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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1967 | - | 1 | #include "sensors.h" |
| 1612 | dongfang | 2 | #include "printf_P.h" |
| 3 | #include "analog.h" |
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| 4 | #include "twimaster.h" |
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| 5 | #include "configuration.h" |
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| 1969 | - | 6 | #include "eeprom.h" |
| 1612 | dongfang | 7 | #include "timer0.h" |
| 8 | |||
| 9 | #define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510 |
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| 10 | #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
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| 11 | |||
| 2092 | - | 12 | void I2C_OutputAmplifierOffsets(void) { |
| 2018 | - | 13 | uint16_t timeout = setDelay(2000); |
| 14 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
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| 15 | // Wait for I2C to finish transmission. |
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| 16 | while (twi_state) { |
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| 17 | // Did it take too long? |
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| 18 | if (checkDelay(timeout)) { |
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| 19 | printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl"); |
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| 20 | break; |
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| 21 | } |
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| 22 | } |
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| 23 | } |
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| 24 | |||
| 1967 | - | 25 | void gyro_calibrate(void) { |
| 26 | printf("gyro_calibrate"); |
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| 1821 | - | 27 | uint8_t i, axis, factor, numberOfAxesInRange = 0; |
| 28 | // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
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| 1967 | - | 29 | |
| 1821 | - | 30 | for (i = 140; i != 0; i--) { |
| 2015 | - | 31 | delay_ms_with_adc_measurement(i <= 10 ? 10 : 2, 1); |
| 32 | |||
| 1821 | - | 33 | // If all 3 axis are in range, shorten the remaining number of iterations. |
| 2015 | - | 34 | if (numberOfAxesInRange == 3 && i > 10) i = 10; |
| 1967 | - | 35 | |
| 1821 | - | 36 | numberOfAxesInRange = 0; |
| 37 | |||
| 38 | for (axis = PITCH; axis <= YAW; axis++) { |
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| 39 | if (axis == YAW) |
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| 2019 | - | 40 | factor = GYRO_OVERSAMPLING_YAW; |
| 1821 | - | 41 | else |
| 2019 | - | 42 | factor = GYRO_OVERSAMPLING_PITCHROLL; |
| 1821 | - | 43 | |
| 2015 | - | 44 | if (rawGyroValue(axis) < 510 * factor) |
| 1967 | - | 45 | gyroAmplifierOffset.offsets[axis]--; |
| 2015 | - | 46 | else if (rawGyroValue(axis) > 515 * factor) |
| 1967 | - | 47 | gyroAmplifierOffset.offsets[axis]++; |
| 1821 | - | 48 | else |
| 49 | numberOfAxesInRange++; |
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| 50 | |||
| 51 | /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */ |
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| 1967 | - | 52 | if (gyroAmplifierOffset.offsets[axis] < 10) { |
| 53 | gyroAmplifierOffset.offsets[axis] = 10; |
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| 2018 | - | 54 | versionInfo.hardwareErrors[0] |= (FC_ERROR0_GYRO_PITCH << axis); |
| 1967 | - | 55 | } else if (gyroAmplifierOffset.offsets[axis] > 245) { |
| 56 | gyroAmplifierOffset.offsets[axis] = 245; |
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| 2018 | - | 57 | versionInfo.hardwareErrors[0] |= (FC_ERROR0_GYRO_PITCH << axis); |
| 1821 | - | 58 | } |
| 59 | } |
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| 1967 | - | 60 | |
| 2018 | - | 61 | I2C_OutputAmplifierOffsets(); |
| 1967 | - | 62 | } |
| 63 | gyroAmplifierOffset_writeToEEProm(); |
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| 2015 | - | 64 | delay_ms_with_adc_measurement(70, 0); |
| 1967 | - | 65 | } |
| 1821 | - | 66 | |
| 2092 | - | 67 | void gyro_init(void) { |
| 2018 | - | 68 | if (gyroAmplifierOffset_readFromEEProm()) { |
| 2019 | - | 69 | printf("gyro amp invalid, recalibrate."); |
| 2018 | - | 70 | gyroAmplifierOffset.offsets[PITCH] = |
| 1967 | - | 71 | gyroAmplifierOffset.offsets[ROLL] = |
| 72 | gyroAmplifierOffset.offsets[YAW] = (uint8_t)(255 * 1.2089 / 3.0); |
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| 2018 | - | 73 | } else { |
| 74 | I2C_OutputAmplifierOffsets(); |
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| 75 | } |
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| 1612 | dongfang | 76 | } |
| 77 | |||
| 1971 | - | 78 | void gyro_setDefaultParameters(void) { |
| 2092 | - | 79 | IMUConfig.gyroQuadrant = 0; |
| 80 | IMUConfig.accQuadrant = 4; |
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| 81 | IMUConfig.imuReversedFlags = IMU_REVERSE_GYRO_YAW | IMU_REVERSE_ACC_XY; |
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| 1960 | - | 82 | staticParams.gyroD = 3; |
| 2092 | - | 83 | IMUConfig.driftCompDivider = 1; |
| 84 | IMUConfig.driftCompLimit = 200; |
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| 85 | IMUConfig.zerothOrderCorrection = 120; |
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| 1612 | dongfang | 86 | } |