src/main/sensors/compass.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 "common/axis.h"
  21 #include "common/time.h"
  22
  23 #include "config/parameter_group.h"
  24
  25 #include "drivers/compass/compass.h"
  26
  27 #include "sensors/sensors.h"
  28
  29 // Type of magnetometer used/detected
  30 typedef enum {
  31     MAG_NONE = 0,
  32     MAG_AUTODETECT,
  33     MAG_HMC5883,
  34     MAG_AK8975,
  35     MAG_MAG3110,
  36     MAG_AK8963,
  37     MAG_IST8310,
  38     MAG_QMC5883,
  39     MAG_MPU9250,
  40     MAG_IST8308,
  41     MAG_LIS3MDL,
  42     MAG_MSP,
  43     MAG_RM3100,
  44     MAG_VCM5883,
  45     MAG_MLX90393,
  46     MAG_FAKE,
  47     MAG_MAX = MAG_FAKE
  48 } magSensor_e;
  49
  50 typedef struct mag_s {
  51     magDev_t dev;
  52     float magADC[XYZ_AXIS_COUNT];
  53 } mag_t;
  54
  55 extern mag_t mag;
  56
  57 #ifdef USE_MAG
  58
  59 typedef struct compassConfig_s {
  60     int16_t mag_declination;                // Get your magnetic declination from here : http://magnetic-declination.com/
  61                                             // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
  62     sensor_align_e mag_align;               // on-board mag alignment. Ignored if externally aligned via *DeciDegrees.
  63     uint8_t mag_hardware;                   // Which mag hardware to use on boards with more than one device
  64     flightDynamicsTrims_t magZero;
  65     int16_t magGain[XYZ_AXIS_COUNT];
  66 #ifdef USE_DUAL_MAG
  67     uint8_t mag_to_use;
  68 #endif
  69     uint8_t magCalibrationTimeLimit;        // Time for compass calibration (seconds)
  70     int16_t rollDeciDegrees;                // Alignment for external mag on the roll (X) axis (0.1deg)
  71     int16_t pitchDeciDegrees;               // Alignment for external mag on the pitch (Y) axis (0.1deg)
  72     int16_t yawDeciDegrees;                 // Alignment for external mag on the yaw (Z) axis (0.1deg)
  73 } compassConfig_t;
  74
  75 PG_DECLARE(compassConfig_t, compassConfig);
  76
  77 bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse);
  78 bool compassInit(void);
  79 void compassUpdate(timeUs_t currentTimeUs);
  80 bool compassIsReady(void);
  81 bool compassIsHealthy(void);
  82 bool compassIsCalibrationComplete(void);
  83
  84 #endif