doc: Update for EasyTimer

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 4371ad8503dbc88576978e7b5085b987a7c41ed7..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;
@@ -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;