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114 lines
3.6 KiB
114 lines
3.6 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2012 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 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_DEVICE_PATH "/dev/gyro" |
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/** |
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* gyro 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 gyro_report { |
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uint64_t timestamp; |
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float x; /**< angular velocity in the NED X board axis in rad/s */ |
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float y; /**< angular velocity in the NED Y board axis in rad/s */ |
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float z; /**< angular velocity in the NED Z board axis in rad/s */ |
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float temperature; /**< temperature in degrees celcius */ |
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float range_rad_s; |
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float scaling; |
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int16_t x_raw; |
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int16_t y_raw; |
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int16_t z_raw; |
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int16_t temperature_raw; |
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}; |
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/** gyro scaling factors; Vout = (Vin * Vscale) + Voffset */ |
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struct gyro_scale { |
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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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* ObjDev tag for raw gyro data. |
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*/ |
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ORB_DECLARE(sensor_gyro); |
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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) (_IOC(_GYROIOCBASE, _n)) |
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/** set the gyro internal sample rate to at least (arg) Hz */ |
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#define GYROIOCSSAMPLERATE _GYROIOC(0) |
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/** return the gyro internal sample rate in Hz */ |
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#define GYROIOCGSAMPLERATE _GYROIOC(1) |
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/** set the gyro internal lowpass filter to no lower than (arg) Hz */ |
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#define GYROIOCSLOWPASS _GYROIOC(2) |
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/** set the gyro internal lowpass filter to no lower than (arg) Hz */ |
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#define GYROIOCGLOWPASS _GYROIOC(3) |
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/** set the gyro scaling constants to (arg) */ |
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#define GYROIOCSSCALE _GYROIOC(4) |
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/** get the gyro scaling constants into (arg) */ |
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#define GYROIOCGSCALE _GYROIOC(5) |
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/** set the gyro measurement range to handle at least (arg) degrees per second */ |
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#define GYROIOCSRANGE _GYROIOC(6) |
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/** get the current gyro measurement range in degrees per second */ |
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#define GYROIOCGRANGE _GYROIOC(7) |
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#endif /* _DRV_GYRO_H */
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