src/main/sensors/acceleration.h

   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 #pragma once
  22
  23 #include "common/time.h"
  24 #include "pg/pg.h"
  25 #include "drivers/accgyro/accgyro.h"
  26 #include "sensors/sensors.h"
  27
  28 // Type of accelerometer used/detected
  29 typedef enum {
  30     ACC_DEFAULT,
  31     ACC_NONE,
  32     ACC_ADXL345,
  33     ACC_MPU6050,
  34     ACC_MMA8452,
  35     ACC_BMA280,
  36     ACC_LSM303DLHC,
  37     ACC_MPU6000,
  38     ACC_MPU6500,
  39     ACC_MPU9250,
  40     ACC_ICM20601,
  41     ACC_ICM20602,
  42     ACC_ICM20608G,
  43     ACC_ICM20649,
  44     ACC_ICM20689,
  45     ACC_ICM42605,
  46     ACC_ICM42688P,
  47     ACC_BMI160,
  48     ACC_BMI270,
  49     ACC_LSM6DSO,
  50     ACC_LSM6DSV16X,
  51     ACC_VIRTUAL
  52 } accelerationSensor_e;
  53
  54 typedef struct acc_s {
  55     accDev_t dev;
  56     uint16_t sampleRateHz;
  57     vector3_t accADC;
  58     bool isAccelUpdatedAtLeastOnce;
  59     float accMagnitude;
  60     float accDelta;
  61 } acc_t;
  62
  63 extern acc_t acc;
  64
  65 typedef struct rollAndPitchTrims_s {
  66     int16_t roll;
  67     int16_t pitch;
  68 } rollAndPitchTrims_t_def;
  69
  70 typedef union rollAndPitchTrims_u {
  71     int16_t raw[2];
  72     rollAndPitchTrims_t_def values;
  73 } rollAndPitchTrims_t;
  74
  75 #if defined(USE_ACC)
  76 typedef struct accelerometerConfig_s {
  77     uint16_t acc_lpf_hz;                    // cutoff frequency for the low pass filter used on the acc z-axis for althold in Hz
  78     uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
  79     bool acc_high_fsr;
  80     flightDynamicsTrims_t accZero;
  81     rollAndPitchTrims_t accelerometerTrims;
  82 } accelerometerConfig_t;
  83
  84 PG_DECLARE(accelerometerConfig_t, accelerometerConfig);
  85 #endif
  86
  87 bool accInit(uint16_t accSampleRateHz);
  88 bool accIsCalibrationComplete(void);
  89 bool accHasBeenCalibrated(void);
  90 void accStartCalibration(void);
  91 void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims);
  92 void accUpdate(timeUs_t currentTimeUs);
  93 union flightDynamicsTrims_u;
  94 void setAccelerationTrims(union flightDynamicsTrims_u *accelerationTrimsToUse);
  95 void accInitFilters(void);
  96 void applyAccelerometerTrimsDelta(union rollAndPitchTrims_u *rollAndPitchTrimsDelta);