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99 lines
3.1 KiB
C
99 lines
3.1 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2013 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 Rangefinder driver interface.
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*/
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#ifndef _DRV_RANGEFINDER_H
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#define _DRV_RANGEFINDER_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 RANGE_FINDER_DEVICE_PATH "/dev/range_finder"
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enum RANGE_FINDER_TYPE {
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RANGE_FINDER_TYPE_LASER = 0,
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};
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/**
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* @addtogroup topics
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* @{
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*/
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/**
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* range finder 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 range_finder_report {
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uint64_t timestamp;
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uint64_t error_count;
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unsigned type; /**< type, following RANGE_FINDER_TYPE enum */
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float distance; /**< in meters */
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float minimum_distance; /**< minimum distance the sensor can measure */
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float maximum_distance; /**< maximum distance the sensor can measure */
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uint8_t valid; /**< 1 == within sensor range, 0 = outside sensor range */
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};
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/**
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* @}
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*/
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/*
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* ObjDev tag for raw range finder data.
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*/
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ORB_DECLARE(sensor_range_finder);
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/*
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* ioctl() definitions
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*
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* Rangefinder drivers also implement the generic sensor driver
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* interfaces from drv_sensor.h
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*/
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#define _RANGEFINDERIOCBASE (0x7900)
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#define __RANGEFINDERIOC(_n) (_IOC(_RANGEFINDERIOCBASE, _n))
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/** set the minimum effective distance of the device */
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#define RANGEFINDERIOCSETMINIUMDISTANCE __RANGEFINDERIOC(1)
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/** set the maximum effective distance of the device */
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#define RANGEFINDERIOCSETMAXIUMDISTANCE __RANGEFINDERIOC(2)
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#endif /* _DRV_RANGEFINDER_H */
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