diff options
| author | Keith Packard <keithp@keithp.com> | 2014-01-01 21:12:20 -0800 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2014-01-01 21:16:34 -0800 |
| commit | c35ea586b9e792c45b287924fd256928308d9a36 (patch) | |
| tree | 83ceb8eda25fd45a00c8c15cf06488f4de17b66b | |
| parent | afc16e805145c3e9ab4ba948f9ab1d9aa2b27afb (diff) | |
altos: Flip acceleration data consistently for orientation changes
Must flip the acceleration calibration data using the same function as
flipping the actual acceleration data or the calibration will no
longer be valid after changing orientation. For the MMA655x, this
means using 4095 in both places, rather than using 0x7fff for the
calibration data changes and 4095 for the data value changes. For the
MPU6000, this means using 0 in both places.
Signed-off-by: Keith Packard <keithp@keithp.com>
| -rw-r--r-- | src/core/ao_config.c | 10 | ||||
| -rw-r--r-- | src/core/ao_data.h | 8 |
2 files changed, 13 insertions, 5 deletions
diff --git a/src/core/ao_config.c b/src/core/ao_config.c index 590d8a49..4482f673 100644 --- a/src/core/ao_config.c +++ b/src/core/ao_config.c @@ -514,6 +514,10 @@ ao_config_pad_orientation_show(void) __reentrant printf("Pad orientation: %d\n", ao_config.pad_orientation); } +#ifndef AO_ACCEL_INVERT +#define AO_ACCEL_INVERT 0x7fff +#endif + void ao_config_pad_orientation_set(void) __reentrant { @@ -523,10 +527,10 @@ ao_config_pad_orientation_set(void) __reentrant _ao_config_edit_start(); ao_cmd_lex_i &= 1; if (ao_config.pad_orientation != ao_cmd_lex_i) { - uint16_t t; + int16_t t; t = ao_config.accel_plus_g; - ao_config.accel_plus_g = 0x7fff - ao_config.accel_minus_g; - ao_config.accel_minus_g = 0x7fff - t; + ao_config.accel_plus_g = AO_ACCEL_INVERT - ao_config.accel_minus_g; + ao_config.accel_minus_g = AO_ACCEL_INVERT - t; } ao_config.pad_orientation = ao_cmd_lex_i; _ao_config_edit_finish(); diff --git a/src/core/ao_data.h b/src/core/ao_data.h index e1d8a139..c4b062fd 100644 --- a/src/core/ao_data.h +++ b/src/core/ao_data.h @@ -273,14 +273,16 @@ typedef int16_t accel_t; /* MMA655X is hooked up so that positive values represent negative acceleration */ +#define AO_ACCEL_INVERT 4095 + #define ao_data_accel(packet) ((packet)->mma655x) #if AO_MMA655X_INVERT -#define ao_data_accel_cook(packet) (4095 - (packet)->mma655x) +#define ao_data_accel_cook(packet) (AO_ACCEL_INVERT - (packet)->mma655x) #else #define ao_data_accel_cook(packet) ((packet)->mma655x) #endif #define ao_data_set_accel(packet, accel) ((packet)->mma655x = (accel)) -#define ao_data_accel_invert(accel) (4095 - (accel)) +#define ao_data_accel_invert(accel) (AO_ACCEL_INVERT - (accel)) #endif @@ -288,6 +290,8 @@ typedef int16_t accel_t; #define HAS_ACCEL 1 +#define AO_ACCEL_INVERT 0 + typedef int16_t accel_t; /* MPU6000 is hooked up so that positive y is positive acceleration */ |