Fresh import of the PX4 firmware sources.

1 files changed, 102 insertions, 0 deletions

diff --git a/apps/drivers/drv_gyro.h b/apps/drivers/drv_gyro.h
new file mode 100644
index 000000000..21f6493b1
--- /dev/null
+++ b/apps/drivers/drv_gyro.h
@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *   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 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		(_SNIOCBASE + 0x10)
+#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 */