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80134d2b7d
* irlock: change output format to tangent of angles * irlock: put all targets in single struct * irlock: eliminate tanf function in constant
66 lines
2.7 KiB
C
66 lines
2.7 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2012-2015 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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* 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_irlock.h
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*
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* IR-Lock device API
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**/
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#pragma once
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#include <stdint.h>
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#include <sys/ioctl.h>
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#include "drv_sensor.h" // include sensor driver interfaces
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#define IRLOCK_BASE_DEVICE_PATH "/dev/irlock"
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#define IRLOCK0_DEVICE_PATH "/dev/irlock0"
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#define IRLOCK_OBJECTS_MAX 5 /** up to 5 objects can be detected/reported **/
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struct irlock_target_s {
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uint16_t signature; /** target signature **/
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float pos_x; /** x-axis distance from center of image to center of target in units of tan(theta) **/
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float pos_y; /** y-axis distance from center of image to center of target in units of tan(theta) **/
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float size_x; /** size of target along x-axis in units of tan(theta) **/
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float size_y; /** size of target along y-axis in units of tan(theta) **/
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};
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/** irlock_s structure returned from read calls **/
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struct irlock_s {
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uint64_t timestamp; /** microseconds since system start **/
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uint8_t num_targets;
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struct irlock_target_s targets[IRLOCK_OBJECTS_MAX];
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};
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