| 0,0 → 1,40 |
|---|
| #include "invenSense.h" |
| #include "timer0.h" |
| #include "configuration.h" |
| |
| #include <avr/io.h> |
| |
| /* |
| * Configuration for my prototype board with InvenSense gyros. |
| * The FC 1.3 board is installed upside down, therefore Z acc is reversed but not roll. |
| */ |
| const uint8_t GYRO_REVERSED[3] = { 0, 0, 0 }; |
| const uint8_t ACC_REVERSED[3] = { 0, 0, 1 }; |
| const uint8_t AXIS_TRANSFORM = 0; |
| |
| #define AUTOZERO_PORT PORTD |
| #define AUTOZERO_DDR DDRD |
| #define AUTOZERO_BIT 5 |
| |
| void gyro_calibrate(void) { |
| // If port not already set to output and high, do it. |
| if (!(AUTOZERO_DDR & (1 << AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1 |
| << AUTOZERO_BIT))) { |
| AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
| AUTOZERO_DDR |= (1 << AUTOZERO_BIT); |
| delay_ms(100); |
| } |
| |
| // Make a pulse on the auto-zero output line. |
| AUTOZERO_PORT &= ~(1 << AUTOZERO_BIT); |
| delay_ms(1); |
| AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
| // Delay_ms(10); |
| delay_ms_Mess(100); |
| } |
| |
| void gyro_setDefaults(void) { |
| staticParams.GyroAccFactor = 1; |
| staticParams.DriftComp = 3; |
| staticParams.GyroAccTrim = 2; |
| } |