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| Rev 2026 | Rev 2092 | ||
|---|---|---|---|
| 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 | 11 | ||
| 12 | // The special auto-zero feature of this gyro needs a port. |
12 | // The special auto-zero feature of this gyro needs a port. |
| 13 | #define AUTOZERO_PORT PORTD |
13 | #define AUTOZERO_PORT PORTD |
| 14 | #define AUTOZERO_DDR DDRD |
14 | #define AUTOZERO_DDR DDRD |
| 15 | #define AUTOZERO_BIT 5 |
15 | #define AUTOZERO_BIT 5 |
| 16 | 16 | ||
| 17 | void gyro_calibrate(void) { |
17 | void gyro_calibrate(void) { |
| 18 | // If port not already set to output and high, do it. |
18 | // If port not already set to output and high, do it. |
| 19 | if (!(AUTOZERO_DDR & (1 << AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1 << AUTOZERO_BIT))) { |
19 | if (!(AUTOZERO_DDR & (1 << AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1 << AUTOZERO_BIT))) { |
| 20 | AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
20 | AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
| 21 | AUTOZERO_DDR |= (1 << AUTOZERO_BIT); |
21 | AUTOZERO_DDR |= (1 << AUTOZERO_BIT); |
| 22 | delay_ms(100); |
22 | delay_ms(100); |
| 23 | } |
23 | } |
| 24 | 24 | ||
| 25 | // Make a pulse on the auto-zero output line. |
25 | // Make a pulse on the auto-zero output line. |
| 26 | AUTOZERO_PORT &= ~(1 << AUTOZERO_BIT); |
26 | AUTOZERO_PORT &= ~(1 << AUTOZERO_BIT); |
| 27 | delay_ms(1); |
27 | delay_ms(1); |
| 28 | AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
28 | AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
| 29 | // Delay_ms(10); |
29 | // Delay_ms(10); |
| 30 | delay_ms_with_adc_measurement(100, 0); |
30 | delay_ms_with_adc_measurement(100, 0); |
| 31 | } |
31 | } |
| 32 | 32 | ||
| 33 | void gyro_init() { |
33 | void gyro_init() { |
| 34 | gyro_calibrate(); |
34 | gyro_calibrate(); |
| 35 | } |
35 | } |
| 36 | 36 | ||
| 37 | void gyro_setDefaultParameters(void) { |
37 | void gyro_setDefaultParameters(void) { |
| 38 | staticParams.gyroD = 3; |
38 | staticParams.gyroD = 3; |
| 39 | staticParams.driftCompDivider = 2; |
39 | IMUConfig.driftCompDivider = 2; |
| 40 | staticParams.driftCompLimit = 5; |
40 | IMUConfig.driftCompLimit = 5; |
| 41 | staticParams.zerothOrderCorrection = 1; |
41 | IMUConfig.zerothOrderCorrection = 1; |
| 42 | staticParams.imuReversedFlags = IMU_REVERSE_ACC_Z; |
42 | IMUConfig.imuReversedFlags = IMU_REVERSE_ACC_Z; |
| 43 | } |
43 | } |
| 44 | 44 | ||