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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.
*
****************************************************************************/
/*
* Driver for the ST HMC5883L gyroscope
*/
#include <sys/ioctl.h>
#define _HMC5883LBASE 0x6100
#define HMC5883LC(_x) _IOC(_HMC5883LBASE, _x)
/*
* Sets the sensor internal sampling rate, and if a buffer
* has been configured, the rate at which entries will be
* added to the buffer.
*/
#define HMC5883L_SETRATE HMC5883LC(1)
/* set rate (configuration A register */
#define HMC5883L_RATE_0_75HZ (0 << 2) /* 0.75 Hz */
#define HMC5883L_RATE_1_50HZ (1 << 2) /* 1.5 Hz */
#define HMC5883L_RATE_3_00HZ (2 << 2) /* 3 Hz */
#define HMC5883L_RATE_7_50HZ (3 << 2) /* 7.5 Hz */
#define HMC5883L_RATE_15HZ (4 << 2) /* 15 Hz (default) */
#define HMC5883L_RATE_30HZ (5 << 2) /* 30 Hz */
#define HMC5883L_RATE_75HZ (6 << 2) /* 75 Hz */
/*
* Sets the sensor internal range.
*/
#define HMC5883L_SETRANGE HMC5883LC(2)
#define HMC5883L_RANGE_0_88GA (0 << 5)
#define HMC5883L_RANGE_1_33GA (1 << 5)
#define HMC5883L_RANGE_1_90GA (2 << 5)
#define HMC5883L_RANGE_2_50GA (3 << 5)
#define HMC5883L_RANGE_4_00GA (4 << 5)
/*
* Set the sensor measurement mode.
*/
#define HMC5883L_MODE_NORMAL (0 << 0)
#define HMC5883L_MODE_POSITIVE_BIAS (1 << 0)
#define HMC5883L_MODE_NEGATIVE_BIAS (1 << 1)
/*
* Sets the address of a shared HMC5883L_buffer
* structure that is maintained by the driver.
*
* If zero is passed as the address, disables
* the buffer updating.
*/
#define HMC5883L_SETBUFFER HMC5883LC(3)
struct hmc5883l_buffer {
uint32_t size; /* number of entries in the samples[] array */
uint32_t next; /* the next entry that will be populated */
struct {
int16_t x;
int16_t y;
int16_t z;
} samples[];
};
#define HMC5883L_RESET HMC5883LC(4)
#define HMC5883L_CALIBRATION_ON HMC5883LC(5)
#define HMC5883L_CALIBRATION_OFF HMC5883LC(6)
extern int hmc5883l_attach(struct i2c_dev_s *i2c);
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