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altoslib: Support TeleMega v5.0
[fw/altos] / altoslib / AltosIdleFetch.java
diff --git a/altoslib/AltosIdleFetch.java b/altoslib/AltosIdleFetch.java
index 4b9a52542241c1cd3a6f1908bb842c80fd97fbe6..b2fd3c6f56833b938cc91392f12fa7c48f87f951 100644 (file)
--- a/altoslib/AltosIdleFetch.java
+++ b/altoslib/AltosIdleFetch.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.io.*;
 import java.util.*;
@@ -28,22 +28,30 @@ class AltosIdler {
        int[]   idlers;
 
        static final int        idle_gps = 0;
-       static final int        idle_imu = 1;
-       static final int        idle_imu_em_v2 = 2;
-       static final int        idle_mag = 3;
-       static final int        idle_mma655x = 4;
-       static final int        idle_ms5607 = 5;
-       static final int        idle_adxl375 = 6;
-
-       static final int        idle_sensor_tm = 10;
-       static final int        idle_sensor_metrum = 11;
-       static final int        idle_sensor_mega = 12;
-       static final int        idle_sensor_emini1 = 13;
-       static final int        idle_sensor_emini2 = 14;
-       static final int        idle_sensor_tmini2 = 15;
-       static final int        idle_sensor_tgps1 = 16;
-       static final int        idle_sensor_tgps2 = 17;
-       static final int        idle_sensor_tmini3 = 18;
+       static final int        idle_imu_tm_v1_v2 = 1;
+       static final int        idle_imu_tm_v3 = 2;
+       static final int        idle_imu_tm_v4 = 3;
+       static final int        idle_imu_em_v1 = 4;
+       static final int        idle_imu_em_v2 = 5;
+       static final int        idle_imu_et_v1 = 6;
+       static final int        idle_mag = 7;
+       static final int        idle_mma655x = 8;
+       static final int        idle_ms5607 = 9;
+       static final int        idle_adxl375 = 10;
+       static final int        idle_adxl375_easymotor_v2 = 11;
+       static final int        idle_imu = 12;
+
+       static final int        idle_sensor_tm = 100;
+       static final int        idle_sensor_metrum = 101;
+       static final int        idle_sensor_mega = 102;
+       static final int        idle_sensor_emini1 = 103;
+       static final int        idle_sensor_emini2 = 104;
+       static final int        idle_sensor_tmini2 = 105;
+       static final int        idle_sensor_tgps1 = 106;
+       static final int        idle_sensor_tgps2 = 107;
+       static final int        idle_sensor_tmini3 = 108;
+       static final int        idle_sensor_easytimer1 = 109;
+       static final int        idle_sensor_easymotor2 = 110;
 
        public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException, TimeoutException, AltosUnknownProduct {
                for (int idler : idlers) {
@@ -51,11 +59,26 @@ class AltosIdler {
                        case idle_gps:
                                AltosGPS.provide_data(listener, link);
                                break;
-                       case idle_imu:
-                               AltosIMU.provide_data(listener, link, AltosIMU.orient_telemega);
+                       case idle_imu_tm_v1_v2:
+                               AltosIMU.provide_data(listener, link, AltosIMU.imu_type_telemega_v1_v2);
+                               break;
+                       case idle_imu_tm_v3:
+                               AltosIMU.provide_data(listener, link, AltosIMU.imu_type_telemega_v3);
+                               break;
+                       case idle_imu_tm_v4:
+                               AltosIMU.provide_data(listener, link, AltosIMU.imu_type_telemega_v4);
+                               break;
+                       case idle_imu_em_v1:
+                               AltosIMU.provide_data(listener, link, AltosIMU.imu_type_easymega_v1);
                                break;
                        case idle_imu_em_v2:
-                               AltosIMU.provide_data(listener, link, AltosIMU.orient_easymega_v2);
+                               AltosIMU.provide_data(listener, link, AltosIMU.imu_type_easymega_v2);
+                               break;
+                       case idle_imu_et_v1:
+                               AltosIMU.provide_data(listener, link, AltosIMU.imu_type_easytimer_v1);
+                               break;
+                       case idle_imu:
+                               AltosIMU.provide_data(listener, link, AltosLib.MISSING);
                                break;
                        case idle_mag:
                                AltosMag.provide_data(listener, link);
@@ -64,7 +87,10 @@ class AltosIdler {
                                AltosMma655x.provide_data(listener, link);
                                break;
                        case idle_adxl375:
-                               AltosAdxl375.provide_data(listener, link);
+                               AltosAdxl375.provide_data(listener, link, false, AltosLib.MISSING);
+                               break;
+                       case idle_adxl375_easymotor_v2:
+                               AltosAdxl375.provide_data(listener, link, true, AltosIMU.imu_type_easymotor_v2);
                                break;
                        case idle_ms5607:
                                AltosMs5607.provide_data(listener, link);
@@ -96,6 +122,12 @@ class AltosIdler {
                        case idle_sensor_tmini3:
                                AltosSensorTMini3.provide_data(listener, link);
                                break;
+                       case idle_sensor_easytimer1:
+                               AltosSensorEasyTimer1.provide_data(listener, link);
+                               break;
+                       case idle_sensor_easymotor2:
+                               AltosSensorEasyMotor2.provide_data(listener, link);
+                               break;
                        }
                }
        }
@@ -154,30 +186,42 @@ public class AltosIdleFetch implements AltosDataProvider {
                               AltosIdler.idle_gps,
                               AltosIdler.idle_mma655x,
                               AltosIdler.idle_ms5607,
-                              AltosIdler.idle_imu, AltosIdler.idle_mag,
+                              AltosIdler.idle_imu_tm_v1_v2, AltosIdler.idle_mag,
                               AltosIdler.idle_sensor_mega),
                new AltosIdler("TeleMega-v1",
                               AltosIdler.idle_gps,
                               AltosIdler.idle_mma655x,
                               AltosIdler.idle_ms5607,
-                              AltosIdler.idle_imu, AltosIdler.idle_mag,
+                              AltosIdler.idle_imu_tm_v1_v2, AltosIdler.idle_mag,
                               AltosIdler.idle_sensor_mega),
                new AltosIdler("TeleMega-v2",
                               AltosIdler.idle_gps,
                               AltosIdler.idle_mma655x,
                               AltosIdler.idle_ms5607,
-                              AltosIdler.idle_imu, AltosIdler.idle_mag,
+                              AltosIdler.idle_imu_tm_v1_v2, AltosIdler.idle_mag,
                               AltosIdler.idle_sensor_mega),
                new AltosIdler("TeleMega-v3",
                               AltosIdler.idle_gps,
                               AltosIdler.idle_mma655x,
                               AltosIdler.idle_ms5607,
-                              AltosIdler.idle_imu,
+                              AltosIdler.idle_imu_tm_v3,
+                              AltosIdler.idle_sensor_mega),
+               new AltosIdler("TeleMega-v4",
+                              AltosIdler.idle_gps,
+                              AltosIdler.idle_adxl375,
+                              AltosIdler.idle_ms5607,
+                              AltosIdler.idle_imu_tm_v4,
+                              AltosIdler.idle_sensor_mega),
+               new AltosIdler("TeleMega-v5",
+                              AltosIdler.idle_gps,
+                              AltosIdler.idle_adxl375,
+                              AltosIdler.idle_ms5607,
+                              AltosIdler.idle_imu, AltosIdler.idle_mag,
                               AltosIdler.idle_sensor_mega),
                new AltosIdler("EasyMega-v1",
                               AltosIdler.idle_mma655x,
                               AltosIdler.idle_ms5607,
-                              AltosIdler.idle_imu, AltosIdler.idle_mag,
+                              AltosIdler.idle_imu_em_v1, AltosIdler.idle_mag,
                               AltosIdler.idle_sensor_mega),
                new AltosIdler("EasyMega-v2",
                               AltosIdler.idle_adxl375,
@@ -190,6 +234,12 @@ public class AltosIdleFetch implements AltosDataProvider {
                new AltosIdler("TeleGPS-v2",
                               AltosIdler.idle_gps,
                               AltosIdler.idle_sensor_tgps2),
+               new AltosIdler("EasyTimer-v1",
+                              AltosIdler.idle_imu_et_v1,
+                              AltosIdler.idle_sensor_easytimer1),
+               new AltosIdler("EasyMotor-v2",
+                              AltosIdler.idle_adxl375_easymotor_v2,
+                              AltosIdler.idle_sensor_easymotor2),
        };
 
        AltosLink               link;
@@ -198,7 +248,7 @@ public class AltosIdleFetch implements AltosDataProvider {
                try {
                        boolean matched = false;
                        /* Fetch config data from remote */
-                       AltosConfigData config_data = new AltosConfigData(link);
+                       AltosConfigData config_data = link.config_data();
                        listener.set_state(AltosLib.ao_flight_stateless);
                        for (AltosIdler idler : idlers) {
                                if (idler.matches(config_data)) {
AltOS - the operating system for Altus Metrum products