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|---|---|---|---|
| 1 | //#include "ENC-03_FC1.3.h" |
1 | //#include "ENC-03_FC1.3.h" |
| 2 | #include "printf_P.h" |
2 | #include "printf_P.h" |
| 3 | #include "analog.h" |
3 | #include "analog.h" |
| 4 | #include "twimaster.h" |
4 | #include "twimaster.h" |
| 5 | #include "configuration.h" |
5 | #include "configuration.h" |
| 6 | #include "timer0.h" |
6 | #include "timer0.h" |
| 7 | 7 | ||
| 8 | #define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510 |
8 | #define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510 |
| 9 | #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
9 | #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
| 10 | 10 | ||
| 11 | const uint8_t GYRO_REVERSED[3] = { 0, 0, 1 }; |
11 | const uint8_t GYRO_REVERSED[3] = { 0, 0, 1 }; |
| 12 | const uint8_t ACC_REVERSED[3] = { 0, 1, 0 }; |
12 | const uint8_t ACC_REVERSED[3] = { 0, 1, 0 }; |
| 13 | 13 | ||
| 14 | // void gyro_init(void) {} |
14 | // void gyro_init(void) {} |
| 15 | void gyro_calibrate(void) { |
15 | void gyro_calibrate(void) { |
| 16 | uint8_t i, axis, factor, numberOfAxesInRange = 0; |
16 | uint8_t i, axis, factor, numberOfAxesInRange = 0; |
| 17 | uint16_t timeout; |
17 | uint16_t timeout; |
| 18 | // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
18 | // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
| 19 | timeout = SetDelay(2000); |
19 | timeout = SetDelay(2000); |
| 20 | 20 | ||
| 21 | for (i = 140; i != 0; i--) { |
21 | for (i = 140; i != 0; i--) { |
| 22 | // If all 3 axis are in range, shorten the remaining number of iterations. |
22 | // If all 3 axis are in range, shorten the remaining number of iterations. |
| 23 | if (numberOfAxesInRange == 3 && i > 10) |
23 | if (numberOfAxesInRange == 3 && i > 10) |
| 24 | i = 9; |
24 | i = 9; |
| 25 | numberOfAxesInRange = 0; |
25 | numberOfAxesInRange = 0; |
| 26 | 26 | ||
| 27 | for (axis = PITCH; axis <= YAW; axis++) { |
27 | for (axis = PITCH; axis <= YAW; axis++) { |
| 28 | if (axis == YAW) |
28 | if (axis == YAW) |
| 29 | factor = GYRO_SUMMATION_FACTOR_YAW; |
29 | factor = GYRO_SUMMATION_FACTOR_YAW; |
| 30 | else |
30 | else |
| 31 | factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
31 | factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
| 32 | 32 | ||
| 33 | if (rawGyroSum[axis] < 510 * factor) |
33 | if (rawGyroSum[axis] < 510 * factor) |
| 34 | DACValues[axis]--; |
34 | DACValues[axis]--; |
| 35 | else if (rawGyroSum[axis] > 515 * factor) |
35 | else if (rawGyroSum[axis] > 515 * factor) |
| 36 | DACValues[axis]++; |
36 | DACValues[axis]++; |
| 37 | else |
37 | else |
| 38 | numberOfAxesInRange++; |
38 | numberOfAxesInRange++; |
| 39 | 39 | ||
| 40 | /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */ |
40 | /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */ |
| 41 | if (DACValues[axis] < 10) { |
41 | if (DACValues[axis] < 10) { |
| 42 | DACValues[axis] = 10; |
42 | DACValues[axis] = 10; |
| 43 | } else if (DACValues[axis] > 245) { |
43 | } else if (DACValues[axis] > 245) { |
| 44 | DACValues[axis] = 245; |
44 | DACValues[axis] = 245; |
| 45 | } |
45 | } |
| 46 | } |
46 | } |
| 47 | 47 | ||
| 48 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
48 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
| 49 | 49 | ||
| 50 | // Wait for I2C to finish transmission. |
50 | // Wait for I2C to finish transmission. |
| 51 | while (twi_state) { |
51 | while (twi_state) { |
| 52 | // Did it take too long? |
52 | // Did it take too long? |
| 53 | if (CheckDelay(timeout)) { |
53 | if (CheckDelay(timeout)) { |
| 54 | printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl"); |
54 | printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl"); |
| 55 | break; |
55 | break; |
| 56 | } |
56 | } |
| 57 | } |
57 | } |
| 58 | 58 | ||
| 59 | analog_start(); |
59 | analog_start(); |
| 60 | 60 | ||
| 61 | Delay_ms_Mess(i < 10 ? 10 : 2); |
61 | Delay_ms_Mess(i < 10 ? 10 : 2); |
| 62 | } |
62 | } |
| 63 | Delay_ms_Mess(70); |
63 | Delay_ms_Mess(70); |
| 64 | } |
64 | } |
| 65 | 65 | ||
| 66 | void gyro_setDefaults(void) { |
66 | void gyro_setDefaults(void) { |
| 67 | staticParams.GyroD = 3; |
67 | staticParams.GyroD = 3; |
| 68 | staticParams.DriftComp = 100; |
68 | staticParams.DriftComp = 200; |
| 69 | staticParams.GyroAccFactor = 2; |
69 | staticParams.GyroAccFactor = 25; |
| 70 | staticParams.GyroAccTrim = 1; |
70 | staticParams.GyroAccTrim = 1; |
| 71 | 71 | ||
| 72 | // Not used. |
72 | // Not used. |
| 73 | staticParams.AngleTurnOverPitch = 85; |
73 | // staticParams.AngleTurnOverPitch = 85; |
| 74 | staticParams.AngleTurnOverRoll = 85; |
74 | // staticParams.AngleTurnOverRoll = 85; |
| 75 | } |
75 | } |
| 76 | 76 | ||