src/main/sensors/opflow.h

   1 /*
   2  * This file is part of INAV Project.
   3  *
   4  * This Source Code Form is subject to the terms of the Mozilla Public
   5  * License, v. 2.0. If a copy of the MPL was not distributed with this file,
   6  * You can obtain one at http://mozilla.org/MPL/2.0/.
   7  *
   8  * Alternatively, the contents of this file may be used under the terms
   9  * of the GNU General Public License Version 3, as described below:
  10  *
  11  * This file is free software: you may copy, redistribute and/or modify
  12  * it under the terms of the GNU General Public License as published by the
  13  * Free Software Foundation, either version 3 of the License, or (at your
  14  * option) any later version.
  15  *
  16  * This file is distributed in the hope that it will be useful, but
  17  * WITHOUT ANY WARRANTY; without even the implied warranty of
  18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
  19  * Public License for more details.
  20  *
  21  * You should have received a copy of the GNU General Public License
  22  * along with this program. If not, see http://www.gnu.org/licenses/.
  23  */
  24
  25 #pragma once
  26
  27 #include <stdint.h>
  28 #include "config/parameter_group.h"
  29 #include "drivers/opflow/opflow.h"
  30
  31 typedef enum {
  32     OPFLOW_NONE         = 0,
  33     OPFLOW_CXOF         = 1,
  34     OPFLOW_MSP          = 2,
  35     OPFLOW_FAKE         = 3,
  36 } opticalFlowSensor_e;
  37
  38 typedef enum {
  39     OPFLOW_QUALITY_INVALID,
  40     OPFLOW_QUALITY_VALID
  41 } opflowQuality_e;
  42
  43 typedef struct opticalFlowConfig_s  {
  44     uint8_t opflow_hardware;
  45     uint8_t opflow_align;
  46     float   opflow_scale;       // Scaler value to convert between raw sensor units to [deg/s]
  47 } opticalFlowConfig_t;
  48
  49 PG_DECLARE(opticalFlowConfig_t, opticalFlowConfig);
  50
  51 typedef struct opflow_s {
  52     opflowDev_t dev;
  53
  54     opflowQuality_e flowQuality;
  55     timeUs_t        lastValidUpdate;
  56     bool            isHwHealty;
  57     float           flowRate[2];    // optical flow angular rate in rad/sec measured about the X and Y body axis
  58     float           bodyRate[2];    // body inertial angular rate in rad/sec measured about the X and Y body axis
  59
  60     float           gyroBodyRateAcc[2];
  61     timeUs_t        gyroBodyRateTimeUs;
  62
  63     uint8_t         rawQuality;
  64 } opflow_t;
  65
  66 extern opflow_t opflow;
  67
  68 void opflowGyroUpdateCallback(timeUs_t gyroUpdateDeltaUs);
  69 bool opflowInit(void);
  70 void opflowUpdate(timeUs_t currentTimeUs);
  71 bool opflowIsHealthy(void);
  72 void opflowStartCalibration(void);