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 typedef enum {
  21     GYRO_NONE = 0,
  22     GYRO_DEFAULT,
  23     GYRO_MPU6050,
  24     GYRO_L3G4200D,
  25     GYRO_MPU3050,
  26     GYRO_L3GD20,
  27     GYRO_MPU6000,
  28     GYRO_MPU6500,
  29     GYRO_FAKE
  30 } gyroSensor_e;
  31
  32 extern gyro_t gyro;
  33 extern sensor_align_e gyroAlign;
  34
  35 extern int32_t gyroADC[XYZ_AXIS_COUNT];
  36 extern float gyroADCf[XYZ_AXIS_COUNT];
  37
  38 typedef struct gyroConfig_s {
  39     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.
  40     uint8_t gyro_lpf;                           // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
  41     uint8_t gyro_soft_type;                     // Gyro Filter Type
  42     uint16_t gyro_soft_lpf_hz;                  // Software based gyro filter in hz
  43     uint16_t gyro_soft_notch_hz;                // Biquad gyro notch hz
  44     uint16_t gyro_soft_notch_cutoff_hz;            // Biquad gyro notch low cutoff in hz
  45 } gyroConfig_t;
  46
  47 PG_DECLARE(gyroConfig_t, gyroConfig);
  48
  49 void gyroInit(void);
  50 void gyroUpdate(void);
  51 void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
  52 bool isGyroCalibrationComplete(void);
  53