From: Keith Packard <keithp@keithp.com>
Date: Mon, 12 Jun 2017 05:34:11 +0000 (-0700)
Subject: altos: HMC5883 output order is X Z Y
X-Git-Tag: 1.8~47
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=2a05849c3bf8c1617409237be48802dd6fc6255b

altos: HMC5883 output order is X Z Y

Re-label everything to have the correct names. This doesn't actually
change the code at all, so the eeprom and telemetry is all compatible.

Matching changes on the host side will be required to actually process
the data correctly, of course.

Signed-off-by: Keith Packard <keithp@keithp.com>
---

diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c
index 9f1131d6..c33aa536 100644
--- a/src/drivers/ao_hmc5883.c
+++ b/src/drivers/ao_hmc5883.c
@@ -143,10 +143,8 @@ static struct ao_task ao_hmc5883_task;
 static void
 ao_hmc5883_show(void)
 {
-	struct ao_data	sample;
-	ao_data_get(&sample);
-	printf ("X: %d Y: %d Z: %d missed irq: %lu\n",
-		sample.hmc5883.x, sample.hmc5883.y, sample.hmc5883.z, ao_hmc5883_missed_irq);
+	printf ("X: %d Z: %d Y: %d missed irq: %lu\n",
+		ao_hmc5883_current.x, ao_hmc5883_current.z, ao_hmc5883_current.y, ao_hmc5883_missed_irq);
 }
 
 static const struct ao_cmds ao_hmc5883_cmds[] = {
diff --git a/src/drivers/ao_hmc5883.h b/src/drivers/ao_hmc5883.h
index 78637b02..b90733df 100644
--- a/src/drivers/ao_hmc5883.h
+++ b/src/drivers/ao_hmc5883.h
@@ -77,7 +77,7 @@
 #define HMC5883_ID_C		12
 
 struct ao_hmc5883_sample {
-	int16_t		x, y, z;
+	int16_t		x, z, y;
 };
 
 extern struct ao_hmc5883_sample	ao_hmc5883_current;
diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index 5c568c99..241ba7d7 100644
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -252,8 +252,8 @@ struct ao_log_mega {
 			int16_t		gyro_y;		/* 20 */
 			int16_t		gyro_z;		/* 22 */
 			int16_t		mag_x;		/* 24 */
-			int16_t		mag_y;		/* 26 */
-			int16_t		mag_z;		/* 28 */
+			int16_t		mag_z;		/* 26 */
+			int16_t		mag_y;		/* 28 */
 			int16_t		accel;		/* 30 */
 		} sensor;	/* 32 */
 		/* AO_LOG_TEMP_VOLT */
diff --git a/src/kernel/ao_log_mega.c b/src/kernel/ao_log_mega.c
index a0212198..b86abe7a 100644
--- a/src/kernel/ao_log_mega.c
+++ b/src/kernel/ao_log_mega.c
@@ -135,8 +135,8 @@ ao_log(void)
 #endif
 #if HAS_HMC5883
 				log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].hmc5883.x;
-				log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y;
 				log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].hmc5883.z;
+				log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y;
 #endif
 				log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
 				ao_log_mega(&log);
diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index a4c73a86..2ae1e41b 100644
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -160,8 +160,8 @@ ao_send_mega_sensor(void)
 
 #if HAS_HMC5883
 	telemetry.mega_sensor.mag_x = packet->hmc5883.x;
-	telemetry.mega_sensor.mag_y = packet->hmc5883.y;
 	telemetry.mega_sensor.mag_z = packet->hmc5883.z;
+	telemetry.mega_sensor.mag_y = packet->hmc5883.y;
 #endif
 
 	ao_telemetry_send();
diff --git a/src/kernel/ao_telemetry.h b/src/kernel/ao_telemetry.h
index 45aaeb07..23e3ed7d 100644
--- a/src/kernel/ao_telemetry.h
+++ b/src/kernel/ao_telemetry.h
@@ -198,8 +198,8 @@ struct ao_telemetry_mega_sensor {
 	int16_t		gyro_z;		/* 24 */
 
 	int16_t		mag_x;		/* 26 */
-	int16_t		mag_y;		/* 28 */
-	int16_t		mag_z;		/* 30 */
+	int16_t		mag_z;		/* 28 */
+	int16_t		mag_y;		/* 30 */
 	/* 32 */
 };