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79 lines
2.5 KiB
79 lines
2.5 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2016 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/* Definitions for crazyflie related drivers */ |
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#ifndef _DRV_CRAZYFLIE_H |
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#define _DRV_CRAZYFLIE_H |
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#include <px4_platform_common/defines.h> |
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#include <stdint.h> |
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#include <sys/ioctl.h> |
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#define DECK_DEVICE_PATH "/dev/deck" |
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/* structure of the data stored in deck memory */ |
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typedef struct { |
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uint8_t header; // Should be 0xEB |
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uint32_t pins; |
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uint8_t vendorId; |
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uint8_t productId; |
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uint8_t crc; |
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uint8_t data[104]; |
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} __attribute__((packed)) deck_descriptor_t; |
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/* |
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* ioctl() definitions |
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*/ |
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#define _DECKIOCBASE (0x4100) |
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#define _DECKIOC(_n) (_PX4_IOC(_DECKIOCBASE, _n)) |
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/** get the number of connected deck memory devices */ |
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#define DECKIOGNUM _DECKIOC(0) |
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/** set the index of the current deck memory being accessed */ |
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#define DECKIOSNUM _DECKIOC(1) |
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#define DECKIOID _DECKIOC(2) |
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#endif
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