src/main/sensors/acceleration.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 "pg/pg.h"
  25 #include "drivers/accgyro/accgyro.h"
  26 #include "sensors/sensors.h"
  27
  28 // Type of accelerometer used/detected
  29 typedef enum {
  30     ACC_DEFAULT,
  31     ACC_NONE,
  32     ACC_ADXL345,
  33     ACC_MPU6050,
  34     ACC_MMA8452,
  35     ACC_BMA280,
  36     ACC_LSM303DLHC,
  37     ACC_MPU6000,
  38     ACC_MPU6500,
  39     ACC_MPU9250,
  40     ACC_ICM20601,
  41     ACC_ICM20602,
  42     ACC_ICM20608G,
  43     ACC_ICM20649,
  44     ACC_ICM20689,
  45     ACC_ICM42605,
  46     ACC_ICM42688P,
  47     ACC_BMI160,
  48     ACC_BMI270,
  49     ACC_LSM6DSO,
  50     ACC_FAKE
  51 } accelerationSensor_e;
  52
  53 typedef struct acc_s {
  54     accDev_t dev;
  55     uint16_t sampleRateHz;
  56     float accADC[XYZ_AXIS_COUNT];
  57     bool isAccelUpdatedAtLeastOnce;
  58 } acc_t;
  59
  60 extern acc_t acc;
  61
  62 typedef struct rollAndPitchTrims_s {
  63     int16_t roll;
  64     int16_t pitch;
  65 } rollAndPitchTrims_t_def;
  66
  67 typedef union rollAndPitchTrims_u {
  68     int16_t raw[2];
  69     rollAndPitchTrims_t_def values;
  70 } rollAndPitchTrims_t;
  71
  72 #if defined(USE_ACC)
  73 typedef struct accelerometerConfig_s {
  74     uint16_t acc_lpf_hz;                    // cutoff frequency for the low pass filter used on the acc z-axis for althold in Hz
  75     uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
  76     bool acc_high_fsr;
  77     flightDynamicsTrims_t accZero;
  78     rollAndPitchTrims_t accelerometerTrims;
  79 } accelerometerConfig_t;
  80
  81 PG_DECLARE(accelerometerConfig_t, accelerometerConfig);
  82 #endif
  83
  84 bool accInit(uint16_t accSampleRateHz);
  85 bool accIsCalibrationComplete(void);
  86 bool accHasBeenCalibrated(void);
  87 void accStartCalibration(void);
  88 void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims);
  89 void accUpdate(timeUs_t currentTimeUs, rollAndPitchTrims_t *rollAndPitchTrims);
  90 bool accGetAccumulationAverage(float *accumulation);
  91 union flightDynamicsTrims_u;
  92 void setAccelerationTrims(union flightDynamicsTrims_u *accelerationTrimsToUse);
  93 void accInitFilters(void);
  94 void applyAccelerometerTrimsDelta(union rollAndPitchTrims_u *rollAndPitchTrimsDelta);