X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=2944a2a5e1131035b74eb21f2bca7a4cf0420406;hb=02c7bb11a8a4270e40bd1f42abd00ae849ff7539;hp=e63eeaf9e0844c4e56d0f3edccad12b02d5662e3;hpb=cec4dea23b7b3cfe0f0a43c19b3118cc98cb9414;p=fw%2Faltos

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index e63eeaf9..2944a2a5 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.*;
@@ -36,6 +36,7 @@ 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;
+	public static final double	counts_per_g_adxl = 20.5;
 
 	private static double counts_per_g(int imu_type) {
 		switch (imu_type) {
@@ -45,7 +46,10 @@ 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;
+		case imu_type_easymotor_v2:
+			return counts_per_g_adxl;
 		default:
 			return AltosLib.MISSING;
 		}
@@ -69,7 +73,8 @@ 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;
@@ -99,6 +104,7 @@ public class AltosIMU implements Cloneable {
 		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;
@@ -156,6 +162,10 @@ 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 */
+
+	public static final int imu_type_easymotor_v2 = 6;	/* ADXL375 (accel only) */
+
 	private int accel_across(int imu_type) {
 		switch (imu_type) {
 		case imu_type_telemega_v1_v2:
@@ -164,8 +174,11 @@ 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;
+		case imu_type_easymotor_v2:
+			return accel_y;
 		default:
 			return AltosLib.MISSING;
 		}
@@ -179,7 +192,10 @@ 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;
+		case imu_type_easymotor_v2:
+			return -accel_x;
 		default:
 			return AltosLib.MISSING;
 		}
@@ -197,6 +213,7 @@ 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;
@@ -212,6 +229,7 @@ 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;
@@ -228,8 +246,9 @@ 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;
@@ -245,6 +264,7 @@ 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;
@@ -259,6 +279,7 @@ 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;
@@ -273,6 +294,7 @@ 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;
@@ -295,9 +317,11 @@ public class AltosIMU implements Cloneable {
 			cal_data.set_imu_type(imu_type);
 
 			if (imu != null) {
-				listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
-						  cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
-						  cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
+				if (imu.gyro_x != AltosLib.MISSING) {
+					listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
+							  cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
+							  cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
+				}
 				listener.set_accel_ground(cal_data.accel_along(imu.accel_along(imu_type)),
 							  cal_data.accel_across(imu.accel_across(imu_type)),
 							  cal_data.accel_through(imu.accel_through(imu_type)));