X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=07c99cfc6cf2b114bbe69a0153fb330d17d92b18;hb=eb633a48c23c5b474a8d0901c9edbd13ccd23fc6;hp=3ce49499ba3d60359e309df843e18f2cb8d48e2e;hpb=a4039a60bbe972fd022699d62ab06a8f1bc4af69;p=fw%2Faltos

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 3ce49499..07c99cfc 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.*;
@@ -37,6 +37,8 @@ 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;
 
+	int			pad_orientation;
+
 	private static double counts_per_g(int imu_type) {
 		switch (imu_type) {
 		case imu_type_telemega_v1_v2:
@@ -45,6 +47,7 @@ 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;
 		default:
 			return AltosLib.MISSING;
@@ -69,7 +72,8 @@ 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;
@@ -88,11 +92,7 @@ public class AltosIMU implements Cloneable {
 	public static final double MAG_COUNTS_MPU = 32767.0;
 	public static final double counts_per_gauss_mpu = MAG_COUNTS_MPU / MAG_FULLSCALE_GAUSS_MPU;
 
-	public static final double MAG_FULLSCALE_GAUSS_BMX_XY = 11.50;	/* 1150µT */
-	public static final double MAG_FULLSCALE_GAUSS_BMX_Z = 25.00;	/* 2500µT */
-	public static final double MAG_COUNTS_BMX = 32767.0;
-	public static final double counts_per_gauss_bmx_xy = MAG_COUNTS_BMX / MAG_FULLSCALE_GAUSS_BMX_XY;
-	public static final double counts_per_gauss_bmx_z = MAG_COUNTS_BMX / MAG_FULLSCALE_GAUSS_BMX_Z;
+	public static final double counts_per_gauss_bmx = 100.0;	/* BMX driver converts to µT */
 
 	public static double counts_per_gauss(int imu_type, int axis) {
 		switch(imu_type) {
@@ -103,14 +103,8 @@ public class AltosIMU implements Cloneable {
 		case imu_type_easymega_v2:
 			return counts_per_gauss_mpu;
 		case imu_type_telemega_v4:
-			switch (axis) {
-			case imu_axis_x:
-			case imu_axis_y:
-				return counts_per_gauss_bmx_xy;
-			case imu_axis_z:
-				return counts_per_gauss_bmx_z;
-			}
-			/* fall through */
+		case imu_type_easytimer_v1:
+			return 100.0;
 		default:
 			return AltosLib.MISSING;
 		}
@@ -120,13 +114,17 @@ public class AltosIMU implements Cloneable {
 		return counts / counts_per_gauss(imu_type, imu_axis);
 	}
 
-	public boolean parse_string(String line) {
+	public boolean parse_string(String line, AltosLink link) {
 		if (!line.startsWith("Accel:"))
 			return false;
 
-		String[] items = line.split("\\s+");
+		try {
+			pad_orientation = link.config_data().pad_orientation;
+		} catch (Exception e) {
+			return false;
+		}
 
-		System.out.printf("length %d\n", items.length);
+		String[] items = line.split("\\s+");
 
 		if (items.length >= 8) {
 			accel_x = Integer.parseInt(items[1]);
@@ -169,6 +167,8 @@ 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_easytimer_v1 = 5;	/* BMX160 */
+
 	private int accel_across(int imu_type) {
 		switch (imu_type) {
 		case imu_type_telemega_v1_v2:
@@ -177,7 +177,8 @@ 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;
 		default:
 			return AltosLib.MISSING;
@@ -192,6 +193,7 @@ 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;
 		default:
 			return AltosLib.MISSING;
@@ -210,6 +212,7 @@ 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;
@@ -225,6 +228,7 @@ 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;
@@ -241,8 +245,9 @@ 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;
@@ -258,6 +263,7 @@ 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;
@@ -272,6 +278,7 @@ 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;
@@ -286,6 +293,7 @@ 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;
@@ -349,7 +357,7 @@ public class AltosIMU implements Cloneable {
 			if (line == null) {
 				throw new TimeoutException();
 			}
-			if (parse_string(line))
+			if (parse_string(line, link))
 				break;
 		}
 	}