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| Rev 2015 | Rev 2018 | ||
|---|---|---|---|
| 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 -... | Line 10... | ||
| - | 10 | #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
|
| - | 11 | ||
| - | 12 | void I2C_OutputAmplifierOffsets() { |
|
| - | 13 | uint16_t timeout = setDelay(2000); |
|
| - | 14 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
|
| - | 15 | // Wait for I2C to finish transmission. |
|
| - | 16 | while (twi_state) { |
|
| - | 17 | // Did it take too long? |
|
| - | 18 | if (checkDelay(timeout)) { |
|
| - | 19 | printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl"); |
|
| - | 20 | break; |
|
| - | 21 | } |
|
| - | 22 | } |
|
| 10 | #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
23 | } |
| 11 | 24 | ||
| 12 | void gyro_calibrate(void) { |
25 | void gyro_calibrate(void) { |
| 13 | printf("gyro_calibrate"); |
26 | printf("gyro_calibrate"); |
| Line 36... | Line 49... | ||
| 36 | numberOfAxesInRange++; |
49 | numberOfAxesInRange++; |
| Line 37... | Line 50... | ||
| 37 | 50 | ||
| 38 | /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */ |
51 | /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */ |
| 39 | if (gyroAmplifierOffset.offsets[axis] < 10) { |
52 | if (gyroAmplifierOffset.offsets[axis] < 10) { |
| - | 53 | gyroAmplifierOffset.offsets[axis] = 10; |
|
| 40 | gyroAmplifierOffset.offsets[axis] = 10; |
54 | versionInfo.hardwareErrors[0] |= (FC_ERROR0_GYRO_PITCH << axis); |
| 41 | } else if (gyroAmplifierOffset.offsets[axis] > 245) { |
55 | } else if (gyroAmplifierOffset.offsets[axis] > 245) { |
| - | 56 | gyroAmplifierOffset.offsets[axis] = 245; |
|
| 42 | gyroAmplifierOffset.offsets[axis] = 245; |
57 | versionInfo.hardwareErrors[0] |= (FC_ERROR0_GYRO_PITCH << axis); |
| 43 | } |
58 | } |
| Line 44... | Line 59... | ||
| 44 | } |
59 | } |
| 45 | 60 | ||
| 46 | gyro_loadAmplifierOffsets(0); |
61 | I2C_OutputAmplifierOffsets(); |
| 47 | } |
62 | } |
| 48 | gyroAmplifierOffset_writeToEEProm(); |
63 | gyroAmplifierOffset_writeToEEProm(); |
| Line 49... | Line 64... | ||
| 49 | delay_ms_with_adc_measurement(70, 0); |
64 | delay_ms_with_adc_measurement(70, 0); |
| 50 | } |
65 | } |
| 51 | - | ||
| 52 | void gyro_loadAmplifierOffsets(uint8_t overwriteWithDefaults) { |
66 | |
| 53 | uint16_t timeout = setDelay(2000); |
67 | void gyro_init() { |
| 54 | 68 | if (gyroAmplifierOffset_readFromEEProm()) { |
|
| 55 | if (overwriteWithDefaults) { |
69 | printf("gyro amp invalid%s", recal); |
| 56 | gyroAmplifierOffset.offsets[PITCH] = |
- | |
| 57 | gyroAmplifierOffset.offsets[ROLL] = |
- | |
| 58 | gyroAmplifierOffset.offsets[YAW] = (uint8_t)(255 * 1.2089 / 3.0); |
- | |
| 59 | } |
- | |
| 60 | 70 | gyroAmplifierOffset.offsets[PITCH] = |
|
| 61 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
- | |
| 62 | // Wait for I2C to finish transmission. |
71 | gyroAmplifierOffset.offsets[ROLL] = |
| 63 | while (twi_state) { |
- | |
| 64 | // Did it take too long? |
- | |
| 65 | if (checkDelay(timeout)) { |
72 | gyroAmplifierOffset.offsets[YAW] = (uint8_t)(255 * 1.2089 / 3.0); |
| 66 | printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl"); |
- | |
| 67 | break; |
73 | } else { |
| Line 68... | Line 74... | ||
| 68 | } |
74 | I2C_OutputAmplifierOffsets(); |
| 69 | } |
75 | } |
| 70 | } |
76 | } |