| 1,4 → 1,4 |
|---|
| //#include "ENC-03_FC1.3.h" |
| #include "sensors.h" |
| #include "printf_P.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| 11,17 → 11,16 |
|---|
| const uint8_t GYRO_REVERSED[3] = { 0, 0, 1 }; |
| const uint8_t ACC_REVERSED[3] = { 0, 1, 0 }; |
| |
| // void gyro_init(void) {} |
| void gyro_calibrate(void) { |
| void gyro_calibrate(void) { |
| printf("gyro_calibrate"); |
| uint8_t i, axis, factor, numberOfAxesInRange = 0; |
| uint16_t timeout; |
| // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
| timeout = setDelay(2000); |
| |
| |
| for (i = 140; i != 0; i--) { |
| // If all 3 axis are in range, shorten the remaining number of iterations. |
| if (numberOfAxesInRange == 3 && i > 10) |
| i = 10; |
| |
| numberOfAxesInRange = 0; |
| |
| for (axis = PITCH; axis <= YAW; axis++) { |
| 31,34 → 30,46 |
|---|
| factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
| |
| if (rawGyroSum[axis] < 510 * factor) |
| DACValues.offsets[axis]--; |
| gyroAmplifierOffset.offsets[axis]--; |
| else if (rawGyroSum[axis] > 515 * factor) |
| DACValues.offsets[axis]++; |
| gyroAmplifierOffset.offsets[axis]++; |
| else |
| numberOfAxesInRange++; |
| |
| /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */ |
| if (DACValues.offsets[axis] < 10) { |
| DACValues.offsets[axis] = 10; |
| } else if (DACValues.offsets[axis] > 245) { |
| DACValues.offsets[axis] = 245; |
| if (gyroAmplifierOffset.offsets[axis] < 10) { |
| gyroAmplifierOffset.offsets[axis] = 10; |
| } else if (gyroAmplifierOffset.offsets[axis] > 245) { |
| gyroAmplifierOffset.offsets[axis] = 245; |
| } |
| } |
| |
| gyro_loadOffsets(0); |
| |
| I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
| delay_ms_with_adc_measurement(i <= 10 ? 10 : 2); |
| } |
| gyroAmplifierOffset_writeToEEProm(); |
| delay_ms_with_adc_measurement(70); |
| } |
| |
| // Wait for I2C to finish transmission. |
| while (twi_state) { |
| // Did it take too long? |
| if (checkDelay(timeout)) { |
| printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl"); |
| break; |
| } |
| } |
| void gyro_loadOffsets(uint8_t overwriteWithDefaults) { |
| uint16_t timeout = setDelay(2000); |
| |
| delay_ms_Mess(i <= 10 ? 10 : 2); |
| if (overwriteWithDefaults) { |
| gyroAmplifierOffset.offsets[PITCH] = |
| gyroAmplifierOffset.offsets[ROLL] = |
| gyroAmplifierOffset.offsets[YAW] = (uint8_t)(255 * 1.2089 / 3.0); |
| } |
| delay_ms_Mess(70); |
| |
| I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
| // Wait for I2C to finish transmission. |
| while (twi_state) { |
| // Did it take too long? |
| if (checkDelay(timeout)) { |
| printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl"); |
| break; |
| } |
| } |
| } |
| |
| void gyro_setDefaults(void) { |