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| Rev 1874 | Rev 1908 | ||
|---|---|---|---|
| Line 14... | Line 14... | ||
| 14 | // void gyro_init(void) {} |
14 | // void gyro_init(void) {} |
| 15 | void gyro_calibrate(void) { |
15 | void gyro_calibrate(void) { |
| 16 | uint8_t i, axis, factor, numberOfAxesInRange = 0; |
16 | uint8_t i, axis, factor, numberOfAxesInRange = 0; |
| 17 | uint16_t timeout; |
17 | uint16_t timeout; |
| 18 | // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
18 | // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
| 19 | timeout = SetDelay(2000); |
19 | timeout = setDelay(2000); |
| Line 20... | Line 20... | ||
| 20 | 20 | ||
| 21 | for (i = 140; i != 0; i--) { |
21 | for (i = 140; i != 0; i--) { |
| 22 | // If all 3 axis are in range, shorten the remaining number of iterations. |
22 | // If all 3 axis are in range, shorten the remaining number of iterations. |
| 23 | if (numberOfAxesInRange == 3 && i > 10) |
23 | if (numberOfAxesInRange == 3 && i > 10) |
| Line 48... | Line 48... | ||
| 48 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
48 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
| Line 49... | Line 49... | ||
| 49 | 49 | ||
| 50 | // Wait for I2C to finish transmission. |
50 | // Wait for I2C to finish transmission. |
| 51 | while (twi_state) { |
51 | while (twi_state) { |
| 52 | // Did it take too long? |
52 | // Did it take too long? |
| 53 | if (CheckDelay(timeout)) { |
53 | if (checkDelay(timeout)) { |
| 54 | printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl"); |
54 | printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl"); |
| 55 | break; |
55 | break; |
| 56 | } |
56 | } |
| Line 57... | Line 57... | ||
| 57 | } |
57 | } |
| Line 58... | Line 58... | ||
| 58 | 58 | ||
| 59 | analog_start(); |
59 | analog_start(); |
| 60 | 60 | ||
| 61 | Delay_ms_Mess(i < 10 ? 10 : 2); |
61 | delay_ms_Mess(i < 10 ? 10 : 2); |
| Line 62... | Line 62... | ||
| 62 | } |
62 | } |
| 63 | Delay_ms_Mess(70); |
63 | delay_ms_Mess(70); |
| 64 | } |
64 | } |