/****************************************************************************
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 *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
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 * modification, are permitted provided that the following conditions
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 * 1. Redistributions of source code must retain the above copyright
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 * 2. Redistributions in binary form must reproduce the above copyright
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/**
 * @file Accelerometer driver interface.
 */

#ifndef _DRV_ACCEL_H
#define _DRV_ACCEL_H

#include <stdint.h>
#include <sys/ioctl.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 {
	float x;
	float y;
	float z;
	uint64_t timestamp;
};

/** 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
 */

#define _ACCELIOCBASE		(_SNIOCBASE + 0x20)
#define _ACCELIOC(_n)		(_IOC(_ACCELIOCBASE, _n))

/** set the driver polling rate to (arg) Hz, or one of the ACC_POLLRATE constants */
#define ACCELIOCSPOLLRATE	_ACCELIOC(0)

#define ACC_POLLRATE_MANUAL		1000000	/**< poll when read */
#define ACC_POLLRATE_EXTERNAL		1000001	/**< poll when device signals ready */

/** set the internal queue depth to (arg) entries, must be at least 1 */
#define ACCELIOCSQUEUEDEPTH	_ACCELIOC(1)

/** set the accel internal sample rate to at least (arg) Hz */
#define ACCELIOCSSAMPLERATE	_ACCELIOC(2)

/** set the accel internal lowpass filter to no lower than (arg) Hz */
#define ACCELIOCSLOWPASS	_ACCELIOC(3)

/** set the report format to (arg); zero is the standard, 1-10 are reserved, all others are driver-specific. */
#define ACCELIOCSREPORTFORMAT	_ACCELIOC(4)

/** set the accel scaling constants to the structure pointed to by (arg) */
#define ACCELIOCSSCALE		_ACCELIOC(5)

/** set the accel measurement range to handle at least (arg) g */
#define ACCELIORANGE		_ACCELIOC(6)

#endif /* _DRV_ACCEL_H */