| 135,8 → 135,11 |
|---|
| void SearchDacGyroOffset(void) |
| { |
| uint8_t i, ready = 0; |
| uint16_t timeout ; |
| |
| GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
| |
| timeout = SetDelay(2000); |
| if(BoardRelease == 13) // the auto offset calibration is available only at board release 1.3 |
| { |
| for(i = 140; i != 0; i--) |
| 146,12 → 149,18 |
|---|
| if(AdValueGyroNick < 1020) DacOffsetGyroNick--; else if(AdValueGyroNick > 1030) DacOffsetGyroNick++; else ready++; |
| if(AdValueGyroRoll < 1020) DacOffsetGyroRoll--; else if(AdValueGyroRoll > 1030) DacOffsetGyroRoll++; else ready++; |
| if(AdValueGyroYaw < 1020) DacOffsetGyroYaw-- ; else if(AdValueGyroYaw > 1030) DacOffsetGyroYaw++ ; else ready++; |
| twi_state = TWI_STATE_GYRO_OFFSET_TX; // set twi_state in TWI ISR to start of Gyro Offset |
| I2C_Start(); // initiate data transmission |
| I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
| if(DacOffsetGyroNick < 10) { GyroDefectNick = 1; DacOffsetGyroNick = 10;}; if(DacOffsetGyroNick > 245) { GyroDefectNick = 1; DacOffsetGyroNick = 245;}; |
| if(DacOffsetGyroRoll < 10) { GyroDefectRoll = 1; DacOffsetGyroRoll = 10;}; if(DacOffsetGyroRoll > 245) { GyroDefectRoll = 1; DacOffsetGyroRoll = 245;}; |
| if(DacOffsetGyroYaw < 10) { GyroDefectYaw = 1; DacOffsetGyroYaw = 10;}; if(DacOffsetGyroYaw > 245) { GyroDefectYaw = 1; DacOffsetGyroYaw = 245;}; |
| while(twi_state); // wait for end of data transmission |
| while(twi_state) |
| { |
| if(CheckDelay(timeout)) |
| { |
| printf("\r\n DAC or I2C Error1 check I2C, 3Vref, DAC, and BL-Ctrl"); |
| break; |
| } |
| } // wait for end of data transmission |
| average_pressure = 0; |
| ADC_Enable(); |
| while(average_pressure == 0); |