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| Rev 1910 | Rev 2025 | ||
|---|---|---|---|
| 1 | #include "invenSense.h" |
1 | #include "invenSense.h" |
| 2 | #include "timer0.h" |
2 | #include "timer0.h" |
| 3 | #include "configuration.h" |
3 | #include "configuration.h" |
| 4 | 4 | ||
| 5 | #include <avr/io.h> |
5 | #include <avr/io.h> |
| 6 | 6 | ||
| 7 | /* |
7 | /* |
| 8 | * Configuration for my prototype board with InvenSense gyros. |
8 | * Configuration for my prototype board with InvenSense gyros. |
| 9 | * The FC 1.3 board is installed upside down, therefore Z acc is reversed but not roll. |
9 | * The FC 1.3 board is installed upside down, therefore Z acc is reversed but not roll. |
| 10 | */ |
10 | */ |
| 11 | const uint8_t GYRO_REVERSED[3] = { 0, 0, 0 }; |
- | |
| 12 | const uint8_t ACC_REVERSED[3] = { 0, 0, 1 }; |
- | |
| 13 | const uint8_t AXIS_TRANSFORM = 0; |
11 | PR_GYROS_ORIENTATION_REVERSED = 0; |
| 14 | 12 | ||
| 15 | #define AUTOZERO_PORT PORTD |
13 | #define AUTOZERO_PORT PORTD |
| 16 | #define AUTOZERO_DDR DDRD |
14 | #define AUTOZERO_DDR DDRD |
| 17 | #define AUTOZERO_BIT 5 |
15 | #define AUTOZERO_BIT 5 |
| 18 | 16 | ||
| 19 | void gyro_calibrate(void) { |
17 | void gyro_calibrate(void) { |
| 20 | // If port not already set to output and high, do it. |
18 | // If port not already set to output and high, do it. |
| 21 | if (!(AUTOZERO_DDR & (1 << AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1 |
19 | if (!(AUTOZERO_DDR & (1 << AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1 |
| 22 | << AUTOZERO_BIT))) { |
20 | << AUTOZERO_BIT))) { |
| 23 | AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
21 | AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
| 24 | AUTOZERO_DDR |= (1 << AUTOZERO_BIT); |
22 | AUTOZERO_DDR |= (1 << AUTOZERO_BIT); |
| 25 | delay_ms(100); |
23 | delay_ms(100); |
| 26 | } |
24 | } |
| 27 | 25 | ||
| 28 | // Make a pulse on the auto-zero output line. |
26 | // Make a pulse on the auto-zero output line. |
| 29 | AUTOZERO_PORT &= ~(1 << AUTOZERO_BIT); |
27 | AUTOZERO_PORT &= ~(1 << AUTOZERO_BIT); |
| 30 | delay_ms(1); |
28 | delay_ms(1); |
| 31 | AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
29 | AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
| 32 | // Delay_ms(10); |
30 | // Delay_ms(10); |
| 33 | delay_ms_Mess(100); |
31 | delay_ms_Mess(100); |
| 34 | } |
32 | } |
| 35 | 33 | ||
| 36 | void gyro_setDefaults(void) { |
34 | void gyro_setDefaults(void) { |
| 37 | staticParams.GyroAccFactor = 1; |
35 | staticParams.zerothOrderGyroCorrectionFactorx1000 = 1; |
| 38 | staticParams.DriftComp = 3; |
36 | staticParams.secondOrderGyroCorrectionDivisor = 2; |
| 39 | staticParams.GyroAccTrim = 2; |
37 | staticParams.secondOrderGyroCorrectionLimit = 3; |
| 40 | } |
38 | } |
| 41 | 39 | ||