px4-firmware/apps/drivers/drv_gyro.h

/****************************************************************************
 *
 *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
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 * 1. Redistributions of source code must retain the above copyright
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 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/**
 * @file Gyroscope driver interface.
 */

#ifndef _DRV_GYRO_H
#define _DRV_GYRO_H

#include <stdint.h>
#include <sys/ioctl.h>

#include "drv_sensor.h"
#include "drv_orb_dev.h"

#define GYRO_DEVICE_PATH	"/dev/gyro"

/**
 * gyro report structure.  Reads from the device must be in multiples of this
 * structure.
 */
struct gyro_report {
	uint64_t timestamp;
	float x;		/**< angular velocity in the NED X board axis in rad/s */
	float y;		/**< angular velocity in the NED Y board axis in rad/s */
	float z;		/**< angular velocity in the NED Z board axis in rad/s */
	float temperature;	/**< temperature in degrees celcius */
	float range_rad_s;
	float scaling;

	int16_t x_raw;
	int16_t y_raw;
	int16_t z_raw;
	int16_t temperature_raw;
};

/** gyro scaling factors; Vout = (Vin * Vscale) + Voffset */
struct gyro_scale {
	float	x_offset;
	float	x_scale;
	float	y_offset;
	float	y_scale;
	float	z_offset;
	float	z_scale;
};

/*
 * ObjDev tag for raw gyro data.
 */
ORB_DECLARE(sensor_gyro);

/*
 * ioctl() definitions
 */

#define _GYROIOCBASE		(0x2300)
#define _GYROIOC(_n)		(_IOC(_GYROIOCBASE, _n))

/** set the gyro internal sample rate to at least (arg) Hz */
#define GYROIOCSSAMPLERATE	_GYROIOC(0)

/** return the gyro internal sample rate in Hz */
#define GYROIOCGSAMPLERATE	_GYROIOC(1)

/** set the gyro internal lowpass filter to no lower than (arg) Hz */
#define GYROIOCSLOWPASS		_GYROIOC(2)

/** set the gyro internal lowpass filter to no lower than (arg) Hz */
#define GYROIOCGLOWPASS		_GYROIOC(3)

/** set the gyro scaling constants to (arg) */
#define GYROIOCSSCALE		_GYROIOC(4)

/** get the gyro scaling constants into (arg) */
#define GYROIOCGSCALE		_GYROIOC(5)

/** set the gyro measurement range to handle at least (arg) degrees per second */
#define GYROIOCSRANGE		_GYROIOC(6)

/** get the current gyro measurement range in degrees per second */
#define GYROIOCGRANGE		_GYROIOC(7)

/** check the status of the sensor */
#define GYROIOCSELFTEST		_GYROIOC(8)

#endif /* _DRV_GYRO_H */