From: Keith Packard <keithp@keithp.com>
Date: Tue, 8 May 2012 06:14:14 +0000 (-0700)
Subject: altos: Conditional byte swapping in mpu6000 driver
X-Git-Tag: 1.0.9.5~24
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=6a62edd4a1f01a6ee380c3aabaff3f437e8d6f1e

altos: Conditional byte swapping in mpu6000 driver

Only needed on LSB machines.

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

diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index d27c42b0..eb4044be 100644
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -73,11 +73,13 @@ ao_mpu6000_sample(struct ao_mpu6000_sample *sample)
 	int		i = sizeof (*sample) / 2;
 
 	ao_mpu6000_read(MPU6000_ACCEL_XOUT_H, sample, sizeof (*sample));
-	/* byte swap (sigh) */
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+	/* byte swap */
 	while (i--) {
 		uint16_t	t = *d;
 		*d++ = (t >> 8) | (t << 8);
 	}
+#endif
 }
 
 #define G	981	/* in cm/s² */