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3 | #include "analog.h" |
3 | #include "analog.h" |
4 | #include "twimaster.h" |
4 | #include "twimaster.h" |
5 | #include "configuration.h" |
5 | #include "configuration.h" |
6 | #include "timer0.h" |
6 | #include "timer0.h" |
Line 7... | Line -... | ||
7 | - | ||
8 | const uint8_t GYROS_REVERSE[2] = {0,0}; |
7 | |
9 | #define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510 |
8 | #define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510 |
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10 | #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
9 | #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
11 | 10 | ||
12 | #define DAC_PITCH 0 |
- | |
Line 13... | Line 11... | ||
13 | #define DAC_ROLL 1 |
11 | const uint8_t GYRO_REVERSED[3] = {0,0,1}; |
14 | #define DAC_YAW 2 |
12 | const uint8_t ACC_REVERSED[3] = {0,1,0}; |
15 | 13 | ||
16 | // void gyro_init(void) {} |
14 | // void gyro_init(void) {} |
17 | void gyro_calibrate(void) { |
15 | void gyro_calibrate(void) { |
18 | uint8_t i, numberOfAxesInRange = 0; |
16 | uint8_t i, axis, factor, numberOfAxesInRange = 0; |
Line 19... | Line 17... | ||
19 | uint16_t timeout; |
17 | uint16_t timeout; |
20 | // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
18 | // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
21 | timeout = SetDelay(2000); |
19 | timeout = SetDelay(2000); |
22 | - | ||
23 | for(i = 140; i != 0; i--) { |
20 | |
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24 | // If all 3 axis are in range, shorten the remaining number of iterations. |
21 | for(i = 140; i != 0; i--) { |
25 | if(numberOfAxesInRange == 3 && i > 10) i = 9; |
22 | // If all 3 axis are in range, shorten the remaining number of iterations. |
26 | 23 | if(numberOfAxesInRange == 3 && i > 10) i = 9; |
|
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27 | numberOfAxesInRange = 0; |
24 | numberOfAxesInRange = 0; |
28 | 25 | ||
29 | if(rawGyroSum[PITCH] < PITCHROLL_MINLIMIT) DACValues[PITCH]--; |
26 | for (axis=PITCH; axis<=YAW; axis++) { |
Line 30... | Line -... | ||
30 | else if(rawGyroSum[PITCH] > PITCHROLL_MAXLIMIT) DACValues[PITCH]++; |
- | |
31 | else numberOfAxesInRange++; |
27 | if (axis==YAW) factor = GYRO_SUMMATION_FACTOR_YAW; |
32 | - | ||
33 | if(rawGyroSum[ROLL] < PITCHROLL_MINLIMIT) DACValues[ROLL]--; |
- | |
34 | else if(rawGyroSum[ROLL] > PITCHROLL_MAXLIMIT) DACValues[ROLL]++; |
28 | else factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
35 | else numberOfAxesInRange++; |
- | |
36 | - | ||
37 | if(rawYawGyroSum < GYRO_SUMMATION_FACTOR_YAW * 510) DACValues[DAC_YAW]--; |
- | |
38 | else if(rawYawGyroSum > GYRO_SUMMATION_FACTOR_YAW * 515) DACValues[DAC_YAW]++ ; |
- | |
39 | else numberOfAxesInRange++; |
29 | |
40 | - | ||
41 | if(DACValues[PITCH] < 10) { |
30 | if(rawGyroSum[axis] < factor * 510) DACValues[axis]--; |
42 | /* GyroDefectNick = 1; */ DACValues[PITCH] = 10; |
31 | else if(rawGyroSum[axis] > limit * 515) DACValues[axis]++; |
43 | } else if(DACValues[PITCH] > 245) { |
32 | else numberOfAxesInRange++; |
44 | /* GyroDefectNick = 1; */ DACValues[PITCH] = 245; |
- | |
45 | } |
- | |
46 | if(DACValues[DAC_ROLL] < 10) { |
- | |
47 | /* GyroDefectRoll = 1; */ DACValues[ROLL] = 10; |
- | |
48 | } else if(DACValues[DAC_ROLL] > 245) { |
33 | |
Line 49... | Line 34... | ||
49 | /* GyroDefectRoll = 1; */ DACValues[ROLL] = 245; |
34 | /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). |
Line 50... | Line 35... | ||
50 | } |
35 | if(DACValues[axis] < 10) { |
51 | if(DACValues[DAC_YAW] < 10) { |
36 | DACValues[axis] = 10; |
52 | /* GyroDefectYaw = 1; */ DACValues[DAC_YAW] = 10; |
37 | } else if(DACValues[axis] > 245) { |
53 | } else if(DACValues[DAC_YAW] > 245) { |
38 | DACValues[axis] = 245; |
54 | /* GyroDefectYaw = 1; */ DACValues[DAC_YAW] = 245; |
39 | } |
55 | } |
40 | } |
56 | 41 | ||
57 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
42 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
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58 | 43 | |
|
Line 72... | Line 57... | ||
72 | Delay_ms_Mess(70); |
57 | Delay_ms_Mess(70); |
73 | } |
58 | } |
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74 | 59 | ||
75 | void gyro_setDefaults(void) { |
60 | void gyro_setDefaults(void) { |
76 | staticParams.GyroD = 3; |
61 | staticParams.GyroD = 3; |
77 | staticParams.DriftComp = 32; |
62 | staticParams.DriftComp = 100; |
- | 63 | staticParams.GyroAccFactor = 1; |
|
Line 78... | Line 64... | ||
78 | staticParams.GyroAccFactor = 5; |
64 | staticParams.GyroAccTrim = 5; |
79 | 65 | ||
80 | // Not used. |
66 | // Not used. |
81 | staticParams.AngleTurnOverPitch = 85; |
67 | staticParams.AngleTurnOverPitch = 85; |