| 1,11 → 1,13 |
|---|
| #include "sensors.h" |
| #include "printf_P.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| #include "configuration.h" |
| #include "eeprom.h" |
| #include "timer0.h" |
| #include "output.h" |
| |
| #include <stdio.h> |
| |
| void I2C_OutputAmplifierOffsets(void) { |
| uint16_t timeout = setDelay(2000); |
| I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
| 19,39 → 21,50 |
|---|
| } |
| } |
| |
| uint8_t DACChannelFor(uint8_t axis) { |
| switch (axis) { |
| case X: |
| return 1; |
| case Y: |
| return 0; |
| case Z: |
| return 2; |
| default: |
| return -1; // should never happen. |
| } |
| } |
| |
| void gyro_calibrate(void) { |
| printf("gyro_calibrate"); |
| uint8_t i, axis, factor, numberOfAxesInRange = 0; |
| // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
| |
| for (i = 140; i != 0; i--) { |
| delay_ms_with_adc_measurement(i <= 10 ? 10 : 2, 1); |
| |
| |
| for (i = 200; i != 0; i--) { |
| waitADCCycle(i <= 10 ? 10 : 2); |
| // If all 3 axis are in range, shorten the remaining number of iterations. |
| if (numberOfAxesInRange == 3 && i > 10) i = 10; |
| |
| numberOfAxesInRange = 0; |
| |
| for (axis = PITCH; axis <= YAW; axis++) { |
| if (axis == YAW) |
| factor = GYRO_OVERSAMPLING_YAW; |
| for (axis=X; axis<=Z; axis++) { |
| uint8_t dacChannel = DACChannelFor(axis); |
| if (axis==Z) |
| factor=GYRO_OVERSAMPLING_Z; |
| else |
| factor = GYRO_OVERSAMPLING_PITCHROLL; |
| factor=GYRO_OVERSAMPLING_XY; |
| |
| if (rawGyroValue(axis) < 510 * factor) |
| gyroAmplifierOffset.offsets[axis]--; |
| else if (rawGyroValue(axis) > 515 * factor) |
| gyroAmplifierOffset.offsets[axis]++; |
| if (gyroValueForFC13DACCalibration(axis) < (uint16_t)(510*factor)) |
| gyroAmplifierOffset.offsets[dacChannel]--; |
| else if (gyroValueForFC13DACCalibration(axis) > (uint16_t)(515 * factor)) |
| gyroAmplifierOffset.offsets[dacChannel]++; |
| else |
| numberOfAxesInRange++; |
| |
| /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */ |
| if (gyroAmplifierOffset.offsets[axis] < 10) { |
| gyroAmplifierOffset.offsets[axis] = 10; |
| versionInfo.hardwareErrors[0] |= (FC_ERROR0_GYRO_PITCH << axis); |
| } else if (gyroAmplifierOffset.offsets[axis] > 245) { |
| gyroAmplifierOffset.offsets[axis] = 245; |
| versionInfo.hardwareErrors[0] |= (FC_ERROR0_GYRO_PITCH << axis); |
| if (gyroAmplifierOffset.offsets[dacChannel] < 10) { |
| gyroAmplifierOffset.offsets[dacChannel] = 10; |
| versionInfo.hardwareErrors[0] |= (FC_ERROR0_GYRO_X << axis); |
| } else if (gyroAmplifierOffset.offsets[dacChannel] > 245) { |
| gyroAmplifierOffset.offsets[dacChannel] = 245; |
| versionInfo.hardwareErrors[0] |= (FC_ERROR0_GYRO_X << axis); |
| } |
| } |
| |
| 58,15 → 71,15 |
|---|
| I2C_OutputAmplifierOffsets(); |
| } |
| gyroAmplifierOffset_writeToEEProm(); |
| delay_ms_with_adc_measurement(70, 0); |
| waitADCCycle(70); |
| } |
| |
| void gyro_init(void) { |
| if (gyroAmplifierOffset_readFromEEProm()) { |
| printf("gyro amp invalid, recalibrate."); |
| gyroAmplifierOffset.offsets[PITCH] = |
| gyroAmplifierOffset.offsets[ROLL] = |
| gyroAmplifierOffset.offsets[YAW] = (uint8_t)(255 * 1.2089 / 3.0); |
| gyroAmplifierOffset.offsets[X] = |
| gyroAmplifierOffset.offsets[Y] = |
| gyroAmplifierOffset.offsets[Z] = (uint8_t)(255 * 1.2089 / 3.0); |
| } else { |
| I2C_OutputAmplifierOffsets(); |
| } |
| 73,11 → 86,8 |
|---|
| } |
| |
| void gyro_setDefaultParameters(void) { |
| IMUConfig.gyroQuadrant = 0; |
| IMUConfig.gyroQuadrant = 4; |
| IMUConfig.accQuadrant = 4; |
| IMUConfig.imuReversedFlags = IMU_REVERSE_GYRO_YAW | IMU_REVERSE_ACC_XY; |
| IMUConfig.imuReversedFlags = IMU_REVERSE_ACCEL_Z | IMU_REVERSE_GYRO_Z; |
| staticParams.gyroD = 3; |
| IMUConfig.driftCompDivider = 1; |
| IMUConfig.driftCompLimit = 200; |
| IMUConfig.zerothOrderCorrection = 120; |
| } |