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62 lines
1.5 KiB
C++
62 lines
1.5 KiB
C++
/*
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* Copyright (C) OpenTX
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*
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* Based on code named
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* th9x - http://code.google.com/p/th9x
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* er9x - http://code.google.com/p/er9x
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* gruvin9x - http://code.google.com/p/gruvin9x
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*
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* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*/
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#include <inttypes.h>
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#include "myeeprom.h"
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#define GYRO_SAMPLES_EXPONENT 3
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#define GYRO_SAMPLES_COUNT (2 ^ GYRO_SAMPLES_EXPONENT)
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class GyroBuffer {
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protected:
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union {
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int16_t values[GYRO_VALUES_COUNT];
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uint8_t raw[GYRO_BUFFER_LENGTH];
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} samples[GYRO_SAMPLES_COUNT];
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int32_t sums[GYRO_VALUES_COUNT];
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uint8_t index;
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public:
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int read(int32_t values[GYRO_VALUES_COUNT]);
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};
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class Gyro {
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protected:
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GyroBuffer gyroBuffer;
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uint8_t errors = 0;
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public:
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int16_t outputs[2];
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void wakeup();
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int16_t scaledX()
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{
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return limit(-RESX, (int)(outputs[0] - g_eeGeneral.gyroOffset * RESX/180) * (180 / (GYRO_MAX_DEFAULT + g_eeGeneral.gyroMax)), RESX);
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}
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int16_t scaledY()
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{
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return limit(-RESX, outputs[1] * (180 / (GYRO_MAX_DEFAULT + g_eeGeneral.gyroMax)), RESX);
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}
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};
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extern Gyro gyro;
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