Rev 2025 | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2025 | Rev 2099 | ||
|---|---|---|---|
| 1 | #include "invenSense.h" |
- | |
| 2 | #include "timer0.h" |
1 | #include "timer0.h" |
| 3 | #include "configuration.h" |
2 | #include "configuration.h" |
| 4 | 3 | ||
| 5 | #include <avr/io.h> |
4 | #include <avr/io.h> |
| 6 | 5 | ||
| 7 | /* |
6 | /* |
| 8 | * Configuration for my prototype board with InvenSense gyros. |
7 | * 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. |
8 | * The FC 1.3 board is installed upside down, therefore Z acc is reversed but not roll. |
| 10 | */ |
9 | */ |
| 11 | PR_GYROS_ORIENTATION_REVERSED = 0; |
- | |
| - | 10 | ||
| 12 | 11 | // The special auto-zero feature of this gyro needs a port. |
|
| 13 | #define AUTOZERO_PORT PORTD |
12 | #define AUTOZERO_PORT PORTD |
| 14 | #define AUTOZERO_DDR DDRD |
13 | #define AUTOZERO_DDR DDRD |
| 15 | #define AUTOZERO_BIT 5 |
14 | #define AUTOZERO_BIT 5 |
| 16 | 15 | ||
| 17 | void gyro_calibrate(void) { |
16 | void gyro_calibrate(void) { |
| 18 | // If port not already set to output and high, do it. |
17 | // If port not already set to output and high, do it. |
| 19 | if (!(AUTOZERO_DDR & (1 << AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1 |
18 | if (!(AUTOZERO_DDR & (1 << AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1 << AUTOZERO_BIT))) { |
| 20 | << AUTOZERO_BIT))) { |
- | |
| 21 | AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
19 | AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
| 22 | AUTOZERO_DDR |= (1 << AUTOZERO_BIT); |
20 | AUTOZERO_DDR |= (1 << AUTOZERO_BIT); |
| 23 | delay_ms(100); |
21 | delay_ms(100); |
| 24 | } |
22 | } |
| 25 | 23 | ||
| 26 | // Make a pulse on the auto-zero output line. |
24 | // Make a pulse on the auto-zero output line. |
| 27 | AUTOZERO_PORT &= ~(1 << AUTOZERO_BIT); |
25 | AUTOZERO_PORT &= ~(1 << AUTOZERO_BIT); |
| 28 | delay_ms(1); |
26 | delay_ms(1); |
| 29 | AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
27 | AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
| 30 | // Delay_ms(10); |
28 | // Delay_ms(10); |
| 31 | delay_ms_Mess(100); |
29 | delay_ms_with_adc_measurement(100, 0); |
| 32 | } |
30 | } |
| 33 | 31 | ||
| - | 32 | void gyro_init(void) { |
|
| - | 33 | gyro_calibrate(); |
|
| - | 34 | } |
|
| 34 | void gyro_setDefaults(void) { |
35 | |
| 35 | staticParams.zerothOrderGyroCorrectionFactorx1000 = 1; |
36 | void gyro_setDefaultParameters(void) { |
| - | 37 | IMUConfig.driftCompDivider = 2; |
|
| 36 | staticParams.secondOrderGyroCorrectionDivisor = 2; |
38 | IMUConfig.driftCompLimit = 5; |
| - | 39 | IMUConfig.zerothOrderCorrection = 1; |
|
| 37 | staticParams.secondOrderGyroCorrectionLimit = 3; |
40 | IMUConfig.imuReversedFlags = IMU_REVERSE_ACC_Z; |
| 38 | } |
41 | } |
| 39 | 42 | ||