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"

#define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510
#define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515

const uint8_t GYRO_REVERSED[3] = {0,0,1};
const uint8_t ACC_REVERSED[3] = {0,1,0};

// void gyro_init(void) {}
void gyro_calibrate(void) {
  uint8_t i, axis, factor, 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;
   
    for (axis=PITCH; axis<=YAW; axis++) {
        if (axis==YAW) factor = GYRO_SUMMATION_FACTOR_YAW;
        else factor = GYRO_SUMMATION_FACTOR_PITCHROLL;
       
        if(rawGyroSum[axis] < 510 * factor) DACValues[axis]--;
        else if(rawGyroSum[axis] >  515 * factor) DACValues[axis]++;
        else numberOfAxesInRange++;
   
        /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */
        if(DACValues[axis] < 10) {
          DACValues[axis] = 10;
        } else if(DACValues[axis] > 245) {
          DACValues[axis] = 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 Error! 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     = 250;
  staticParams.GyroAccFactor = 10;
  staticParams.GyroAccTrim   = 1;

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