src/main/sensors/sensors.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 typedef enum {
  21     SENSOR_INDEX_GYRO = 0,
  22     SENSOR_INDEX_ACC,
  23     SENSOR_INDEX_BARO,
  24     SENSOR_INDEX_MAG
  25 } sensorIndex_e;
  26
  27 #define MAX_SENSORS_TO_DETECT (SENSOR_INDEX_MAG + 1)
  28
  29 extern uint8_t detectedSensors[MAX_SENSORS_TO_DETECT];
  30
  31 typedef struct int16_flightDynamicsTrims_s {
  32     int16_t roll;
  33     int16_t pitch;
  34     int16_t yaw;
  35 } flightDynamicsTrims_def_t;
  36
  37 typedef union {
  38     int16_t raw[3];
  39     flightDynamicsTrims_def_t values;
  40 } flightDynamicsTrims_t;
  41
  42 #define CALIBRATING_GYRO_CYCLES             1000
  43 #define CALIBRATING_ACC_CYCLES              400
  44 #define CALIBRATING_BARO_CYCLES             200 // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles
  45
  46 typedef enum {
  47     SENSOR_GYRO = 1 << 0, // always present
  48     SENSOR_ACC = 1 << 1,
  49     SENSOR_BARO = 1 << 2,
  50     SENSOR_MAG = 1 << 3,
  51     SENSOR_SONAR = 1 << 4,
  52     SENSOR_GPS = 1 << 5,
  53 } sensors_e;
  54
  55 typedef enum {
  56     ALIGN_DEFAULT = 0,                                      // driver-provided alignment
  57     CW0_DEG = 1,
  58     CW90_DEG = 2,
  59     CW180_DEG = 3,
  60     CW270_DEG = 4,
  61     CW0_DEG_FLIP = 5,
  62     CW90_DEG_FLIP = 6,
  63     CW180_DEG_FLIP = 7,
  64     CW270_DEG_FLIP = 8
  65 } sensor_align_e;
  66
  67 typedef struct sensorAlignmentConfig_s {
  68     sensor_align_e gyro_align;              // gyro alignment
  69     sensor_align_e acc_align;               // acc alignment
  70     sensor_align_e mag_align;               // mag alignment
  71 } sensorAlignmentConfig_t;