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 /src/core/ao_config.c | |
| 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>
Diffstat (limited to 'src/core/ao_config.c')
| -rw-r--r-- | src/core/ao_config.c | 10 |
1 files changed, 7 insertions, 3 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(); |