| 0,0 → 1,82 |
|---|
| //#include "ENC-03_FC1.3.h" |
| #include "printf_P.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| #include "configuration.h" |
| #include "timer0.h" |
| |
| #define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510 |
| #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
| |
| #define DAC_PITCH 0 |
| #define DAC_ROLL 1 |
| #define DAC_YAW 2 |
| |
| // void gyro_init(void) {} |
| void gyro_calibrate(void) { |
| uint8_t i, numberOfAxesInRange = 0; |
| uint16_t timeout; |
| // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
| timeout = SetDelay(2000); |
| |
| for(i = 140; i != 0; i--) { |
| // If all 3 axis are in range, shorten the remaining number of iterations. |
| if(numberOfAxesInRange == 3 && i > 10) i = 9; |
| |
| numberOfAxesInRange = 0; |
| |
| if(rawPitchGyroSum < PITCHROLL_MINLIMIT) DACValues[DAC_PITCH]--; |
| else if(rawPitchGyroSum > PITCHROLL_MAXLIMIT) DACValues[DAC_PITCH]++; |
| else numberOfAxesInRange++; |
| |
| if(rawRollGyroSum < PITCHROLL_MINLIMIT) DACValues[DAC_ROLL]--; |
| else if(rawRollGyroSum > PITCHROLL_MAXLIMIT) DACValues[DAC_ROLL]++; |
| else numberOfAxesInRange++; |
| |
| if(rawYawGyroSum < GYRO_SUMMATION_FACTOR_YAW * 510) DACValues[DAC_YAW]--; |
| else if(rawYawGyroSum > GYRO_SUMMATION_FACTOR_YAW * 515) DACValues[DAC_YAW]++ ; |
| else numberOfAxesInRange++; |
| |
| if(DACValues[DAC_PITCH] < 10) { |
| /* GyroDefectNick = 1; */ DACValues[DAC_PITCH] = 10; |
| } else if(DACValues[DAC_PITCH] > 245) { |
| /* GyroDefectNick = 1; */ DACValues[DAC_PITCH] = 245; |
| } |
| if(DACValues[DAC_ROLL] < 10) { |
| /* GyroDefectRoll = 1; */ DACValues[DAC_ROLL] = 10; |
| } else if(DACValues[DAC_ROLL] > 245) { |
| /* GyroDefectRoll = 1; */ DACValues[DAC_ROLL] = 245; |
| } |
| if(DACValues[DAC_YAW] < 10) { |
| /* GyroDefectYaw = 1; */ DACValues[DAC_YAW] = 10; |
| } else if(DACValues[DAC_YAW] > 245) { |
| /* GyroDefectYaw = 1; */ DACValues[DAC_YAW] = 245; |
| } |
| |
| I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
| |
| // Wait for I2C to finish transmission. |
| while(twi_state) { |
| // Did it take too long? |
| if(CheckDelay(timeout)) { |
| printf("\r\n DAC or I2C Error1 check I2C, 3Vref, DAC, and BL-Ctrl"); |
| break; |
| } |
| } |
| |
| analog_start(); |
| |
| Delay_ms_Mess(i<10 ? 10 : 2); |
| } |
| Delay_ms_Mess(70); |
| } |
| |
| void gyro_setDefaults(void) { |
| staticParams.GyroD = 3; |
| staticParams.DriftComp = 32; |
| staticParams.GyroAccFactor = 5; |
| |
| // Not used. |
| staticParams.AngleTurnOverPitch = 85; |
| staticParams.AngleTurnOverRoll = 85; |
| } |