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6 | 6 | ||
7 | /* |
7 | /* |
8 | * Configuration for my prototype board with InvenSense gyros. |
8 | * Configuration for my prototype board with InvenSense gyros. |
9 | * The FC 1.3 board is installed upside down, therefore Z acc is reversed but not roll. |
9 | * The FC 1.3 board is installed upside down, therefore Z acc is reversed but not roll. |
10 | */ |
10 | */ |
11 | const uint8_t GYRO_REVERSED[3] = {0,0,0}; |
11 | const uint8_t GYRO_REVERSED[3] = { 0, 0, 0 }; |
Line 12... | Line 12... | ||
12 | const uint8_t ACC_REVERSED[3] = {0,0,1}; |
12 | const uint8_t ACC_REVERSED[3] = { 0, 0, 1 }; |
13 | 13 | ||
14 | #define AUTOZERO_PORT PORTD |
14 | #define AUTOZERO_PORT PORTD |
Line 15... | Line 15... | ||
15 | #define AUTOZERO_DDR DDRD |
15 | #define AUTOZERO_DDR DDRD |
16 | #define AUTOZERO_BIT 5 |
16 | #define AUTOZERO_BIT 5 |
17 | 17 | ||
- | 18 | void gyro_calibrate() { |
|
18 | void gyro_calibrate() { |
19 | // If port not already set to output and high, do it. |
19 | // If port not already set to output and high, do it. |
20 | if (!(AUTOZERO_DDR & (1 << AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1 |
20 | if (!(AUTOZERO_DDR & (1<<AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1<<AUTOZERO_BIT))) { |
21 | << AUTOZERO_BIT))) { |
21 | AUTOZERO_PORT |= (1<<AUTOZERO_BIT); |
22 | AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
22 | AUTOZERO_DDR |= (1<<AUTOZERO_BIT); |
23 | AUTOZERO_DDR |= (1 << AUTOZERO_BIT); |
23 | Delay_ms(100); |
24 | Delay_ms(100); |
24 | } |
25 | } |
25 | 26 | ||
26 | // Make a pulse on the auto-zero output line. |
27 | // Make a pulse on the auto-zero output line. |
27 | AUTOZERO_PORT &= ~(1<<AUTOZERO_BIT); |
28 | AUTOZERO_PORT &= ~(1 << AUTOZERO_BIT); |
28 | Delay_ms(1); |
29 | Delay_ms(1); |
29 | AUTOZERO_PORT |= (1<<AUTOZERO_BIT); |
30 | AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
Line 30... | Line 31... | ||
30 | // Delay_ms(10); |
31 | // Delay_ms(10); |
31 | Delay_ms_Mess(100); |
32 | Delay_ms_Mess(100); |
32 | } |
33 | } |
33 | 34 | ||
34 | void gyro_setDefaults(void) { |
35 | void gyro_setDefaults(void) { |
35 | staticParams.GyroD = 3; |
36 | staticParams.GyroD = 3; |
36 | staticParams.GyroAccFactor = 1; |
37 | staticParams.GyroAccFactor = 1; |
37 | staticParams.DriftComp = 10; |
38 | staticParams.DriftComp = 10; |
38 | 39 |