Subversion Repositories FlightCtrl

#include "invenSense.h"

#include "timer0.h"

#include "configuration.h"

#include <avr/io.h>

/*

 * Configuration for my prototype board with InvenSense gyros.

 * The FC 1.3 board is installed upside down, therefore Z acc is reversed but not roll.

 */

PR_GYROS_ORIENTATION_REVERSED = 0;

#define AUTOZERO_PORT PORTD

#define AUTOZERO_DDR DDRD

#define AUTOZERO_BIT 5

void gyro_calibrate(void) {

        // If port not already set to output and high, do it.

        if (!(AUTOZERO_DDR & (1 << AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1

                        << AUTOZERO_BIT))) {

                AUTOZERO_PORT |= (1 << AUTOZERO_BIT);

                AUTOZERO_DDR |= (1 << AUTOZERO_BIT);

                delay_ms(100);

        }

        // Make a pulse on the auto-zero output line.

        AUTOZERO_PORT &= ~(1 << AUTOZERO_BIT);

        delay_ms(1);

        AUTOZERO_PORT |= (1 << AUTOZERO_BIT);

        // Delay_ms(10);

        delay_ms_Mess(100);

}

void gyro_setDefaults(void) {

        staticParams.zerothOrderGyroCorrectionFactorx1000 = 1;

        staticParams.secondOrderGyroCorrectionDivisor = 2;

        staticParams.secondOrderGyroCorrectionLimit = 3;

}