diff options
Diffstat (limited to 'nuttx/configs/px4fmu/include/drv_lis331.h')
| -rw-r--r-- | nuttx/configs/px4fmu/include/drv_lis331.h | 83 |
1 files changed, 83 insertions, 0 deletions
diff --git a/nuttx/configs/px4fmu/include/drv_lis331.h b/nuttx/configs/px4fmu/include/drv_lis331.h new file mode 100644 index 000000000..f4699cda0 --- /dev/null +++ b/nuttx/configs/px4fmu/include/drv_lis331.h @@ -0,0 +1,83 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/* + * Driver for the ST LIS331 MEMS accelerometer + */ + +#include <sys/ioctl.h> + +#define _LIS331BASE 0x6900 +#define LIS331C(_x) _IOC(_LIS331BASE, _x) + +/* + * Sets the sensor internal sampling rate, and if a buffer + * has been configured, the rate at which entries will be + * added to the buffer. + */ +#define LIS331_SETRATE LIS331C(1) + +#define LIS331_RATE_50Hz (0<<3) +#define LIS331_RATE_100Hz (1<<3) +#define LIS331_RATE_400Hz (2<<3) +#define LIS331_RATE_1000Hz (3<<3) + +/* + * Sets the sensor internal range. + */ +#define LIS331_SETRANGE LIS331C(2) + +#define LIS331_RANGE_2G (0<<4) +#define LIS331_RANGE_4G (1<<4) +#define LIS331_RANGE_8G (3<<4) + +/* + * Sets the address of a shared lis331_buffer + * structure that is maintained by the driver. + * + * If zero is passed as the address, disables + * the buffer updating. + */ +#define LIS331_SETBUFFER LIS331C(3) + +struct lis331_buffer { + uint32_t size; /* number of entries in the samples[] array */ + uint32_t next; /* the next entry that will be populated */ + struct { + uint16_t x; + uint16_t y; + uint16_t z; + } samples[]; +}; + +extern int lis331_attach(struct spi_dev_s *spi, int spi_id); |