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1 | //#include "ENC-03_FC1.3.h" |
1 | //#include "ENC-03_FC1.3.h" |
2 | #include "printf_P.h" |
2 | #include "printf_P.h" |
3 | #include "analog.h" |
3 | #include "analog.h" |
4 | #include "twimaster.h" |
4 | #include "twimaster.h" |
5 | #include "configuration.h" |
5 | #include "configuration.h" |
6 | #include "timer0.h" |
6 | #include "timer0.h" |
- | 7 | ||
7 | 8 | const uint8_t GYROS_REVERSE[2] = {0,0}; |
|
8 | #define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510 |
9 | #define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510 |
9 | #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
10 | #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
10 | 11 | ||
11 | #define DAC_PITCH 0 |
12 | #define DAC_PITCH 0 |
12 | #define DAC_ROLL 1 |
13 | #define DAC_ROLL 1 |
13 | #define DAC_YAW 2 |
14 | #define DAC_YAW 2 |
14 | 15 | ||
15 | // void gyro_init(void) {} |
16 | // void gyro_init(void) {} |
16 | void gyro_calibrate(void) { |
17 | void gyro_calibrate(void) { |
17 | uint8_t i, numberOfAxesInRange = 0; |
18 | uint8_t i, numberOfAxesInRange = 0; |
18 | uint16_t timeout; |
19 | uint16_t timeout; |
19 | // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
20 | // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
20 | timeout = SetDelay(2000); |
21 | timeout = SetDelay(2000); |
21 | 22 | ||
22 | for(i = 140; i != 0; i--) { |
23 | for(i = 140; i != 0; i--) { |
23 | // If all 3 axis are in range, shorten the remaining number of iterations. |
24 | // If all 3 axis are in range, shorten the remaining number of iterations. |
24 | if(numberOfAxesInRange == 3 && i > 10) i = 9; |
25 | if(numberOfAxesInRange == 3 && i > 10) i = 9; |
25 | 26 | ||
26 | numberOfAxesInRange = 0; |
27 | numberOfAxesInRange = 0; |
27 | 28 | ||
28 | if(rawPitchGyroSum < PITCHROLL_MINLIMIT) DACValues[DAC_PITCH]--; |
29 | if(rawGyroSum[PITCH] < PITCHROLL_MINLIMIT) DACValues[PITCH]--; |
29 | else if(rawPitchGyroSum > PITCHROLL_MAXLIMIT) DACValues[DAC_PITCH]++; |
30 | else if(rawGyroSum[PITCH] > PITCHROLL_MAXLIMIT) DACValues[PITCH]++; |
30 | else numberOfAxesInRange++; |
31 | else numberOfAxesInRange++; |
31 | 32 | ||
32 | if(rawRollGyroSum < PITCHROLL_MINLIMIT) DACValues[DAC_ROLL]--; |
33 | if(rawGyroSum[ROLL] < PITCHROLL_MINLIMIT) DACValues[ROLL]--; |
33 | else if(rawRollGyroSum > PITCHROLL_MAXLIMIT) DACValues[DAC_ROLL]++; |
34 | else if(rawGyroSum[ROLL] > PITCHROLL_MAXLIMIT) DACValues[ROLL]++; |
34 | else numberOfAxesInRange++; |
35 | else numberOfAxesInRange++; |
35 | 36 | ||
36 | if(rawYawGyroSum < GYRO_SUMMATION_FACTOR_YAW * 510) DACValues[DAC_YAW]--; |
37 | if(rawYawGyroSum < GYRO_SUMMATION_FACTOR_YAW * 510) DACValues[DAC_YAW]--; |
37 | else if(rawYawGyroSum > GYRO_SUMMATION_FACTOR_YAW * 515) DACValues[DAC_YAW]++ ; |
38 | else if(rawYawGyroSum > GYRO_SUMMATION_FACTOR_YAW * 515) DACValues[DAC_YAW]++ ; |
38 | else numberOfAxesInRange++; |
39 | else numberOfAxesInRange++; |
39 | 40 | ||
40 | if(DACValues[DAC_PITCH] < 10) { |
41 | if(DACValues[PITCH] < 10) { |
41 | /* GyroDefectNick = 1; */ DACValues[DAC_PITCH] = 10; |
42 | /* GyroDefectNick = 1; */ DACValues[PITCH] = 10; |
42 | } else if(DACValues[DAC_PITCH] > 245) { |
43 | } else if(DACValues[PITCH] > 245) { |
43 | /* GyroDefectNick = 1; */ DACValues[DAC_PITCH] = 245; |
44 | /* GyroDefectNick = 1; */ DACValues[PITCH] = 245; |
44 | } |
45 | } |
45 | if(DACValues[DAC_ROLL] < 10) { |
46 | if(DACValues[DAC_ROLL] < 10) { |
46 | /* GyroDefectRoll = 1; */ DACValues[DAC_ROLL] = 10; |
47 | /* GyroDefectRoll = 1; */ DACValues[ROLL] = 10; |
47 | } else if(DACValues[DAC_ROLL] > 245) { |
48 | } else if(DACValues[DAC_ROLL] > 245) { |
48 | /* GyroDefectRoll = 1; */ DACValues[DAC_ROLL] = 245; |
49 | /* GyroDefectRoll = 1; */ DACValues[ROLL] = 245; |
49 | } |
50 | } |
50 | if(DACValues[DAC_YAW] < 10) { |
51 | if(DACValues[DAC_YAW] < 10) { |
51 | /* GyroDefectYaw = 1; */ DACValues[DAC_YAW] = 10; |
52 | /* GyroDefectYaw = 1; */ DACValues[DAC_YAW] = 10; |
52 | } else if(DACValues[DAC_YAW] > 245) { |
53 | } else if(DACValues[DAC_YAW] > 245) { |
53 | /* GyroDefectYaw = 1; */ DACValues[DAC_YAW] = 245; |
54 | /* GyroDefectYaw = 1; */ DACValues[DAC_YAW] = 245; |
54 | } |
55 | } |
55 | 56 | ||
56 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
57 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
57 | 58 | ||
58 | // Wait for I2C to finish transmission. |
59 | // Wait for I2C to finish transmission. |
59 | while(twi_state) { |
60 | while(twi_state) { |
60 | // Did it take too long? |
61 | // Did it take too long? |
61 | if(CheckDelay(timeout)) { |
62 | if(CheckDelay(timeout)) { |
62 | printf("\r\n DAC or I2C Error1 check I2C, 3Vref, DAC, and BL-Ctrl"); |
63 | printf("\r\n DAC or I2C Error1 check I2C, 3Vref, DAC, and BL-Ctrl"); |
63 | break; |
64 | break; |
64 | } |
65 | } |
65 | } |
66 | } |
66 | 67 | ||
67 | analog_start(); |
68 | analog_start(); |
68 | 69 | ||
69 | Delay_ms_Mess(i<10 ? 10 : 2); |
70 | Delay_ms_Mess(i<10 ? 10 : 2); |
70 | } |
71 | } |
71 | Delay_ms_Mess(70); |
72 | Delay_ms_Mess(70); |
72 | } |
73 | } |
73 | 74 | ||
74 | void gyro_setDefaults(void) { |
75 | void gyro_setDefaults(void) { |
75 | staticParams.GyroD = 3; |
76 | staticParams.GyroD = 3; |
76 | staticParams.DriftComp = 32; |
77 | staticParams.DriftComp = 32; |
77 | staticParams.GyroAccFactor = 5; |
78 | staticParams.GyroAccFactor = 5; |
78 | 79 | ||
79 | // Not used. |
80 | // Not used. |
80 | staticParams.AngleTurnOverPitch = 85; |
81 | staticParams.AngleTurnOverPitch = 85; |
81 | staticParams.AngleTurnOverRoll = 85; |
82 | staticParams.AngleTurnOverRoll = 85; |
82 | } |
83 | } |
83 | 84 |