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| Rev 2132 | Rev 2133 | ||
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| 21 | 21 | ||
| 22 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
22 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
| Line 23... | Line 23... | ||
| 23 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
23 | #define startADC() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
| 24 | - | ||
| 25 | const char* recal = ", recalibration needed."; |
24 | |
| Line 26... | Line -... | ||
| 26 | - | ||
| 27 | volatile uint16_t ADSensorInputs[8]; |
25 | const char* recal = ", recalibration needed."; |
| 28 | 26 | volatile uint16_t ADSensorInputs[8]; |
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| 29 | 27 | ||
| 30 | /* |
28 | /* |
| 31 | * These 4 exported variables are zero-offset. The "PID" ones are used |
29 | * These 4 exported variables are zero-offset. The "PID" ones are used |
| Line 178... | Line 176... | ||
| 178 | //Trigger Source to Free Running Mode |
176 | //Trigger Source to Free Running Mode |
| 179 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
177 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
| Line 180... | Line 178... | ||
| 180 | 178 | ||
| Line -... | Line 179... | ||
| - | 179 | startAnalogConversionCycle(); |
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| - | 180 | ||
| 181 | startAnalogConversionCycle(); |
181 | twimaster_init(); |
| 182 | 182 | ||
| 183 | // restore global interrupt flags |
183 | // restore global interrupt flags |
| Line 184... | Line 184... | ||
| 184 | SREG = sreg; |
184 | SREG = sreg; |
| 185 | } |
185 | } |
| 186 | 186 | ||
| 187 | /* |
187 | /* |
| 188 | * Here the axes of the sensor can be shuffled around. |
188 | * Here the axes of the sensor can be shuffled around. |
| 189 | */ |
189 | */ |
| Line 190... | Line 190... | ||
| 190 | uint16_t rawGyroValue(uint8_t axis) { |
190 | int16_t rawGyroValue(uint8_t axis) { |
| 191 | return IMU3200SensorInputs[axis+1]; // skip temperature mesaurement in any case.. |
191 | return ITG3200SensorInputs[axis+1]; // skip temperature mesaurement in any case.. |
| 192 | } |
192 | } |
| Line 348... | Line 348... | ||
| 348 | void analog_setNeutral() { |
348 | void analog_setNeutral() { |
| 349 | twimaster_setNeutral(); |
349 | twimaster_setNeutral(); |
| Line 350... | Line 350... | ||
| 350 | 350 | ||
| 351 | if (gyroOffset_readFromEEProm()) { |
351 | if (gyroOffset_readFromEEProm()) { |
| 352 | printf("gyro offsets invalid%s",recal); |
352 | printf("gyro offsets invalid%s",recal); |
| 353 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 512 * GYRO_OVERSAMPLING; |
353 | gyroOffset.offsets[PITCH] = gyroOffset.offsets[ROLL] = 0; |
| 354 | gyroOffset.offsets[YAW] = 512 * GYRO_OVERSAMPLING; |
354 | gyroOffset.offsets[YAW] = 0; |
| Line 355... | Line 355... | ||
| 355 | } |
355 | } |
| 356 | 356 | ||
| 357 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
357 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |