altoslib: Add EasyTimer idle monitor support

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 87b9f08bedb58360decd8fa2c44ea14ca85da5be..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_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;
@@ -156,6 +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:
@@ -164,7 +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;
@@ -179,6 +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;
@@ -197,6 +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;
@@ -212,6 +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;
@@ -228,8 +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;
@@ -245,6 +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;
@@ -259,6 +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;
@@ -273,6 +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;