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author | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
commit | 8a365179eafdf3aea98e60ab9f5882b200d4c759 (patch) | |
tree | 4f38d6d4cd80bd0b6e22e2bb534c3f117ce44e56 /apps/drivers/drv_mag.h | |
download | px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.gz px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.bz2 px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.zip |
Fresh import of the PX4 firmware sources.
Diffstat (limited to 'apps/drivers/drv_mag.h')
-rw-r--r-- | apps/drivers/drv_mag.h | 102 |
1 files changed, 102 insertions, 0 deletions
diff --git a/apps/drivers/drv_mag.h b/apps/drivers/drv_mag.h new file mode 100644 index 000000000..7e90e9e46 --- /dev/null +++ b/apps/drivers/drv_mag.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 Magnetometer driver interface. + */ + +#ifndef _DRV_MAG_H +#define _DRV_MAG_H + +#include <stdint.h> +#include <sys/ioctl.h> + +#include "drv_orb_dev.h" + +#define MAG_DEVICE_PATH "/dev/mag" + +/** + * mag report structure. Reads from the device must be in multiples of this + * structure. + */ +struct mag_report { + float x; + float y; + float z; + uint64_t timestamp; +}; + +/** mag scaling factors; Vout = (Vin * Vscale) + Voffset */ +struct mag_scale { + float x_offset; + float x_scale; + float y_offset; + float y_scale; + float z_offset; + float z_scale; +}; + +/* + * ObjDev tag for raw magnetometer data. + */ +ORB_DECLARE(sensor_mag); + +/* + * ioctl() definitions + */ + +#define _MAGIOCBASE (_SNIOCBASE + 0x30) +#define _MAGIOC(_n) (_IOC(_MAGIOBASE, _n)) + +/** set the driver polling rate to (arg) Hz, or one of the MAG_POLLRATE constants */ +#define MAGIOCSPOLLRATE _MAGIOC(0) + +#define MAG_POLLRATE_MANUAL 1000000 /**< poll when read */ +#define MAG_POLLRATE_EXTERNAL 1000001 /**< poll when device signals ready */ + +/** set the internal queue depth to (arg) entries, must be at least 1 */ +#define MAGIOCSQUEUEDEPTH _MAGIOC(1) + +/** set the mag internal sample rate to at least (arg) Hz */ +#define MAGIOCSSAMPLERATE _MAGIOC(2) + +/** set the mag internal lowpass filter to no lower than (arg) Hz */ +#define MAGIOCSLOWPASS _MAGIOC(3) + +/** set the report format to (arg); zero is the standard, 1-10 are reserved, all others are driver-specific. */ +#define MAGIOCSREPORTFORMAT _MAGIOC(4) + +/** set the mag scaling constants to the structure pointed to by (arg) */ +#define MAGIOCSSCALE _MAGIOC(5) + +#endif /* _DRV_MAG_H */ |