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#include "timer0.h"
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#include "timer0.h"
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#define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510
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#define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510
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#define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515
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#define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515
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void I2C_OutputAmplifierOffsets() {
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void I2C_OutputAmplifierOffsets(void) {
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        uint16_t timeout = setDelay(2000);
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        uint16_t timeout = setDelay(2000);
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        I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission
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        I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission
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        // Wait for I2C to finish transmission.
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        // Wait for I2C to finish transmission.
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        }
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        }
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        gyroAmplifierOffset_writeToEEProm();
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        gyroAmplifierOffset_writeToEEProm();
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        delay_ms_with_adc_measurement(70, 0);
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        delay_ms_with_adc_measurement(70, 0);
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}
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}
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void gyro_init() {
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void gyro_init(void) {
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  if (gyroAmplifierOffset_readFromEEProm()) {
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  if (gyroAmplifierOffset_readFromEEProm()) {
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    printf("gyro amp invalid, recalibrate.");
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    printf("gyro amp invalid, recalibrate.");
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        gyroAmplifierOffset.offsets[PITCH] =
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        gyroAmplifierOffset.offsets[PITCH] =
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                gyroAmplifierOffset.offsets[ROLL] =
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                gyroAmplifierOffset.offsets[ROLL] =
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        I2C_OutputAmplifierOffsets();
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        I2C_OutputAmplifierOffsets();
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  }
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  }
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}
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}
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- 
 
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void gyro_setDefaultParameters(void) {
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void gyro_setDefaultParameters(void) {
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  IMUConfig.gyroQuadrant = 0;
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  staticParams.accQuadrant = 4;
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  IMUConfig.accQuadrant = 4;
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  staticParams.imuReversedFlags = IMU_REVERSE_ACC_XY;
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  IMUConfig.imuReversedFlags = IMU_REVERSE_GYRO_YAW | IMU_REVERSE_ACC_XY;
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  staticParams.gyroD = 3;
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  staticParams.gyroD = 3;
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  staticParams.driftCompDivider = 1;
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  IMUConfig.driftCompDivider = 1;
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  staticParams.driftCompLimit = 200;
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  IMUConfig.driftCompLimit = 200;
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  staticParams.zerothOrderCorrection = 25;
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  IMUConfig.zerothOrderCorrection = 120;