X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=7f8be40328faa7d848965d233727a08c90dcc05b;hb=6b5e5899d174466552a34a4d8574f0439776240d;hp=98998956bf75ad6544bd51792690456bdc060d40;hpb=a5a8a4d8de49484a2edba62cc9b84377aa5415a6;p=fw%2Faltos

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 98998956..7f8be403 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.*;
@@ -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_easytimer_v1:
 			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_telemega_v4:
+		case imu_type_telemega_v4:
+		case imu_type_easytimer_v1:
 			return counts_per_degree_bmx;
 		default:
 			return AltosLib.MISSING;
@@ -88,11 +90,7 @@ 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 +101,8 @@ 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;
 		}
@@ -126,8 +118,6 @@ public class AltosIMU implements Cloneable {
 
 		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]);
@@ -169,6 +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_easytimer_v1 = 5;	/* BMX160 */
+
 	private int accel_across(int imu_type) {
 		switch (imu_type) {
 		case imu_type_telemega_v1_v2:
@@ -177,7 +169,8 @@ 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 +185,7 @@ 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 +204,7 @@ 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;
@@ -225,7 +220,8 @@ public class AltosIMU implements Cloneable {
 		case imu_type_easymega_v2:
 			return -gyro_y;
 		case imu_type_telemega_v4:
-			return gyro_y;
+		case imu_type_easytimer_v1:
+			return -gyro_y;
 		default:
 			return AltosLib.MISSING;
 		}
@@ -241,8 +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_v4:
 		case imu_type_easymega_v2:
+		case imu_type_telemega_v4:
+		case imu_type_easytimer_v1:
 			return imu_axis_y;
 		default:
 			return AltosLib.MISSING;
@@ -255,9 +252,11 @@ public class AltosIMU implements Cloneable {
 		case imu_type_telemega_v3:
 		case imu_type_easymega_v1:
 			return mag_x;
-		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;
 		}
@@ -271,6 +270,7 @@ 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;
@@ -285,6 +285,7 @@ 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;