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Use slightly flatter directory structure since some developers did not

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like too many folders.
Extracted code from some files into separate files to fit with the new
layout.
This commit is contained in:
Dominic Clifton 2014-04-08 22:07:37 +01:00
parent 39adc34278
commit 3bd4cd2ed2
84 changed files with 732 additions and 645 deletions
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51
src/sensors_gyro.c Normal file
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#include "board.h"
#include "mw.h"
#include "maths.h"
void GYRO_Common(void)
{
int axis;
static int32_t g[3];
static stdev_t var[3];
if (calibratingG > 0) {
for (axis = 0; axis < 3; axis++) {
// Reset g[axis] at start of calibration
if (calibratingG == CALIBRATING_GYRO_CYCLES) {
g[axis] = 0;
devClear(&var[axis]);
}
// Sum up 1000 readings
g[axis] += gyroADC[axis];
devPush(&var[axis], gyroADC[axis]);
// Clear global variables for next reading
gyroADC[axis] = 0;
gyroZero[axis] = 0;
if (calibratingG == 1) {
float dev = devStandardDeviation(&var[axis]);
// check deviation and startover if idiot was moving the model
if (mcfg.moron_threshold && dev > mcfg.moron_threshold) {
calibratingG = CALIBRATING_GYRO_CYCLES;
devClear(&var[0]);
devClear(&var[1]);
devClear(&var[2]);
g[0] = g[1] = g[2] = 0;
continue;
}
gyroZero[axis] = (g[axis] + (CALIBRATING_GYRO_CYCLES / 2)) / CALIBRATING_GYRO_CYCLES;
blinkLED(10, 15, 1);
}
}
calibratingG--;
}
for (axis = 0; axis < 3; axis++)
gyroADC[axis] -= gyroZero[axis];
}
void Gyro_getADC(void)
{
// range: +/- 8192; +/- 2000 deg/sec
gyro.read(gyroADC);
GYRO_Common();
}