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1612 dongfang 1
//#include "ENC-03_FC1.3.h"
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#include "printf_P.h"
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#include "analog.h"
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#include "twimaster.h"
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#include "configuration.h"
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#include "timer0.h"
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#define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510
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#define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515
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const uint8_t GYRO_REVERSED[3] = { 0, 0, 1 };
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const uint8_t ACC_REVERSED[3] = { 0, 1, 0 };
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// void gyro_init(void) {}
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void gyro_calibrate(void) {
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        uint8_t i, axis, factor, numberOfAxesInRange = 0;
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        uint16_t timeout;
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        // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0;
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        timeout = setDelay(2000);
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        for (i = 140; i != 0; i--) {
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                // If all 3 axis are in range, shorten the remaining number of iterations.
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                if (numberOfAxesInRange == 3 && i > 10)
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                        i = 9;
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                numberOfAxesInRange = 0;
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                for (axis = PITCH; axis <= YAW; axis++) {
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                        if (axis == YAW)
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                                factor = GYRO_SUMMATION_FACTOR_YAW;
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                        else
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                                factor = GYRO_SUMMATION_FACTOR_PITCHROLL;
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                        if (rawGyroSum[axis] < 510 * factor)
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                                DACValues[axis]--;
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                        else if (rawGyroSum[axis] > 515 * factor)
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                                DACValues[axis]++;
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                        else
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                                numberOfAxesInRange++;
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                        /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */
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                        if (DACValues[axis] < 10) {
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                                DACValues[axis] = 10;
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                        } else if (DACValues[axis] > 245) {
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                                DACValues[axis] = 245;
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                        }
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                }
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                I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission
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                // Wait for I2C to finish transmission.
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                while (twi_state) {
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                        // Did it take too long?
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                        if (checkDelay(timeout)) {
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                                printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl");
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                                break;
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                        }
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                }
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                delay_ms_Mess(i < 10 ? 10 : 2);
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        }
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        delay_ms_Mess(70);
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}
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void gyro_setDefaults(void) {
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  staticParams.gyroD = 3;
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  staticParams.driftCompDivider = 1;
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  staticParams.driftCompLimit = 200;
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  staticParams.zerothOrderCorrection = 25;
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}