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| Rev 1969 | Rev 1971 | ||
|---|---|---|---|
| 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 | 6 | ||
| 7 | /* |
7 | /* |
| 8 | * Whether (pitch, roll, yaw) gyros are reversed (see analog.h). |
8 | * Whether (pitch, roll, yaw) gyros are reversed (see analog.h). |
| 9 | */ |
9 | */ |
| 10 | extern const uint8_t GYRO_REVERSED[3]; |
10 | extern const uint8_t GYRO_REVERSED[3]; |
| 11 | 11 | ||
| 12 | /* |
12 | /* |
| 13 | * Whether (pitch, roll, Z) acc. meters are reversed(see analog.h). |
13 | * Whether (pitch, roll, Z) acc. meters are reversed(see analog.h). |
| 14 | */ |
14 | */ |
| 15 | extern const uint8_t ACC_REVERSED[3]; |
15 | extern const uint8_t ACC_REVERSED[3]; |
| 16 | extern sensorOffset_t gyroAmplifierOffset; |
16 | extern sensorOffset_t gyroAmplifierOffset; |
| 17 | 17 | ||
| 18 | /* |
18 | /* |
| 19 | * Common procedures for all gyro types. |
19 | * Common procedures for all gyro types. |
| 20 | * FC 1.3 hardware: Searching the DAC values that return neutral readings. |
20 | * FC 1.3 hardware: Searching the DAC values that return neutral readings. |
| 21 | * FC 2.0 hardware: Nothing to do. |
21 | * FC 2.0 hardware: Nothing to do. |
| 22 | * InvenSense hardware: Output a pulse on the AUTO_ZERO line. |
22 | * InvenSense hardware: Output a pulse on the AUTO_ZERO line. |
| 23 | */ |
23 | */ |
| 24 | void gyro_calibrate(void); |
24 | void gyro_calibrate(void); |
| 25 | 25 | ||
| 26 | /* |
26 | /* |
| 27 | * FC 1.3: Output data in gyroAmplifierOffset to DAC. All other versions: Do nothing. |
27 | * FC 1.3: Output data in gyroAmplifierOffset to DAC. All other versions: Do nothing. |
| 28 | */ |
28 | */ |
| 29 | void gyro_loadOffsets(uint8_t overwriteWithDefaults); |
29 | void gyro_loadAmplifierOffsets(uint8_t overwriteWithDefaults); |
| 30 | 30 | ||
| 31 | /* |
31 | /* |
| 32 | * Set some default FC parameters, depending on gyro type: Drift correction etc. |
32 | * Set some default FC parameters, depending on gyro type: Drift correction etc. |
| 33 | */ |
33 | */ |
| 34 | void gyro_setDefaults(void); |
34 | void gyro_setDefaultParameters(void); |
| 35 | 35 | ||
| 36 | #endif |
36 | #endif |
| 37 | 37 | ||