altoslib: Add support for EasyMega-v2

adxl375 instead of mma6555.
mpu9250 rotated 90° compared with other megas.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java
index 29ce033df4b4f297d7d6cc57e9eed74502758cde..d315f96ac7fdae2769f59b7f58516a420d9ceb9c 100644 (file)
--- a/altoslib/AltosConfigData.java
+++ b/altoslib/AltosConfigData.java
@@ -201,6 +201,8 @@ public class AltosConfigData {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
                        return 4095 - value;
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+                       return -value;
                default:
                        return AltosLib.MISSING;
                }

diff --git a/altoslib/AltosEepromRecordMega.java b/altoslib/AltosEepromRecordMega.java
index 6b28c50a42e67a935ad7ab723153bb8c996c3a80..c37dbfa2ee2ed409f7ae72a408a8f97a5bc3c2b9 100644 (file)
--- a/altoslib/AltosEepromRecordMega.java
+++ b/altoslib/AltosEepromRecordMega.java
@@ -32,6 +32,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                switch (log_format) {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
                        return data32(16);
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
                        return data16(14);
@@ -43,6 +44,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                switch (log_format) {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
                        return data32(20);
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
                        return data16(16);
@@ -54,6 +56,7 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                switch (log_format) {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
                        return data32(24);
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
                        return data16(18);
@@ -78,6 +81,98 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
        private int mag_x() { return data16(20); }
        private int mag_z() { return data16(22); }
        private int mag_y() { return data16(24); }
+
+       private int accel_across() {
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+                       return accel_x();
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+                       return -accel_y();
+               default:
+                       return AltosLib.MISSING;
+               }
+       }
+
+       private int accel_along(){
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+                       return accel_y();
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+                       return accel_x();
+               default:
+                       return AltosLib.MISSING;
+               }
+       }
+
+       private int accel_through() {
+               return accel_z();
+       }
+
+       private int gyro_pitch() {
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+                       return gyro_x();
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+                       return -gyro_y();
+               default:
+                       return AltosLib.MISSING;
+               }
+       }
+
+       private int gyro_roll() {
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+                       return gyro_y();
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+                       return gyro_x();
+               default:
+                       return AltosLib.MISSING;
+               }
+       }
+
+       private int gyro_yaw() {
+               return gyro_z();
+       }
+
+       private int mag_across() {
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+                       return mag_x();
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+                       return -mag_y();
+               default:
+                       return AltosLib.MISSING;
+               }
+       }
+
+       private int mag_along() {
+               switch (log_format) {
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+               case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+                       return mag_y();
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
+                       return mag_y();
+               default:
+                       return AltosLib.MISSING;
+               }
+       }
+
+       private int mag_through() {
+               return mag_z();
+       }
+
+
        private int accel() { return data16(26); }
 
        /* AO_LOG_TEMP_VOLT elements */
@@ -138,16 +233,16 @@ public class AltosEepromRecordMega extends AltosEepromRecord {
                        listener.set_pressure(pt.pres);
                        listener.set_temperature(pt.temp);
 
-                       int     accel_along = accel_y();
-                       int     accel_across = accel_x();
-                       int     accel_through = accel_z();
-                       int     gyro_roll = gyro_y();
-                       int     gyro_pitch = gyro_x();
-                       int     gyro_yaw = gyro_z();
+                       int     accel_along = accel_along();
+                       int     accel_across = accel_across();
+                       int     accel_through = accel_through();
+                       int     gyro_roll = gyro_roll();
+                       int     gyro_pitch = gyro_pitch();
+                       int     gyro_yaw = gyro_yaw();
 
-                       int     mag_along = mag_y();
-                       int     mag_across = mag_x();
-                       int     mag_through = mag_z();
+                       int     mag_along = mag_along();
+                       int     mag_across = mag_across();
+                       int     mag_through = mag_through();
 
                        if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
                                cal_data.check_imu_wrap(gyro_roll, gyro_pitch, gyro_yaw);

diff --git a/altoslib/AltosEepromRecordSet.java b/altoslib/AltosEepromRecordSet.java
index 27f81df6d31f86bfdf094d0cc97898ff861810e6..e26a1e00205d2c8980f38f08b1bf00948f045169 100644 (file)
--- a/altoslib/AltosEepromRecordSet.java
+++ b/altoslib/AltosEepromRecordSet.java
@@ -71,6 +71,7 @@ public class AltosEepromRecordSet implements AltosRecordSet {
                case AltosLib.AO_LOG_FORMAT_TELEMEGA:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
                case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+               case AltosLib.AO_LOG_FORMAT_EASYMEGA_2:
                        record = new AltosEepromRecordMega(eeprom);
                        break;
                case AltosLib.AO_LOG_FORMAT_TELEMETRUM:

diff --git a/altoslib/AltosLib.java b/altoslib/AltosLib.java
index 8b0170aed140c2b3e85acf718a4def736a6d84b6..93567c06b96467a7d016088f8f30561a4febd359 100644 (file)
--- a/altoslib/AltosLib.java
+++ b/altoslib/AltosLib.java
@@ -374,6 +374,7 @@ public class AltosLib {
        public static final int AO_LOG_FORMAT_TELEFIRETWO = 13;
        public static final int AO_LOG_FORMAT_EASYMINI2 = 14;
        public static final int AO_LOG_FORMAT_TELEMEGA_3 = 15;
+       public static final int AO_LOG_FORMAT_EASYMEGA_2 = 16;
        public static final int AO_LOG_FORMAT_NONE = 127;
 
        public static boolean isspace(int c) {