96 lines
2.7 KiB
C
96 lines
2.7 KiB
C
/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "common/time.h"
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#include "pg/pg.h"
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#include "drivers/accgyro/accgyro.h"
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#include "sensors/sensors.h"
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// Type of accelerometer used/detected
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typedef enum {
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ACC_DEFAULT,
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ACC_NONE,
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ACC_ADXL345,
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ACC_MPU6050,
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ACC_MMA8452,
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ACC_BMA280,
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ACC_LSM303DLHC,
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ACC_MPU6000,
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ACC_MPU6500,
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ACC_MPU9250,
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ACC_ICM20601,
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ACC_ICM20602,
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ACC_ICM20608G,
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ACC_ICM20649,
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ACC_ICM20689,
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ACC_ICM42605,
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ACC_ICM42688P,
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ACC_BMI160,
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ACC_BMI270,
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ACC_LSM6DS3,
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ACC_LSM6DSO,
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ACC_FAKE
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} accelerationSensor_e;
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typedef struct acc_s {
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accDev_t dev;
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uint16_t sampleRateHz;
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float accADC[XYZ_AXIS_COUNT];
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bool isAccelUpdatedAtLeastOnce;
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} acc_t;
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extern acc_t acc;
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typedef struct rollAndPitchTrims_s {
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int16_t roll;
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int16_t pitch;
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} rollAndPitchTrims_t_def;
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typedef union rollAndPitchTrims_u {
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int16_t raw[2];
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rollAndPitchTrims_t_def values;
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} rollAndPitchTrims_t;
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#if defined(USE_ACC)
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typedef struct accelerometerConfig_s {
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uint16_t acc_lpf_hz; // cutoff frequency for the low pass filter used on the acc z-axis for althold in Hz
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uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device
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bool acc_high_fsr;
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flightDynamicsTrims_t accZero;
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rollAndPitchTrims_t accelerometerTrims;
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} accelerometerConfig_t;
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PG_DECLARE(accelerometerConfig_t, accelerometerConfig);
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#endif
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bool accInit(uint16_t accSampleRateHz);
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bool accIsCalibrationComplete(void);
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bool accHasBeenCalibrated(void);
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void accStartCalibration(void);
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void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims);
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void accUpdate(timeUs_t currentTimeUs, rollAndPitchTrims_t *rollAndPitchTrims);
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bool accGetAccumulationAverage(float *accumulation);
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union flightDynamicsTrims_u;
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void setAccelerationTrims(union flightDynamicsTrims_u *accelerationTrimsToUse);
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void accInitFilters(void);
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void applyAccelerometerTrimsDelta(union rollAndPitchTrims_u *rollAndPitchTrimsDelta);
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