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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1967 | - | 1 | #include "sensors.h" |
| 1612 | dongfang | 2 | #include "printf_P.h" |
| 3 | #include "analog.h" |
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| 4 | #include "twimaster.h" |
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| 5 | #include "configuration.h" |
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| 1969 | - | 6 | #include "eeprom.h" |
| 1612 | dongfang | 7 | #include "timer0.h" |
| 8 | |||
| 9 | #define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510 |
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| 10 | #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
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| 11 | |||
| 1967 | - | 12 | void gyro_calibrate(void) { |
| 13 | printf("gyro_calibrate"); |
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| 1821 | - | 14 | uint8_t i, axis, factor, numberOfAxesInRange = 0; |
| 15 | // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
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| 1967 | - | 16 | |
| 1821 | - | 17 | for (i = 140; i != 0; i--) { |
| 2015 | - | 18 | delay_ms_with_adc_measurement(i <= 10 ? 10 : 2, 1); |
| 19 | |||
| 1821 | - | 20 | // If all 3 axis are in range, shorten the remaining number of iterations. |
| 2015 | - | 21 | if (numberOfAxesInRange == 3 && i > 10) i = 10; |
| 1967 | - | 22 | |
| 1821 | - | 23 | numberOfAxesInRange = 0; |
| 24 | |||
| 25 | for (axis = PITCH; axis <= YAW; axis++) { |
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| 26 | if (axis == YAW) |
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| 27 | factor = GYRO_SUMMATION_FACTOR_YAW; |
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| 28 | else |
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| 29 | factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
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| 30 | |||
| 2015 | - | 31 | if (rawGyroValue(axis) < 510 * factor) |
| 1967 | - | 32 | gyroAmplifierOffset.offsets[axis]--; |
| 2015 | - | 33 | else if (rawGyroValue(axis) > 515 * factor) |
| 1967 | - | 34 | gyroAmplifierOffset.offsets[axis]++; |
| 1821 | - | 35 | else |
| 36 | numberOfAxesInRange++; |
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| 37 | |||
| 38 | /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */ |
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| 1967 | - | 39 | if (gyroAmplifierOffset.offsets[axis] < 10) { |
| 40 | gyroAmplifierOffset.offsets[axis] = 10; |
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| 41 | } else if (gyroAmplifierOffset.offsets[axis] > 245) { |
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| 42 | gyroAmplifierOffset.offsets[axis] = 245; |
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| 1821 | - | 43 | } |
| 44 | } |
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| 1967 | - | 45 | |
| 1976 | - | 46 | gyro_loadAmplifierOffsets(0); |
| 1967 | - | 47 | } |
| 48 | gyroAmplifierOffset_writeToEEProm(); |
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| 2015 | - | 49 | delay_ms_with_adc_measurement(70, 0); |
| 1967 | - | 50 | } |
| 1821 | - | 51 | |
| 1971 | - | 52 | void gyro_loadAmplifierOffsets(uint8_t overwriteWithDefaults) { |
| 1967 | - | 53 | uint16_t timeout = setDelay(2000); |
| 1821 | - | 54 | |
| 1967 | - | 55 | if (overwriteWithDefaults) { |
| 56 | gyroAmplifierOffset.offsets[PITCH] = |
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| 57 | gyroAmplifierOffset.offsets[ROLL] = |
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| 58 | gyroAmplifierOffset.offsets[YAW] = (uint8_t)(255 * 1.2089 / 3.0); |
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| 1775 | - | 59 | } |
| 1967 | - | 60 | |
| 61 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
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| 62 | // Wait for I2C to finish transmission. |
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| 63 | while (twi_state) { |
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| 64 | // Did it take too long? |
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| 65 | if (checkDelay(timeout)) { |
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| 66 | printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl"); |
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| 67 | break; |
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| 68 | } |
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| 69 | } |
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| 1612 | dongfang | 70 | } |
| 71 | |||
| 1971 | - | 72 | void gyro_setDefaultParameters(void) { |
| 1960 | - | 73 | staticParams.gyroD = 3; |
| 74 | staticParams.driftCompDivider = 1; |
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| 75 | staticParams.driftCompLimit = 200; |
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| 76 | staticParams.zerothOrderCorrection = 25; |
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| 1612 | dongfang | 77 | } |