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73 lines
2.4 KiB
73 lines
2.4 KiB
/**************************************************************************** |
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* |
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* Copyright (c) 2012-2016 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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/** |
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* @file drv_gyro.h |
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* |
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* Gyroscope driver interface. |
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*/ |
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#ifndef _DRV_GYRO_H |
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#define _DRV_GYRO_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 GYRO_BASE_DEVICE_PATH "/dev/gyro" |
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#include <uORB/topics/sensor_gyro.h> |
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/** gyro scaling factors; Vout = (Vin * Vscale) + Voffset */ |
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struct gyro_calibration_s { |
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float x_offset; |
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float x_scale; |
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float y_offset; |
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float y_scale; |
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float z_offset; |
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float z_scale; |
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}; |
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/* |
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* ioctl() definitions |
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*/ |
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#define _GYROIOCBASE (0x2300) |
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#define _GYROIOC(_n) (_PX4_IOC(_GYROIOCBASE, _n)) |
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/** set the gyro scaling constants to (arg) */ |
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#define GYROIOCSSCALE _GYROIOC(4) |
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#endif /* _DRV_GYRO_H */
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