mirror of
https://github.com/betaflight/betaflight.git
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131 lines
3.8 KiB
C
131 lines
3.8 KiB
C
/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "common/axis.h"
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#include "common/filter.h"
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#include "common/time.h"
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#include "drivers/bus.h"
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#include "drivers/sensor.h"
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#include "pg/pg.h"
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typedef struct gyro_s {
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uint32_t targetLooptime;
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float gyroADCf[XYZ_AXIS_COUNT];
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} gyro_t;
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extern gyro_t gyro;
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typedef enum {
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GYRO_OVERFLOW_CHECK_NONE = 0,
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GYRO_OVERFLOW_CHECK_YAW,
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GYRO_OVERFLOW_CHECK_ALL_AXES
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} gyroOverflowCheck_e;
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enum {
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DYN_NOTCH_RANGE_HIGH = 0,
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DYN_NOTCH_RANGE_MEDIUM,
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DYN_NOTCH_RANGE_LOW,
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DYN_NOTCH_RANGE_AUTO
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} ;
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#define DYN_NOTCH_RANGE_HZ_HIGH 2000
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#define DYN_NOTCH_RANGE_HZ_MEDIUM 1333
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#define DYN_NOTCH_RANGE_HZ_LOW 1000
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enum {
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DYN_LPF_NONE = 0,
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DYN_LPF_PT1,
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DYN_LPF_BIQUAD
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};
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#define GYRO_CONFIG_USE_GYRO_1 0
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#define GYRO_CONFIG_USE_GYRO_2 1
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#define GYRO_CONFIG_USE_GYRO_BOTH 2
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typedef enum {
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FILTER_LOWPASS = 0,
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FILTER_LOWPASS2
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} filterSlots;
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typedef struct gyroConfig_s {
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uint8_t gyro_align; // gyro alignment
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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.
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uint8_t gyro_sync_denom; // Gyro sample divider
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uint8_t gyro_hardware_lpf; // gyro DLPF setting
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uint8_t gyro_32khz_hardware_lpf; // gyro 32khz DLPF setting
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uint8_t gyro_high_fsr;
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uint8_t gyro_use_32khz;
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uint8_t gyro_to_use;
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uint16_t gyro_lowpass_hz;
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uint16_t gyro_lowpass2_hz;
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uint16_t gyro_soft_notch_hz_1;
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uint16_t gyro_soft_notch_cutoff_1;
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uint16_t gyro_soft_notch_hz_2;
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uint16_t gyro_soft_notch_cutoff_2;
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int16_t gyro_offset_yaw;
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uint8_t checkOverflow;
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// Lowpass primary/secondary
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uint8_t gyro_lowpass_type;
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uint8_t gyro_lowpass2_type;
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uint8_t yaw_spin_recovery;
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int16_t yaw_spin_threshold;
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uint16_t gyroCalibrationDuration; // Gyro calibration duration in 1/100 second
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uint8_t dyn_notch_range; // ignore any FFT bin below this threshold
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uint16_t dyn_lpf_gyro_max_hz;
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uint8_t dyn_notch_width_percent;
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uint16_t dyn_notch_q;
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uint16_t dyn_notch_min_hz;
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} gyroConfig_t;
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PG_DECLARE(gyroConfig_t, gyroConfig);
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bool gyroInit(void);
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void gyroInitFilters(void);
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void gyroUpdate(timeUs_t currentTimeUs);
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bool gyroGetAccumulationAverage(float *accumulation);
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const busDevice_t *gyroSensorBus(void);
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struct mpuDetectionResult_s;
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const struct mpuDetectionResult_s *gyroMpuDetectionResult(void);
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void gyroStartCalibration(bool isFirstArmingCalibration);
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bool isFirstArmingGyroCalibrationRunning(void);
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bool isGyroCalibrationComplete(void);
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void gyroReadTemperature(void);
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int16_t gyroGetTemperature(void);
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int16_t gyroRateDps(int axis);
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bool gyroOverflowDetected(void);
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bool gyroYawSpinDetected(void);
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uint16_t gyroAbsRateDps(int axis);
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uint8_t gyroReadRegister(uint8_t whichSensor, uint8_t reg);
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#ifdef USE_DYN_LPF
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float dynThrottle(float throttle);
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void dynLpfGyroUpdate(float throttle);
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#endif
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