altoslib: Add EasyMotor EEPROM support

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 7f8be40328faa7d848965d233727a08c90dcc05b..e66005f2b92f474cd68f2b2ce9442fc09a958074 100644 (file)
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -36,6 +36,7 @@ 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;
+       public static final double      counts_per_g_adxl = 20.5;
 
        private static double counts_per_g(int imu_type) {
                switch (imu_type) {
@@ -47,6 +48,8 @@ public class AltosIMU implements Cloneable {
                case  imu_type_telemega_v4:
                case imu_type_easytimer_v1:
                        return counts_per_g_bmx;
+               case imu_type_easymotor_v2:
+                       return counts_per_g_bmx;
                default:
                        return AltosLib.MISSING;
                }
@@ -161,6 +164,8 @@ public class AltosIMU implements Cloneable {
 
        public static final int imu_type_easytimer_v1 = 5;      /* BMX160 */
 
+       public static final int imu_type_easymotor_v2 = 6;      /* ADXL375 (accel only) */
+
        private int accel_across(int imu_type) {
                switch (imu_type) {
                case imu_type_telemega_v1_v2:
@@ -172,6 +177,8 @@ public class AltosIMU implements Cloneable {
                case imu_type_telemega_v4:
                case imu_type_easytimer_v1:
                        return -accel_y;
+               case imu_type_easymotor_v2:
+                       return accel_y;
                default:
                        return AltosLib.MISSING;
                }
@@ -187,6 +194,8 @@ public class AltosIMU implements Cloneable {
                case imu_type_telemega_v4:
                case imu_type_easytimer_v1:
                        return accel_x;
+               case imu_type_easymotor_v2:
+                       return accel_x;
                default:
                        return AltosLib.MISSING;
                }
@@ -308,9 +317,11 @@ public class AltosIMU implements Cloneable {
                        cal_data.set_imu_type(imu_type);
 
                        if (imu != null) {
-                               listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
-                                                 cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
-                                                 cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
+                               if (imu.gyro_x != AltosLib.MISSING) {
+                                       listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll(imu_type)),
+                                                         cal_data.gyro_pitch(imu.gyro_pitch(imu_type)),
+                                                         cal_data.gyro_yaw(imu.gyro_yaw(imu_type)));
+                               }
                                listener.set_accel_ground(cal_data.accel_along(imu.accel_along(imu_type)),
                                                          cal_data.accel_across(imu.accel_across(imu_type)),
                                                          cal_data.accel_through(imu.accel_through(imu_type)));