src/main/sensors/acceleration.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 // Type of accelerometer used/detected
  21 typedef enum {
  22     ACC_DEFAULT = 0,
  23     ACC_NONE = 1,
  24     ACC_ADXL345 = 2,
  25     ACC_MPU6050 = 3,
  26     ACC_MMA8452 = 4,
  27     ACC_BMA280 = 5,
  28     ACC_LSM303DLHC = 6,
  29     ACC_MPU6000 = 7,
  30     ACC_MPU6500 = 8,
  31     ACC_FAKE = 9,
  32     ACC_MAX = ACC_FAKE
  33 } accelerationSensor_e;
  34
  35 extern sensor_align_e accAlign;
  36 extern acc_t acc;
  37 extern uint32_t accTargetLooptime;
  38
  39 extern int32_t accSmooth[XYZ_AXIS_COUNT];
  40
  41 typedef struct rollAndPitchTrims_s {
  42     int16_t roll;
  43     int16_t pitch;
  44 } rollAndPitchTrims_t_def;
  45
  46 typedef union rollAndPitchTrims_u {
  47     int16_t raw[2];
  48     rollAndPitchTrims_t_def values;
  49 } rollAndPitchTrims_t;
  50
  51 bool isAccelerationCalibrationComplete(void);
  52 void accSetCalibrationCycles(uint16_t calibrationCyclesRequired);
  53 void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims);
  54 void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims);
  55 void setAccelerationTrims(flightDynamicsTrims_t *accelerationTrimsToUse);
  56 void setAccelerationFilter(float initialAccLpfCutHz);