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| Rev 2133 | Rev 2135 | ||
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| Line 183... | Line 183... | ||
| 183 | // restore global interrupt flags |
183 | // restore global interrupt flags |
| 184 | SREG = sreg; |
184 | SREG = sreg; |
| 185 | } |
185 | } |
| Line 186... | Line 186... | ||
| 186 | 186 | ||
| 187 | /* |
187 | /* |
| 188 | * Here the axes of the sensor can be shuffled around. |
188 | * The sensor is installed vertically and the axes are moved around a little... |
| 189 | */ |
189 | */ |
| - | 190 | int16_t rawGyroValue(uint8_t axis) { |
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| - | 191 | switch(axis) { |
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| - | 192 | case PITCH: |
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| - | 193 | return ITG3200SensorInputs[3]; |
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| 190 | int16_t rawGyroValue(uint8_t axis) { |
194 | case ROLL: |
| - | 195 | return ITG3200SensorInputs[1]; |
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| - | 196 | case YAW: |
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| - | 197 | return ITG3200SensorInputs[2]; |
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| - | 198 | } |
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| 191 | return ITG3200SensorInputs[axis+1]; // skip temperature mesaurement in any case.. |
199 | return 0; |
| Line 192... | Line 200... | ||
| 192 | } |
200 | } |
| 193 | 201 | ||
| 194 | /* |
202 | /* |