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80 lines
2.5 KiB
C
80 lines
2.5 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "config/parameter_group.h"
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#include "common/axis.h"
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#include "drivers/io_types.h"
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#include "drivers/sensor.h"
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typedef enum {
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GYRO_NONE = 0,
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GYRO_DEFAULT,
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GYRO_MPU6050,
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GYRO_L3G4200D,
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GYRO_MPU3050,
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GYRO_L3GD20,
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GYRO_MPU6000,
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GYRO_MPU6500,
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GYRO_MPU9250,
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GYRO_ICM20601,
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GYRO_ICM20602,
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GYRO_ICM20608G,
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GYRO_ICM20689,
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GYRO_BMI160,
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GYRO_FAKE
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} gyroSensor_e;
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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 struct gyroConfig_s {
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sensor_align_e 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_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
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uint8_t gyro_soft_lpf_type;
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uint8_t gyro_soft_lpf_hz;
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bool gyro_isr_update;
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bool gyro_use_32khz;
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uint8_t gyro_to_use;
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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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} 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(void);
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const busDevice_t *gyroSensorBus(void);
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struct mpuConfiguration_s;
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const struct mpuConfiguration_s *gyroMpuConfiguration(void);
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struct mpuDetectionResult_s;
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const struct mpuDetectionResult_s *gyroMpuDetectionResult(void);
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void gyroStartCalibration(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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