src/main/sensors/compass.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 "common/sensor_alignment.h"
  25 #include "drivers/io_types.h"
  26 #include "drivers/sensor.h"
  27 #include "pg/pg.h"
  28 #include "sensors/sensors.h"
  29
  30
  31 // Type of magnetometer used/detected
  32 typedef enum {
  33     MAG_DEFAULT = 0,
  34     MAG_NONE = 1,
  35     MAG_HMC5883 = 2,
  36     MAG_AK8975 = 3,
  37     MAG_AK8963 = 4,
  38     MAG_QMC5883 = 5,
  39     MAG_LIS3MDL = 6,
  40     MAG_MPU925X_AK8963 = 7
  41 } magSensor_e;
  42
  43 typedef struct mag_s {
  44     float magADC[XYZ_AXIS_COUNT];
  45 } mag_t;
  46
  47 extern mag_t mag;
  48
  49 typedef struct compassConfig_s {
  50     uint8_t mag_alignment;                  // mag alignment
  51     uint8_t mag_hardware;                   // Which mag hardware to use on boards with more than one device
  52     uint8_t mag_busType;
  53     uint8_t mag_i2c_device;
  54     uint8_t mag_i2c_address;
  55     uint8_t mag_spi_device;
  56     ioTag_t mag_spi_csn;
  57     ioTag_t interruptTag;
  58     flightDynamicsTrims_t magZero;
  59     sensorAlignment_t mag_customAlignment;
  60 } compassConfig_t;
  61
  62 PG_DECLARE(compassConfig_t, compassConfig);
  63
  64 bool compassIsHealthy(void);
  65 void compassUpdate(timeUs_t currentTime);
  66 bool compassInit(void);
  67 void compassPreInit(void);
  68 void compassStartCalibration(void);
  69 bool compassIsCalibrationComplete(void);
  70