Moved last libs, drivers and headers, cleaned up IO build

1 files changed, 114 insertions, 0 deletions

diff --git a/src/drivers/drv_mag.h b/src/drivers/drv_mag.h
new file mode 100644
index 000000000..9aab995a1
--- /dev/null
+++ b/src/drivers/drv_mag.h
@@ -0,0 +1,114 @@
+/****************************************************************************
+ *
+ *   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_sensor.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.
+ *
+ * Output values are in gauss.
+ */
+struct mag_report {
+	uint64_t timestamp;
+	float x;
+	float y;
+	float z;
+	float range_ga;
+	float scaling;
+
+	int16_t x_raw;
+	int16_t y_raw;
+	int16_t z_raw;
+};
+
+/** 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		(0x2400)
+#define _MAGIOC(_n)		(_IOC(_MAGIOCBASE, _n))
+
+/** set the mag internal sample rate to at least (arg) Hz */
+#define MAGIOCSSAMPLERATE	_MAGIOC(0)
+
+/** set the mag internal lowpass filter to no lower than (arg) Hz */
+#define MAGIOCSLOWPASS		_MAGIOC(1)
+
+/** set the mag scaling constants to the structure pointed to by (arg) */
+#define MAGIOCSSCALE		_MAGIOC(2)
+
+/** copy the mag scaling constants to the structure pointed to by (arg) */
+#define MAGIOCGSCALE		_MAGIOC(3)
+
+/** set the measurement range to handle (at least) arg Gauss */
+#define MAGIOCSRANGE		_MAGIOC(4)
+
+/** perform self-calibration, update scale factors to canonical units */
+#define MAGIOCCALIBRATE		_MAGIOC(5)
+
+/** excite strap */
+#define MAGIOCEXSTRAP		_MAGIOC(6)
+
+/** perform self test and report status */
+#define MAGIOCSELFTEST		_MAGIOC(7)
+
+#endif /* _DRV_MAG_H */