src/main/sensors/gyro.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include "common/axis.h"
  24 #include "common/time.h"
  25 #include "pg/pg.h"
  26 #include "drivers/bus.h"
  27 #include "drivers/sensor.h"
  28
  29 typedef enum {
  30     GYRO_NONE = 0,
  31     GYRO_DEFAULT,
  32     GYRO_MPU6050,
  33     GYRO_L3G4200D,
  34     GYRO_MPU3050,
  35     GYRO_L3GD20,
  36     GYRO_MPU6000,
  37     GYRO_MPU6500,
  38     GYRO_MPU9250,
  39     GYRO_ICM20601,
  40     GYRO_ICM20602,
  41     GYRO_ICM20608G,
  42     GYRO_ICM20649,
  43     GYRO_ICM20689,
  44     GYRO_BMI160,
  45     GYRO_FAKE
  46 } gyroSensor_e;
  47
  48 typedef struct gyro_s {
  49     uint32_t targetLooptime;
  50     float gyroADCf[XYZ_AXIS_COUNT];
  51 } gyro_t;
  52
  53 extern gyro_t gyro;
  54
  55 typedef enum {
  56     GYRO_OVERFLOW_CHECK_NONE = 0,
  57     GYRO_OVERFLOW_CHECK_YAW,
  58     GYRO_OVERFLOW_CHECK_ALL_AXES
  59 } gyroOverflowCheck_e;
  60
  61 #define GYRO_CONFIG_USE_GYRO_1      0
  62 #define GYRO_CONFIG_USE_GYRO_2      1
  63 #define GYRO_CONFIG_USE_GYRO_BOTH   2
  64
  65 typedef enum {
  66     FILTER_LOWPASS = 0,
  67     FILTER_LOWPASS2
  68 } filterSlots;
  69
  70 #define GYRO_LPF_ORDER_MAX 6
  71
  72 typedef struct gyroConfig_s {
  73     sensor_align_e gyro_align;              // gyro alignment
  74     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.
  75     uint8_t  gyro_sync_denom;                  // Gyro sample divider
  76     uint8_t  gyro_hardware_lpf;                // gyro DLPF setting
  77     uint8_t  gyro_32khz_hardware_lpf;          // gyro 32khz DLPF setting
  78
  79     bool     gyro_high_fsr;
  80     bool     gyro_use_32khz;
  81     uint8_t  gyro_to_use;
  82
  83     // Lagged Moving Average smoother
  84     uint8_t gyro_lma_depth;
  85     uint8_t gyro_lma_weight;
  86
  87     // Lowpass primary/secondary
  88     uint8_t  gyro_lowpass_type;
  89     uint8_t  gyro_lowpass2_type;
  90
  91     // Order is used for the 'higher ordering' of cascaded butterworth/biquad sections
  92     uint8_t  gyro_lowpass_order;
  93     uint8_t  gyro_lowpass2_order;
  94
  95     uint16_t gyro_lowpass_hz;
  96     uint16_t  gyro_lowpass2_hz;
  97
  98     uint16_t gyro_soft_notch_hz_1;
  99     uint16_t gyro_soft_notch_cutoff_1;
 100     uint16_t gyro_soft_notch_hz_2;
 101     uint16_t gyro_soft_notch_cutoff_2;
 102     gyroOverflowCheck_e checkOverflow;
 103     int16_t  gyro_offset_yaw;
 104
 105     bool     yaw_spin_recovery;
 106     int16_t  yaw_spin_threshold;
 107
 108 } gyroConfig_t;
 109
 110 PG_DECLARE(gyroConfig_t, gyroConfig);
 111
 112 bool gyroInit(void);
 113
 114 void gyroInitFilters(void);
 115 void gyroUpdate(timeUs_t currentTimeUs);
 116 bool gyroGetAccumulationAverage(float *accumulation);
 117 const busDevice_t *gyroSensorBus(void);
 118 struct mpuConfiguration_s;
 119 const struct mpuConfiguration_s *gyroMpuConfiguration(void);
 120 struct mpuDetectionResult_s;
 121 const struct mpuDetectionResult_s *gyroMpuDetectionResult(void);
 122 void gyroStartCalibration(bool isFirstArmingCalibration);
 123 bool isFirstArmingGyroCalibrationRunning(void);
 124 bool isGyroCalibrationComplete(void);
 125 void gyroReadTemperature(void);
 126 int16_t gyroGetTemperature(void);
 127 int16_t gyroRateDps(int axis);
 128 bool gyroOverflowDetected(void);
 129 bool gyroYawSpinDetected(void);
 130 uint16_t gyroAbsRateDps(int axis);
 131 uint8_t gyroReadRegister(uint8_t whichSensor, uint8_t reg);