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

2026-10-27 21:23:34 +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 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 sensor_combined.h
+ * Definition of the sensor_combined uORB topic.
+ */
+
+#ifndef SENSOR_COMBINED_H_
+#define SENSOR_COMBINED_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+enum MAGNETOMETER_MODE {
+	MAGNETOMETER_MODE_NORMAL = 0,
+	MAGNETOMETER_MODE_POSITIVE_BIAS,
+	MAGNETOMETER_MODE_NEGATIVE_BIAS
+};
+
+/**
+ * Sensor readings in raw and SI-unit form.
+ *
+ * These values are read from the sensors. Raw values are in sensor-specific units,
+ * the scaled values are in SI-units, as visible from the ending of the variable
+ * or the comments. The use of the SI fields is in general advised, as these fields
+ * are scaled and offset-compensated where possible and do not change with board
+ * revisions and sensor updates.
+ *
+ */
+struct sensor_combined_s {
+
+	/*
+	 * Actual data, this is specific to the type of data which is stored in this struct
+	 * A line containing L0GME will be added by the Python logging code generator to the
+	 * logged dataset.
+	 */
+
+	/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only   */
+
+	uint64_t timestamp;			/**< Timestamp in microseconds since boot         */
+
+	int16_t	gyro_raw[3];			/**< Raw sensor values of angular velocity        */
+	uint16_t gyro_counter;			/**< Number of raw measurments taken              */
+	float gyro_rad_s[3];			/**< Angular velocity in radian per seconds       */
+	
+	int16_t accelerometer_raw[3];		/**< Raw acceleration in NED body frame           */
+	uint32_t accelerometer_counter;		/**< Number of raw acc measurements taken         */
+	float accelerometer_m_s2[3];		/**< Acceleration in NED body frame, in m/s^2     */
+	int accelerometer_mode;			/**< Accelerometer measurement mode */
+	float accelerometer_range_m_s2;		/**< Accelerometer measurement range in m/s^2 */
+
+	int16_t	magnetometer_raw[3];		/**< Raw magnetic field in NED body frame         */
+	float magnetometer_ga[3];		/**< Magnetic field in NED body frame, in Gauss   */
+	int magnetometer_mode;			/**< Magnetometer measurement mode */
+	float magnetometer_range_ga;		/**< ± measurement range in Gauss */
+	float magnetometer_cuttoff_freq_hz;	/**< Internal analog low pass frequency of sensor */
+	uint32_t magnetometer_counter;		/**< Number of raw mag measurements taken         */
+	
+	float baro_pres_mbar;			/**< Barometric pressure, already temp. comp.     */
+	float baro_alt_meter;			/**< Altitude, already temp. comp.                */
+	float baro_temp_celcius;		/**< Temperature in degrees celsius               */
+	float adc_voltage_v[4];			/**< ADC voltages of ADC Chan 10/11/12/13 or -1      */
+	float mcu_temp_celcius;			/**< Internal temperature measurement of MCU */
+	uint32_t baro_counter;			/**< Number of raw baro measurements taken        */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(sensor_combined);
+
+#endif