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Ignore whitespace Rev 1966 → Rev 1967

 /branches/dongfang_FC_rewrite/ENC-03_FC1.3.c
 ,4 → 1,4
-//#include "ENC-03_FC1.3.h"
+#include "sensors.h"
 #include "printf_P.h"
 #include "analog.h"
 #include "twimaster.h"
 ,17 → 11,16
 const uint8_t GYRO_REVERSED[3] = { 0, 0, 1 };
 const uint8_t ACC_REVERSED[3] = { 0, 1, 0 };
-// void gyro_init(void) {}
-void gyro_calibrate(void) {
+void gyro_calibrate(void) {
+        printf("gyro_calibrate");
         uint8_t i, axis, factor, 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 = 10;
                 numberOfAxesInRange = 0;
                 for (axis = PITCH; axis <= YAW; axis++) {
 ,34 → 30,46
                                 factor = GYRO_SUMMATION_FACTOR_PITCHROLL;
                         if (rawGyroSum[axis] < 510 * factor)
-                                DACValues.offsets[axis]--;
+                                gyroAmplifierOffset.offsets[axis]--;
                         else if (rawGyroSum[axis] > 515 * factor)
-                                DACValues.offsets[axis]++;
+                                gyroAmplifierOffset.offsets[axis]++;
                         else
                                 numberOfAxesInRange++;
                         /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */
-                        if (DACValues.offsets[axis] < 10) {
-                                DACValues.offsets[axis] = 10;
-                        } else if (DACValues.offsets[axis] > 245) {
-                                DACValues.offsets[axis] = 245;
+                        if (gyroAmplifierOffset.offsets[axis] < 10) {
+                                gyroAmplifierOffset.offsets[axis] = 10;
+                        } else if (gyroAmplifierOffset.offsets[axis] > 245) {
+                                gyroAmplifierOffset.offsets[axis] = 245;
                         }
                 }
+                gyro_loadOffsets(0);
-                I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission
+                delay_ms_with_adc_measurement(i <= 10 ? 10 : 2);
+        }
+        gyroAmplifierOffset_writeToEEProm();
+        delay_ms_with_adc_measurement(70);
+}
-                // Wait for I2C to finish transmission.
-                while (twi_state) {
-                        // Did it take too long?
-                        if (checkDelay(timeout)) {
-                                printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl");
-                                break;
-                        }
-                }
+void gyro_loadOffsets(uint8_t overwriteWithDefaults) {
+        uint16_t timeout = setDelay(2000);
-                delay_ms_Mess(i <= 10 ? 10 : 2);
+        if (overwriteWithDefaults) {
+                gyroAmplifierOffset.offsets[PITCH] =
+                gyroAmplifierOffset.offsets[ROLL] =
+                gyroAmplifierOffset.offsets[YAW] = (uint8_t)(255 * 1.2089 / 3.0);
         }
-        delay_ms_Mess(70);
+        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 Error! check I2C, 3Vref, DAC, and BL-Ctrl");
+                        break;
+                }
+        }
 }
 void gyro_setDefaults(void) {

 /branches/dongfang_FC_rewrite/analog.c
 ,7 → 105,7
 volatile sensorOffset_t gyroOffset;
 volatile sensorOffset_t accOffset;
-volatile sensorOffset_t DACValues;
+volatile sensorOffset_t gyroAmplifierOffset;
 /*
  * This allows some experimentation with the gyro filters.
 ,6 → 281,7
   for (uint8_t axis=0; axis<2; axis++) {
     tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH-axis];
     /*
      * Process the gyro data for the PID controller.
      */
 ,9 → 343,9
   else
     yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset.offsets[YAW];
-  debugOut.analog[3] = gyro_ATT[PITCH];
-  debugOut.analog[4] = gyro_ATT[ROLL];
-  debugOut.analog[5] = yawGyro;
+  debugOut.analog[3] = rawGyroSum[0];
+  debugOut.analog[4] = rawGyroSum[1];
+  debugOut.analog[5] = rawGyroSum[2];
 }
 void analog_updateAccelerometers(void) {
 ,6 → 472,11
 }
 void analog_setNeutral() {
+  if (gyroAmplifierOffset_readFromEEProm()) {
+    printf("gyro amp invalid, you must recalibrate.");
+    gyro_loadOffsets(1);
+  }
   if (gyroOffset_readFromEEProm()) {
     printf("gyro offsets invalid, you must recalibrate.");
     gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_SUMMATION_FACTOR_PITCHROLL;
 ,7 → 498,7
   // Setting offset values has an influence in the analog.c ISR
   // Therefore run measurement for 100ms to achive stable readings
-  delay_ms_Mess(100);
+  delay_ms_with_adc_measurement(100);
   // Rough estimate. Hmm no nothing happens at calibration anyway.
   // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2);
 ,7 → 513,7
   // determine gyro bias by averaging (requires that the copter does not rotate around any axis!)
   for (i = 0; i < GYRO_OFFSET_CYCLES; i++) {
-    delay_ms_Mess(20);
+    delay_ms_with_adc_measurement(20);
     for (axis = PITCH; axis <= YAW; axis++) {
       offsets[axis] += rawGyroSum[axis];
     }
 ,7 → 540,7
   int16_t filteredDelta;
   for (i = 0; i < ACC_OFFSET_CYCLES; i++) {
-    delay_ms_Mess(10);
+    delay_ms_with_adc_measurement(10);
     for (axis = PITCH; axis <= YAW; axis++) {
       deltaOffset[axis] += acc[axis];
     }

 /branches/dongfang_FC_rewrite/analog.h
 ,7 → 187,7
 extern volatile sensorOffset_t gyroOffset;
 extern volatile sensorOffset_t accOffset;
-extern volatile sensorOffset_t DACValues;
+extern volatile sensorOffset_t gyroAmplifierOffset;
 /*
  * This is not really for external use - but the ENC-03 gyro modules needs it.

 /branches/dongfang_FC_rewrite/eeprom.c
 ,17 → 88,21
 /***************************************************/
 /*       Read Parameter from EEPROM as word        */
 /***************************************************/
+/*
 uint16_t getParamWord(uint16_t param_id) {
   return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN
                                                     + param_id]);
 }
+*/
 /***************************************************/
 /*       Write Parameter to EEPROM as word         */
 /***************************************************/
+/*
 void setParamWord(uint16_t param_id, uint16_t value) {
   eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);
 }
+*/
 uint8_t calculateChecksum(uint8_t* data, uint16_t length) {
   uint8_t result = 0;
 ,14 → 227,20
 /***************************************************/
 /* Sensor offsets                                  */
 /***************************************************/
+uint8_t gyroAmplifierOffset_readFromEEProm(void) {
+  return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t));
+}
+void gyroAmplifierOffset_writeToEEProm(void) {
+  return writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t));
+}
 uint8_t gyroOffset_readFromEEProm(void) {
-  return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t)) |
-  readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&DACValues, EEPROM_ADR_DACVALUES, sizeof(sensorOffset_t));
+  return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t));
 }
 void gyroOffset_writeToEEProm(void) {
   writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t));
-  writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&DACValues, EEPROM_ADR_DACVALUES, sizeof(sensorOffset_t));
 }
 uint8_t accOffset_readFromEEProm(void) {

 /branches/dongfang_FC_rewrite/eeprom.h
 ,43 → 8,53
 #define EEPROM_ADR_PARAM_BEGIN  0
 #define PID_ACTIVE_SET          0   // byte
-#define EEPROM_ADR_ACCOFFSET    1
-#define EEPROM_ADR_GYROOFFSET   (EEPROM_ADR_ACCOFFSET+sizeof(sensorOffset_t)+2)
-#define EEPROM_ADR_DACVALUES    (EEPROM_ADR_GYROOFFSET+sizeof(sensorOffset_t)+2)
-#define EEPROM_ADR_CHANNELMAP   (EEPROM_ADR_GYROOFFSET+sizeof(sensorOffset_t)+2)
-#define EEPROM_ADR_MIXER_TABLE  (EEPROM_ADR_CHANNELMAP+sizeof(channelMap_t)+2)
-#define EEPROM_ADR_PARAMSET_BEGIN (EEPROM_ADR_CHANNELMAP+sizeof(mixerMatrix_t)+2)
+//#define EEPROM_ADR_ACCOFFSET    1
+//#define EEPROM_ADR_GYROOFFSET   (EEPROM_ADR_ACCOFFSET+sizeof(sensorOffset_t)+2)
+//#define EEPROM_ADR_GYROAMPLIFIER  (EEPROM_ADR_GYROOFFSET+sizeof(sensorOffset_t)+2)
+//#define EEPROM_ADR_CHANNELMAP   (EEPROM_ADR_GYROAMPLIFIER+sizeof(sensorOffset_t)+2)
+//#define EEPROM_ADR_MIXER_TABLE          (EEPROM_ADR_CHANNELMAP+sizeof(channelMap_t)+2)
+//#define EEPROM_ADR_PARAMSET_BEGIN (EEPROM_ADR_MIXER_TABLE+sizeof(mixerMatrix_t)+2)
+#define EEPROM_ADR_ACCOFFSET    10
+#define EEPROM_ADR_GYROOFFSET   20
+#define EEPROM_ADR_GYROAMPLIFIER  30
+#define EEPROM_ADR_CHANNELMAP     40
+#define EEPROM_ADR_MIXER_TABLE    60
+#define EEPROM_ADR_PARAMSET_BEGIN 200
 #define CHANNELMAP_REVISION     0
 #define EEPARAM_REVISION            0
 #define EEMIXER_REVISION            0
 #define SENSOROFFSET_REVISION   0
-extern void paramSet_readOrDefault(void);
-extern void channelMap_readOrDefault(void);
-extern void mixerMatrix_readOrDefault(void);
+void paramSet_readOrDefault(void);
+void channelMap_readOrDefault(void);
+void mixerMatrix_readOrDefault(void);
-extern uint8_t paramSet_readFromEEProm(uint8_t setnumber);
-extern void paramSet_writeToEEProm(uint8_t setnumber);
+uint8_t paramSet_readFromEEProm(uint8_t setnumber);
+void paramSet_writeToEEProm(uint8_t setnumber);
-extern uint8_t channelMap_readFromEEProm(void);
-extern void channelMap_writeToEEProm(void);
+uint8_t channelMap_readFromEEProm(void);
+void channelMap_writeToEEProm(void);
-extern uint8_t mixerMatrix_eeadFromEEProm(void);
-extern void mixerMatrix_writeToEEProm(void);
+uint8_t mixerMatrix_eeadFromEEProm(void);
+void mixerMatrix_writeToEEProm(void);
-extern uint8_t accOffset_readFromEEProm(void);
-extern void accOffset_writeToEEProm(void);
+uint8_t gyroAmplifierOffset_readFromEEProm(void);
+void gyroAmplifierOffset_writeToEEProm(void);
-extern uint8_t gyroOffset_readFromEEProm(void);
-extern void gyroOffset_writeToEEProm(void);
+uint8_t gyroOffset_readFromEEProm(void);
+void gyroOffset_writeToEEProm(void);
-extern uint8_t getParamByte(uint16_t param_id);
-extern void setParamByte(uint16_t param_id, uint8_t value);
-extern uint16_t getParamWord(uint16_t param_id);
-extern void setParamWord(uint16_t param_id, uint16_t value);
+uint8_t accOffset_readFromEEProm(void);
+void accOffset_writeToEEProm(void);
-extern uint8_t getActiveParamSet(void);
-extern void setActiveParamSet(uint8_t setnumber);
+uint8_t getParamByte(uint16_t param_id);
+void setParamByte(uint16_t param_id, uint8_t value);
+//uint16_t getParamWord(uint16_t param_id);
+//void setParamWord(uint16_t param_id, uint16_t value);
+uint8_t getActiveParamSet(void);
+void setActiveParamSet(uint8_t setnumber);
 #endif //_EEPROM_H

 /branches/dongfang_FC_rewrite/invenSense.c
 ,7 → 29,7
         delay_ms(1);
         AUTOZERO_PORT |= (1 << AUTOZERO_BIT);
         // Delay_ms(10);
-        delay_ms_Mess(100);
+        delay_ms_with_adc_measurement(100);
 }
 void gyro_setDefaults(void) {

 /branches/dongfang_FC_rewrite/makefile
 ,8 → 4,8
 F_CPU = 20000000
 #-------------------------------------------------------------------
 VERSION_MAJOR    =  0
-VERSION_MINOR    =  74
-VERSION_PATCH    =  100
+VERSION_MINOR    =  1
+VERSION_PATCH    =  0
 VERSION_SERIAL_MAJOR = 10       # Serial Protocol Major Version
 VERSION_SERIAL_MINOR = 1        # Serial Protocol Minor Version

 /branches/dongfang_FC_rewrite/sensors.h
 ,6 → 2,7
 #define _SENSORS_H
 #include <inttypes.h>
+#include "configuration.h"
 /*
  * Whether (pitch, roll, yaw) gyros are reversed (see analog.h).
 ,9 → 13,8
  * Whether (pitch, roll, Z) acc. meters are reversed(see analog.h).
  */
 extern const uint8_t ACC_REVERSED[3];
+extern volatile sensorOffset_t gyroAmplifierOffset;
-extern volatile sensorOffset_t DACValues;
 /*
  * Common procedures for all gyro types.
  * FC 1.3 hardware: Searching the DAC values that return neutral readings.
 ,6 → 24,11
 void gyro_calibrate(void);
 /*
+ * FC 1.3: Output data in gyroAmplifierOffset to DAC. All other versions: Do nothing.
+ */
+void gyro_loadOffsets(uint8_t overwriteWithDefaults);
+/*
  * Set some default FC parameters, depending on gyro type: Drift correction etc.
  */
 void gyro_setDefaults(void);

 /branches/dongfang_FC_rewrite/timer0.c
 ,7 → 213,7
 }
 // -----------------------------------------------------------------------
-void delay_ms_Mess(uint16_t w) {
+void delay_ms_with_adc_measurement(uint16_t w) {
   uint16_t t_stop;
   t_stop = setDelay(w);
   while (!checkDelay(t_stop)) {

 /branches/dongfang_FC_rewrite/timer0.h
 ,7 → 20,7
 extern void timer0_init(void);
 extern void delay_ms(uint16_t w);
-extern void delay_ms_Mess(uint16_t w);
+extern void delay_ms_with_adc_measurement(uint16_t w);
 extern uint16_t setDelay(uint16_t t);
 extern int8_t checkDelay(uint16_t t);

 /branches/dongfang_FC_rewrite/twimaster.c
 ,7 → 259,7
                 break;
         case 9:
-                I2C_WriteByte(DACValues.offsets[DACChannel]);
+                I2C_WriteByte(gyroAmplifierOffset.offsets[DACChannel]);
                 break;
         case 10:

/branches/dongfang_FC_rewrite/uart0.c
66,7 → 66,6
#include "output.h"
#include "attitude.h"


#ifdef USE_MK3MAG
#include "mk3mag.h"
#endif

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Ignore whitespace Rev 1966 → Rev 1967