Subversion Repositories FlightCtrl

//#include "ENC-03_FC1.3.h"
#include "printf_P.h"
#include "analog.h"
#include "twimaster.h"
#include "configuration.h"
#include "timer0.h"

const uint8_t GYROS_REVERSE[2] = {0,0};
#define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510
#define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515

#define DAC_PITCH 0
#define DAC_ROLL 1
#define DAC_YAW 2

// void gyro_init(void) {}
void gyro_calibrate(void) {
  uint8_t i, numberOfAxesInRange = 0;
  uint16_t timeout;
  // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0;
  timeout = SetDelay(2000);

  for(i = 140; i != 0; i--) {
    // If all 3 axis are in range, shorten the remaining number of iterations.
    if(numberOfAxesInRange == 3 && i > 10) i = 9;
   
    numberOfAxesInRange = 0;
   
    if(rawGyroSum[PITCH] < PITCHROLL_MINLIMIT) DACValues[PITCH]--;
    else if(rawGyroSum[PITCH] > PITCHROLL_MAXLIMIT) DACValues[PITCH]++;
    else numberOfAxesInRange++;
   
    if(rawGyroSum[ROLL] < PITCHROLL_MINLIMIT) DACValues[ROLL]--;
    else if(rawGyroSum[ROLL] > PITCHROLL_MAXLIMIT) DACValues[ROLL]++;
    else numberOfAxesInRange++;
   
    if(rawYawGyroSum < GYRO_SUMMATION_FACTOR_YAW * 510) DACValues[DAC_YAW]--;
    else if(rawYawGyroSum > GYRO_SUMMATION_FACTOR_YAW * 515) DACValues[DAC_YAW]++ ;
    else numberOfAxesInRange++;
   
    if(DACValues[PITCH] < 10) {
      /* GyroDefectNick = 1; */ DACValues[PITCH] = 10;
    } else if(DACValues[PITCH] > 245) {
      /* GyroDefectNick = 1; */ DACValues[PITCH] = 245;
    }
    if(DACValues[DAC_ROLL] < 10) {
      /* GyroDefectRoll = 1; */ DACValues[ROLL] = 10;
    } else if(DACValues[DAC_ROLL] > 245) {
      /* GyroDefectRoll = 1; */ DACValues[ROLL] = 245;
    }
    if(DACValues[DAC_YAW]  < 10) {
      /* GyroDefectYaw  = 1; */ DACValues[DAC_YAW]  = 10;
    } else if(DACValues[DAC_YAW]  > 245) {
      /* GyroDefectYaw  = 1; */ DACValues[DAC_YAW]  = 245;
    }

    I2C_Start(TWI_STATE_GYRO_OFFSET_TX);   // initiate data transmission
   
    // Wait for I2C to finish transmission.
    while(twi_state) {
      // Did it take too long?
      if(CheckDelay(timeout)) {
        printf("\r\n DAC or I2C Error1 check I2C, 3Vref, DAC, and BL-Ctrl");
        break;
      }
    }

    analog_start();

    Delay_ms_Mess(i<10 ? 10 : 2);
  }
  Delay_ms_Mess(70);
}

void gyro_setDefaults(void) {
  staticParams.GyroD = 3;
  staticParams.DriftComp = 32;
  staticParams.GyroAccFactor = 5;

  // Not used.
  staticParams.AngleTurnOverPitch = 85;
  staticParams.AngleTurnOverRoll = 85;
}