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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_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;
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_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;
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_easymega_v2:
return counts_per_gauss_mpu;
case imu_type_telemega_v4:
+ case imu_type_easytimer_v1:
return 100.0;
default:
return AltosLib.MISSING;
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_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:
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;
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;
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:
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;
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:
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;
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_easymega_v2:
return -gyro_y;
case imu_type_telemega_v4:
+ case imu_type_easytimer_v1:
return -gyro_y;
default:
return AltosLib.MISSING;
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_v3:
case imu_type_easymega_v1:
return imu_axis_x;
- case imu_type_telemega_v4:
case imu_type_easymega_v2:
case imu_type_easymega_v2:
+ case imu_type_telemega_v4:
+ case imu_type_easytimer_v1:
return imu_axis_y;
default:
return AltosLib.MISSING;
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_easymega_v2:
return -mag_y;
case imu_type_telemega_v4:
+ case imu_type_easytimer_v1:
return mag_y;
default:
return AltosLib.MISSING;
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:
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;
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:
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;
return mag_x;
default:
return AltosLib.MISSING;