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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(void) { |
18 | void gyro_calibrate(void) { |
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 |
20 | if (!(AUTOZERO_DDR & (1 << AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1 |
21 | << AUTOZERO_BIT))) { |
21 | << AUTOZERO_BIT))) { |
22 | AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
22 | AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
23 | AUTOZERO_DDR |= (1 << AUTOZERO_BIT); |
23 | AUTOZERO_DDR |= (1 << AUTOZERO_BIT); |
24 | delay_ms(100); |
24 | delay_ms(100); |
25 | } |
25 | } |
26 | 26 | ||
27 | // Make a pulse on the auto-zero output line. |
27 | // Make a pulse on the auto-zero output line. |
28 | AUTOZERO_PORT &= ~(1 << AUTOZERO_BIT); |
28 | AUTOZERO_PORT &= ~(1 << AUTOZERO_BIT); |
29 | delay_ms(1); |
29 | delay_ms(1); |
30 | AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
30 | AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
31 | // Delay_ms(10); |
31 | // Delay_ms(10); |
32 | delay_ms_Mess(100); |
32 | delay_ms_Mess(100); |
33 | } |
33 | } |
34 | 34 | ||
35 | void gyro_setDefaults(void) { |
35 | void gyro_setDefaults(void) { |
36 | staticParams.GyroD = 3; |
36 | staticParams.gyroD = 3; |
37 | staticParams.GyroAccFactor = 1; |
37 | staticParams.driftCompDivider = 2; |
38 | staticParams.DriftComp = 3; |
38 | staticParams.driftCompLimit = 3; |
39 | staticParams.GyroAccTrim = 2; |
39 | staticParams.zerothOrderCorrection = 2; |
40 | } |
40 | } |
41 | 41 |