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doc: Update for EasyTimer
[fw/altos]
/
altoslib
/
AltosIMU.java
diff --git
a/altoslib/AltosIMU.java
b/altoslib/AltosIMU.java
index 4371ad8503dbc88576978e7b5085b987a7c41ed7..7f8be40328faa7d848965d233727a08c90dcc05b 100644
(file)
--- a/
altoslib/AltosIMU.java
+++ b/
altoslib/AltosIMU.java
@@
-45,6
+45,7
@@
public class AltosIMU implements Cloneable {
case imu_type_easymega_v2:
return counts_per_g_mpu;
case imu_type_telemega_v4:
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;
default:
return AltosLib.MISSING;
return counts_per_g_bmx;
default:
return AltosLib.MISSING;
@@
-69,7
+70,8
@@
public class AltosIMU implements Cloneable {
case imu_type_easymega_v1:
case imu_type_easymega_v2:
return counts_per_degree_mpu;
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;
return counts_per_degree_bmx;
default:
return AltosLib.MISSING;
@@
-99,6
+101,7
@@
public class AltosIMU implements Cloneable {
case imu_type_easymega_v2:
return counts_per_gauss_mpu;
case imu_type_telemega_v4:
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;
return 100.0;
default:
return AltosLib.MISSING;
@@
-115,8
+118,6
@@
public class AltosIMU implements Cloneable {
String[] items = line.split("\\s+");
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]);
if (items.length >= 8) {
accel_x = Integer.parseInt(items[1]);
accel_y = Integer.parseInt(items[2]);
@@
-158,6
+159,8
@@
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_easymega_v1 = 3; /* MPU6000 */
public static final int imu_type_easymega_v2 = 4; /* MPU9250 */
+ public static final int imu_type_easytimer_v1 = 5; /* BMX160 */
+
private int accel_across(int imu_type) {
switch (imu_type) {
case imu_type_telemega_v1_v2:
private int accel_across(int imu_type) {
switch (imu_type) {
case imu_type_telemega_v1_v2:
@@
-166,7
+169,8
@@
public class AltosIMU implements Cloneable {
return accel_x;
case imu_type_easymega_v2:
return -accel_y;
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;
default:
return AltosLib.MISSING;
return -accel_y;
default:
return AltosLib.MISSING;
@@
-181,6
+185,7
@@
public class AltosIMU implements Cloneable {
return accel_y;
case imu_type_easymega_v2:
case imu_type_telemega_v4:
return accel_y;
case imu_type_easymega_v2:
case imu_type_telemega_v4:
+ case imu_type_easytimer_v1:
return accel_x;
default:
return AltosLib.MISSING;
return accel_x;
default:
return AltosLib.MISSING;
@@
-199,6
+204,7
@@
public class AltosIMU implements Cloneable {
return gyro_y;
case imu_type_easymega_v2:
case imu_type_telemega_v4:
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;
return gyro_x;
default:
return AltosLib.MISSING;
@@
-214,6
+220,7
@@
public class AltosIMU implements Cloneable {
case imu_type_easymega_v2:
return -gyro_y;
case imu_type_telemega_v4:
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;
return -gyro_y;
default:
return AltosLib.MISSING;
@@
-230,8
+237,9
@@
public class AltosIMU implements Cloneable {
case imu_type_telemega_v3:
case imu_type_easymega_v1:
return imu_axis_x;
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_easymega_v2:
+ case imu_type_telemega_v4:
+ case imu_type_easytimer_v1:
return imu_axis_y;
default:
return AltosLib.MISSING;
return imu_axis_y;
default:
return AltosLib.MISSING;
@@
-247,6
+255,7
@@
public class AltosIMU implements Cloneable {
case imu_type_easymega_v2:
return -mag_y;
case imu_type_telemega_v4:
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;
return mag_y;
default:
return AltosLib.MISSING;
@@
-261,6
+270,7
@@
public class AltosIMU implements Cloneable {
return imu_axis_y;
case imu_type_easymega_v2:
case imu_type_telemega_v4:
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;
return imu_axis_x;
default:
return AltosLib.MISSING;
@@
-275,6
+285,7
@@
public class AltosIMU implements Cloneable {
return mag_y;
case imu_type_easymega_v2:
case imu_type_telemega_v4:
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;
return mag_x;
default:
return AltosLib.MISSING;