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/****************************************************************************
*
* 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 <stdint.h>
#include <sys/ioctl.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.
*/
struct mag_report {
float x;
float y;
float z;
uint64_t timestamp;
};
/** 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 (_SNIOCBASE + 0x30)
#define _MAGIOC(_n) (_IOC(_MAGIOBASE, _n))
/** set the driver polling rate to (arg) Hz, or one of the MAG_POLLRATE constants */
#define MAGIOCSPOLLRATE _MAGIOC(0)
#define MAG_POLLRATE_MANUAL 1000000 /**< poll when read */
#define MAG_POLLRATE_EXTERNAL 1000001 /**< poll when device signals ready */
/** set the internal queue depth to (arg) entries, must be at least 1 */
#define MAGIOCSQUEUEDEPTH _MAGIOC(1)
/** set the mag internal sample rate to at least (arg) Hz */
#define MAGIOCSSAMPLERATE _MAGIOC(2)
/** set the mag internal lowpass filter to no lower than (arg) Hz */
#define MAGIOCSLOWPASS _MAGIOC(3)
/** set the report format to (arg); zero is the standard, 1-10 are reserved, all others are driver-specific. */
#define MAGIOCSREPORTFORMAT _MAGIOC(4)
/** set the mag scaling constants to the structure pointed to by (arg) */
#define MAGIOCSSCALE _MAGIOC(5)
#endif /* _DRV_MAG_H */
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