diff options
Diffstat (limited to 'src/kernel')
| -rw-r--r-- | src/kernel/ao_config.c | 7 |
1 files changed, 6 insertions, 1 deletions
diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c index 8dab7c42..83a8cd77 100644 --- a/src/kernel/ao_config.c +++ b/src/kernel/ao_config.c @@ -388,6 +388,7 @@ ao_config_accel_calibrate_auto(char *orientation) __reentrant uint16_t i; int32_t accel_total; uint8_t cal_data_ring; + int16_t min = 32767, max = -32768; #if HAS_GYRO int32_t accel_along_total = 0; int32_t accel_across_total = 0; @@ -405,7 +406,10 @@ ao_config_accel_calibrate_auto(char *orientation) __reentrant while (i) { ao_sleep(DATA_TO_XDATA(&ao_sample_data)); while (i && cal_data_ring != ao_sample_data) { - accel_total += (int32_t) ao_data_accel(&ao_data_ring[cal_data_ring]); + int16_t v = ao_data_accel(&ao_data_ring[cal_data_ring]); + accel_total += (int32_t) v; + if (v < min) min = v; + if (v > max) max = v; #if HAS_GYRO accel_along_total += (int32_t) ao_data_along(&ao_data_ring[cal_data_ring]); accel_across_total += (int32_t) ao_data_across(&ao_data_ring[cal_data_ring]); @@ -420,6 +424,7 @@ ao_config_accel_calibrate_auto(char *orientation) __reentrant accel_cal_across = accel_across_total >> ACCEL_CALIBRATE_SHIFT; accel_cal_through = accel_through_total >> ACCEL_CALIBRATE_SHIFT; #endif + printf ("total %d min %d max %d\n", accel_total, min, max); return accel_total >> ACCEL_CALIBRATE_SHIFT; } |