altoslib: six-axis support for easy timer

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 3ce49499ba3d60359e309df843e18f2cb8d48e2e..07c99cfc6cf2b114bbe69a0153fb330d17d92b18 100644 (file)
--- 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.*;
@@ -37,6 +37,8 @@ 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;
 
+       int                     pad_orientation;
+
        private static double counts_per_g(int imu_type) {
                switch (imu_type) {
                case imu_type_telemega_v1_v2:
@@ -45,6 +47,7 @@ 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 +72,8 @@ 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 +92,7 @@ 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 +103,8 @@ 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;
                }
@@ -120,13 +114,17 @@ public class AltosIMU implements Cloneable {
                return counts / counts_per_gauss(imu_type, imu_axis);
        }
 
-       public boolean parse_string(String line) {
+       public boolean parse_string(String line, AltosLink link) {
                if (!line.startsWith("Accel:"))
                        return false;
 
-               String[] items = line.split("\\s+");
+               try {
+                       pad_orientation = link.config_data().pad_orientation;
+               } catch (Exception e) {
+                       return false;
+               }
 
-               System.out.printf("length %d\n", items.length);
+               String[] items = line.split("\\s+");
 
                if (items.length >= 8) {
                        accel_x = Integer.parseInt(items[1]);
@@ -169,6 +167,8 @@ 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 +177,8 @@ 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 +193,7 @@ 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 +212,7 @@ 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;
@@ -225,6 +228,7 @@ 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;
@@ -241,8 +245,9 @@ 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;
@@ -258,6 +263,7 @@ 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;
@@ -272,6 +278,7 @@ 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;
@@ -286,6 +293,7 @@ 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;
@@ -349,7 +357,7 @@ public class AltosIMU implements Cloneable {
                        if (line == null) {
                                throw new TimeoutException();
                        }
-                       if (parse_string(line))
+                       if (parse_string(line, link))
                                break;
                }
        }