src/main/drivers/accgyro/accgyro.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 "platform.h"
  24
  25 #include "common/axis.h"
  26 #include "common/maths.h"
  27 #include "common/sensor_alignment.h"
  28 #include "drivers/exti.h"
  29 #include "drivers/bus.h"
  30 #include "drivers/sensor.h"
  31 #include "drivers/accgyro/accgyro_mpu.h"
  32
  33 #pragma GCC diagnostic push
  34 #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
  35 #include <pthread.h>
  36 #endif
  37
  38 #define GYRO_SCALE_2000DPS (2000.0f / (1 << 15))   // 16.384 dps/lsb scalefactor for 2000dps sensors
  39 #define GYRO_SCALE_4000DPS (4000.0f / (1 << 15))   //  8.192 dps/lsb scalefactor for 4000dps sensors
  40
  41 typedef enum {
  42     GYRO_NONE = 0,
  43     GYRO_DEFAULT,
  44     GYRO_MPU6050,
  45     GYRO_L3G4200D,
  46     GYRO_MPU3050,
  47     GYRO_L3GD20,
  48     GYRO_MPU6000,
  49     GYRO_MPU6500,
  50     GYRO_MPU9250,
  51     GYRO_ICM20601,
  52     GYRO_ICM20602,
  53     GYRO_ICM20608G,
  54     GYRO_ICM20649,
  55     GYRO_ICM20689,
  56     GYRO_ICM42605,
  57     GYRO_BMI160,
  58     GYRO_BMI270,
  59     GYRO_LSM6DSO,
  60     GYRO_FAKE
  61 } gyroHardware_e;
  62
  63 typedef enum {
  64     GYRO_HARDWARE_LPF_NORMAL,
  65 #ifdef USE_GYRO_DLPF_EXPERIMENTAL
  66     GYRO_HARDWARE_LPF_EXPERIMENTAL
  67 #endif
  68 } gyroHardwareLpf_e;
  69
  70 typedef enum {
  71     GYRO_RATE_1_kHz,
  72     GYRO_RATE_1100_Hz,
  73     GYRO_RATE_3200_Hz,
  74     GYRO_RATE_6400_Hz,
  75     GYRO_RATE_6664_Hz,
  76     GYRO_RATE_8_kHz,
  77     GYRO_RATE_9_kHz,
  78     GYRO_RATE_32_kHz,
  79 } gyroRateKHz_e;
  80
  81 typedef struct gyroDev_s {
  82 #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
  83     pthread_mutex_t lock;
  84 #endif
  85     sensorGyroInitFuncPtr initFn;                             // initialize function
  86     sensorGyroReadFuncPtr readFn;                             // read 3 axis data function
  87     sensorGyroReadDataFuncPtr temperatureFn;                  // read temperature if available
  88     extiCallbackRec_t exti;
  89     extDevice_t dev;
  90     float scale;                                             // scalefactor
  91     float gyroZero[XYZ_AXIS_COUNT];
  92     float gyroADC[XYZ_AXIS_COUNT];                           // gyro data after calibration and alignment
  93     int32_t gyroADCRawPrevious[XYZ_AXIS_COUNT];
  94     int16_t gyroADCRaw[XYZ_AXIS_COUNT];                      // raw data from sensor
  95     int16_t temperature;
  96     mpuDetectionResult_t mpuDetectionResult;
  97     sensor_align_e gyroAlign;
  98     gyroRateKHz_e gyroRateKHz;
  99     bool dataReady;
 100     bool gyro_high_fsr;
 101     uint8_t hardware_lpf;
 102     uint8_t hardware_32khz_lpf;
 103     uint8_t mpuDividerDrops;
 104     ioTag_t mpuIntExtiTag;
 105     uint8_t gyroHasOverflowProtection;
 106     gyroHardware_e gyroHardware;
 107     fp_rotationMatrix_t rotationMatrix;
 108     uint16_t gyroSampleRateHz;
 109     uint16_t accSampleRateHz;
 110 } gyroDev_t;
 111
 112 typedef struct accDev_s {
 113 #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
 114     pthread_mutex_t lock;
 115 #endif
 116     float acc_1G_rec;
 117     sensorAccInitFuncPtr initFn;                              // initialize function
 118     sensorAccReadFuncPtr readFn;                              // read 3 axis data function
 119     uint16_t acc_1G;
 120     int16_t ADCRaw[XYZ_AXIS_COUNT];
 121     mpuDetectionResult_t mpuDetectionResult;
 122     sensor_align_e accAlign;
 123     bool dataReady;
 124     gyroDev_t *gyro;
 125     bool acc_high_fsr;
 126     char revisionCode;                                      // a revision code for the sensor, if known
 127     uint8_t filler[2];
 128     fp_rotationMatrix_t rotationMatrix;
 129 } accDev_t;
 130
 131 static inline void accDevLock(accDev_t *acc)
 132 {
 133 #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
 134     pthread_mutex_lock(&acc->lock);
 135 #else
 136     (void)acc;
 137 #endif
 138 }
 139
 140 static inline void accDevUnLock(accDev_t *acc)
 141 {
 142 #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
 143     pthread_mutex_unlock(&acc->lock);
 144 #else
 145     (void)acc;
 146 #endif
 147 }
 148
 149 static inline void gyroDevLock(gyroDev_t *gyro)
 150 {
 151 #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
 152     pthread_mutex_lock(&gyro->lock);
 153 #else
 154     (void)gyro;
 155 #endif
 156 }
 157
 158 static inline void gyroDevUnLock(gyroDev_t *gyro)
 159 {
 160 #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
 161     pthread_mutex_unlock(&gyro->lock);
 162 #else
 163     (void)gyro;
 164 #endif
 165 }
 166 #pragma GCC diagnostic pop