src/main/drivers/accgyro.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 #include "common/axis.h"
  21 #include "drivers/exti.h"
  22 #include "drivers/sensor.h"
  23 #include "drivers/accgyro_mpu.h"
  24
  25 #ifndef MPU_I2C_INSTANCE
  26 #define MPU_I2C_INSTANCE I2C_DEVICE
  27 #endif
  28
  29 #define GYRO_LPF_256HZ      0
  30 #define GYRO_LPF_188HZ      1
  31 #define GYRO_LPF_98HZ       2
  32 #define GYRO_LPF_42HZ       3
  33 #define GYRO_LPF_20HZ       4
  34 #define GYRO_LPF_10HZ       5
  35 #define GYRO_LPF_5HZ        6
  36 #define GYRO_LPF_NONE       7
  37
  38 typedef enum {
  39     GYRO_RATE_1_kHz,
  40     GYRO_RATE_3200_Hz,
  41     GYRO_RATE_8_kHz,
  42     GYRO_RATE_32_kHz,
  43 } gyroRateKHz_e;
  44
  45 typedef struct gyroDev_s {
  46     sensorGyroInitFuncPtr init;                             // initialize function
  47     sensorGyroReadFuncPtr read;                             // read 3 axis data function
  48     sensorGyroReadDataFuncPtr temperature;                  // read temperature if available
  49     sensorGyroInterruptStatusFuncPtr intStatus;
  50     sensorGyroUpdateFuncPtr update;
  51     extiCallbackRec_t exti;
  52     busDevice_t bus;
  53     float scale;                                            // scalefactor
  54     int16_t gyroADCRaw[XYZ_AXIS_COUNT];
  55     int32_t gyroZero[XYZ_AXIS_COUNT];
  56     int32_t gyroADC[XYZ_AXIS_COUNT];                        // gyro data after calibration and alignment
  57     uint8_t lpf;
  58     gyroRateKHz_e gyroRateKHz;
  59     uint8_t mpuDividerDrops;
  60     volatile bool dataReady;
  61     sensor_align_e gyroAlign;
  62     mpuDetectionResult_t mpuDetectionResult;
  63     const extiConfig_t *mpuIntExtiConfig;
  64     mpuConfiguration_t mpuConfiguration;
  65 } gyroDev_t;
  66
  67 typedef struct accDev_s {
  68     sensorAccInitFuncPtr init;                              // initialize function
  69     sensorAccReadFuncPtr read;                              // read 3 axis data function
  70     busDevice_t bus;
  71     uint16_t acc_1G;
  72     int16_t ADCRaw[XYZ_AXIS_COUNT];
  73     char revisionCode;                                      // a revision code for the sensor, if known
  74     sensor_align_e accAlign;
  75     mpuDetectionResult_t mpuDetectionResult;
  76     mpuConfiguration_t mpuConfiguration;
  77 } accDev_t;