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f217ba6d19
* add icm40609d Co-authored-by: Mark Haslinghuis <mark@numloq.nl> refactor include * add support for setting filters from config * set optimal settings for AAF * add settings DEC2 M2 filter for Gyro * set 3Rd hardware UI filters for Gyro&Accel * update comments filter order * set readFN for read SPI data via DMA, add INT1 to pulse mode, push-pull, active high * fix PR issue * revert INT1 POLARITY to ACTIVE HIGH * refactor icm40609GetAafParams * Update src/main/drivers/accgyro/accgyro_spi_icm40609.c Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> * Update src/main/drivers/accgyro/accgyro_spi_icm40609.c * update link to datasheet * fix typo Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> --------- Co-authored-by: Mark Haslinghuis <mark@numloq.nl> Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com>
103 lines
3 KiB
C
103 lines
3 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/time.h"
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#include "common/vector.h"
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#include "drivers/accgyro/accgyro.h"
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#include "pg/pg.h"
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#include "sensors/sensors.h"
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// Type of accelerometer used/detected
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// Acc hardware types were updated in PR #14087 (removed ACC_ADXL345, ACC_MMA8452, ACC_BMA280, ACC_LSM303DLHC)
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typedef enum {
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ACC_DEFAULT,
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ACC_NONE,
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ACC_MPU6050,
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ACC_MPU6000,
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ACC_MPU6500,
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ACC_MPU9250,
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ACC_ICM20601,
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ACC_ICM20602,
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ACC_ICM20608G,
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ACC_ICM20649,
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ACC_ICM20689,
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ACC_ICM42605,
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ACC_ICM42688P,
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ACC_BMI160,
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ACC_BMI270,
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ACC_LSM6DSO,
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ACC_LSM6DSV16X,
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ACC_IIM42653,
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ACC_ICM45605,
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ACC_ICM45686,
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ACC_ICM40609D,
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ACC_VIRTUAL
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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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uint16_t sampleRateHz;
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vector3_t accADC; // rotated but unscaled ADC value
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vector3_t jerk;
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float accMagnitude; // in multiples of 1G
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float jerkMagnitude; // in multiples of 1G/s (measure of collision strength)
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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[RP_AXIS_COUNT];
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rollAndPitchTrims_t_def values;
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} rollAndPitchTrims_t;
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#if defined(USE_ACC)
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typedef struct accelerometerConfig_s {
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uint16_t acc_lpf_hz; // cutoff frequency for attitude anti-aliasing filter
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uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device
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bool acc_high_fsr;
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flightDynamicsTrims_t accZero;
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rollAndPitchTrims_t accelerometerTrims;
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} accelerometerConfig_t;
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PG_DECLARE(accelerometerConfig_t, accelerometerConfig);
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#endif
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bool accInit(uint16_t accSampleRateHz);
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bool accIsCalibrationComplete(void);
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bool accHasBeenCalibrated(void);
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void accStartCalibration(void);
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void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims);
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void accUpdate(timeUs_t currentTimeUs);
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union flightDynamicsTrims_u;
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void setAccelerationTrims(union flightDynamicsTrims_u *accelerationTrimsToUse);
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void accInitFilters(void);
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void applyAccelerometerTrimsDelta(union rollAndPitchTrims_u *rollAndPitchTrimsDelta);
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