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1 | //#include "ENC-03_FC1.3.h" |
1 | #include "sensors.h" |
2 | #include "printf_P.h" |
2 | #include "printf_P.h" |
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 9... | Line 9... | ||
9 | #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
9 | #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
Line 10... | Line 10... | ||
10 | 10 | ||
11 | const uint8_t GYRO_REVERSED[3] = { 0, 0, 1 }; |
11 | const uint8_t GYRO_REVERSED[3] = { 0, 0, 1 }; |
Line 12... | Line 12... | ||
12 | const uint8_t ACC_REVERSED[3] = { 0, 1, 0 }; |
12 | const uint8_t ACC_REVERSED[3] = { 0, 1, 0 }; |
13 | 13 | ||
14 | // void gyro_init(void) {} |
14 | void gyro_calibrate(void) { |
15 | void gyro_calibrate(void) { |
- | |
16 | uint8_t i, axis, factor, numberOfAxesInRange = 0; |
15 | printf("gyro_calibrate"); |
17 | uint16_t timeout; |
- | |
18 | // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
16 | uint8_t i, axis, factor, numberOfAxesInRange = 0; |
19 | timeout = setDelay(2000); |
17 | // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
20 | 18 | ||
21 | for (i = 140; i != 0; i--) { |
19 | for (i = 140; i != 0; i--) { |
22 | // If all 3 axis are in range, shorten the remaining number of iterations. |
20 | // If all 3 axis are in range, shorten the remaining number of iterations. |
- | 21 | if (numberOfAxesInRange == 3 && i > 10) |
|
23 | if (numberOfAxesInRange == 3 && i > 10) |
22 | i = 10; |
Line 24... | Line 23... | ||
24 | i = 10; |
23 | |
25 | numberOfAxesInRange = 0; |
24 | numberOfAxesInRange = 0; |
26 | 25 | ||
27 | for (axis = PITCH; axis <= YAW; axis++) { |
26 | for (axis = PITCH; axis <= YAW; axis++) { |
28 | if (axis == YAW) |
27 | if (axis == YAW) |
Line 29... | Line 28... | ||
29 | factor = GYRO_SUMMATION_FACTOR_YAW; |
28 | factor = GYRO_SUMMATION_FACTOR_YAW; |
30 | else |
29 | else |
31 | factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
30 | factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
32 | 31 | ||
33 | if (rawGyroSum[axis] < 510 * factor) |
32 | if (rawGyroSum[axis] < 510 * factor) |
34 | DACValues.offsets[axis]--; |
33 | gyroAmplifierOffset.offsets[axis]--; |
Line 35... | Line 34... | ||
35 | else if (rawGyroSum[axis] > 515 * factor) |
34 | else if (rawGyroSum[axis] > 515 * factor) |
36 | DACValues.offsets[axis]++; |
35 | gyroAmplifierOffset.offsets[axis]++; |
37 | else |
36 | else |
38 | numberOfAxesInRange++; |
37 | numberOfAxesInRange++; |
39 | 38 | ||
40 | /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */ |
39 | /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */ |
41 | if (DACValues.offsets[axis] < 10) { |
40 | if (gyroAmplifierOffset.offsets[axis] < 10) { |
- | 41 | gyroAmplifierOffset.offsets[axis] = 10; |
|
- | 42 | } else if (gyroAmplifierOffset.offsets[axis] > 245) { |
|
Line 42... | Line 43... | ||
42 | DACValues.offsets[axis] = 10; |
43 | gyroAmplifierOffset.offsets[axis] = 245; |
- | 44 | } |
|
- | 45 | } |
|
- | 46 | ||
- | 47 | gyro_loadOffsets(0); |
|
Line 43... | Line 48... | ||
43 | } else if (DACValues.offsets[axis] > 245) { |
48 | |
44 | DACValues.offsets[axis] = 245; |
- | |
45 | } |
49 | delay_ms_with_adc_measurement(i <= 10 ? 10 : 2); |
46 | } |
- | |
47 | - | ||
48 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
- | |
49 | - | ||
50 | // Wait for I2C to finish transmission. |
- | |
Line -... | Line 50... | ||
- | 50 | } |
|
51 | while (twi_state) { |
51 | gyroAmplifierOffset_writeToEEProm(); |
- | 52 | delay_ms_with_adc_measurement(70); |
|
- | 53 | } |
|
- | 54 | ||
- | 55 | void gyro_loadOffsets(uint8_t overwriteWithDefaults) { |
|
- | 56 | uint16_t timeout = setDelay(2000); |
|
- | 57 | ||
- | 58 | if (overwriteWithDefaults) { |
|
- | 59 | gyroAmplifierOffset.offsets[PITCH] = |
|
- | 60 | gyroAmplifierOffset.offsets[ROLL] = |
|
- | 61 | gyroAmplifierOffset.offsets[YAW] = (uint8_t)(255 * 1.2089 / 3.0); |
|
- | 62 | } |
|
- | 63 | ||
52 | // Did it take too long? |
64 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
53 | if (checkDelay(timeout)) { |
- | |
54 | printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl"); |
65 | // Wait for I2C to finish transmission. |
Line 55... | Line 66... | ||
55 | break; |
66 | while (twi_state) { |
56 | } |
67 | // Did it take too long? |
57 | } |
68 | if (checkDelay(timeout)) { |