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.
118 lines
3.8 KiB
118 lines
3.8 KiB
/**************************************************************************** |
|
* |
|
* Copyright (C) 2012 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 Accelerometer driver interface. |
|
*/ |
|
|
|
#ifndef _DRV_ACCEL_H |
|
#define _DRV_ACCEL_H |
|
|
|
#include <stdint.h> |
|
#include <sys/ioctl.h> |
|
|
|
#include "drv_sensor.h" |
|
#include "drv_orb_dev.h" |
|
|
|
#define ACCEL_DEVICE_PATH "/dev/accel" |
|
|
|
/** |
|
* accel report structure. Reads from the device must be in multiples of this |
|
* structure. |
|
*/ |
|
struct accel_report { |
|
uint64_t timestamp; |
|
float x; /**< acceleration in the NED X board axis in m/s^2 */ |
|
float y; /**< acceleration in the NED Y board axis in m/s^2 */ |
|
float z; /**< acceleration in the NED Z board axis in m/s^2 */ |
|
float temperature; /**< temperature in degrees celsius */ |
|
float range_m_s2; /**< range in m/s^2 (+- this value) */ |
|
float scaling; |
|
|
|
int16_t x_raw; |
|
int16_t y_raw; |
|
int16_t z_raw; |
|
int16_t temperature_raw; |
|
}; |
|
|
|
/** accel scaling factors; Vout = (Vin * Vscale) + Voffset */ |
|
struct accel_scale { |
|
float x_offset; |
|
float x_scale; |
|
float y_offset; |
|
float y_scale; |
|
float z_offset; |
|
float z_scale; |
|
}; |
|
|
|
/* |
|
* ObjDev tag for raw accelerometer data. |
|
*/ |
|
ORB_DECLARE(sensor_accel); |
|
|
|
/* |
|
* ioctl() definitions |
|
* |
|
* Accelerometer drivers also implement the generic sensor driver |
|
* interfaces from drv_sensor.h |
|
*/ |
|
|
|
#define _ACCELIOCBASE (0x2100) |
|
#define _ACCELIOC(_n) (_IOC(_ACCELIOCBASE, _n)) |
|
|
|
|
|
/** set the accel internal sample rate to at least (arg) Hz */ |
|
#define ACCELIOCSSAMPLERATE _ACCELIOC(0) |
|
|
|
/** return the accel internal sample rate in Hz */ |
|
#define ACCELIOCGSAMPLERATE _ACCELIOC(1) |
|
|
|
/** set the accel internal lowpass filter to no lower than (arg) Hz */ |
|
#define ACCELIOCSLOWPASS _ACCELIOC(2) |
|
|
|
/** return the accel internal lowpass filter in Hz */ |
|
#define ACCELIOCGLOWPASS _ACCELIOC(3) |
|
|
|
/** set the accel scaling constants to the structure pointed to by (arg) */ |
|
#define ACCELIOCSSCALE _ACCELIOC(5) |
|
|
|
/** get the accel scaling constants into the structure pointed to by (arg) */ |
|
#define ACCELIOCGSCALE _ACCELIOC(6) |
|
|
|
/** set the accel measurement range to handle at least (arg) g */ |
|
#define ACCELIOCSRANGE _ACCELIOC(7) |
|
|
|
/** get the current accel measurement range in g */ |
|
#define ACCELIOCGRANGE _ACCELIOC(8) |
|
|
|
#endif /* _DRV_ACCEL_H */
|
|
|