X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=7f8be40328faa7d848965d233727a08c90dcc05b;hb=b9cc05bd3d417c957f47a64493f4a22caf660c55;hp=4371ad8503dbc88576978e7b5085b987a7c41ed7;hpb=52149fd81df45f37f5097850795f290f463c43ef;p=fw%2Faltos

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 4371ad85..7f8be403 100644
--- 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_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;
@@ -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_easytimer_v1:
 			return 100.0;
 		default:
 			return AltosLib.MISSING;
@@ -115,8 +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]);
@@ -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_easytimer_v1 = 5;	/* BMX160 */
+
 	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;
-		case  imu_type_telemega_v4:
+		case imu_type_telemega_v4:
+		case imu_type_easytimer_v1:
 			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:
+		case imu_type_easytimer_v1:
 			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:
+		case imu_type_easytimer_v1:
 			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_easytimer_v1:
 			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_v4:
 		case imu_type_easymega_v2:
+		case imu_type_telemega_v4:
+		case imu_type_easytimer_v1:
 			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_easytimer_v1:
 			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:
+		case imu_type_easytimer_v1:
 			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:
+		case imu_type_easytimer_v1:
 			return mag_x;
 		default:
 			return AltosLib.MISSING;