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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 | 6 | ||
7 | /* |
7 | /* |
8 | * Configuration for my prototype board with InvenSense gyros. |
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. |
9 | * The FC 1.3 board is installed upside down, therefore Z acc is reversed but not roll. |
10 | */ |
10 | */ |
11 | const uint8_t GYRO_REVERSED[3] = {0,0,0}; |
11 | const uint8_t GYRO_REVERSED[3] = { 0, 0, 0 }; |
12 | const uint8_t ACC_REVERSED[3] = {0,0,1}; |
12 | const uint8_t ACC_REVERSED[3] = { 0, 0, 1 }; |
13 | 13 | ||
14 | #define AUTOZERO_PORT PORTD |
14 | #define AUTOZERO_PORT PORTD |
15 | #define AUTOZERO_DDR DDRD |
15 | #define AUTOZERO_DDR DDRD |
16 | #define AUTOZERO_BIT 5 |
16 | #define AUTOZERO_BIT 5 |
17 | 17 | ||
18 | void gyro_calibrate() { |
18 | void gyro_calibrate() { |
19 | // If port not already set to output and high, do it. |
19 | // If port not already set to output and high, do it. |
20 | if (!(AUTOZERO_DDR & (1<<AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1<<AUTOZERO_BIT))) { |
20 | if (!(AUTOZERO_DDR & (1 << AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1 |
- | 21 | << AUTOZERO_BIT))) { |
|
21 | AUTOZERO_PORT |= (1<<AUTOZERO_BIT); |
22 | AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
22 | AUTOZERO_DDR |= (1<<AUTOZERO_BIT); |
23 | AUTOZERO_DDR |= (1 << AUTOZERO_BIT); |
23 | Delay_ms(100); |
24 | Delay_ms(100); |
24 | } |
25 | } |
25 | 26 | ||
26 | // Make a pulse on the auto-zero output line. |
27 | // Make a pulse on the auto-zero output line. |
27 | AUTOZERO_PORT &= ~(1<<AUTOZERO_BIT); |
28 | AUTOZERO_PORT &= ~(1 << AUTOZERO_BIT); |
28 | Delay_ms(1); |
29 | Delay_ms(1); |
29 | AUTOZERO_PORT |= (1<<AUTOZERO_BIT); |
30 | AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
30 | // Delay_ms(10); |
31 | // Delay_ms(10); |
31 | Delay_ms_Mess(100); |
32 | Delay_ms_Mess(100); |
32 | } |
33 | } |
33 | 34 | ||
34 | void gyro_setDefaults(void) { |
35 | void gyro_setDefaults(void) { |
35 | staticParams.GyroD = 3; |
36 | staticParams.GyroD = 3; |
36 | staticParams.GyroAccFactor = 1; |
37 | staticParams.GyroAccFactor = 1; |
37 | staticParams.DriftComp = 10; |
38 | staticParams.DriftComp = 10; |
38 | 39 | ||
39 | // Not used. |
40 | // Not used. |
40 | staticParams.AngleTurnOverPitch = 85; |
41 | staticParams.AngleTurnOverPitch = 85; |
41 | staticParams.AngleTurnOverRoll = 85; |
42 | staticParams.AngleTurnOverRoll = 85; |
42 | } |
43 | } |
43 | 44 |