Subversion Repositories FlightCtrl

#include "invenSense.h"
#include "timer0.h"
#include "configuration.h"

#include <avr/io.h>

/*
 * Configuration for my prototype board with InvenSense gyros.
 * The FC 1.3 board is installed upside down, therefore Z acc is reversed but not roll.
 */

// The special auto-zero feature of this gyro needs a port.
#define AUTOZERO_PORT PORTD
#define AUTOZERO_DDR DDRD
#define AUTOZERO_BIT 5

void gyro_calibrate(void) {
        // If port not already set to output and high, do it.
        if (!(AUTOZERO_DDR & (1 << AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1 << AUTOZERO_BIT))) {
                AUTOZERO_PORT |= (1 << AUTOZERO_BIT);
                AUTOZERO_DDR |= (1 << AUTOZERO_BIT);
                delay_ms(100);
        }

        // Make a pulse on the auto-zero output line.
        AUTOZERO_PORT &= ~(1 << AUTOZERO_BIT);
        delay_ms(1);
        AUTOZERO_PORT |= (1 << AUTOZERO_BIT);
        // Delay_ms(10);
        delay_ms_with_adc_measurement(100, 0);
}

void gyro_init() {
        gyro_calibrate();
}

void gyro_setDefaultParameters(void) {
  staticParams.gyroD = 3;
  staticParams.driftCompDivider = 2;
  staticParams.driftCompLimit = 5;
  staticParams.zerothOrderCorrection = 1;
  staticParams.imuReversedFlags = 8;
}