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Diffstat (limited to 'src/drivers/drv_accel.h')
| -rw-r--r-- | src/drivers/drv_accel.h | 121 |
1 files changed, 121 insertions, 0 deletions
diff --git a/src/drivers/drv_accel.h b/src/drivers/drv_accel.h new file mode 100644 index 000000000..794de584b --- /dev/null +++ b/src/drivers/drv_accel.h @@ -0,0 +1,121 @@ +/**************************************************************************** + * + * 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 Accelerometer driver interface. + */ + +#ifndef _DRV_ACCEL_H +#define _DRV_ACCEL_H + +#include <stdint.h> +#include <sys/ioctl.h> + +#include "drv_sensor.h" +#include "drv_orb_dev.h" + +#define ACCEL_DEVICE_PATH "/dev/accel" + +/** + * accel report structure. Reads from the device must be in multiples of this + * structure. + */ +struct accel_report { + uint64_t timestamp; + float x; /**< acceleration in the NED X board axis in m/s^2 */ + float y; /**< acceleration in the NED Y board axis in m/s^2 */ + float z; /**< acceleration in the NED Z board axis in m/s^2 */ + float temperature; /**< temperature in degrees celsius */ + float range_m_s2; /**< range in m/s^2 (+- this value) */ + float scaling; + + int16_t x_raw; + int16_t y_raw; + int16_t z_raw; + int16_t temperature_raw; +}; + +/** accel scaling factors; Vout = (Vin * Vscale) + Voffset */ +struct accel_scale { + float x_offset; + float x_scale; + float y_offset; + float y_scale; + float z_offset; + float z_scale; +}; + +/* + * ObjDev tag for raw accelerometer data. + */ +ORB_DECLARE(sensor_accel); + +/* + * ioctl() definitions + * + * Accelerometer drivers also implement the generic sensor driver + * interfaces from drv_sensor.h + */ + +#define _ACCELIOCBASE (0x2100) +#define _ACCELIOC(_n) (_IOC(_ACCELIOCBASE, _n)) + + +/** set the accel internal sample rate to at least (arg) Hz */ +#define ACCELIOCSSAMPLERATE _ACCELIOC(0) + +/** return the accel internal sample rate in Hz */ +#define ACCELIOCGSAMPLERATE _ACCELIOC(1) + +/** set the accel internal lowpass filter to no lower than (arg) Hz */ +#define ACCELIOCSLOWPASS _ACCELIOC(2) + +/** return the accel internal lowpass filter in Hz */ +#define ACCELIOCGLOWPASS _ACCELIOC(3) + +/** set the accel scaling constants to the structure pointed to by (arg) */ +#define ACCELIOCSSCALE _ACCELIOC(5) + +/** get the accel scaling constants into the structure pointed to by (arg) */ +#define ACCELIOCGSCALE _ACCELIOC(6) + +/** set the accel measurement range to handle at least (arg) g */ +#define ACCELIOCSRANGE _ACCELIOC(7) + +/** get the current accel measurement range in g */ +#define ACCELIOCGRANGE _ACCELIOC(8) + +/** get the result of a sensor self-test */ +#define ACCELIOCSELFTEST _ACCELIOC(9) + +#endif /* _DRV_ACCEL_H */ |