gyros.h

#ifndef GYROS_H
#define GYROS_H

#include "config.h"

/*** BEGIN DEFINES ***/
//#define GAIN_POT_REVERSE

// Gyro gain shift-right (after 32-bit multiplication of GainInADC[] value).
#define GYRO_GAIN_SHIFT 5

// Skip yaw gyro calculations if using external yaw gyro
//#define EXTERNAL_YAW_GYRO

#define ADC_MAX 1023
/*** END DEFINES ***/

/*** BEGIN HELPER MACROS ***/
#ifdef GAIN_POT_REVERSE
#undef GAIN_POT_REVERSE
#define GAIN_POT_REVERSE ADC_MAX -
#else
#define GAIN_POT_REVERSE
#endif
/*** END HELPER MACROS ***/

/*** BEGIN TYPES ***/
enum GyroDirection { GYRO_NORMAL = 0, GYRO_REVERSED };
enum GyroArrayIndex { ROLL = 0, PITCH, YAW };
/*** END TYPES ***/

/*** BEGIN VARIABLES ***/
extern uint16_t GainInADC[3];        // ADC result
extern int16_t  gyroADC[3];          // Holds Gyro ADC's
extern int16_t  gyroZero[3];         // used for calibrating Gyros on ground
/*** END VARIABLES ***/

/*** BEGIN PROTOTYPES ***/
void init_adc(void);
void read_adc(uint8_t channel);
void ReadGainPots(void);
void ReadGyros(void);
void CalibrateGyros(void);
void gyrosSetup(void);
void gyrosReverse(void);
/*** END PROTOTYPES ***/

#endif