WebSVN - FlightCtrl - Diff - Rev 2092 and 2112 - /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"
 
 
 
 
void I2C_OutputAmplifierOffsets(void) {
        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(void) {
  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) {
  IMUConfig.gyroQuadrant = 0;
  IMUConfig.accQuadrant = 4;
  IMUConfig.imuReversedFlags = IMU_REVERSE_GYRO_YAW | IMU_REVERSE_ACC_XY;
  staticParams.gyroD = 3;
  IMUConfig.driftCompDivider = 1;
  IMUConfig.driftCompLimit = 200;
  IMUConfig.zerothOrderCorrection = 120;
}
 

Rev 2092	Rev 2112
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		-
9	#define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510	-
10	#define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515	-
11		8
12	void I2C_OutputAmplifierOffsets(void) {	9	void I2C_OutputAmplifierOffsets(void) {
13	uint16_t timeout = setDelay(2000);	10	uint16_t timeout = setDelay(2000);
14	I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission	11	I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission
15	// Wait for I2C to finish transmission.	12	// Wait for I2C to finish transmission.
16	while (twi_state) {	13	while (twi_state) {
17	// Did it take too long?	14	// Did it take too long?
18	if (checkDelay(timeout)) {	15	if (checkDelay(timeout)) {
19	printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl");	16	printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl");
20	break;	17	break;
21	}	18	}
22	}	19	}
23	}	20	}
24		21
25	void gyro_calibrate(void) {	22	void gyro_calibrate(void) {
26	printf("gyro_calibrate");	23	printf("gyro_calibrate");
27	uint8_t i, axis, factor, numberOfAxesInRange = 0;	24	uint8_t i, axis, factor, numberOfAxesInRange = 0;
28	// GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0;	25	// GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0;
29		26
30	for (i = 140; i != 0; i--) {	27	for (i = 140; i != 0; i--) {
31	delay_ms_with_adc_measurement(i <= 10 ? 10 : 2, 1);	28	delay_ms_with_adc_measurement(i <= 10 ? 10 : 2, 1);
32		29
33	// If all 3 axis are in range, shorten the remaining number of iterations.	30	// If all 3 axis are in range, shorten the remaining number of iterations.
34	if (numberOfAxesInRange == 3 && i > 10) i = 10;	31	if (numberOfAxesInRange == 3 && i > 10) i = 10;
35		32
36	numberOfAxesInRange = 0;	33	numberOfAxesInRange = 0;
37		34
38	for (axis = PITCH; axis <= YAW; axis++) {	35	for (axis = PITCH; axis <= YAW; axis++) {
39	if (axis == YAW)	36	if (axis == YAW)
40	factor = GYRO_OVERSAMPLING_YAW;	37	factor = GYRO_OVERSAMPLING_YAW;
41	else	38	else
42	factor = GYRO_OVERSAMPLING_PITCHROLL;	39	factor = GYRO_OVERSAMPLING_PITCHROLL;
43		40
44	if (rawGyroValue(axis) < 510 * factor)	41	if (rawGyroValue(axis) < 510 * factor)
45	gyroAmplifierOffset.offsets[axis]--;	42	gyroAmplifierOffset.offsets[axis]--;
46	else if (rawGyroValue(axis) > 515 * factor)	43	else if (rawGyroValue(axis) > 515 * factor)
47	gyroAmplifierOffset.offsets[axis]++;	44	gyroAmplifierOffset.offsets[axis]++;
48	else	45	else
49	numberOfAxesInRange++;	46	numberOfAxesInRange++;
50		47
51	/* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */	48	/* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */
52	if (gyroAmplifierOffset.offsets[axis] < 10) {	49	if (gyroAmplifierOffset.offsets[axis] < 10) {
53	gyroAmplifierOffset.offsets[axis] = 10;	50	gyroAmplifierOffset.offsets[axis] = 10;
54	versionInfo.hardwareErrors[0] \|= (FC_ERROR0_GYRO_PITCH << axis);	51	versionInfo.hardwareErrors[0] \|= (FC_ERROR0_GYRO_PITCH << axis);
55	} else if (gyroAmplifierOffset.offsets[axis] > 245) {	52	} else if (gyroAmplifierOffset.offsets[axis] > 245) {
56	gyroAmplifierOffset.offsets[axis] = 245;	53	gyroAmplifierOffset.offsets[axis] = 245;
57	versionInfo.hardwareErrors[0] \|= (FC_ERROR0_GYRO_PITCH << axis);	54	versionInfo.hardwareErrors[0] \|= (FC_ERROR0_GYRO_PITCH << axis);
58	}	55	}
59	}	56	}
60		57
61	I2C_OutputAmplifierOffsets();	58	I2C_OutputAmplifierOffsets();
62	}	59	}
63	gyroAmplifierOffset_writeToEEProm();	60	gyroAmplifierOffset_writeToEEProm();
64	delay_ms_with_adc_measurement(70, 0);	61	delay_ms_with_adc_measurement(70, 0);
65	}	62	}
66		63
67	void gyro_init(void) {	64	void gyro_init(void) {
68	if (gyroAmplifierOffset_readFromEEProm()) {	65	if (gyroAmplifierOffset_readFromEEProm()) {
69	printf("gyro amp invalid, recalibrate.");	66	printf("gyro amp invalid, recalibrate.");
70	gyroAmplifierOffset.offsets[PITCH] =	67	gyroAmplifierOffset.offsets[PITCH] =
71	gyroAmplifierOffset.offsets[ROLL] =	68	gyroAmplifierOffset.offsets[ROLL] =
72	gyroAmplifierOffset.offsets[YAW] = (uint8_t)(255 * 1.2089 / 3.0);	69	gyroAmplifierOffset.offsets[YAW] = (uint8_t)(255 * 1.2089 / 3.0);
73	} else {	70	} else {
74	I2C_OutputAmplifierOffsets();	71	I2C_OutputAmplifierOffsets();
75	}	72	}
76	}	73	}
77		74
78	void gyro_setDefaultParameters(void) {	75	void gyro_setDefaultParameters(void) {
79	IMUConfig.gyroQuadrant = 0;	76	IMUConfig.gyroQuadrant = 0;
80	IMUConfig.accQuadrant = 4;	77	IMUConfig.accQuadrant = 4;
81	IMUConfig.imuReversedFlags = IMU_REVERSE_GYRO_YAW \| IMU_REVERSE_ACC_XY;	78	IMUConfig.imuReversedFlags = IMU_REVERSE_GYRO_YAW \| IMU_REVERSE_ACC_XY;
82	staticParams.gyroD = 3;	79	staticParams.gyroD = 3;
83	IMUConfig.driftCompDivider = 1;	80	IMUConfig.driftCompDivider = 1;
84	IMUConfig.driftCompLimit = 200;	81	IMUConfig.driftCompLimit = 200;
85	IMUConfig.zerothOrderCorrection = 120;	82	IMUConfig.zerothOrderCorrection = 120;
86	}	83	}
87		84

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/ENC-03_FC1.3.c - Rev 2092 → 2112