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/axis.h"
  32 #include "common/filter.h"
  33 #include "common/utils.h"
  34
  35 #include "config/feature.h"
  36
  37 #include "sensors/acceleration_init.h"
  38 #include "sensors/boardalignment.h"
  39
  40 #include "acceleration.h"
  41
  42 FAST_DATA_ZERO_INIT acc_t acc;                       // acc access functions
  43
  44 static void applyAccelerationTrims(const flightDynamicsTrims_t *accelerationTrims)
  45 {
  46     acc.accADC[X] -= accelerationTrims->raw[X];
  47     acc.accADC[Y] -= accelerationTrims->raw[Y];
  48     acc.accADC[Z] -= accelerationTrims->raw[Z];
  49 }
  50
  51 void accUpdate(timeUs_t currentTimeUs)
  52 {
  53     UNUSED(currentTimeUs);
  54
  55     if (!acc.dev.readFn(&acc.dev)) {
  56         return;
  57     }
  58     acc.isAccelUpdatedAtLeastOnce = true;
  59
  60     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
  61         const int16_t val =  acc.dev.ADCRaw[axis];
  62         acc.accADC[axis] = val;
  63     }
  64
  65     if (acc.dev.accAlign == ALIGN_CUSTOM) {
  66         alignSensorViaMatrix(acc.accADC, &acc.dev.rotationMatrix);
  67     } else {
  68         alignSensorViaRotation(acc.accADC, acc.dev.accAlign);
  69     }
  70
  71     if (!accIsCalibrationComplete()) {
  72         performAcclerationCalibration(&accelerometerConfigMutable()->accelerometerTrims);
  73     }
  74
  75     if (featureIsEnabled(FEATURE_INFLIGHT_ACC_CAL)) {
  76         performInflightAccelerationCalibration(&accelerometerConfigMutable()->accelerometerTrims);
  77     }
  78
  79     applyAccelerationTrims(accelerationRuntime.accelerationTrims);
  80
  81     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
  82         const int16_t val = acc.accADC[axis];
  83         acc.accADC[axis] = accelerationRuntime.accLpfCutHz ? pt2FilterApply(&accelerationRuntime.accFilter[axis], val) : val;
  84     }
  85 }
  86
  87 #endif