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| Rev 1646 | Rev 1821 | ||
|---|---|---|---|
| Line 15... | Line 15... | ||
| 15 | #define AUTOZERO_DDR DDRD |
15 | #define AUTOZERO_DDR DDRD |
| 16 | #define AUTOZERO_BIT 5 |
16 | #define AUTOZERO_BIT 5 |
| Line 17... | Line 17... | ||
| 17 | 17 | ||
| 18 | void gyro_calibrate() { |
18 | void gyro_calibrate() { |
| 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 |
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| 20 | if (!(AUTOZERO_DDR & (1<<AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1<<AUTOZERO_BIT))) { |
21 | << AUTOZERO_BIT))) { |
| 21 | AUTOZERO_PORT |= (1<<AUTOZERO_BIT); |
22 | AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
| 22 | AUTOZERO_DDR |= (1<<AUTOZERO_BIT); |
23 | AUTOZERO_DDR |= (1 << AUTOZERO_BIT); |
| 23 | Delay_ms(100); |
24 | Delay_ms(100); |