v4:
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case imu_type_easytimer_v1:
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return -gyro_y;
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default:
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return AltosLib.MISSING;
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}
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}
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private int gyro_yaw(int imu_type) {
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if (gyro_yaw != AltosLib.MISSING)
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return gyro_yaw;
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return gyro_z;
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}
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private int mag_across(int imu_type) {
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if (mag_across != AltosLib.MISSING)
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return mag_across;
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switch (imu_type) {
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case imu_type_telemega_v1_v2:
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case imu_type_telemega_v3:
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case imu_type_easymega_v1:
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return mag_x;
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case imu_type_easymega_v2:
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return -mag_y;
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case imu_type_telemega_v4:
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case imu_type_easytimer_v1:
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return mag_y;
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default:
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return AltosLib.MISSING;
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}
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}
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private int mag_along(int imu_type) {
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if (mag_along != AltosLib.MISSING)
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return mag_along;
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switch (imu_type) {
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case imu_type_telemega_v1_v2:
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case imu_type_telemega_v3:
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case imu_type_easymega_v1:
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return mag_y;
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case imu_type_easymega_v2:
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case imu_type_telemega_v4:
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case imu_type_easytimer_v1:
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return mag_x;
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default:
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return AltosLib.MISSING;
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}
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}
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private int mag_through(int imu_type) {
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if (mag_through != AltosLib.MISSING)
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return mag_through;
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return mag_z;
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}
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private static boolean is_primary_accel(int imu_type) {
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switch (imu_type) {
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case imu_type_easytimer_v1:
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case imu_type_easytimer_v2:
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return true;
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default:
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return false;
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}
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}
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static public void provide_data(AltosDataListener listener, AltosLink link, int imu_type) throws InterruptedException {
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try {
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AltosIMU imu = new AltosIMU(link);
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AltosCalData cal_data = listener.cal_data();
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System.out.printf("imu_model %d mag_model %d\n", imu.imu_model, imu.mag_model);
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if (imu_type != AltosLib.MISSING)
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cal_data.set_imu_type(imu_type);
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if (imu != null) {
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if (imu.imu_model != AltosLib.MISSING)
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cal_data.set_imu_model(imu.imu_model);
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if (imu.mag_model != AltosLib.MISSING)
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cal_data.set_mag_model(imu.mag_model);
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if (imu.gyro_roll(imu_type) != AltosLib.MISSING) {
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cal_data.set_gyro_zero(0, 0, 0);
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listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
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cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
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cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
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}
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listener.set_accel_ground(cal_data.accel_along(imu.accel_along(imu_type)),
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cal_data.accel_across(imu.accel_across(imu_type)),
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cal_data.accel_through(imu.accel_through(imu_type)));
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listener.set_accel(cal_data.accel_along(imu.accel_along(imu_type)),
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cal_data.accel_across(imu.accel_across(imu_type)),
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cal_data.accel_through(imu.accel_through(imu_type)));
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if (is_primary_accel(imu_type)) {
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int accel = imu.accel_along(imu_type);
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if (!cal_data.adxl375_inverted)
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accel = -accel;
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if (cal_data.pad_orientation == 1)
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accel = -accel;
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listener.set_acceleration(cal_data.acceleration(accel));
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}
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if (imu.mag_along(imu_type) != AltosLib.MISSING) {
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listener.set_mag(cal_data.mag_along(imu.mag_along(imu_type)),
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cal_data.mag_across(imu.mag_across(imu_type)),
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cal_data.mag_through(imu.mag_through(imu_type)));
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}
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}
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} catch (TimeoutException te) {
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}
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}
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public AltosIMU() {
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}
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public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
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this();
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link.printf("I\n");
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for (;;) {
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String line = link.get_reply_no_dialog(5000);
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if (line == null) {
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throw new TimeoutException();
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}
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if (parse_string(line))
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break;
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}
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}
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}
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