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77 lines
2.4 KiB
C
77 lines
2.4 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 "drivers/accgyro.h"
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#include "sensors/sensors.h"
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// Type of accelerometer used/detected
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typedef enum {
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ACC_DEFAULT,
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ACC_NONE,
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ACC_ADXL345,
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ACC_MPU6050,
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ACC_MMA8452,
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ACC_BMA280,
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ACC_LSM303DLHC,
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ACC_MPU6000,
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ACC_MPU6500,
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ACC_ICM20689,
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ACC_MPU9250,
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ACC_ICM20608G,
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ACC_ICM20602,
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ACC_FAKE
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} accelerationSensor_e;
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typedef struct acc_s {
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accDev_t dev;
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uint32_t accSamplingInterval;
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int32_t accSmooth[XYZ_AXIS_COUNT];
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bool isAccelUpdatedAtLeastOnce;
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} acc_t;
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extern acc_t acc;
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typedef struct rollAndPitchTrims_s {
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int16_t roll;
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int16_t pitch;
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} rollAndPitchTrims_t_def;
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typedef union rollAndPitchTrims_u {
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int16_t raw[2];
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rollAndPitchTrims_t_def values;
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} rollAndPitchTrims_t;
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typedef struct accelerometerConfig_s {
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uint16_t acc_lpf_hz; // cutoff frequency for the low pass filter used on the acc z-axis for althold in Hz
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sensor_align_e acc_align; // acc alignment
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uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device
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flightDynamicsTrims_t accZero;
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rollAndPitchTrims_t accelerometerTrims;
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} accelerometerConfig_t;
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bool accInit(const accelerometerConfig_t *accelerometerConfig, uint32_t gyroTargetLooptime);
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bool isAccelerationCalibrationComplete(void);
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void accSetCalibrationCycles(uint16_t calibrationCyclesRequired);
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void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims);
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void accUpdate(rollAndPitchTrims_t *rollAndPitchTrims);
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union flightDynamicsTrims_u;
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void setAccelerationTrims(union flightDynamicsTrims_u *accelerationTrimsToUse);
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void setAccelerationFilter(uint16_t initialAccLpfCutHz);
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