From 9dce3a003a95afc6f8b07b5eb66828919ee5eb79 Mon Sep 17 00:00:00 2001
From: Marcus Behel <marcus.behel@mindspring.com>
Date: Sun, 24 Feb 2019 00:15:28 -0500
Subject: [PATCH] Fix java short and ushort conversions using byte arrays

---
 build.gradle                                           |  2 +-
 .../java/com/analog/adis16448/frc/ADIS16448_IMU.java   | 10 +++++-----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/build.gradle b/build.gradle
index a453b78..c2f0e31 100644
--- a/build.gradle
+++ b/build.gradle
@@ -7,7 +7,7 @@ allprojects {
 
 def mavenrepo = rootProject.projectDir.toString() + "/build/maven"
 def vendordepsdir = rootProject.projectDir.toString() + "/build/vendordeps"
-def libraryVersion = "2019-r1"
+def libraryVersion = "2019-r2"
 def publishGroupId = 'com.github.juchong'
 
 subprojects{
diff --git a/java/src/main/java/com/analog/adis16448/frc/ADIS16448_IMU.java b/java/src/main/java/com/analog/adis16448/frc/ADIS16448_IMU.java
index 32c9321..5317c37 100644
--- a/java/src/main/java/com/analog/adis16448/frc/ADIS16448_IMU.java
+++ b/java/src/main/java/com/analog/adis16448/frc/ADIS16448_IMU.java
@@ -379,12 +379,12 @@ static int ToUShort(ByteBuffer buf) {
 	  return (buf.getShort(0)) & 0xFFFF;
   }
   static int ToUShort(byte[] buf) {
-    return buf[0] << 8 & buf[1];
+    return (buf[0] << 8 | buf[1]) & 0xFFFF;
   }
   static int ToUShort(int... data) {
-	  ByteBuffer buf = ByteBuffer.allocate(data.length);
-	  for(int d : data) {
-		  buf.put((byte)d);
+	  byte[] buf = new byte[data.length];
+	  for(int i = 0; i < data.length; ++i) {
+		  buf[i] = (byte)data[i];
 	  }
 	  return ToUShort(buf);
   }
@@ -394,7 +394,7 @@ public static long ToULong(int sint) {
 	}
 
   private static int ToShort(int... buf) {
-      return (short)(((short)buf[0]) << 8 | buf[1]);
+      return (buf[0] << 8 | buf[1]);
   }
   static int ToShort(ByteBuffer buf) {
 	  return ToShort(buf.get(0), buf.get(1));