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
  27 typedef enum {
  28     GYRO_NONE = 0,
  29     GYRO_AUTODETECT,
  30     GYRO_MPU6050,
  31     GYRO_L3G4200D,
  32     GYRO_MPU3050,
  33     GYRO_L3GD20,
  34     GYRO_MPU6000,
  35     GYRO_MPU6500,
  36     GYRO_MPU9250,
  37     GYRO_BMI160,
  38     GYRO_ICM20689,
  39     GYRO_FAKE
  40 } gyroSensor_e;
  41
  42 typedef enum {
  43     DYN_NOTCH_RANGE_HIGH = 0,
  44     DYN_NOTCH_RANGE_MEDIUM,
  45     DYN_NOTCH_RANGE_LOW
  46 } dynamicFilterRange_e;
  47
  48 #define DYN_NOTCH_RANGE_HZ_HIGH 2000
  49 #define DYN_NOTCH_RANGE_HZ_MEDIUM 1333
  50 #define DYN_NOTCH_RANGE_HZ_LOW 1000
  51
  52 typedef struct gyro_s {
  53     bool initialized;
  54     uint32_t targetLooptime;
  55     float gyroADCf[XYZ_AXIS_COUNT];
  56 } gyro_t;
  57
  58 extern gyro_t gyro;
  59
  60 typedef struct gyroConfig_s {
  61     sensor_align_e gyro_align;              // gyro alignment
  62     uint8_t  gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
  63     uint8_t  gyroSync;                      // Enable interrupt based loop
  64     uint16_t looptime;                      // imu loop time in us
  65     uint8_t  gyro_lpf;                      // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
  66     uint8_t  gyro_soft_lpf_hz;
  67     uint8_t  gyro_soft_lpf_type;
  68     uint8_t  gyro_to_use;
  69     uint16_t gyro_notch_hz;
  70     uint16_t gyro_notch_cutoff;
  71     uint16_t gyro_stage2_lowpass_hz;
  72     uint8_t gyro_stage2_lowpass_type;
  73     uint8_t dynamicGyroNotchRange;
  74     uint16_t dynamicGyroNotchQ;
  75     uint16_t dynamicGyroNotchMinHz;
  76     uint8_t dynamicGyroNotchEnabled;
  77     uint16_t kalman_q;
  78     uint16_t kalman_w;
  79     uint16_t kalman_sharpness;
  80     uint8_t kalmanEnabled;
  81 } gyroConfig_t;
  82
  83 PG_DECLARE(gyroConfig_t, gyroConfig);
  84
  85 bool gyroInit(void);
  86 void gyroGetMeasuredRotationRate(fpVector3_t *imuMeasuredRotationBF);
  87 void gyroUpdate(void);
  88 void gyroStartCalibration(void);
  89 bool gyroIsCalibrationComplete(void);
  90 bool gyroReadTemperature(void);
  91 int16_t gyroGetTemperature(void);
  92 int16_t gyroRateDps(int axis);
  93 bool gyroSyncCheckUpdate(void);