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1612 dongfang 1
#include "invenSense.h"
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#include "timer0.h"
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#include "configuration.h"
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#include <avr/io.h>
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/*
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 * Configuration for my prototype board with InvenSense gyros.
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 * The FC 1.3 board is installed upside down, therefore Z acc is reversed but not roll.
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 */
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// The special auto-zero feature of this gyro needs a port.
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#define AUTOZERO_PORT PORTD
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#define AUTOZERO_DDR DDRD
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#define AUTOZERO_BIT 5
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void gyro_calibrate(void) {
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        // If port not already set to output and high, do it.
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        if (!(AUTOZERO_DDR & (1 << AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1 << AUTOZERO_BIT))) {
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                AUTOZERO_PORT |= (1 << AUTOZERO_BIT);
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                AUTOZERO_DDR |= (1 << AUTOZERO_BIT);
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                delay_ms(100);
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        }
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        // Make a pulse on the auto-zero output line.
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        AUTOZERO_PORT &= ~(1 << AUTOZERO_BIT);
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        delay_ms(1);
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        AUTOZERO_PORT |= (1 << AUTOZERO_BIT);
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        // Delay_ms(10);
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        delay_ms_with_adc_measurement(100, 0);
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}
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void gyro_init() {
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        gyro_calibrate();
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}
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void gyro_setDefaultParameters(void) {
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  staticParams.gyroD = 3;
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  IMUConfig.driftCompDivider = 2;
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  IMUConfig.driftCompLimit = 5;
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  IMUConfig.zerothOrderCorrection = 1;
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  IMUConfig.imuReversedFlags = IMU_REVERSE_ACC_Z;
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}