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81 lines
2.8 KiB
81 lines
2.8 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2013 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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/** |
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* @file Rangefinder driver interface. |
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*/ |
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#ifndef _DRV_RANGEFINDER_H |
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#define _DRV_RANGEFINDER_H |
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#include <stdint.h> |
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#include <sys/ioctl.h> |
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#include "drv_sensor.h" |
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#include "drv_orb_dev.h" |
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#define RANGE_FINDER_DEVICE_PATH "/dev/range_finder" |
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/** |
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* range finder report structure. Reads from the device must be in multiples of this |
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* structure. |
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*/ |
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struct range_finder_report { |
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uint64_t timestamp; |
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float distance; /** in meters */ |
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uint8_t valid; /** 1 == within sensor range, 0 = outside sensor range */ |
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}; |
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/* |
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* ObjDev tag for raw range finder data. |
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*/ |
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ORB_DECLARE(sensor_range_finder); |
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/* |
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* ioctl() definitions |
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* |
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* Rangefinder drivers also implement the generic sensor driver |
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* interfaces from drv_sensor.h |
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*/ |
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#define _RANGEFINDERIOCBASE (0x7900) |
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#define __RANGEFINDERIOC(_n) (_IOC(_RANGEFINDERIOCBASE, _n)) |
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/** set the minimum effective distance of the device */ |
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#define RANGEFINDERIOCSETMINIUMDISTANCE __RANGEFINDERIOC(1) |
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/** set the maximum effective distance of the device */ |
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#define RANGEFINDERIOCSETMAXIUMDISTANCE __RANGEFINDERIOC(2) |
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#endif /* _DRV_RANGEFINDER_H */
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