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/****************************************************************************
*
* Copyright (c) 2012-2015 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_sensor.h"
#include "drv_orb_dev.h"
#define MAG_BASE_DEVICE_PATH "/dev/mag"
#define MAG0_DEVICE_PATH "/dev/mag0"
#define MAG1_DEVICE_PATH "/dev/mag1"
#define MAG2_DEVICE_PATH "/dev/mag2"
/**
* 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;
uint64_t error_count;
float x;
float y;
float z;
float range_ga;
float scaling;
float temperature;
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)
/** return the mag internal sample rate in Hz */
#define MAGIOCGSAMPLERATE _MAGIOC(1)
/** set the mag internal lowpass filter to no lower than (arg) Hz */
#define MAGIOCSLOWPASS _MAGIOC(2)
/** return the mag internal lowpass filter in Hz */
#define MAGIOCGLOWPASS _MAGIOC(3)
/** set the mag scaling constants to the structure pointed to by (arg) */
#define MAGIOCSSCALE _MAGIOC(4)
/** copy the mag scaling constants to the structure pointed to by (arg) */
#define MAGIOCGSCALE _MAGIOC(5)
/** set the measurement range to handle (at least) arg Gauss */
#define MAGIOCSRANGE _MAGIOC(6)
/** return the current mag measurement range in Gauss */
#define MAGIOCGRANGE _MAGIOC(7)
/** perform self-calibration, update scale factors to canonical units */
#define MAGIOCCALIBRATE _MAGIOC(8)
/** excite strap */
#define MAGIOCEXSTRAP _MAGIOC(9)
/** perform self test and report status */
#define MAGIOCSELFTEST _MAGIOC(10)
/** determine if mag is external or onboard */
#define MAGIOCGEXTERNAL _MAGIOC(11)
#endif /* _DRV_MAG_H */
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