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atbetaflight/src/main/sensors/gyro.c

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/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
#include "platform.h"
#include "build/debug.h"
#include "common/axis.h"
#include "common/maths.h"
#include "common/filter.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "drivers/accgyro.h"
#include "drivers/accgyro_adxl345.h"
#include "drivers/accgyro_bma280.h"
#include "drivers/accgyro_fake.h"
#include "drivers/accgyro_l3g4200d.h"
#include "drivers/accgyro_l3gd20.h"
#include "drivers/accgyro_lsm303dlhc.h"
#include "drivers/accgyro_mma845x.h"
#include "drivers/accgyro_mpu.h"
#include "drivers/accgyro_mpu3050.h"
#include "drivers/accgyro_mpu6050.h"
#include "drivers/accgyro_mpu6500.h"
#include "drivers/accgyro_spi_icm20689.h"
#include "drivers/accgyro_spi_mpu6000.h"
#include "drivers/accgyro_spi_mpu6500.h"
#include "drivers/accgyro_spi_mpu9250.h"
#include "drivers/bus_spi.h"
#include "drivers/gyro_sync.h"
#include "drivers/io.h"
#include "drivers/system.h"
#include "fc/runtime_config.h"
#include "io/beeper.h"
#include "io/statusindicator.h"
#include "scheduler/scheduler.h"
#include "sensors/boardalignment.h"
#include "sensors/gyro.h"
#include "sensors/sensors.h"
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif
gyro_t gyro;
STATIC_UNIT_TESTED gyroDev_t gyroDev0;
static int16_t gyroTemperature0;
static int32_t gyroADC[XYZ_AXIS_COUNT];
STATIC_UNIT_TESTED int32_t gyroZero[XYZ_AXIS_COUNT] = { 0, 0, 0 };
static uint16_t calibratingG = 0;
static filterApplyFnPtr softLpfFilterApplyFn;
static void *softLpfFilter[3];
static filterApplyFnPtr notchFilter1ApplyFn;
static void *notchFilter1[3];
static filterApplyFnPtr notchFilter2ApplyFn;
static void *notchFilter2[3];
#define DEBUG_GYRO_CALIBRATION 3
#ifdef STM32F10X
#define GYRO_SYNC_DENOM_DEFAULT 8
#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20689)
#define GYRO_SYNC_DENOM_DEFAULT 1
#else
#define GYRO_SYNC_DENOM_DEFAULT 4
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 0);
PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
.gyro_lpf = GYRO_LPF_256HZ,
.gyro_sync_denom = GYRO_SYNC_DENOM_DEFAULT,
.gyro_soft_lpf_type = FILTER_PT1,
.gyro_soft_lpf_hz = 90,
.gyro_soft_notch_hz_1 = 400,
.gyro_soft_notch_cutoff_1 = 300,
.gyro_soft_notch_hz_2 = 200,
.gyro_soft_notch_cutoff_2 = 100,
.gyro_align = ALIGN_DEFAULT,
.gyroMovementCalibrationThreshold = 48
);
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
static const extiConfig_t *selectMPUIntExtiConfig(void)
{
#if defined(MPU_INT_EXTI)
static const extiConfig_t mpuIntExtiConfig = { .tag = IO_TAG(MPU_INT_EXTI) };
return &mpuIntExtiConfig;
#elif defined(USE_HARDWARE_REVISION_DETECTION)
return selectMPUIntExtiConfigByHardwareRevision();
#else
return NULL;
#endif
}
#endif
const mpuConfiguration_t *gyroMpuConfiguration(void)
{
return &gyroDev0.mpuConfiguration;
}
const mpuDetectionResult_t *gyroMpuDetectionResult(void)
{
return &gyroDev0.mpuDetectionResult;
}
STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
{
gyroSensor_e gyroHardware = GYRO_DEFAULT;
dev->gyroAlign = ALIGN_DEFAULT;
switch(gyroHardware) {
case GYRO_DEFAULT:
#ifdef USE_GYRO_MPU6050
case GYRO_MPU6050:
if (mpu6050GyroDetect(dev)) {
gyroHardware = GYRO_MPU6050;
#ifdef GYRO_MPU6050_ALIGN
dev->gyroAlign = GYRO_MPU6050_ALIGN;
#endif
break;
}
#endif
#ifdef USE_GYRO_L3G4200D
case GYRO_L3G4200D:
if (l3g4200dDetect(dev)) {
gyroHardware = GYRO_L3G4200D;
#ifdef GYRO_L3G4200D_ALIGN
dev->gyroAlign = GYRO_L3G4200D_ALIGN;
#endif
break;
}
#endif
#ifdef USE_GYRO_MPU3050
case GYRO_MPU3050:
if (mpu3050Detect(dev)) {
gyroHardware = GYRO_MPU3050;
#ifdef GYRO_MPU3050_ALIGN
dev->gyroAlign = GYRO_MPU3050_ALIGN;
#endif
break;
}
#endif
#ifdef USE_GYRO_L3GD20
case GYRO_L3GD20:
if (l3gd20Detect(dev)) {
gyroHardware = GYRO_L3GD20;
#ifdef GYRO_L3GD20_ALIGN
dev->gyroAlign = GYRO_L3GD20_ALIGN;
#endif
break;
}
#endif
#ifdef USE_GYRO_SPI_MPU6000
case GYRO_MPU6000:
if (mpu6000SpiGyroDetect(dev)) {
gyroHardware = GYRO_MPU6000;
#ifdef GYRO_MPU6000_ALIGN
dev->gyroAlign = GYRO_MPU6000_ALIGN;
#endif
break;
}
#endif
#if defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500)
case GYRO_MPU6500:
case GYRO_ICM20608G:
case GYRO_ICM20602:
#ifdef USE_GYRO_SPI_MPU6500
if (mpu6500GyroDetect(dev) || mpu6500SpiGyroDetect(dev)) {
#else
if (mpu6500GyroDetect(dev)) {
#endif
switch(dev->mpuDetectionResult.sensor) {
case MPU_9250_SPI:
gyroHardware = GYRO_MPU9250;
break;
case ICM_20608_SPI:
gyroHardware = GYRO_ICM20608G;
break;
case ICM_20602_SPI:
gyroHardware = GYRO_ICM20602;
break;
default:
gyroHardware = GYRO_MPU6500;
}
#ifdef GYRO_MPU6500_ALIGN
dev->gyroAlign = GYRO_MPU6500_ALIGN;
#endif
break;
}
#endif
#ifdef USE_GYRO_SPI_MPU9250
case GYRO_MPU9250:
if (mpu9250SpiGyroDetect(dev))
{
gyroHardware = GYRO_MPU9250;
#ifdef GYRO_MPU9250_ALIGN
dev->gyroAlign = GYRO_MPU9250_ALIGN;
#endif
break;
}
#endif
#ifdef USE_GYRO_SPI_ICM20689
case GYRO_ICM20689:
if (icm20689SpiGyroDetect(dev))
{
gyroHardware = GYRO_ICM20689;
#ifdef GYRO_ICM20689_ALIGN
dev->gyroAlign = GYRO_ICM20689_ALIGN;
#endif
break;
}
#endif
#ifdef USE_FAKE_GYRO
case GYRO_FAKE:
if (fakeGyroDetect(dev)) {
gyroHardware = GYRO_FAKE;
break;
}
#endif
default:
gyroHardware = GYRO_NONE;
}
if (gyroHardware != GYRO_NONE) {
detectedSensors[SENSOR_INDEX_GYRO] = gyroHardware;
sensorsSet(SENSOR_GYRO);
}
return gyroHardware;
}
bool gyroInit(void)
{
memset(&gyro, 0, sizeof(gyro));
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
gyroDev0.mpuIntExtiConfig = selectMPUIntExtiConfig();
mpuDetect(&gyroDev0);
mpuResetFn = gyroDev0.mpuConfiguration.resetFn;
#endif
const gyroSensor_e gyroHardware = gyroDetect(&gyroDev0);
if (gyroHardware == GYRO_NONE) {
return false;
}
switch (gyroHardware) {
case GYRO_MPU6500:
case GYRO_MPU9250:
case GYRO_ICM20689:
case GYRO_ICM20608G:
case GYRO_ICM20602:
// do nothing, as gyro supports 32kHz
break;
default:
// gyro does not support 32kHz
gyroConfigMutable()->gyro_use_32khz = false;
break;
}
// Must set gyro sample rate before initialisation
gyro.targetLooptime = gyroSetSampleRate(&gyroDev0, gyroConfig()->gyro_lpf, gyroConfig()->gyro_sync_denom, gyroConfig()->gyro_use_32khz);
gyroDev0.lpf = gyroConfig()->gyro_lpf;
gyroDev0.init(&gyroDev0);
if (gyroConfig()->gyro_align != ALIGN_DEFAULT) {
gyroDev0.gyroAlign = gyroConfig()->gyro_align;
}
gyroInitFilters();
return true;
}
void gyroInitFilters(void)
{
static biquadFilter_t gyroFilterLPF[XYZ_AXIS_COUNT];
static pt1Filter_t gyroFilterPt1[XYZ_AXIS_COUNT];
static firFilterDenoise_t gyroDenoiseState[XYZ_AXIS_COUNT];
static biquadFilter_t gyroFilterNotch_1[XYZ_AXIS_COUNT];
static biquadFilter_t gyroFilterNotch_2[XYZ_AXIS_COUNT];
softLpfFilterApplyFn = nullFilterApply;
notchFilter1ApplyFn = nullFilterApply;
notchFilter2ApplyFn = nullFilterApply;
uint32_t gyroFrequencyNyquist = (1.0f / (gyro.targetLooptime * 0.000001f)) / 2; // No rounding needed
if (gyroConfig()->gyro_soft_lpf_hz && gyroConfig()->gyro_soft_lpf_hz <= gyroFrequencyNyquist) { // Initialisation needs to happen once samplingrate is known
if (gyroConfig()->gyro_soft_lpf_type == FILTER_BIQUAD) {
softLpfFilterApplyFn = (filterApplyFnPtr)biquadFilterApply;
for (int axis = 0; axis < 3; axis++) {
softLpfFilter[axis] = &gyroFilterLPF[axis];
biquadFilterInitLPF(softLpfFilter[axis], gyroConfig()->gyro_soft_lpf_hz, gyro.targetLooptime);
}
} else if (gyroConfig()->gyro_soft_lpf_type == FILTER_PT1) {
softLpfFilterApplyFn = (filterApplyFnPtr)pt1FilterApply;
const float gyroDt = (float) gyro.targetLooptime * 0.000001f;
for (int axis = 0; axis < 3; axis++) {
softLpfFilter[axis] = &gyroFilterPt1[axis];
pt1FilterInit(softLpfFilter[axis], gyroConfig()->gyro_soft_lpf_hz, gyroDt);
}
} else {
softLpfFilterApplyFn = (filterApplyFnPtr)firFilterDenoiseUpdate;
for (int axis = 0; axis < 3; axis++) {
softLpfFilter[axis] = &gyroDenoiseState[axis];
firFilterDenoiseInit(softLpfFilter[axis], gyroConfig()->gyro_soft_lpf_hz, gyro.targetLooptime);
}
}
}
if (gyroConfig()->gyro_soft_notch_hz_1 && gyroConfig()->gyro_soft_notch_hz_1 <= gyroFrequencyNyquist) {
notchFilter1ApplyFn = (filterApplyFnPtr)biquadFilterApply;
const float gyroSoftNotchQ1 = filterGetNotchQ(gyroConfig()->gyro_soft_notch_hz_1, gyroConfig()->gyro_soft_notch_cutoff_1);
for (int axis = 0; axis < 3; axis++) {
notchFilter1[axis] = &gyroFilterNotch_1[axis];
biquadFilterInit(notchFilter1[axis], gyroConfig()->gyro_soft_notch_hz_1, gyro.targetLooptime, gyroSoftNotchQ1, FILTER_NOTCH);
}
}
if (gyroConfig()->gyro_soft_notch_hz_2 && gyroConfig()->gyro_soft_notch_hz_2 <= gyroFrequencyNyquist) {
notchFilter2ApplyFn = (filterApplyFnPtr)biquadFilterApply;
const float gyroSoftNotchQ2 = filterGetNotchQ(gyroConfig()->gyro_soft_notch_hz_2, gyroConfig()->gyro_soft_notch_cutoff_2);
for (int axis = 0; axis < 3; axis++) {
notchFilter2[axis] = &gyroFilterNotch_2[axis];
biquadFilterInit(notchFilter2[axis], gyroConfig()->gyro_soft_notch_hz_2, gyro.targetLooptime, gyroSoftNotchQ2, FILTER_NOTCH);
}
}
}
bool isGyroCalibrationComplete(void)
{
return calibratingG == 0;
}
static bool isOnFinalGyroCalibrationCycle(void)
{
return calibratingG == 1;
}
static uint16_t gyroCalculateCalibratingCycles(void)
{
return (CALIBRATING_GYRO_CYCLES / gyro.targetLooptime) * CALIBRATING_GYRO_CYCLES;
}
static bool isOnFirstGyroCalibrationCycle(void)
{
return calibratingG == gyroCalculateCalibratingCycles();
}
void gyroSetCalibrationCycles(void)
{
calibratingG = gyroCalculateCalibratingCycles();
}
STATIC_UNIT_TESTED void performGyroCalibration(uint8_t gyroMovementCalibrationThreshold)
{
static int32_t g[3];
static stdev_t var[3];
for (int axis = 0; axis < 3; axis++) {
// Reset g[axis] at start of calibration
if (isOnFirstGyroCalibrationCycle()) {
g[axis] = 0;
devClear(&var[axis]);
}
// Sum up CALIBRATING_GYRO_CYCLES readings
g[axis] += gyroADC[axis];
devPush(&var[axis], gyroADC[axis]);
// Reset global variables to prevent other code from using un-calibrated data
gyroADC[axis] = 0;
gyroZero[axis] = 0;
if (isOnFinalGyroCalibrationCycle()) {
float dev = devStandardDeviation(&var[axis]);
DEBUG_SET(DEBUG_GYRO, DEBUG_GYRO_CALIBRATION, lrintf(dev));
// check deviation and startover in case the model was moved
if (gyroMovementCalibrationThreshold && dev > gyroMovementCalibrationThreshold) {
gyroSetCalibrationCycles();
return;
}
gyroZero[axis] = (g[axis] + (gyroCalculateCalibratingCycles() / 2)) / gyroCalculateCalibratingCycles();
}
}
if (isOnFinalGyroCalibrationCycle()) {
schedulerResetTaskStatistics(TASK_SELF); // so calibration cycles do not pollute tasks statistics
beeper(BEEPER_GYRO_CALIBRATED);
}
calibratingG--;
}
#if defined(GYRO_USES_SPI) && defined(USE_MPU_DATA_READY_SIGNAL)
static bool gyroUpdateISR(gyroDev_t* gyroDev)
{
if (!gyroDev->dataReady || !gyroDev->read(gyroDev)) {
return false;
}
#ifdef DEBUG_MPU_DATA_READY_INTERRUPT
debug[2] = (uint16_t)(micros() & 0xffff);
#endif
gyroDev->dataReady = false;
// move gyro data into 32-bit variables to avoid overflows in calculations
gyroADC[X] = gyroDev->gyroADCRaw[X];
gyroADC[Y] = gyroDev->gyroADCRaw[Y];
gyroADC[Z] = gyroDev->gyroADCRaw[Z];
alignSensors(gyroADC, gyroDev->gyroAlign);
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
gyroADC[axis] -= gyroZero[axis];
// scale gyro output to degrees per second
float gyroADCf = (float)gyroADC[axis] * gyroDev->scale;
gyroADCf = softLpfFilterApplyFn(softLpfFilter[axis], gyroADCf);
gyroADCf = notchFilter1ApplyFn(notchFilter1[axis], gyroADCf);
gyroADCf = notchFilter2ApplyFn(notchFilter2[axis], gyroADCf);
gyro.gyroADCf[axis] = gyroADCf;
}
return true;
}
#endif
void gyroUpdate(void)
{
// range: +/- 8192; +/- 2000 deg/sec
if (gyroDev0.update) {
// if the gyro update function is set then return, since the gyro is read in gyroUpdateISR
return;
}
if (!gyroDev0.read(&gyroDev0)) {
return;
}
gyroDev0.dataReady = false;
// move gyro data into 32-bit variables to avoid overflows in calculations
gyroADC[X] = gyroDev0.gyroADCRaw[X];
gyroADC[Y] = gyroDev0.gyroADCRaw[Y];
gyroADC[Z] = gyroDev0.gyroADCRaw[Z];
alignSensors(gyroADC, gyroDev0.gyroAlign);
const bool calibrationComplete = isGyroCalibrationComplete();
if (calibrationComplete) {
#if defined(GYRO_USES_SPI) && defined(USE_MPU_DATA_READY_SIGNAL)
// SPI-based gyro so can read and update in ISR
if (gyroConfig()->gyro_isr_update) {
mpuGyroSetIsrUpdate(&gyroDev0, gyroUpdateISR);
return;
}
#endif
#ifdef DEBUG_MPU_DATA_READY_INTERRUPT
debug[3] = (uint16_t)(micros() & 0xffff);
#endif
} else {
performGyroCalibration(gyroConfig()->gyroMovementCalibrationThreshold);
}
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
gyroADC[axis] -= gyroZero[axis];
// scale gyro output to degrees per second
float gyroADCf = (float)gyroADC[axis] * gyroDev0.scale;
// Apply LPF
DEBUG_SET(DEBUG_GYRO, axis, lrintf(gyroADCf));
gyroADCf = softLpfFilterApplyFn(softLpfFilter[axis], gyroADCf);
// Apply Notch filtering
DEBUG_SET(DEBUG_NOTCH, axis, lrintf(gyroADCf));
gyroADCf = notchFilter1ApplyFn(notchFilter1[axis], gyroADCf);
gyroADCf = notchFilter2ApplyFn(notchFilter2[axis], gyroADCf);
gyro.gyroADCf[axis] = gyroADCf;
}
if (!calibrationComplete) {
gyroADC[X] = lrintf(gyro.gyroADCf[X] / gyroDev0.scale);
gyroADC[Y] = lrintf(gyro.gyroADCf[Y] / gyroDev0.scale);
gyroADC[Z] = lrintf(gyro.gyroADCf[Z] / gyroDev0.scale);
}
}
void gyroReadTemperature(void)
{
if (gyroDev0.temperature) {
gyroDev0.temperature(&gyroDev0, &gyroTemperature0);
}
}
int16_t gyroGetTemperature(void)
{
return gyroTemperature0;
}
int16_t gyroRateDps(int axis)
{
return lrintf(gyro.gyroADCf[axis] / gyroDev0.scale);
}
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