X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altoslib%2FAltosAdxl375.java;fp=altoslib%2FAltosAdxl375.java;h=5e4905412a281665137c9c0813c69229658a717d;hp=621cceeb723f1e7f5d4ecc38b46de16635455d99;hb=40c6aa050654d43f20c6a9c6bd67541e1747ae38;hpb=b6c066d7261d398cb7bfe6503518022194431337

diff --git a/altoslib/AltosAdxl375.java b/altoslib/AltosAdxl375.java
index 621cceeb..5e490541 100644
--- a/altoslib/AltosAdxl375.java
+++ b/altoslib/AltosAdxl375.java
@@ -22,7 +22,7 @@ import java.util.concurrent.*;
 
 public class AltosAdxl375 implements Cloneable {
 
-	private int	accel;
+	private int[]	accels = new int[3];
 	private int	axis;
 
 	public static final int X_AXIS = 0;
@@ -35,7 +35,8 @@ public class AltosAdxl375 implements Cloneable {
 			if (axis == AltosLib.MISSING)
 				throw new NumberFormatException("No ADXL375 axis specified");
 			if (items.length >= 3) {
-				accel = Integer.parseInt(items[2 + axis]);
+				for (int i = 0; i < 3; i++)
+					accels[i] = Integer.parseInt(items[2+i]);
 				return true;
 			}
 		}
@@ -45,22 +46,50 @@ public class AltosAdxl375 implements Cloneable {
 	public AltosAdxl375 clone() {
 		AltosAdxl375	n = new AltosAdxl375(axis);
 
-		n.accel = accel;
+		for (int i = 0; i < 3; i++)
+			n.accels[i] = accels[i];
 		return n;
 	}
 
-	static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException, AltosUnknownProduct {
+	private int accel_along() {
+		return accels[axis];
+	}
+
+	private int accel_across() {
+		if (axis == X_AXIS)
+			return accels[Y_AXIS];
+		else
+			return accels[X_AXIS];
+	}
+
+	private int accel_through() {
+		return accels[Z_AXIS];
+	}
+
+	static public void provide_data(AltosDataListener listener, AltosLink link, boolean three_axis, int imu_type) throws InterruptedException, AltosUnknownProduct {
 		try {
 			AltosCalData	cal_data = listener.cal_data();
 			AltosAdxl375	adxl375 = new AltosAdxl375(link, cal_data.adxl375_axis);
 
 			if (adxl375 != null) {
-				int accel = adxl375.accel;
-				if (cal_data.adxl375_inverted)
+				int accel = adxl375.accel_along();
+				if (!cal_data.adxl375_inverted)
 					accel = -accel;
 				if (cal_data.pad_orientation == 1)
 					accel = -accel;
 				listener.set_acceleration(cal_data.acceleration(accel));
+				if (three_axis) {
+					cal_data.set_imu_type(imu_type);
+					double accel_along = cal_data.accel_along(-accel);
+					double accel_across = cal_data.accel_across(adxl375.accel_across());
+					double accel_through = cal_data.accel_through(adxl375.accel_through());
+					listener.set_accel_ground(accel_along,
+								  accel_across,
+								  accel_through);
+					listener.set_accel(accel_along,
+							   accel_across,
+							   accel_through);
+				}
 			}
 		} catch (TimeoutException te) {
 		} catch (NumberFormatException ne) {
@@ -68,7 +97,8 @@ public class AltosAdxl375 implements Cloneable {
 	}
 
 	public AltosAdxl375() {
-		accel = AltosLib.MISSING;
+		for (int i = 0; i < 3; i++)
+			accels[i] = AltosLib.MISSING;
 		axis = AltosLib.MISSING;
 	}