src/main/drivers/accgyro_mpu.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 typedef bool (*mpuReadRegisterFunc)(uint8_t reg, uint8_t length, uint8_t* data);
  21 typedef bool (*mpuWriteRegisterFunc)(uint8_t reg, uint8_t data);
  22
  23 typedef struct mpuConfiguration_s {
  24     uint8_t gyroReadXRegister; // Y and Z must registers follow this, 2 words each
  25     mpuReadRegisterFunc read;
  26     mpuWriteRegisterFunc write;
  27 } mpuConfiguration_t;
  28
  29 extern mpuConfiguration_t mpuConfiguration;
  30
  31 enum lpf_e {
  32     INV_FILTER_256HZ_NOLPF2 = 0,
  33     INV_FILTER_188HZ,
  34     INV_FILTER_98HZ,
  35     INV_FILTER_42HZ,
  36     INV_FILTER_20HZ,
  37     INV_FILTER_10HZ,
  38     INV_FILTER_5HZ,
  39     INV_FILTER_2100HZ_NOLPF,
  40     NUM_FILTER
  41 };
  42 enum gyro_fsr_e {
  43     INV_FSR_250DPS = 0,
  44     INV_FSR_500DPS,
  45     INV_FSR_1000DPS,
  46     INV_FSR_2000DPS,
  47     NUM_GYRO_FSR
  48 };
  49 enum clock_sel_e {
  50     INV_CLK_INTERNAL = 0,
  51     INV_CLK_PLL,
  52     NUM_CLK
  53 };
  54 enum accel_fsr_e {
  55     INV_FSR_2G = 0,
  56     INV_FSR_4G,
  57     INV_FSR_8G,
  58     INV_FSR_16G,
  59     NUM_ACCEL_FSR
  60 };
  61
  62 typedef enum {
  63     MPU_NONE,
  64     MPU_3050,
  65     MPU_60x0,
  66     MPU_65xx_I2C,
  67     MPU_65xx_SPI
  68 } detectedMPUSensor_e;
  69
  70 typedef enum {
  71     MPU_HALF_RESOLUTION,
  72     MPU_FULL_RESOLUTION
  73 } mpu6050Resolution_e;
  74
  75 typedef struct mpuDetectionResult_s {
  76     detectedMPUSensor_e sensor;
  77     mpu6050Resolution_e resolution;
  78 } mpuDetectionResult_t;
  79
  80 void configureMPULPF(uint16_t lpf);
  81 void configureMPUDataReadyInterruptHandling(void);
  82 void mpuIntExtiInit(void);
  83 bool mpuAccRead(int16_t *accData);
  84 bool mpuGyroRead(int16_t *gyroADC);
  85 mpuDetectionResult_t *detectMpu(const extiConfig_t *configToUse);