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| Rev 1976 | Rev 2015 | ||
|---|---|---|---|
| Line 7... | Line 7... | ||
| 7 | #include "timer0.h" |
7 | #include "timer0.h" |
| Line 8... | Line 8... | ||
| 8 | 8 | ||
| 9 | #define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510 |
9 | #define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510 |
| Line 10... | Line -... | ||
| 10 | #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
- | |
| 11 | - | ||
| 12 | const uint8_t GYRO_REVERSED[3] = { 0, 0, 1 }; |
- | |
| 13 | const uint8_t ACC_REVERSED[3] = { 0, 1, 0 }; |
10 | #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
| 14 | 11 | ||
| 15 | void gyro_calibrate(void) { |
12 | void gyro_calibrate(void) { |
| 16 | printf("gyro_calibrate"); |
13 | printf("gyro_calibrate"); |
| Line 17... | Line 14... | ||
| 17 | uint8_t i, axis, factor, numberOfAxesInRange = 0; |
14 | uint8_t i, axis, factor, numberOfAxesInRange = 0; |
| - | 15 | // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
|
| - | 16 | ||
| 18 | // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
17 | for (i = 140; i != 0; i--) { |
| 19 | 18 | delay_ms_with_adc_measurement(i <= 10 ? 10 : 2, 1); |
|
| 20 | for (i = 140; i != 0; i--) { |
- | |
| Line 21... | Line 19... | ||
| 21 | // If all 3 axis are in range, shorten the remaining number of iterations. |
19 | |
| Line 22... | Line 20... | ||
| 22 | if (numberOfAxesInRange == 3 && i > 10) |
20 | // If all 3 axis are in range, shorten the remaining number of iterations. |
| 23 | i = 10; |
21 | if (numberOfAxesInRange == 3 && i > 10) i = 10; |
| 24 | 22 | ||
| 25 | numberOfAxesInRange = 0; |
23 | numberOfAxesInRange = 0; |
| 26 | 24 | ||
| Line 27... | Line 25... | ||
| 27 | for (axis = PITCH; axis <= YAW; axis++) { |
25 | for (axis = PITCH; axis <= YAW; axis++) { |
| 28 | if (axis == YAW) |
26 | if (axis == YAW) |
| 29 | factor = GYRO_SUMMATION_FACTOR_YAW; |
27 | factor = GYRO_SUMMATION_FACTOR_YAW; |
| 30 | else |
28 | else |
| 31 | factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
29 | factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
| 32 | 30 | ||
| Line 33... | Line 31... | ||
| 33 | if (rawGyroSum[axis] < 510 * factor) |
31 | if (rawGyroValue(axis) < 510 * factor) |
| Line 44... | Line 42... | ||
| 44 | gyroAmplifierOffset.offsets[axis] = 245; |
42 | gyroAmplifierOffset.offsets[axis] = 245; |
| 45 | } |
43 | } |
| 46 | } |
44 | } |
| Line 47... | Line 45... | ||
| 47 | 45 | ||
| 48 | gyro_loadAmplifierOffsets(0); |
- | |
| 49 | - | ||
| 50 | delay_ms_with_adc_measurement(i <= 10 ? 10 : 2); |
46 | gyro_loadAmplifierOffsets(0); |
| 51 | } |
47 | } |
| 52 | gyroAmplifierOffset_writeToEEProm(); |
48 | gyroAmplifierOffset_writeToEEProm(); |
| 53 | delay_ms_with_adc_measurement(70); |
49 | delay_ms_with_adc_measurement(70, 0); |
| Line 54... | Line 50... | ||
| 54 | } |
50 | } |
| 55 | 51 | ||