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| Rev 1646 | Rev 1775 | ||
|---|---|---|---|
| Line 23... | Line 23... | ||
| 23 | if(numberOfAxesInRange == 3 && i > 10) i = 9; |
23 | if(numberOfAxesInRange == 3 && i > 10) i = 9; |
| 24 | numberOfAxesInRange = 0; |
24 | numberOfAxesInRange = 0; |
| Line 25... | Line 25... | ||
| 25 | 25 | ||
| 26 | for (axis=PITCH; axis<=YAW; axis++) { |
26 | for (axis=PITCH; axis<=YAW; axis++) { |
| 27 | if (axis==YAW) factor = GYRO_SUMMATION_FACTOR_YAW; |
27 | if (axis==YAW) factor = GYRO_SUMMATION_FACTOR_YAW; |
| 28 | else factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
28 | else factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
| 29 | 29 | ||
| 30 | if(rawGyroSum[axis] < factor * 510) DACValues[axis]--; |
30 | if(rawGyroSum[axis] < 510 * factor) DACValues[axis]--; |
| 31 | else if(rawGyroSum[axis] > limit * 515) DACValues[axis]++; |
31 | else if(rawGyroSum[axis] > 515 * factor) DACValues[axis]++; |
| Line 32... | Line 32... | ||
| 32 | else numberOfAxesInRange++; |
32 | else numberOfAxesInRange++; |
| 33 | 33 | ||
| 34 | /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). |
34 | /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */ |
| 35 | if(DACValues[axis] < 10) { |
35 | if(DACValues[axis] < 10) { |
| 36 | DACValues[axis] = 10; |
36 | DACValues[axis] = 10; |
| 37 | } else if(DACValues[axis] > 245) { |
37 | } else if(DACValues[axis] > 245) { |
| 38 | DACValues[axis] = 245; |
38 | DACValues[axis] = 245; |
| 39 | } |
39 | } |
| 40 | } |
40 | } |
| Line 41... | Line 41... | ||
| 41 | 41 | ||
| 42 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
42 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
| 43 | |
43 | |
| 44 | // Wait for I2C to finish transmission. |
44 | // Wait for I2C to finish transmission. |
| 45 | while(twi_state) { |
45 | while(twi_state) { |
| 46 | // Did it take too long? |
46 | // Did it take too long? |
| 47 | if(CheckDelay(timeout)) { |
47 | if(CheckDelay(timeout)) { |
| 48 | printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl"); |
48 | printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl"); |
| Line 49... | Line 49... | ||
| 49 | break; |
49 | break; |
| 50 | } |
50 | } |
| 51 | } |
51 | } |
| 52 | 52 | ||
| 53 | analog_start(); |
53 | analog_start(); |
| 54 | 54 | ||
| Line 55... | Line 55... | ||
| 55 | Delay_ms_Mess(i<10 ? 10 : 2); |
55 | Delay_ms_Mess(i<10 ? 10 : 2); |
| 56 | } |
56 | } |
| 57 | Delay_ms_Mess(70); |
57 | Delay_ms_Mess(70); |
| 58 | } |
58 | } |
| 59 | 59 | ||
| Line 60... | Line 60... | ||
| 60 | void gyro_setDefaults(void) { |
60 | void gyro_setDefaults(void) { |
| 61 | staticParams.GyroD = 3; |
61 | staticParams.GyroD = 3; |
| 62 | staticParams.DriftComp = 100; |
62 | staticParams.DriftComp = 250; |
| 63 | staticParams.GyroAccFactor = 1; |
63 | staticParams.GyroAccFactor = 10; |