void gyroSetup(void) {
// setup I2C port
gyroSetupPeripheral();
// external interrupt configuration.
// it is NOT USED at this moment.
ConfigINT1(RISING_EDGE_INT & EXT_INT_DISABLE & EXT_INT_PRI_3);
dead_zone = DEFAULT_DEAD_ZONE;
delay_ms(25); // power up delay, may not need...
gyroReset();
delay_ms(10);
//gyroWrite(REG_DLPF_FS, 0x1A); // 2000 deg/sec, 1 kHz Sampling rate, 98Hz LPF
gyroWrite(REG_DLPF_FS, 0x19); // 2000 deg/sec, 1 kHz Sampling rate, 196Hz LPF
gyroWrite(REG_INT_CFG, 0x00); // interrupt disabled
gyroWrite(REG_PWR_MGM, 0x03); // Set power management?
delay_ms(1); // PLL Settling time
is_ready = 1;
delay_ms(6); //From datasheet, standard settling time
gyroRunCalib(INITIAL_CALIB_NUM); // quick calibration
}
void gyroSetup(void) {
// setup I2C port
gyroSetupPeripheral();
// external interrupt configuration.
// it is NOT USED at this moment.
ConfigINT1(RISING_EDGE_INT & EXT_INT_DISABLE & EXT_INT_PRI_3);
delay_ms(25); // power up delay, may not need...
//gyroWrite(0x16, 0x1A); // 2000 deg/sec, 1 kHz Sampling rate, 98Hz LPF
gyroWrite(0x16, 0x19); // 2000 deg/sec, 1 kHz Sampling rate, 196Hz LPF
gyroWrite(0x17, 0x00); // interrupt disabled
gyroWrite(0x3e, 0x03);
delay_ms(1); // PLL Settling time
gyroRunCalib(100); // quick calibration. better to run this with > 1000.
}
