src/main/drivers/accgyro/accgyro.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 #include "platform.h"
  21 #include "common/axis.h"
  22 #include "drivers/sensor.h"
  23
  24 #define GYRO_LPF_256HZ      0
  25 #define GYRO_LPF_188HZ      1
  26 #define GYRO_LPF_98HZ       2
  27 #define GYRO_LPF_42HZ       3
  28 #define GYRO_LPF_20HZ       4
  29 #define GYRO_LPF_10HZ       5
  30 #define GYRO_LPF_5HZ        6
  31 #define GYRO_LPF_NONE       7
  32
  33 typedef struct {
  34     uint8_t gyroLpf;
  35     uint16_t gyroRateHz;
  36     uint8_t gyroConfigValues[2];
  37 } gyroFilterAndRateConfig_t;
  38
  39 typedef struct gyroDev_s {
  40     busDevice_t * busDev;
  41     sensorGyroInitFuncPtr initFn;                       // initialize function
  42     sensorGyroReadFuncPtr readFn;                       // read 3 axis data function
  43     sensorGyroReadDataFuncPtr temperatureFn;            // read temperature if available
  44     sensorGyroInterruptStatusFuncPtr intStatusFn;
  45     sensorGyroUpdateFuncPtr updateFn;
  46     float scale;                                        // scalefactor
  47     float gyroADCRaw[XYZ_AXIS_COUNT];
  48     float gyroZero[XYZ_AXIS_COUNT];
  49     uint8_t imuSensorToUse;
  50     uint8_t lpf;                                        // Configuration value: Hardware LPF setting
  51     uint32_t requestedSampleIntervalUs;                 // Requested sample interval
  52     volatile bool dataReady;
  53     uint32_t sampleRateIntervalUs;                      // Gyro driver should set this to actual sampling rate as signaled by IRQ
  54     sensor_align_e gyroAlign;
  55 } gyroDev_t;
  56
  57 typedef struct accDev_s {
  58     busDevice_t * busDev;
  59     sensorAccInitFuncPtr initFn;                        // initialize function
  60     sensorAccReadFuncPtr readFn;                        // read 3 axis data function
  61     uint16_t acc_1G;
  62     float ADCRaw[XYZ_AXIS_COUNT];
  63     uint8_t imuSensorToUse;
  64     sensor_align_e accAlign;
  65 } accDev_t;
  66
  67 const gyroFilterAndRateConfig_t * chooseGyroConfig(uint8_t desiredLpf, uint16_t desiredRateHz, const gyroFilterAndRateConfig_t * configs, int count);
  68 bool gyroCheckDataReady(struct gyroDev_s *gyro);