Stubbing out gyro access

Author: grantmd

Gyro.c

@@ -0,0 +1,33 @@
+/*
+    ChibiCopter - https://github.com/grantmd/ChibiCopter
+    A quadcopter platform running under ChibiOS/RT.
+
+    Read gyro data
+*/
+
+#include "ch.h"
+#include "hal.h"
+
+#include "Gyro.h"
+
+#include <math.h>
+
+uint8_t gyro_x, gyro_y, gyro_z;
+
+void GyroInit(void){
+}
+
+void GyroRead(void){
+}
+
+float GyroGetRollAngle(void){
+	return atan2f( (float)gyro_x, (float)sqrt( pow(gyro_y, 2) + pow(gyro_z, 2) ) );
+}
+
+float GyroGetPitchAngle(void){
+	return atan2f( (float)gyro_y, (float)sqrt( pow(gyro_x, 2) + pow(gyro_z, 2) ) );
+}
+
+float GyroGetYawAngle(void){
+	return atan2f( (float)sqrt( pow(gyro_x, 2) + pow(gyro_y, 2) ), (float)gyro_z );
+}

Gyro.h

@@ -0,0 +1,21 @@
+/*
+    ChibiCopter - https://github.com/grantmd/ChibiCopter
+    A quadcopter platform running under ChibiOS/RT.
+
+    Read gyro data
+*/
+
+#ifndef _GYRO_H_
+#define _GYRO_H_
+
+extern uint8_t gyro_x, gyro_y, gyro_z;
+
+// Public functions
+void GyroInit(void);
+void GyroRead(void);
+
+float GyroGetRollAngle(void);
+float GyroGetPitchAngle(void);
+float GyroGetYawAngle(void);
+
+#endif /* _GYRO_H_ */

Makefile

@@ -87,6 +87,7 @@ CSRC = $(PORTSRC) \
        $(CHIBIOS)/os/various/chprintf.c \
        Comms.c \
        Accel.c \
+       Gyro.c \
        Spektrum.c \
        Motors.c \
        GPS.c \

main.c

@@ -12,6 +12,7 @@
 
 #include "Comms.h"
 #include "Accel.h"
+#include "Gyro.h"
 #include "Spektrum.h"
 #include "Motors.h"
 #include "GPS.h"
@@ -73,6 +74,7 @@ int main(void){
 	 */
 	mavlink_system.state = MAV_STATE_CALIBRATING;
 	AccelInit();
+	GyroInit();
 
 	/*
 	 * Receiver I/O
@@ -135,6 +137,7 @@ int main(void){
 			 * 100hz task loop
 	 		 */
 			if (frameCounter % 1 == 0){
+				GyroRead();
 				AccelRead();
 			}