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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 | ||
- | 7 | /* |
|
- | 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. |
|
- | 10 | */ |
|
- | 11 | const uint8_t GYRO_REVERSED[3] = {0,0,0}; |
|
- | 12 | const uint8_t ACC_REVERSED[3] = {0,0,1}; |
|
6 | 13 | ||
7 | #define AUTOZERO_PORT PORTD |
14 | #define AUTOZERO_PORT PORTD |
8 | #define AUTOZERO_DDR DDRD |
15 | #define AUTOZERO_DDR DDRD |
9 | #define AUTOZERO_BIT 5 |
16 | #define AUTOZERO_BIT 5 |
10 | - | ||
11 | const uint8_t GYROS_REVERSE[2] = {0,0}; |
- | |
12 | 17 | ||
13 | void gyro_calibrate() { |
18 | void gyro_calibrate() { |
14 | // If port not already set to output and high, do it. |
19 | // If port not already set to output and high, do it. |
15 | if (!(AUTOZERO_DDR & (1<<AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1<<AUTOZERO_BIT))) { |
20 | if (!(AUTOZERO_DDR & (1<<AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1<<AUTOZERO_BIT))) { |
16 | AUTOZERO_PORT |= (1<<AUTOZERO_BIT); |
21 | AUTOZERO_PORT |= (1<<AUTOZERO_BIT); |
17 | AUTOZERO_DDR |= (1<<AUTOZERO_BIT); |
22 | AUTOZERO_DDR |= (1<<AUTOZERO_BIT); |
18 | Delay_ms(100); |
23 | Delay_ms(100); |
19 | } |
24 | } |
20 | 25 | ||
21 | // Make a pulse on the auto-zero output line. |
26 | // Make a pulse on the auto-zero output line. |
22 | AUTOZERO_PORT &= ~(1<<AUTOZERO_BIT); |
27 | AUTOZERO_PORT &= ~(1<<AUTOZERO_BIT); |
23 | Delay_ms(1); |
28 | Delay_ms(1); |
24 | AUTOZERO_PORT |= (1<<AUTOZERO_BIT); |
29 | AUTOZERO_PORT |= (1<<AUTOZERO_BIT); |
25 | // Delay_ms(10); |
30 | // Delay_ms(10); |
26 | Delay_ms_Mess(100); |
31 | Delay_ms_Mess(100); |
27 | } |
32 | } |
28 | 33 | ||
29 | void gyro_setDefaults(void) { |
34 | void gyro_setDefaults(void) { |
30 | staticParams.GyroD = 3; |
35 | staticParams.GyroD = 3; |
31 | staticParams.GyroAccFactor = 1; |
36 | staticParams.GyroAccFactor = 1; |
32 | staticParams.DriftComp = 1; |
37 | staticParams.DriftComp = 10; |
33 | 38 | ||
34 | // Not used. |
39 | // Not used. |
35 | staticParams.AngleTurnOverPitch = 85; |
40 | staticParams.AngleTurnOverPitch = 85; |
36 | staticParams.AngleTurnOverRoll = 85; |
41 | staticParams.AngleTurnOverRoll = 85; |
37 | } |
42 | } |
38 | 43 |