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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file drv_gyro.h
*
* 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;
uint64_t error_count;
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 */
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