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Rev | Author | Line No. | Line |
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1612 | dongfang | 1 | #include "invenSense.h" |
2 | #include "timer0.h" |
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3 | #include "configuration.h" |
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4 | |||
5 | #include <avr/io.h> |
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6 | |||
1646 | - | 7 | /* |
8 | * Configuration for my prototype board with InvenSense gyros. |
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9 | * The FC 1.3 board is installed upside down, therefore Z acc is reversed but not roll. |
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10 | */ |
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11 | const uint8_t GYRO_REVERSED[3] = {0,0,0}; |
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12 | const uint8_t ACC_REVERSED[3] = {0,0,1}; |
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13 | |||
1612 | dongfang | 14 | #define AUTOZERO_PORT PORTD |
15 | #define AUTOZERO_DDR DDRD |
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16 | #define AUTOZERO_BIT 5 |
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17 | |||
18 | void gyro_calibrate() { |
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19 | // If port not already set to output and high, do it. |
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20 | if (!(AUTOZERO_DDR & (1<<AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1<<AUTOZERO_BIT))) { |
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21 | AUTOZERO_PORT |= (1<<AUTOZERO_BIT); |
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22 | AUTOZERO_DDR |= (1<<AUTOZERO_BIT); |
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23 | Delay_ms(100); |
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24 | } |
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25 | |||
26 | // Make a pulse on the auto-zero output line. |
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27 | AUTOZERO_PORT &= ~(1<<AUTOZERO_BIT); |
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28 | Delay_ms(1); |
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29 | AUTOZERO_PORT |= (1<<AUTOZERO_BIT); |
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30 | // Delay_ms(10); |
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31 | Delay_ms_Mess(100); |
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32 | } |
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33 | |||
34 | void gyro_setDefaults(void) { |
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35 | staticParams.GyroD = 3; |
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36 | staticParams.GyroAccFactor = 1; |
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1646 | - | 37 | staticParams.DriftComp = 10; |
1612 | dongfang | 38 | |
39 | // Not used. |
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40 | staticParams.AngleTurnOverPitch = 85; |
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41 | staticParams.AngleTurnOverRoll = 85; |
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42 | } |