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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" |
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| - | 7 | ||
| 7 | 8 | const uint8_t GYROS_REVERSE[2] = {0,0}; |
|
| 8 | #define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510 |
9 | #define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510 |
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| 9 | #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
10 | #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
| 10 | 11 | ||
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| 23 | // If all 3 axis are in range, shorten the remaining number of iterations. |
24 | // If all 3 axis are in range, shorten the remaining number of iterations. |
| 24 | if(numberOfAxesInRange == 3 && i > 10) i = 9; |
25 | if(numberOfAxesInRange == 3 && i > 10) i = 9; |
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| 25 | 26 | ||
| Line 26... | Line 27... | ||
| 26 | numberOfAxesInRange = 0; |
27 | numberOfAxesInRange = 0; |
| 27 | 28 | ||
| 28 | if(rawPitchGyroSum < PITCHROLL_MINLIMIT) DACValues[DAC_PITCH]--; |
29 | if(rawGyroSum[PITCH] < PITCHROLL_MINLIMIT) DACValues[PITCH]--; |
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| 29 | else if(rawPitchGyroSum > PITCHROLL_MAXLIMIT) DACValues[DAC_PITCH]++; |
30 | else if(rawGyroSum[PITCH] > PITCHROLL_MAXLIMIT) DACValues[PITCH]++; |
| 30 | else numberOfAxesInRange++; |
31 | else numberOfAxesInRange++; |
| 31 | 32 | ||
| Line 32... | Line 33... | ||
| 32 | if(rawRollGyroSum < PITCHROLL_MINLIMIT) DACValues[DAC_ROLL]--; |
33 | if(rawGyroSum[ROLL] < PITCHROLL_MINLIMIT) DACValues[ROLL]--; |
| 33 | else if(rawRollGyroSum > PITCHROLL_MAXLIMIT) DACValues[DAC_ROLL]++; |
34 | else if(rawGyroSum[ROLL] > PITCHROLL_MAXLIMIT) DACValues[ROLL]++; |
| 34 | else numberOfAxesInRange++; |
35 | else numberOfAxesInRange++; |
| Line 35... | Line 36... | ||
| 35 | 36 | ||
| 36 | if(rawYawGyroSum < GYRO_SUMMATION_FACTOR_YAW * 510) DACValues[DAC_YAW]--; |
37 | if(rawYawGyroSum < GYRO_SUMMATION_FACTOR_YAW * 510) DACValues[DAC_YAW]--; |
| 37 | else if(rawYawGyroSum > GYRO_SUMMATION_FACTOR_YAW * 515) DACValues[DAC_YAW]++ ; |
38 | else if(rawYawGyroSum > GYRO_SUMMATION_FACTOR_YAW * 515) DACValues[DAC_YAW]++ ; |
| 38 | else numberOfAxesInRange++; |
39 | else numberOfAxesInRange++; |
| 39 | 40 | ||
| 40 | if(DACValues[DAC_PITCH] < 10) { |
41 | if(DACValues[PITCH] < 10) { |
| 41 | /* GyroDefectNick = 1; */ DACValues[DAC_PITCH] = 10; |
42 | /* GyroDefectNick = 1; */ DACValues[PITCH] = 10; |
| 42 | } else if(DACValues[DAC_PITCH] > 245) { |
43 | } else if(DACValues[PITCH] > 245) { |
| 43 | /* GyroDefectNick = 1; */ DACValues[DAC_PITCH] = 245; |
44 | /* GyroDefectNick = 1; */ DACValues[PITCH] = 245; |
| 44 | } |
45 | } |
| 45 | if(DACValues[DAC_ROLL] < 10) { |
46 | if(DACValues[DAC_ROLL] < 10) { |
| 46 | /* GyroDefectRoll = 1; */ DACValues[DAC_ROLL] = 10; |
47 | /* GyroDefectRoll = 1; */ DACValues[ROLL] = 10; |
| 47 | } else if(DACValues[DAC_ROLL] > 245) { |
48 | } else if(DACValues[DAC_ROLL] > 245) { |
| 48 | /* GyroDefectRoll = 1; */ DACValues[DAC_ROLL] = 245; |
49 | /* GyroDefectRoll = 1; */ DACValues[ROLL] = 245; |