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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1612 | dongfang | 1 | //#include "ENC-03_FC1.3.h" |
| 2 | #include "printf_P.h" |
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| 3 | #include "analog.h" |
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| 4 | #include "twimaster.h" |
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| 5 | #include "configuration.h" |
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| 6 | #include "timer0.h" |
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| 7 | |||
| 8 | #define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510 |
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| 9 | #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
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| 10 | |||
| 1821 | - | 11 | const uint8_t GYRO_REVERSED[3] = { 0, 0, 1 }; |
| 12 | const uint8_t ACC_REVERSED[3] = { 0, 1, 0 }; |
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| 1612 | dongfang | 13 | |
| 14 | // void gyro_init(void) {} |
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| 15 | void gyro_calibrate(void) { |
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| 1821 | - | 16 | uint8_t i, axis, factor, numberOfAxesInRange = 0; |
| 17 | uint16_t timeout; |
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| 18 | // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
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| 19 | timeout = SetDelay(2000); |
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| 1612 | dongfang | 20 | |
| 1821 | - | 21 | for (i = 140; i != 0; i--) { |
| 22 | // If all 3 axis are in range, shorten the remaining number of iterations. |
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| 23 | if (numberOfAxesInRange == 3 && i > 10) |
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| 24 | i = 9; |
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| 25 | numberOfAxesInRange = 0; |
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| 26 | |||
| 27 | for (axis = PITCH; axis <= YAW; axis++) { |
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| 28 | if (axis == YAW) |
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| 29 | factor = GYRO_SUMMATION_FACTOR_YAW; |
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| 30 | else |
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| 31 | factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
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| 32 | |||
| 33 | if (rawGyroSum[axis] < 510 * factor) |
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| 34 | DACValues[axis]--; |
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| 35 | else if (rawGyroSum[axis] > 515 * factor) |
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| 36 | DACValues[axis]++; |
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| 37 | else |
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| 38 | numberOfAxesInRange++; |
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| 39 | |||
| 40 | /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */ |
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| 41 | if (DACValues[axis] < 10) { |
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| 42 | DACValues[axis] = 10; |
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| 43 | } else if (DACValues[axis] > 245) { |
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| 44 | DACValues[axis] = 245; |
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| 45 | } |
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| 46 | } |
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| 47 | |||
| 48 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
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| 49 | |||
| 50 | // Wait for I2C to finish transmission. |
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| 51 | while (twi_state) { |
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| 52 | // Did it take too long? |
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| 53 | if (CheckDelay(timeout)) { |
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| 54 | printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl"); |
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| 55 | break; |
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| 56 | } |
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| 57 | } |
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| 58 | |||
| 59 | analog_start(); |
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| 60 | |||
| 61 | Delay_ms_Mess(i < 10 ? 10 : 2); |
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| 1775 | - | 62 | } |
| 1821 | - | 63 | Delay_ms_Mess(70); |
| 1612 | dongfang | 64 | } |
| 65 | |||
| 66 | void gyro_setDefaults(void) { |
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| 1821 | - | 67 | staticParams.GyroD = 3; |
| 68 | staticParams.DriftComp = 250; |
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| 69 | staticParams.GyroAccFactor = 10; |
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| 70 | staticParams.GyroAccTrim = 1; |
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| 1612 | dongfang | 71 | |
| 1821 | - | 72 | // Not used. |
| 73 | staticParams.AngleTurnOverPitch = 85; |
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| 74 | staticParams.AngleTurnOverRoll = 85; |
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| 1612 | dongfang | 75 | } |