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*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* 1. Redistributions of source code must retain the above copyright
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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_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 {
float x;
float y;
float z;
uint64_t timestamp;
};
/** 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 (0x2200)
#define _GYROIOC(_n) (_IOC(_GYROIOCBASE, _n))
/** set the driver polling rate to (arg) Hz, or one of the GYRO_POLLRATE constants */
#define GYROIOCSPOLLRATE _GYROIOC(0)
#define GYRO_POLLRATE_MANUAL 1000000 /**< poll when read */
#define GYRO_POLLRATE_EXTERNAL 1000001 /**< poll when device signals ready */
/** set the internal queue depth to (arg) entries, must be at least 1 */
#define GYROIOCSQUEUEDEPTH _GYROIOC(1)
/** set the gyro internal sample rate to at least (arg) Hz */
#define GYROIOCSSAMPLERATE _GYROIOC(2)
/** set the gyro internal lowpass filter to no lower than (arg) Hz */
#define GYROIOCSLOWPASS _GYROIOC(3)
/** set the report format to (arg); zero is the standard, 1-10 are reserved, all others are driver-specific. */
#define GYROIOCSREPORTFORMAT _GYROIOC(4)
/** set the gyro scaling constants to (arg) */
#define GYROIOCSSCALE _GYROIOC(5)
#endif /* _DRV_GYRO_H */
