src/main/sensors/gyro.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/maths.h"
  22 #include "common/vector.h"
  23 #include "common/time.h"
  24 #include "config/parameter_group.h"
  25 #include "drivers/sensor.h"
  26 #include "flight/dynamic_gyro_notch.h"
  27 #include "flight/secondary_dynamic_gyro_notch.h"
  28 #if !defined(SITL_BUILD)
  29 #include "arm_math.h"
  30 #else
  31 #include <math.h>
  32 #endif
  33
  34 typedef enum {
  35     GYRO_NONE = 0,
  36     GYRO_AUTODETECT,
  37     GYRO_MPU6000,
  38     GYRO_MPU6500,
  39     GYRO_MPU9250,
  40     GYRO_BMI160,
  41     GYRO_ICM20689,
  42     GYRO_BMI088,
  43     GYRO_ICM42605,
  44     GYRO_BMI270,
  45     GYRO_LSM6DXX,
  46     GYRO_FAKE
  47
  48 } gyroSensor_e;
  49
  50 typedef enum {
  51     DYNAMIC_NOTCH_MODE_2D = 0,
  52     DYNAMIC_NOTCH_MODE_3D
  53 } dynamicGyroNotchMode_e;
  54
  55 typedef enum {
  56     GYRO_FILTER_MODE_OFF = 0,
  57     GYRO_FILTER_MODE_STATIC = 1,
  58     GYRO_FILTER_MODE_DYNAMIC = 2,
  59     GYRO_FILTER_MODE_ADAPTIVE = 3
  60 } gyroFilterMode_e;
  61
  62 typedef struct gyro_s {
  63     bool initialized;
  64     uint32_t targetLooptime;
  65     float gyroADCf[XYZ_AXIS_COUNT];
  66     float gyroRaw[XYZ_AXIS_COUNT];
  67 } gyro_t;
  68
  69 extern gyro_t gyro;
  70 extern dynamicGyroNotchState_t dynamicGyroNotchState;
  71
  72 typedef struct gyroConfig_s {
  73     uint16_t looptime;                      // imu loop time in us
  74     uint16_t  gyro_anti_aliasing_lpf_hz;
  75 #ifdef USE_DUAL_GYRO
  76     uint8_t  gyro_to_use;
  77 #endif
  78     uint16_t gyro_main_lpf_hz;
  79     uint16_t gyroDynamicLpfMinHz;
  80     uint16_t gyroDynamicLpfMaxHz;
  81     uint8_t gyroDynamicLpfCurveExpo;
  82 #ifdef USE_DYNAMIC_FILTERS
  83     uint16_t dynamicGyroNotchQ;
  84     uint16_t dynamicGyroNotchMinHz;
  85     uint8_t dynamicGyroNotchEnabled;
  86     uint8_t dynamicGyroNotchMode;
  87     uint16_t dynamicGyroNotch3dQ;
  88 #endif
  89 #ifdef USE_GYRO_KALMAN
  90     uint16_t kalman_q;
  91     uint8_t kalmanEnabled;
  92 #endif
  93     bool init_gyro_cal_enabled;
  94     int16_t gyro_zero_cal[XYZ_AXIS_COUNT];
  95     float gravity_cmss_cal;
  96 #ifdef USE_ADAPTIVE_FILTER
  97     float adaptiveFilterTarget;
  98     uint16_t adaptiveFilterMinHz;
  99     uint16_t adaptiveFilterMaxHz;
 100     float adaptiveFilterStdLpfHz;
 101     float adaptiveFilterHpfHz;
 102     float adaptiveFilterIntegratorThresholdHigh;
 103     float adaptiveFilterIntegratorThresholdLow;
 104 #endif
 105     uint8_t gyroFilterMode;
 106
 107     uint8_t gyroLuluSampleCount;
 108     bool gyroLuluEnabled;
 109 } gyroConfig_t;
 110
 111 PG_DECLARE(gyroConfig_t, gyroConfig);
 112
 113 bool gyroInit(void);
 114 void gyroGetMeasuredRotationRate(fpVector3_t *imuMeasuredRotationBF);
 115 void gyroUpdate(void);
 116 void gyroFilter(void);
 117 void gyroStartCalibration(void);
 118 bool gyroIsCalibrationComplete(void);
 119 bool gyroReadTemperature(void);
 120 int16_t gyroGetTemperature(void);
 121 int16_t gyroRateDps(int axis);
 122 void gyroUpdateDynamicLpf(float cutoffFreq);
 123 float averageAbsGyroRates(void);