src/main/sensors/acceleration.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23
  24 #include "platform.h"
  25
  26 #ifdef USE_ACC
  27
  28 #include "build/debug.h"
  29
  30 #include "common/axis.h"
  31 #include "common/filter.h"
  32 #include "common/utils.h"
  33
  34 #include "config/feature.h"
  35
  36 #include "sensors/acceleration_init.h"
  37 #include "sensors/boardalignment.h"
  38
  39 #include "acceleration.h"
  40
  41 FAST_DATA_ZERO_INIT acc_t acc;                       // acc access functions
  42
  43 static void applyAccelerationTrims(const flightDynamicsTrims_t *accelerationTrims)
  44 {
  45     acc.accADC[X] -= accelerationTrims->raw[X];
  46     acc.accADC[Y] -= accelerationTrims->raw[Y];
  47     acc.accADC[Z] -= accelerationTrims->raw[Z];
  48 }
  49
  50 void accUpdate(timeUs_t currentTimeUs, rollAndPitchTrims_t *rollAndPitchTrims)
  51 {
  52     UNUSED(currentTimeUs);
  53
  54     if (!acc.dev.readFn(&acc.dev)) {
  55         return;
  56     }
  57     acc.isAccelUpdatedAtLeastOnce = true;
  58
  59     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
  60         DEBUG_SET(DEBUG_ACCELEROMETER, axis, acc.dev.ADCRaw[axis]);
  61         acc.accADC[axis] = acc.dev.ADCRaw[axis];
  62     }
  63
  64     if (accelerationRuntime.accLpfCutHz) {
  65         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
  66             acc.accADC[axis] = biquadFilterApply(&accelerationRuntime.accFilter[axis], acc.accADC[axis]);
  67         }
  68     }
  69
  70     if (acc.dev.accAlign == ALIGN_CUSTOM) {
  71         alignSensorViaMatrix(acc.accADC, &acc.dev.rotationMatrix);
  72     } else {
  73         alignSensorViaRotation(acc.accADC, acc.dev.accAlign);
  74     }
  75
  76     if (!accIsCalibrationComplete()) {
  77         performAcclerationCalibration(rollAndPitchTrims);
  78     }
  79
  80     if (featureIsEnabled(FEATURE_INFLIGHT_ACC_CAL)) {
  81         performInflightAccelerationCalibration(rollAndPitchTrims);
  82     }
  83
  84     applyAccelerationTrims(accelerationRuntime.accelerationTrims);
  85
  86     ++accelerationRuntime.accumulatedMeasurementCount;
  87     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
  88         accelerationRuntime.accumulatedMeasurements[axis] += acc.accADC[axis];
  89     }
  90 }
  91
  92 bool accGetAccumulationAverage(float *accumulationAverage)
  93 {
  94     if (accelerationRuntime.accumulatedMeasurementCount > 0) {
  95         // If we have gyro data accumulated, calculate average rate that will yield the same rotation
  96         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
  97             accumulationAverage[axis] = accelerationRuntime.accumulatedMeasurements[axis] / accelerationRuntime.accumulatedMeasurementCount;
  98             accelerationRuntime.accumulatedMeasurements[axis] = 0.0f;
  99         }
 100         accelerationRuntime.accumulatedMeasurementCount = 0;
 101         return true;
 102     } else {
 103         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
 104             accumulationAverage[axis] = 0.0f;
 105         }
 106         return false;
 107     }
 108 }
 109
 110 #endif