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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_sensor.h
*
* Common sensor API and ioctl definitions.
*/
#ifndef _DRV_SENSOR_H
#define _DRV_SENSOR_H
#include <stdint.h>
#include <sys/ioctl.h>
#include "drv_device.h"
/**
* Sensor type definitions.
*
* Used to create a unique device id for redundant and combo sensors
*/
#define DRV_MAG_DEVTYPE_HMC5883 0x01
#define DRV_MAG_DEVTYPE_LSM303D 0x02
#define DRV_ACC_DEVTYPE_LSM303D 0x11
#define DRV_ACC_DEVTYPE_BMA180 0x12
#define DRV_ACC_DEVTYPE_MPU6000 0x13
#define DRV_GYR_DEVTYPE_MPU6000 0x21
#define DRV_GYR_DEVTYPE_L3GD20 0x22
#define DRV_RNG_DEVTYPE_MB12XX 0x31
#define DRV_RNG_DEVTYPE_LL40LS 0x32
/*
* ioctl() definitions
*
* Note that a driver may not implement all of these operations, but
* if the operation is implemented it should conform to this API.
*/
#define _SENSORIOCBASE (0x2000)
#define _SENSORIOC(_n) (_IOC(_SENSORIOCBASE, _n))
/**
* Set the driver polling rate to (arg) Hz, or one of the SENSOR_POLLRATE
* constants
*/
#define SENSORIOCSPOLLRATE _SENSORIOC(0)
/**
* Return the driver's approximate polling rate in Hz, or one of the
* SENSOR_POLLRATE values.
*/
#define SENSORIOCGPOLLRATE _SENSORIOC(1)
#define SENSOR_POLLRATE_MANUAL 1000000 /**< poll when read */
#define SENSOR_POLLRATE_EXTERNAL 1000001 /**< poll when device signals ready */
#define SENSOR_POLLRATE_MAX 1000002 /**< poll at device maximum rate */
#define SENSOR_POLLRATE_DEFAULT 1000003 /**< poll at driver normal rate */
/**
* Set the internal queue depth to (arg) entries, must be at least 1
*
* This sets the upper bound on the number of readings that can be
* read from the driver.
*/
#define SENSORIOCSQUEUEDEPTH _SENSORIOC(2)
/** return the internal queue depth */
#define SENSORIOCGQUEUEDEPTH _SENSORIOC(3)
/**
* Reset the sensor to its default configuration
*/
#define SENSORIOCRESET _SENSORIOC(4)
/**
* Set the sensor orientation
*/
#define SENSORIOCSROTATION _SENSORIOC(5)
/**
* Get the sensor orientation
*/
#define SENSORIOCGROTATION _SENSORIOC(6)
#endif /* _DRV_SENSOR_H */
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