From 13fc6703862862f4263d8d5d085b7a16b87190e1 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 28 Apr 2013 09:54:11 +0200 Subject: Moved last libs, drivers and headers, cleaned up IO build --- src/drivers/drv_mag.h | 114 ++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 114 insertions(+) create mode 100644 src/drivers/drv_mag.h (limited to 'src/drivers/drv_mag.h') diff --git a/src/drivers/drv_mag.h b/src/drivers/drv_mag.h new file mode 100644 index 000000000..9aab995a1 --- /dev/null +++ b/src/drivers/drv_mag.h @@ -0,0 +1,114 @@ +/**************************************************************************** + * + * 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 Magnetometer driver interface. + */ + +#ifndef _DRV_MAG_H +#define _DRV_MAG_H + +#include +#include + +#include "drv_sensor.h" +#include "drv_orb_dev.h" + +#define MAG_DEVICE_PATH "/dev/mag" + +/** + * mag report structure. Reads from the device must be in multiples of this + * structure. + * + * Output values are in gauss. + */ +struct mag_report { + uint64_t timestamp; + float x; + float y; + float z; + float range_ga; + float scaling; + + int16_t x_raw; + int16_t y_raw; + int16_t z_raw; +}; + +/** mag scaling factors; Vout = (Vin * Vscale) + Voffset */ +struct mag_scale { + float x_offset; + float x_scale; + float y_offset; + float y_scale; + float z_offset; + float z_scale; +}; + +/* + * ObjDev tag for raw magnetometer data. + */ +ORB_DECLARE(sensor_mag); + +/* + * ioctl() definitions + */ + +#define _MAGIOCBASE (0x2400) +#define _MAGIOC(_n) (_IOC(_MAGIOCBASE, _n)) + +/** set the mag internal sample rate to at least (arg) Hz */ +#define MAGIOCSSAMPLERATE _MAGIOC(0) + +/** set the mag internal lowpass filter to no lower than (arg) Hz */ +#define MAGIOCSLOWPASS _MAGIOC(1) + +/** set the mag scaling constants to the structure pointed to by (arg) */ +#define MAGIOCSSCALE _MAGIOC(2) + +/** copy the mag scaling constants to the structure pointed to by (arg) */ +#define MAGIOCGSCALE _MAGIOC(3) + +/** set the measurement range to handle (at least) arg Gauss */ +#define MAGIOCSRANGE _MAGIOC(4) + +/** perform self-calibration, update scale factors to canonical units */ +#define MAGIOCCALIBRATE _MAGIOC(5) + +/** excite strap */ +#define MAGIOCEXSTRAP _MAGIOC(6) + +/** perform self test and report status */ +#define MAGIOCSELFTEST _MAGIOC(7) + +#endif /* _DRV_MAG_H */ -- cgit v1.2.3