Moved last libs, drivers and headers, cleaned up IO build

2026-11-03 04:41:36 +08:00 · 2013-04-28 09:54:11 +02:00
parent f57439b90e
commit 13fc670386
423 changed files with 89 additions and 1024 deletions
@@ -0,0 +1,121 @@
+/****************************************************************************
+ *
+ *   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)
+
+/** get the result of a sensor self-test */
+#define ACCELIOCSELFTEST	_ACCELIOC(9)
+
+#endif /* _DRV_ACCEL_H */