Rev 2112 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2112 | Rev 2189 | ||
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| 1 | #include "sensors.h" |
1 | #include "sensors.h" |
| 2 | #include "printf_P.h" |
- | |
| 3 | #include "analog.h" |
2 | #include "analog.h" |
| 4 | #include "twimaster.h" |
3 | #include "twimaster.h" |
| 5 | #include "configuration.h" |
4 | #include "configuration.h" |
| 6 | #include "eeprom.h" |
5 | #include "eeprom.h" |
| 7 | #include "timer0.h" |
6 | #include "timer0.h" |
| - | 7 | #include "output.h" |
|
| - | 8 | ||
| - | 9 | #include <stdio.h> |
|
| Line 8... | Line 10... | ||
| 8 | 10 | ||
| 9 | void I2C_OutputAmplifierOffsets(void) { |
11 | void I2C_OutputAmplifierOffsets(void) { |
| 10 | uint16_t timeout = setDelay(2000); |
12 | uint16_t timeout = setDelay(2000); |
| 11 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
13 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
| Line 17... | Line 19... | ||
| 17 | break; |
19 | break; |
| 18 | } |
20 | } |
| 19 | } |
21 | } |
| 20 | } |
22 | } |
| Line -... | Line 23... | ||
| - | 23 | ||
| - | 24 | uint8_t DACChannelFor(uint8_t axis) { |
|
| - | 25 | switch (axis) { |
|
| - | 26 | case X: |
|
| - | 27 | return 1; |
|
| - | 28 | case Y: |
|
| - | 29 | return 0; |
|
| - | 30 | case Z: |
|
| - | 31 | return 2; |
|
| - | 32 | default: |
|
| - | 33 | return -1; // should never happen. |
|
| - | 34 | } |
|
| - | 35 | } |
|
| 21 | 36 | ||
| 22 | void gyro_calibrate(void) { |
37 | void gyro_calibrate(void) { |
| 23 | printf("gyro_calibrate"); |
38 | printf("gyro_calibrate"); |
| 24 | uint8_t i, axis, factor, numberOfAxesInRange = 0; |
39 | uint8_t i, axis, factor, numberOfAxesInRange = 0; |
| 25 | // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
40 | // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
| 26 | 41 | ||
| 27 | for (i = 140; i != 0; i--) { |
42 | for (i = 200; i != 0; i--) { |
| 28 | delay_ms_with_adc_measurement(i <= 10 ? 10 : 2, 1); |
- | |
| 29 | 43 | waitADCCycle(i <= 10 ? 10 : 2); |
|
| 30 | // If all 3 axis are in range, shorten the remaining number of iterations. |
44 | // If all 3 axis are in range, shorten the remaining number of iterations. |
| 31 | if (numberOfAxesInRange == 3 && i > 10) i = 10; |
- | |
| 32 | 45 | if (numberOfAxesInRange == 3 && i > 10) i = 10; |
|
| 33 | numberOfAxesInRange = 0; |
- | |
| 34 | 46 | numberOfAxesInRange = 0; |
|
| - | 47 | for (axis=X; axis<=Z; axis++) { |
|
| 35 | for (axis = PITCH; axis <= YAW; axis++) { |
48 | uint8_t dacChannel = DACChannelFor(axis); |
| 36 | if (axis == YAW) |
49 | if (axis==Z) |
| 37 | factor = GYRO_OVERSAMPLING_YAW; |
50 | factor=GYRO_OVERSAMPLING_Z; |
| 38 | else |
51 | else |
| Line 39... | Line 52... | ||
| 39 | factor = GYRO_OVERSAMPLING_PITCHROLL; |
52 | factor=GYRO_OVERSAMPLING_XY; |
| 40 | 53 | ||
| 41 | if (rawGyroValue(axis) < 510 * factor) |
54 | if (gyroValueForFC13DACCalibration(axis) < (uint16_t)(510*factor)) |
| 42 | gyroAmplifierOffset.offsets[axis]--; |
55 | gyroAmplifierOffset.offsets[dacChannel]--; |
| 43 | else if (rawGyroValue(axis) > 515 * factor) |
56 | else if (gyroValueForFC13DACCalibration(axis) > (uint16_t)(515 * factor)) |
| 44 | gyroAmplifierOffset.offsets[axis]++; |
57 | gyroAmplifierOffset.offsets[dacChannel]++; |
| Line 45... | Line 58... | ||
| 45 | else |
58 | else |
| 46 | numberOfAxesInRange++; |
59 | numberOfAxesInRange++; |
| 47 | 60 | ||
| 48 | /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */ |
61 | /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */ |
| 49 | if (gyroAmplifierOffset.offsets[axis] < 10) { |
62 | if (gyroAmplifierOffset.offsets[dacChannel] < 10) { |
| 50 | gyroAmplifierOffset.offsets[axis] = 10; |
63 | gyroAmplifierOffset.offsets[dacChannel] = 10; |
| 51 | versionInfo.hardwareErrors[0] |= (FC_ERROR0_GYRO_PITCH << axis); |
64 | versionInfo.hardwareErrors[0] |= (FC_ERROR0_GYRO_X << axis); |
| 52 | } else if (gyroAmplifierOffset.offsets[axis] > 245) { |
65 | } else if (gyroAmplifierOffset.offsets[dacChannel] > 245) { |
| 53 | gyroAmplifierOffset.offsets[axis] = 245; |
66 | gyroAmplifierOffset.offsets[dacChannel] = 245; |
| Line 54... | Line 67... | ||
| 54 | versionInfo.hardwareErrors[0] |= (FC_ERROR0_GYRO_PITCH << axis); |
67 | versionInfo.hardwareErrors[0] |= (FC_ERROR0_GYRO_X << axis); |
| 55 | } |
68 | } |
| 56 | } |
69 | } |
| 57 | 70 | ||
| 58 | I2C_OutputAmplifierOffsets(); |
71 | I2C_OutputAmplifierOffsets(); |
| Line 59... | Line 72... | ||
| 59 | } |
72 | } |
| 60 | gyroAmplifierOffset_writeToEEProm(); |
73 | gyroAmplifierOffset_writeToEEProm(); |
| 61 | delay_ms_with_adc_measurement(70, 0); |
74 | waitADCCycle(70); |
| 62 | } |
75 | } |
| 63 | 76 | ||
| 64 | void gyro_init(void) { |
77 | void gyro_init(void) { |
| 65 | if (gyroAmplifierOffset_readFromEEProm()) { |
78 | if (gyroAmplifierOffset_readFromEEProm()) { |
| 66 | printf("gyro amp invalid, recalibrate."); |
79 | printf("gyro amp invalid, recalibrate."); |
| 67 | gyroAmplifierOffset.offsets[PITCH] = |
80 | gyroAmplifierOffset.offsets[X] = |
| 68 | gyroAmplifierOffset.offsets[ROLL] = |
81 | gyroAmplifierOffset.offsets[Y] = |
| Line 69... | Line 82... | ||
| 69 | gyroAmplifierOffset.offsets[YAW] = (uint8_t)(255 * 1.2089 / 3.0); |
82 | gyroAmplifierOffset.offsets[Z] = (uint8_t)(255 * 1.2089 / 3.0); |
| 70 | } else { |
83 | } else { |
| 71 | I2C_OutputAmplifierOffsets(); |
84 | I2C_OutputAmplifierOffsets(); |
| 72 | } |
85 | } |
| 73 | } |
86 | } |
| 74 | - | ||
| 75 | void gyro_setDefaultParameters(void) { |
- | |
| 76 | IMUConfig.gyroQuadrant = 0; |
- | |
| 77 | IMUConfig.accQuadrant = 4; |
87 | |