Rev 2018 |
Rev 2092 |
Go to most recent revision |
Blame |
Compare with Previous |
Last modification |
View Log
| RSS feed
#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 = IMU_REVERSE_ACC_Z;
}