betaflight/src/utils.c

#include "board.h"
#include "mw.h"

int constrain(int amt, int low, int high)
{
    if (amt < low)
        return low;
    else if (amt > high)
        return high;
    else
        return amt;
}

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;
    }
}