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Diffstat (limited to 'apps/drivers/drv_gyro.h')
-rw-r--r-- | apps/drivers/drv_gyro.h | 117 |
1 files changed, 0 insertions, 117 deletions
diff --git a/apps/drivers/drv_gyro.h b/apps/drivers/drv_gyro.h deleted file mode 100644 index 1d0fef6fc..000000000 --- a/apps/drivers/drv_gyro.h +++ /dev/null @@ -1,117 +0,0 @@ -/**************************************************************************** - * - * 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_sensor.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 { - uint64_t timestamp; - float x; /**< angular velocity in the NED X board axis in rad/s */ - float y; /**< angular velocity in the NED Y board axis in rad/s */ - float z; /**< angular velocity in the NED Z board axis in rad/s */ - float temperature; /**< temperature in degrees celcius */ - float range_rad_s; - float scaling; - - int16_t x_raw; - int16_t y_raw; - int16_t z_raw; - int16_t temperature_raw; -}; - -/** 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 (0x2300) -#define _GYROIOC(_n) (_IOC(_GYROIOCBASE, _n)) - -/** set the gyro internal sample rate to at least (arg) Hz */ -#define GYROIOCSSAMPLERATE _GYROIOC(0) - -/** return the gyro internal sample rate in Hz */ -#define GYROIOCGSAMPLERATE _GYROIOC(1) - -/** set the gyro internal lowpass filter to no lower than (arg) Hz */ -#define GYROIOCSLOWPASS _GYROIOC(2) - -/** set the gyro internal lowpass filter to no lower than (arg) Hz */ -#define GYROIOCGLOWPASS _GYROIOC(3) - -/** set the gyro scaling constants to (arg) */ -#define GYROIOCSSCALE _GYROIOC(4) - -/** get the gyro scaling constants into (arg) */ -#define GYROIOCGSCALE _GYROIOC(5) - -/** set the gyro measurement range to handle at least (arg) degrees per second */ -#define GYROIOCSRANGE _GYROIOC(6) - -/** get the current gyro measurement range in degrees per second */ -#define GYROIOCGRANGE _GYROIOC(7) - -/** check the status of the sensor */ -#define GYROIOCSELFTEST _GYROIOC(8) - -#endif /* _DRV_GYRO_H */ |