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1 | #ifndef _SENSORS_H |
1 | #ifndef _SENSORS_H |
2 | #define _SENSORS_H |
2 | #define _SENSORS_H |
3 | 3 | ||
4 | #include <inttypes.h> |
4 | #include <inttypes.h> |
5 | #include "configuration.h" |
5 | #include "configuration.h" |
6 | - | ||
7 | /* |
- | |
8 | * Whether (pitch, roll, yaw) gyros are reversed (see analog.h). |
- | |
9 | */ |
- | |
10 | extern const uint8_t GYRO_REVERSED[3]; |
- | |
11 | - | ||
12 | /* |
- | |
13 | * Whether (pitch, roll, Z) acc. meters are reversed(see analog.h). |
- | |
14 | */ |
- | |
15 | extern const uint8_t ACC_REVERSED[3]; |
6 | |
16 | extern sensorOffset_t gyroAmplifierOffset; |
7 | extern sensorOffset_t gyroAmplifierOffset; |
17 | 8 | ||
18 | /* |
9 | /* |
19 | * Common procedures for all gyro types. |
10 | * Common procedures for all gyro types. |
20 | * FC 1.3 hardware: Searching the DAC values that return neutral readings. |
11 | * FC 1.3 hardware: Searching the DAC values that return neutral readings. |
21 | * FC 2.0 hardware: Nothing to do. |
12 | * FC 2.0 hardware: Nothing to do. |
22 | * InvenSense hardware: Output a pulse on the AUTO_ZERO line. |
13 | * InvenSense hardware: Output a pulse on the AUTO_ZERO line. |
23 | */ |
14 | */ |
24 | void gyro_calibrate(void); |
15 | void gyro_calibrate(void); |
25 | 16 | ||
26 | /* |
17 | /* |
27 | * FC 1.3: Output data in gyroAmplifierOffset to DAC. All other versions: Do nothing. |
18 | * FC 1.3: Output data in gyroAmplifierOffset to DAC. All other versions: Do nothing. |
28 | */ |
19 | */ |
29 | void gyro_loadAmplifierOffsets(uint8_t overwriteWithDefaults); |
20 | void gyro_init(void); |
30 | 21 | ||
31 | /* |
22 | /* |
32 | * Set some default FC parameters, depending on gyro type: Drift correction etc. |
23 | * Set some default FC parameters, depending on gyro type: Drift correction etc. |
33 | */ |
24 | */ |
34 | void gyro_setDefaultParameters(void); |
25 | void gyro_setDefaultParameters(void); |
35 | 26 | ||
36 | #endif |
27 | #endif |
37 | 28 |