Subversion Repositories FlightCtrl

Rev

Rev 2018 | Rev 2092 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
1612 dongfang 1
#include "invenSense.h"
2
#include "timer0.h"
3
#include "configuration.h"
4
 
5
#include <avr/io.h>
6
 
1646 - 7
/*
8
 * Configuration for my prototype board with InvenSense gyros.
9
 * The FC 1.3 board is installed upside down, therefore Z acc is reversed but not roll.
10
 */
11
 
2015 - 12
// The special auto-zero feature of this gyro needs a port.
1612 dongfang 13
#define AUTOZERO_PORT PORTD
14
#define AUTOZERO_DDR DDRD
15
#define AUTOZERO_BIT 5
16
 
1887 - 17
void gyro_calibrate(void) {
1821 - 18
        // If port not already set to output and high, do it.
2017 - 19
        if (!(AUTOZERO_DDR & (1 << AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1 << AUTOZERO_BIT))) {
1821 - 20
                AUTOZERO_PORT |= (1 << AUTOZERO_BIT);
21
                AUTOZERO_DDR |= (1 << AUTOZERO_BIT);
1887 - 22
                delay_ms(100);
1821 - 23
        }
24
 
25
        // Make a pulse on the auto-zero output line.
26
        AUTOZERO_PORT &= ~(1 << AUTOZERO_BIT);
1887 - 27
        delay_ms(1);
1821 - 28
        AUTOZERO_PORT |= (1 << AUTOZERO_BIT);
29
        // Delay_ms(10);
2017 - 30
        delay_ms_with_adc_measurement(100, 0);
1612 dongfang 31
}
32
 
2018 - 33
void gyro_init() {
34
        gyro_calibrate();
1971 - 35
}
36
 
37
void gyro_setDefaultParameters(void) {
1960 - 38
  staticParams.gyroD = 3;
39
  staticParams.driftCompDivider = 2;
2017 - 40
  staticParams.driftCompLimit = 5;
41
  staticParams.zerothOrderCorrection = 1;
2026 - 42
  staticParams.imuReversedFlags = IMU_REVERSE_ACC_Z;
1612 dongfang 43
}