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Merge branch 'softserial'

Browse source 
Conflicts:
	src/board.h
	src/drv_pwm.c
	src/drv_softserial.c
	src/drv_softserial.h
	src/drv_system.c
	src/drv_timer.c
	src/drv_uart.c
	src/drv_uart.h
	src/main.c
	src/sensors.c
This commit is contained in:
Dominic Clifton 2013-10-01 22:16:25 +01:00
commit 750fea4b80
54 changed files with 5720 additions and 5677 deletions
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47
src/drv_system.c
View file

@ -182,3 +182,50 @@ void systemReset(bool toBootloader)
// Generate system reset
SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
}
void alignSensors(int16_t *src, int16_t *dest, uint8_t rotation)
{
switch (rotation) {
case CW0_DEG:
dest[X] = src[X];
dest[Y] = src[Y];
dest[Z] = src[Z];
break;
case CW90_DEG:
dest[X] = src[Y];
dest[Y] = -src[X];
dest[Z] = src[Z];
break;
case CW180_DEG:
dest[X] = -src[X];
dest[Y] = -src[Y];
dest[Z] = src[Z];
break;
case CW270_DEG:
dest[X] = -src[Y];
dest[Y] = src[X];
dest[Z] = src[Z];
break;
case CW0_DEG_FLIP:
dest[X] = -src[X];
dest[Y] = src[Y];
dest[Z] = -src[Z];
break;
case CW90_DEG_FLIP:
dest[X] = src[Y];
dest[Y] = src[X];
dest[Z] = -src[Z];
break;
case CW180_DEG_FLIP:
dest[X] = src[X];
dest[Y] = -src[Y];
dest[Z] = -src[Z];
break;
case CW270_DEG_FLIP:
dest[X] = -src[Y];
dest[Y] = -src[X];
dest[Z] = -src[Z];
break;
default:
break;
}
}