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 #include <math.h>
  24
  25 #include "platform.h"
  26
  27 #ifdef USE_ACC
  28
  29 #include "build/debug.h"
  30
  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 #include "sensors/gyro.h"
  39
  40 #include "acceleration.h"
  41
  42 FAST_DATA_ZERO_INIT acc_t acc;                       // acc access functions
  43
  44 static inline void alignAccelerometer(void)
  45 {
  46     switch (acc.dev.accAlign) {
  47         case ALIGN_CUSTOM:
  48             alignSensorViaMatrix(&acc.accADC, &acc.dev.rotationMatrix);
  49             break;
  50         default:
  51             alignSensorViaRotation(&acc.accADC, acc.dev.accAlign);
  52             break;
  53     }
  54 }
  55
  56 static inline void calibrateAccelerometer(void)
  57 {
  58     if (!accIsCalibrationComplete()) {
  59         // acc.accADC is held at 0 until calibration is completed
  60         performAcclerationCalibration(&accelerometerConfigMutable()->accelerometerTrims);
  61     }
  62
  63     if (featureIsEnabled(FEATURE_INFLIGHT_ACC_CAL)) {
  64         performInflightAccelerationCalibration(&accelerometerConfigMutable()->accelerometerTrims);
  65     }
  66 }
  67
  68 static inline void applyAccelerationTrims(const flightDynamicsTrims_t *accelerationTrims)
  69 {
  70     acc.accADC.x -= accelerationTrims->raw[X];
  71     acc.accADC.y -= accelerationTrims->raw[Y];
  72     acc.accADC.z -= accelerationTrims->raw[Z];
  73 }
  74
  75 static inline void postProcessAccelerometer(void)
  76 {
  77     static vector3_t accAdcPrev;
  78
  79     for (unsigned axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
  80
  81         // Apply anti-alias filter for attitude task (if enabled)
  82         if (axis == gyro.gyroDebugAxis) {
  83             DEBUG_SET(DEBUG_ACCELEROMETER, 0, lrintf(acc.accADC.v[axis]));
  84         }
  85
  86         if (accelerationRuntime.accLpfCutHz) {
  87             acc.accADC.v[axis] = pt2FilterApply(&accelerationRuntime.accFilter[axis], acc.accADC.v[axis]);
  88         }
  89
  90         // Calculate derivative of acc (jerk)
  91         acc.jerk.v[axis] = (acc.accADC.v[axis] - accAdcPrev.v[axis]) * acc.sampleRateHz;
  92         accAdcPrev.v[axis] = acc.accADC.v[axis];
  93
  94         if (axis == gyro.gyroDebugAxis) {
  95             DEBUG_SET(DEBUG_ACCELEROMETER, 1, lrintf(acc.accADC.v[axis]));
  96             DEBUG_SET(DEBUG_ACCELEROMETER, 3, lrintf(acc.jerk.v[axis] * 1e-2f));
  97         }
  98     }
  99
 100     acc.accMagnitude = vector3Norm(&acc.accADC) * acc.dev.acc_1G_rec;
 101     acc.jerkMagnitude = vector3Norm(&acc.jerk) * acc.dev.acc_1G_rec;
 102
 103     DEBUG_SET(DEBUG_ACCELEROMETER, 2, lrintf(acc.accMagnitude * 1e3f));
 104     DEBUG_SET(DEBUG_ACCELEROMETER, 4, lrintf(acc.jerkMagnitude * 1e3f));
 105 }
 106
 107 void accUpdate(timeUs_t currentTimeUs)
 108 {
 109     UNUSED(currentTimeUs);
 110
 111     if (!acc.dev.readFn(&acc.dev)) {
 112         return;
 113     }
 114
 115     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
 116         acc.accADC.v[axis] = acc.dev.ADCRaw[axis];
 117     }
 118
 119     alignAccelerometer();
 120     calibrateAccelerometer();
 121     applyAccelerationTrims(accelerationRuntime.accelerationTrims);
 122     postProcessAccelerometer();
 123
 124     acc.isAccelUpdatedAtLeastOnce = true;
 125 }
 126
 127 #endif // USE_ACC