added i2c px4flow driver

1 files changed, 84 insertions, 0 deletions

diff --git a/src/drivers/drv_px4flow.h b/src/drivers/drv_px4flow.h
new file mode 100644
index 000000000..bef02d54e
--- /dev/null
+++ b/src/drivers/drv_px4flow.h
@@ -0,0 +1,84 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 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 Rangefinder driver interface.
+ */
+
+#ifndef _DRV_PX4FLOW_H
+#define _DRV_PX4FLOW_H
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+#include "drv_sensor.h"
+#include "drv_orb_dev.h"
+
+#define PX4FLOW_DEVICE_PATH	"/dev/px4flow"
+
+/**
+ * Optical flow in NED body frame in SI units.
+ *
+ * @see http://en.wikipedia.org/wiki/International_System_of_Units
+ */
+struct px4flow_report {
+
+	uint64_t timestamp;		/**< in microseconds since system start          */
+
+	int16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
+	int16_t flow_raw_y;		/**< flow in pixels in Y direction, not rotation-compensated */
+	float flow_comp_x_m;		/**< speed over ground in meters, rotation-compensated */
+	float flow_comp_y_m;		/**< speed over ground in meters, rotation-compensated */
+	float ground_distance_m;	/**< Altitude / distance to ground in meters */
+	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
+	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
+
+};
+
+/*
+ * ObjDev tag for px4flow data.
+ */
+ORB_DECLARE(optical_flow);
+
+/*
+ * ioctl() definitions
+ *
+ * px4flow drivers also implement the generic sensor driver
+ * interfaces from drv_sensor.h
+ */
+
+#define _PX4FLOWIOCBASE			(0x7700)
+#define __PX4FLOWIOC(_n)		(_IOC(_PX4FLOWIOCBASE, _n))
+
+
+#endif /* _DRV_PX4FLOW_H */