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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 drv_accel.h
*
* Accelerometer driver interface.
*/
#ifndef _DRV_ACCEL_H
#define _DRV_ACCEL_H
#include <stdint.h>
#include <sys/ioctl.h>
#ifdef CONFIG_ARCH_ARM
#include "drv_sensor.h"
#include "drv_orb_dev.h"
#define ACCEL_DEVICE_PATH "/dev/accel"
#endif
/**
* accel report structure. Reads from the device must be in multiples of this
* structure.
*/
struct accel_report {
uint64_t timestamp;
uint64_t error_count;
float x; /**< acceleration in the NED X board axis in m/s^2 */
float y; /**< acceleration in the NED Y board axis in m/s^2 */
float z; /**< acceleration in the NED Z board axis in m/s^2 */
float temperature; /**< temperature in degrees celsius */
float range_m_s2; /**< range in m/s^2 (+- this value) */
float scaling;
int16_t x_raw;
int16_t y_raw;
int16_t z_raw;
int16_t temperature_raw;
};
/** accel scaling factors; Vout = Vscale * (Vin + 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.
*/
#ifdef CONFIG_ARCH_ARM
ORB_DECLARE(sensor_accel0);
ORB_DECLARE(sensor_accel1);
ORB_DECLARE(sensor_accel2);
/*
* ioctl() definitions
*
* Accelerometer drivers also implement the generic sensor driver
* interfaces from drv_sensor.h
*/
#define _ACCELIOCBASE (0x2100)
#define _ACCELIOC(_n) (_IOC(_ACCELIOCBASE, _n))
/** set the accel internal sample rate to at least (arg) Hz */
#define ACCELIOCSSAMPLERATE _ACCELIOC(0)
/** return the accel internal sample rate in Hz */
#define ACCELIOCGSAMPLERATE _ACCELIOC(1)
/** set the accel internal lowpass filter to no lower than (arg) Hz */
#define ACCELIOCSLOWPASS _ACCELIOC(2)
/** return the accel internal lowpass filter in Hz */
#define ACCELIOCGLOWPASS _ACCELIOC(3)
/** set the accel scaling constants to the structure pointed to by (arg) */
#define ACCELIOCSSCALE _ACCELIOC(5)
/** get the accel scaling constants into the structure pointed to by (arg) */
#define ACCELIOCGSCALE _ACCELIOC(6)
/** set the accel measurement range to handle at least (arg) g */
#define ACCELIOCSRANGE _ACCELIOC(7)
/** get the current accel measurement range in g */
#define ACCELIOCGRANGE _ACCELIOC(8)
/** get the result of a sensor self-test */
#define ACCELIOCSELFTEST _ACCELIOC(9)
#endif
#endif /* _DRV_ACCEL_H */
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