From 13fc6703862862f4263d8d5d085b7a16b87190e1 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 28 Apr 2013 09:54:11 +0200
Subject: Moved last libs, drivers and headers, cleaned up IO build

---
 src/drivers/drv_gyro.h | 117 +++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 117 insertions(+)
 create mode 100644 src/drivers/drv_gyro.h

(limited to 'src/drivers/drv_gyro.h')

diff --git a/src/drivers/drv_gyro.h b/src/drivers/drv_gyro.h
new file mode 100644
index 000000000..1d0fef6fc
--- /dev/null
+++ b/src/drivers/drv_gyro.h
@@ -0,0 +1,117 @@
+/****************************************************************************
+ *
+ *   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 */
-- 
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