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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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0b784c20c8
Fix config utility to work with all devices of each type. Accel, gyro and mag devices correctly set their device_id devtype. Combo devices (mpu6000 lsm303d) now correctly return their devtype. config util shows device id for all sensor types. Add, save during calibration and check during preflight ID parameters for accelerometer and gyro
119 lines
3.7 KiB
C
119 lines
3.7 KiB
C
/****************************************************************************
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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 drv_sensor.h
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*
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* Common sensor API and ioctl definitions.
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*/
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#ifndef _DRV_SENSOR_H
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#define _DRV_SENSOR_H
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#include <stdint.h>
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#include <sys/ioctl.h>
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#include "drv_device.h"
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/**
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* Sensor type definitions.
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*
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* Used to create a unique device id for redundant and combo sensors
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*/
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#define DRV_MAG_DEVTYPE_HMC5883 0x01
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#define DRV_MAG_DEVTYPE_LSM303D 0x02
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#define DRV_ACC_DEVTYPE_LSM303D 0x11
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#define DRV_ACC_DEVTYPE_BMA180 0x12
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#define DRV_ACC_DEVTYPE_MPU6000 0x13
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#define DRV_GYR_DEVTYPE_MPU6000 0x21
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#define DRV_GYR_DEVTYPE_L3GD20 0x22
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#define DRV_RNG_DEVTYPE_MB12XX 0x31
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#define DRV_RNG_DEVTYPE_LL40LS 0x32
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/*
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* ioctl() definitions
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*
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* Note that a driver may not implement all of these operations, but
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* if the operation is implemented it should conform to this API.
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*/
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#define _SENSORIOCBASE (0x2000)
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#define _SENSORIOC(_n) (_IOC(_SENSORIOCBASE, _n))
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/**
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* Set the driver polling rate to (arg) Hz, or one of the SENSOR_POLLRATE
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* constants
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*/
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#define SENSORIOCSPOLLRATE _SENSORIOC(0)
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/**
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* Return the driver's approximate polling rate in Hz, or one of the
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* SENSOR_POLLRATE values.
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*/
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#define SENSORIOCGPOLLRATE _SENSORIOC(1)
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#define SENSOR_POLLRATE_MANUAL 1000000 /**< poll when read */
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#define SENSOR_POLLRATE_EXTERNAL 1000001 /**< poll when device signals ready */
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#define SENSOR_POLLRATE_MAX 1000002 /**< poll at device maximum rate */
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#define SENSOR_POLLRATE_DEFAULT 1000003 /**< poll at driver normal rate */
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/**
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* Set the internal queue depth to (arg) entries, must be at least 1
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*
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* This sets the upper bound on the number of readings that can be
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* read from the driver.
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*/
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#define SENSORIOCSQUEUEDEPTH _SENSORIOC(2)
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/** return the internal queue depth */
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#define SENSORIOCGQUEUEDEPTH _SENSORIOC(3)
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/**
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* Reset the sensor to its default configuration
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*/
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#define SENSORIOCRESET _SENSORIOC(4)
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/**
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* Set the sensor orientation
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*/
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#define SENSORIOCSROTATION _SENSORIOC(5)
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/**
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* Get the sensor orientation
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*/
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#define SENSORIOCGROTATION _SENSORIOC(6)
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#endif /* _DRV_SENSOR_H */
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