From 8a365179eafdf3aea98e60ab9f5882b200d4c759 Mon Sep 17 00:00:00 2001 From: px4dev Date: Sat, 4 Aug 2012 15:12:36 -0700 Subject: Fresh import of the PX4 firmware sources. --- apps/drivers/drv_gyro.h | 102 ++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 102 insertions(+) create mode 100644 apps/drivers/drv_gyro.h (limited to 'apps/drivers/drv_gyro.h') diff --git a/apps/drivers/drv_gyro.h b/apps/drivers/drv_gyro.h new file mode 100644 index 000000000..21f6493b1 --- /dev/null +++ b/apps/drivers/drv_gyro.h @@ -0,0 +1,102 @@ +/**************************************************************************** + * + * 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 +#include + +#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 { + float x; + float y; + float z; + uint64_t timestamp; +}; + +/** 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 (_SNIOCBASE + 0x10) +#define _GYROIOC(_n) (_IOC(_GYROIOCBASE, _n)) + +/** set the driver polling rate to (arg) Hz, or one of the GYRO_POLLRATE constants */ +#define GYROIOCSPOLLRATE _GYROIOC(0) + +#define GYRO_POLLRATE_MANUAL 1000000 /**< poll when read */ +#define GYRO_POLLRATE_EXTERNAL 1000001 /**< poll when device signals ready */ + +/** set the internal queue depth to (arg) entries, must be at least 1 */ +#define GYROIOCSQUEUEDEPTH _GYROIOC(1) + +/** set the gyro internal sample rate to at least (arg) Hz */ +#define GYROIOCSSAMPLERATE _GYROIOC(2) + +/** set the gyro internal lowpass filter to no lower than (arg) Hz */ +#define GYROIOCSLOWPASS _GYROIOC(3) + +/** set the report format to (arg); zero is the standard, 1-10 are reserved, all others are driver-specific. */ +#define GYROIOCSREPORTFORMAT _GYROIOC(4) + +/** set the gyro scaling constants to (arg) */ +#define GYROIOCSSCALE _GYROIOC(5) + +#endif /* _DRV_GYRO_H */ -- cgit v1.2.3