forked from Archive/PX4-Autopilot
115 lines
3.6 KiB
C
115 lines
3.6 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file Gyroscope driver interface.
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*/
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#ifndef _DRV_GYRO_H
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#define _DRV_GYRO_H
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#include <stdint.h>
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#include <sys/ioctl.h>
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#include "drv_sensor.h"
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#include "drv_orb_dev.h"
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#define GYRO_DEVICE_PATH "/dev/gyro"
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/**
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* gyro report structure. Reads from the device must be in multiples of this
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* structure.
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*/
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struct gyro_report {
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uint64_t timestamp;
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float x; /**< angular velocity in the NED X board axis in rad/s */
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float y; /**< angular velocity in the NED Y board axis in rad/s */
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float z; /**< angular velocity in the NED Z board axis in rad/s */
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float temperature; /**< temperature in degrees celcius */
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float range_rad_s;
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float scaling;
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int16_t x_raw;
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int16_t y_raw;
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int16_t z_raw;
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int16_t temperature_raw;
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};
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/** gyro scaling factors; Vout = (Vin * Vscale) + Voffset */
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struct gyro_scale {
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float x_offset;
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float x_scale;
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float y_offset;
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float y_scale;
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float z_offset;
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float z_scale;
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};
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/*
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* ObjDev tag for raw gyro data.
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*/
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ORB_DECLARE(sensor_gyro);
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/*
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* ioctl() definitions
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*/
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#define _GYROIOCBASE (0x2300)
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#define _GYROIOC(_n) (_IOC(_GYROIOCBASE, _n))
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/** set the gyro internal sample rate to at least (arg) Hz */
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#define GYROIOCSSAMPLERATE _GYROIOC(0)
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/** return the gyro internal sample rate in Hz */
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#define GYROIOCGSAMPLERATE _GYROIOC(1)
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/** set the gyro internal lowpass filter to no lower than (arg) Hz */
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#define GYROIOCSLOWPASS _GYROIOC(2)
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/** set the gyro internal lowpass filter to no lower than (arg) Hz */
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#define GYROIOCGLOWPASS _GYROIOC(3)
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/** set the gyro scaling constants to (arg) */
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#define GYROIOCSSCALE _GYROIOC(4)
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/** get the gyro scaling constants into (arg) */
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#define GYROIOCGSCALE _GYROIOC(5)
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/** set the gyro measurement range to handle at least (arg) degrees per second */
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#define GYROIOCSRANGE _GYROIOC(6)
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/** get the current gyro measurement range in degrees per second */
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#define GYROIOCGRANGE _GYROIOC(7)
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#endif /* _DRV_GYRO_H */
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