hal_axis_remap.c

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/*
 * Copyright (c) 2015, Freescale Semiconductor, Inc.
 * Copyright (c) 2016-2017 NXP
 * All rights reserved.
 *
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include "sensor_fusion.h"  // top level magCal and sensor fusion interfaces
 
// remap the Accelerometer axes
void ApplyAccelHAL(struct AccelSensor *Accel) {
  int8_t i;  // loop counter
  int16_t itmp16;
 
  // remap all measurements in FIFO buffer
  for (i = 0; i < Accel->iFIFOCount; i++) {
    // apply mapping for coordinate system used
#if THISCOORDSYSTEM == NED
        itmp16 = Accel->iGsFIFO[i][CHX];
        Accel->iGsFIFO[i][CHX] = Accel->iGsFIFO[i][CHY];
        Accel->iGsFIFO[i][CHY] = itmp16;
#endif  // NED
#if THISCOORDSYSTEM == ANDROID
    // the ANDROID transformation has not been confirmed
#endif  // Android
#if (THISCOORDSYSTEM == WIN8)
    // the Windows transformation has not been confirmed
#endif  // Win8
  }  // end of loop over FIFO count
  return;
} // end ApplyAccelHAL()
 
// remap the Magnetometer axes
void ApplyMagHAL(struct MagSensor *Mag) {
  int8_t i;  // loop counter
  int16_t itmp16;
 
  // remap all measurements in FIFO buffer
  for (i = 0; i < Mag->iFIFOCount; i++) {
    // apply mapping for coordinate system used
#if THISCOORDSYSTEM == NED
        itmp16 = Mag->iBsFIFO[i][CHX];
    Mag->iBsFIFO[i][CHX] = -Mag->iBsFIFO[i][CHY];
        Mag->iBsFIFO[i][CHY] = -itmp16;
        Mag->iBsFIFO[i][CHZ] = -Mag->iBsFIFO[i][CHZ];
#endif  // NED
#if THISCOORDSYSTEM == ANDROID
#endif  // Android
#if THISCOORDSYSTEM == WIN8
#endif
    } // end of loop over FIFO count
    return;
}//end ApplyMagHAL()
 
 
// remap the Gyroscope axes
void ApplyGyroHAL(struct GyroSensor *Gyro) {
  int8_t i;  // loop counter
  int16_t itmp16;
  // remap all measurements in FIFO buffer
  for (i = 0; i < Gyro->iFIFOCount; i++) {
    // apply mapping for coordinate system used
#if THISCOORDSYSTEM == NED
        itmp16 = Gyro->iYsFIFO[i][CHX];
        Gyro->iYsFIFO[i][CHX] = -Gyro->iYsFIFO[i][CHY];
        Gyro->iYsFIFO[i][CHY] = -itmp16;
        Gyro->iYsFIFO[i][CHZ] = -Gyro->iYsFIFO[i][CHZ];
#endif  // NED
#if THISCOORDSYSTEM == ANDROID
#endif  // Android
#if THISCOORDSYSTEM == WIN8
#endif // Win8
 
    } // end of loop over FIFO count
 
    return;
}//end ApplyGyroHAL()