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86 lines
2.2 KiB
C
86 lines
2.2 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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typedef bool (*mpuReadRegisterFunc)(uint8_t reg, uint8_t length, uint8_t* data);
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typedef bool (*mpuWriteRegisterFunc)(uint8_t reg, uint8_t data);
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typedef struct mpuConfiguration_s {
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uint8_t gyroReadXRegister; // Y and Z must registers follow this, 2 words each
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mpuReadRegisterFunc read;
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mpuWriteRegisterFunc write;
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} mpuConfiguration_t;
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extern mpuConfiguration_t mpuConfiguration;
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enum lpf_e {
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INV_FILTER_256HZ_NOLPF2 = 0,
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INV_FILTER_188HZ,
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INV_FILTER_98HZ,
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INV_FILTER_42HZ,
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INV_FILTER_20HZ,
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INV_FILTER_10HZ,
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INV_FILTER_5HZ,
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INV_FILTER_2100HZ_NOLPF,
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NUM_FILTER
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};
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enum gyro_fsr_e {
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INV_FSR_250DPS = 0,
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INV_FSR_500DPS,
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INV_FSR_1000DPS,
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INV_FSR_2000DPS,
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NUM_GYRO_FSR
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};
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enum clock_sel_e {
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INV_CLK_INTERNAL = 0,
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INV_CLK_PLL,
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NUM_CLK
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};
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enum accel_fsr_e {
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INV_FSR_2G = 0,
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INV_FSR_4G,
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INV_FSR_8G,
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INV_FSR_16G,
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NUM_ACCEL_FSR
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};
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typedef enum {
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MPU_NONE,
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MPU_3050,
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MPU_60x0,
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MPU_60x0_SPI,
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MPU_65xx_I2C,
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MPU_65xx_SPI
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} detectedMPUSensor_e;
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typedef enum {
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MPU_HALF_RESOLUTION,
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MPU_FULL_RESOLUTION
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} mpu6050Resolution_e;
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typedef struct mpuDetectionResult_s {
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detectedMPUSensor_e sensor;
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mpu6050Resolution_e resolution;
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} mpuDetectionResult_t;
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void configureMPULPF(uint16_t lpf);
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void configureMPUDataReadyInterruptHandling(void);
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void mpuIntExtiInit(void);
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bool mpuAccRead(int16_t *accData);
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bool mpuGyroRead(int16_t *gyroADC);
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mpuDetectionResult_t *detectMpu(const extiConfig_t *configToUse);
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