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 "common/time.h"
  29 #include "drivers/exti.h"
  30 #include "drivers/bus.h"
  31 #include "drivers/sensor.h"
  32 #include "drivers/accgyro/accgyro_mpu.h"
  33
  34 #pragma GCC diagnostic push
  35 #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
  36 #include <pthread.h>
  37 #endif
  38
  39 #define GYRO_SCALE_2000DPS (2000.0f / (1 << 15))   // 16.384 dps/lsb scalefactor for 2000dps sensors
  40 #define GYRO_SCALE_4000DPS (4000.0f / (1 << 15))   //  8.192 dps/lsb scalefactor for 4000dps sensors
  41
  42 typedef enum {
  43     GYRO_NONE = 0,
  44     GYRO_DEFAULT,
  45     GYRO_MPU6050,
  46     GYRO_L3G4200D,
  47     GYRO_MPU3050,
  48     GYRO_L3GD20,
  49     GYRO_MPU6000,
  50     GYRO_MPU6500,
  51     GYRO_MPU9250,
  52     GYRO_ICM20601,
  53     GYRO_ICM20602,
  54     GYRO_ICM20608G,
  55     GYRO_ICM20649,
  56     GYRO_ICM20689,
  57     GYRO_ICM42605,
  58     GYRO_ICM42688P,
  59     GYRO_BMI160,
  60     GYRO_BMI270,
  61     GYRO_LSM6DSO,
  62     GYRO_FAKE
  63 } gyroHardware_e;
  64
  65 typedef enum {
  66     GYRO_HARDWARE_LPF_NORMAL,
  67     GYRO_HARDWARE_LPF_OPTION_1,
  68     GYRO_HARDWARE_LPF_OPTION_2,
  69 #ifdef USE_GYRO_DLPF_EXPERIMENTAL
  70     GYRO_HARDWARE_LPF_EXPERIMENTAL,
  71 #endif
  72     GYRO_HARDWARE_LPF_COUNT
  73 } gyroHardwareLpf_e;
  74
  75 typedef enum {
  76     GYRO_RATE_1_kHz,
  77     GYRO_RATE_1100_Hz,
  78     GYRO_RATE_3200_Hz,
  79     GYRO_RATE_6400_Hz,
  80     GYRO_RATE_6664_Hz,
  81     GYRO_RATE_8_kHz,
  82     GYRO_RATE_9_kHz,
  83     GYRO_RATE_32_kHz,
  84 } gyroRateKHz_e;
  85
  86 typedef enum {
  87     GYRO_EXTI_INIT = 0,
  88     GYRO_EXTI_INT_DMA,
  89     GYRO_EXTI_INT,
  90     GYRO_EXTI_NO_INT
  91 } gyroModeSPI_e;
  92
  93 typedef struct gyroDev_s {
  94 #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
  95     pthread_mutex_t lock;
  96 #endif
  97     sensorGyroInitFuncPtr initFn;                             // initialize function
  98     sensorGyroReadFuncPtr readFn;                             // read 3 axis data function
  99     sensorGyroReadDataFuncPtr temperatureFn;                  // read temperature if available
 100     extiCallbackRec_t exti;
 101     extDevice_t dev;
 102     float scale;                                             // scalefactor
 103     float gyroZero[XYZ_AXIS_COUNT];
 104     float gyroADC[XYZ_AXIS_COUNT];                           // gyro data after calibration and alignment
 105     int32_t gyroADCRawPrevious[XYZ_AXIS_COUNT];
 106     int16_t gyroADCRaw[XYZ_AXIS_COUNT];                      // raw data from sensor
 107     int16_t temperature;
 108     mpuDetectionResult_t mpuDetectionResult;
 109     sensor_align_e gyroAlign;
 110     gyroRateKHz_e gyroRateKHz;
 111     gyroModeSPI_e gyroModeSPI;
 112     uint32_t detectedEXTI;
 113     uint32_t gyroLastEXTI;
 114     uint32_t gyroSyncEXTI;
 115     int32_t gyroShortPeriod;
 116     int32_t gyroDmaMaxDuration;
 117     busSegment_t segments[2];
 118     volatile bool dataReady;
 119     bool gyro_high_fsr;
 120     uint8_t hardware_lpf;
 121     uint8_t hardware_32khz_lpf;
 122     uint8_t mpuDividerDrops;
 123     ioTag_t mpuIntExtiTag;
 124     uint8_t gyroHasOverflowProtection;
 125     gyroHardware_e gyroHardware;
 126     fp_rotationMatrix_t rotationMatrix;
 127     uint16_t gyroSampleRateHz;
 128     uint16_t accSampleRateHz;
 129     uint8_t accDataReg;
 130     uint8_t gyroDataReg;
 131 } gyroDev_t;
 132
 133 typedef struct accDev_s {
 134 #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
 135     pthread_mutex_t lock;
 136 #endif
 137     float acc_1G_rec;
 138     sensorAccInitFuncPtr initFn;                              // initialize function
 139     sensorAccReadFuncPtr readFn;                              // read 3 axis data function
 140     uint16_t acc_1G;
 141     int16_t ADCRaw[XYZ_AXIS_COUNT];
 142     mpuDetectionResult_t mpuDetectionResult;
 143     sensor_align_e accAlign;
 144     bool dataReady;
 145     gyroDev_t *gyro;
 146     bool acc_high_fsr;
 147     char revisionCode;                                      // a revision code for the sensor, if known
 148     uint8_t filler[2];
 149     fp_rotationMatrix_t rotationMatrix;
 150 } accDev_t;
 151
 152 static inline void accDevLock(accDev_t *acc)
 153 {
 154 #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
 155     pthread_mutex_lock(&acc->lock);
 156 #else
 157     (void)acc;
 158 #endif
 159 }
 160
 161 static inline void accDevUnLock(accDev_t *acc)
 162 {
 163 #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
 164     pthread_mutex_unlock(&acc->lock);
 165 #else
 166     (void)acc;
 167 #endif
 168 }
 169
 170 static inline void gyroDevLock(gyroDev_t *gyro)
 171 {
 172 #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
 173     pthread_mutex_lock(&gyro->lock);
 174 #else
 175     (void)gyro;
 176 #endif
 177 }
 178
 179 static inline void gyroDevUnLock(gyroDev_t *gyro)
 180 {
 181 #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
 182     pthread_mutex_unlock(&gyro->lock);
 183 #else
 184     (void)gyro;
 185 #endif
 186 }
 187 #pragma GCC diagnostic pop