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1 | #include "sensors.h" |
1 | #include "sensors.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 "eeprom.h" |
6 | #include "eeprom.h" |
7 | #include "timer0.h" |
7 | #include "timer0.h" |
8 | 8 | ||
9 | #define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510 |
9 | #define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510 |
10 | #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
10 | #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
11 | 11 | ||
12 | void I2C_OutputAmplifierOffsets() { |
12 | void I2C_OutputAmplifierOffsets() { |
13 | uint16_t timeout = setDelay(2000); |
13 | uint16_t timeout = setDelay(2000); |
14 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
14 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
15 | // Wait for I2C to finish transmission. |
15 | // Wait for I2C to finish transmission. |
16 | while (twi_state) { |
16 | while (twi_state) { |
17 | // Did it take too long? |
17 | // Did it take too long? |
18 | if (checkDelay(timeout)) { |
18 | if (checkDelay(timeout)) { |
19 | printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl"); |
19 | printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl"); |
20 | break; |
20 | break; |
21 | } |
21 | } |
22 | } |
22 | } |
23 | } |
23 | } |
24 | 24 | ||
25 | void gyro_calibrate(void) { |
25 | void gyro_calibrate(void) { |
26 | printf("gyro_calibrate"); |
26 | printf("gyro_calibrate"); |
27 | uint8_t i, axis, factor, numberOfAxesInRange = 0; |
27 | uint8_t i, axis, factor, numberOfAxesInRange = 0; |
28 | // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
28 | // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
29 | 29 | ||
30 | for (i = 140; i != 0; i--) { |
30 | for (i = 140; i != 0; i--) { |
31 | delay_ms_with_adc_measurement(i <= 10 ? 10 : 2, 1); |
31 | delay_ms_with_adc_measurement(i <= 10 ? 10 : 2, 1); |
32 | 32 | ||
33 | // If all 3 axis are in range, shorten the remaining number of iterations. |
33 | // If all 3 axis are in range, shorten the remaining number of iterations. |
34 | if (numberOfAxesInRange == 3 && i > 10) i = 10; |
34 | if (numberOfAxesInRange == 3 && i > 10) i = 10; |
35 | 35 | ||
36 | numberOfAxesInRange = 0; |
36 | numberOfAxesInRange = 0; |
37 | 37 | ||
38 | for (axis = PITCH; axis <= YAW; axis++) { |
38 | for (axis = PITCH; axis <= YAW; axis++) { |
39 | if (axis == YAW) |
39 | if (axis == YAW) |
40 | factor = GYRO_SUMMATION_FACTOR_YAW; |
40 | factor = GYRO_OVERSAMPLING_YAW; |
41 | else |
41 | else |
42 | factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
42 | factor = GYRO_OVERSAMPLING_PITCHROLL; |
43 | 43 | ||
44 | if (rawGyroValue(axis) < 510 * factor) |
44 | if (rawGyroValue(axis) < 510 * factor) |
45 | gyroAmplifierOffset.offsets[axis]--; |
45 | gyroAmplifierOffset.offsets[axis]--; |
46 | else if (rawGyroValue(axis) > 515 * factor) |
46 | else if (rawGyroValue(axis) > 515 * factor) |
47 | gyroAmplifierOffset.offsets[axis]++; |
47 | gyroAmplifierOffset.offsets[axis]++; |
48 | else |
48 | else |
49 | numberOfAxesInRange++; |
49 | numberOfAxesInRange++; |
50 | 50 | ||
51 | /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */ |
51 | /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */ |
52 | if (gyroAmplifierOffset.offsets[axis] < 10) { |
52 | if (gyroAmplifierOffset.offsets[axis] < 10) { |
53 | gyroAmplifierOffset.offsets[axis] = 10; |
53 | gyroAmplifierOffset.offsets[axis] = 10; |
54 | versionInfo.hardwareErrors[0] |= (FC_ERROR0_GYRO_PITCH << axis); |
54 | versionInfo.hardwareErrors[0] |= (FC_ERROR0_GYRO_PITCH << axis); |
55 | } else if (gyroAmplifierOffset.offsets[axis] > 245) { |
55 | } else if (gyroAmplifierOffset.offsets[axis] > 245) { |
56 | gyroAmplifierOffset.offsets[axis] = 245; |
56 | gyroAmplifierOffset.offsets[axis] = 245; |
57 | versionInfo.hardwareErrors[0] |= (FC_ERROR0_GYRO_PITCH << axis); |
57 | versionInfo.hardwareErrors[0] |= (FC_ERROR0_GYRO_PITCH << axis); |
58 | } |
58 | } |
59 | } |
59 | } |
60 | 60 | ||
61 | I2C_OutputAmplifierOffsets(); |
61 | I2C_OutputAmplifierOffsets(); |
62 | } |
62 | } |
63 | gyroAmplifierOffset_writeToEEProm(); |
63 | gyroAmplifierOffset_writeToEEProm(); |
64 | delay_ms_with_adc_measurement(70, 0); |
64 | delay_ms_with_adc_measurement(70, 0); |
65 | } |
65 | } |
66 | 66 | ||
67 | void gyro_init() { |
67 | void gyro_init() { |
68 | if (gyroAmplifierOffset_readFromEEProm()) { |
68 | if (gyroAmplifierOffset_readFromEEProm()) { |
69 | printf("gyro amp invalid%s", recal); |
69 | printf("gyro amp invalid, recalibrate."); |
70 | gyroAmplifierOffset.offsets[PITCH] = |
70 | gyroAmplifierOffset.offsets[PITCH] = |
71 | gyroAmplifierOffset.offsets[ROLL] = |
71 | gyroAmplifierOffset.offsets[ROLL] = |
72 | gyroAmplifierOffset.offsets[YAW] = (uint8_t)(255 * 1.2089 / 3.0); |
72 | gyroAmplifierOffset.offsets[YAW] = (uint8_t)(255 * 1.2089 / 3.0); |
73 | } else { |
73 | } else { |
74 | I2C_OutputAmplifierOffsets(); |
74 | I2C_OutputAmplifierOffsets(); |
75 | } |
75 | } |
76 | } |
76 | } |
77 | 77 | ||
78 | void gyro_setDefaultParameters(void) { |
78 | void gyro_setDefaultParameters(void) { |
79 | staticParams.gyroD = 3; |
79 | staticParams.gyroD = 3; |
80 | staticParams.driftCompDivider = 1; |
80 | staticParams.driftCompDivider = 1; |
81 | staticParams.driftCompLimit = 200; |
81 | staticParams.driftCompLimit = 200; |
82 | staticParams.zerothOrderCorrection = 25; |
82 | staticParams.zerothOrderCorrection = 25; |
83 | } |
83 | } |
84 | 84 |