You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
80 lines
0 B
80 lines
0 B
9 years ago
|
/****************************************************************************
|
||
|
|
*
|
||
|
|
* Copyright (C) 2016 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.
|
||
|
|
*
|
||
|
|
****************************************************************************/
|
||
|
|
|
||
|
9 years ago
|
/* Definitions for crazyflie related drivers */
|
||
|
9 years ago
|
|
||
|
|
#ifndef _DRV_CRAZYFLIE_H
|
||
|
|
#define _DRV_CRAZYFLIE_H
|
||
|
|
|
||
|
|
#include <px4_defines.h>
|
||
|
|
#include <stdint.h>
|
||
|
|
#include <sys/ioctl.h>
|
||
|
|
|
||
|
|
|
||
|
|
#define DECK_DEVICE_PATH "/dev/deck"
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
/* structure of the data stored in deck memory */
|
||
|
|
typedef struct {
|
||
|
9 years ago
|
uint8_t header; // Should be 0xEB
|
||
|
9 years ago
|
uint32_t pins;
|
||
|
|
uint8_t vendorId;
|
||
|
|
uint8_t productId;
|
||
|
|
uint8_t crc;
|
||
|
|
uint8_t data[104];
|
||
|
|
|
||
|
9 years ago
|
} __attribute__((packed)) deck_descriptor_t;
|
||
|
9 years ago
|
|
||
|
|
|
||
|
|
|
||
|
|
/*
|
||
|
|
* ioctl() definitions
|
||
|
|
*/
|
||
|
|
|
||
|
|
#define _DECKIOCBASE (0x4100)
|
||
|
|
#define _DECKIOC(_n) (_PX4_IOC(_DECKIOCBASE, _n))
|
||
|
|
|
||
|
|
/** get the number of connected deck memory devices */
|
||
|
|
#define DECKIOGNUM _DECKIOC(0)
|
||
|
|
|
||
|
|
/** set the index of the current deck memory being accessed */
|
||
|
|
#define DECKIOSNUM _DECKIOC(1)
|
||
|
|
|
||
|
|
#define DECKIOID _DECKIOC(2)
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
#endif
|