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>
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
{
_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();
/* 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
#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 */