src/main/sensors/acceleration.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 "config/parameter_group.h"
  24 #include "drivers/accgyro/accgyro.h"
  25 #include "sensors/sensors.h"
  26
  27 #define GRAVITY_CMSS    980.665f
  28 #define GRAVITY_MSS     9.80665f
  29
  30 #define ACC_CLIPPING_THRESHOLD_G        7.9f
  31 #define ACC_VIBE_FLOOR_FILT_HZ          5.0f
  32 #define ACC_VIBE_FILT_HZ                2.0f
  33
  34 // Type of accelerometer used/detected
  35 typedef enum {
  36     ACC_NONE = 0,
  37     ACC_AUTODETECT,
  38     ACC_MPU6000,
  39     ACC_MPU6500,
  40     ACC_MPU9250,
  41     ACC_BMI160,
  42     ACC_ICM20689,
  43     ACC_BMI088,
  44     ACC_ICM42605,
  45     ACC_BMI270,
  46     ACC_FAKE,
  47     ACC_MAX = ACC_FAKE
  48 } accelerationSensor_e;
  49
  50 typedef struct {
  51     float min;
  52     float max;
  53 } acc_extremes_t;
  54
  55 typedef struct acc_s {
  56     accDev_t dev;
  57     uint32_t accTargetLooptime;
  58     float accADCf[XYZ_AXIS_COUNT]; // acceleration in g
  59     float accVibeSq[XYZ_AXIS_COUNT];
  60     uint32_t accClipCount;
  61     bool isClipped;
  62     acc_extremes_t extremes[XYZ_AXIS_COUNT];
  63     float maxG;
  64 } acc_t;
  65
  66 extern acc_t acc;
  67
  68 typedef struct accelerometerConfig_s {
  69     uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
  70     uint16_t acc_lpf_hz;                    // cutoff frequency for the low pass filter used on the acc z-axis for althold in Hz
  71     flightDynamicsTrims_t accZero;          // Accelerometer offset
  72     flightDynamicsTrims_t accGain;          // Accelerometer gain to read exactly 1G
  73     uint8_t acc_notch_hz;                   // Accelerometer notch filter frequency
  74     uint8_t acc_notch_cutoff;               // Accelerometer notch filter cutoff frequency
  75     uint8_t acc_soft_lpf_type;              // Accelerometer LPF type
  76 } accelerometerConfig_t;
  77
  78 PG_DECLARE(accelerometerConfig_t, accelerometerConfig);
  79
  80 bool accInit(uint32_t accTargetLooptime);
  81 bool accIsCalibrationComplete(void);
  82 void accStartCalibration(void);
  83 void accGetMeasuredAcceleration(fpVector3_t *measuredAcc);
  84 const acc_extremes_t* accGetMeasuredExtremes(void);
  85 float accGetMeasuredMaxG(void);
  86 void updateAccExtremes(void);
  87 void accGetVibrationLevels(fpVector3_t *accVibeLevels);
  88 float accGetVibrationLevel(void);
  89 uint32_t accGetClipCount(void);
  90 bool accIsClipped(void);
  91 void accUpdate(void);
  92 void accSetCalibrationValues(void);
  93 void accInitFilters(void);
  94 bool accIsHealthy(void);
  95 bool accGetCalibrationAxisStatus(int axis);
  96 uint8_t accGetCalibrationAxisFlags(void);