WebSVN - FlightCtrl - Diff - Rev 2026 and 2032 - /branches/dongfang_FC_rewrite/ENC-03


#include "sensors.h"
#include "printf_P.h"
#include "analog.h"
#include "twimaster.h"
#include "configuration.h"
#include "eeprom.h"
#include "timer0.h"
 
#define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510
#define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515
 
void I2C_OutputAmplifierOffsets() {
        uint16_t timeout = setDelay(2000);
        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_calibrate(void) {                            
        printf("gyro_calibrate");
        uint8_t i, axis, factor, numberOfAxesInRange = 0;
        // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0;
       
        for (i = 140; i != 0; i--) {
                delay_ms_with_adc_measurement(i <= 10 ? 10 : 2, 1);
       
                // 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++) {
                        if (axis == YAW)
                                factor = GYRO_OVERSAMPLING_YAW;
                        else
                                factor = GYRO_OVERSAMPLING_PITCHROLL;
 
                        if (rawGyroValue(axis) < 510 * factor)
                                gyroAmplifierOffset.offsets[axis]--;
                        else if (rawGyroValue(axis) > 515 * factor)
                                gyroAmplifierOffset.offsets[axis]++;
                        else
                                numberOfAxesInRange++;
 
                        /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */
                        if (gyroAmplifierOffset.offsets[axis] < 10) {
                                gyroAmplifierOffset.offsets[axis] = 10;
                                versionInfo.hardwareErrors[0] |= (FC_ERROR0_GYRO_PITCH << axis);
                        } else if (gyroAmplifierOffset.offsets[axis] > 245) {
                                gyroAmplifierOffset.offsets[axis] = 245;
                                versionInfo.hardwareErrors[0] |= (FC_ERROR0_GYRO_PITCH << axis);
                        }
                }
               
                I2C_OutputAmplifierOffsets();
        }
        gyroAmplifierOffset_writeToEEProm();
        delay_ms_with_adc_measurement(70, 0);
}
 
void gyro_init() {
  if (gyroAmplifierOffset_readFromEEProm()) {
    printf("gyro amp invalid, recalibrate.");
        gyroAmplifierOffset.offsets[PITCH] =
                gyroAmplifierOffset.offsets[ROLL] =
                gyroAmplifierOffset.offsets[YAW] = (uint8_t)(255 * 1.2089 / 3.0);
  } else {
        I2C_OutputAmplifierOffsets();
  }
}
 
void gyro_setDefaultParameters(void) {
  staticParams.accQuadrant = 4;
  staticParams.imuReversedFlags = IMU_REVERSE_ACC_XY;
  staticParams.gyroD = 3;
  staticParams.driftCompDivider = 1;
  staticParams.driftCompLimit = 200;
  staticParams.zerothOrderCorrection = 25;
 
}
 

Rev 2026	Rev 2032
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_OVERSAMPLING_YAW;	40	factor = GYRO_OVERSAMPLING_YAW;
41	else	41	else
42	factor = GYRO_OVERSAMPLING_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, recalibrate.");	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.accQuadrant = 4;
-		80	staticParams.imuReversedFlags = IMU_REVERSE_ACC_XY;
79	staticParams.gyroD = 3;	81	staticParams.gyroD = 3;
80	staticParams.driftCompDivider = 1;	82	staticParams.driftCompDivider = 1;
81	staticParams.driftCompLimit = 200;	83	staticParams.driftCompLimit = 200;
82	staticParams.zerothOrderCorrection = 25;	84	staticParams.zerothOrderCorrection = 25;
83	staticParams.imuReversedFlags = IMU_REVERSE_ACC_XY;	-
84	}	85	}
85		86

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/ENC-03_FC1.3.c - Rev 2026 → 2032