mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
76 lines
2.5 KiB
C
76 lines
2.5 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2012-2016 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 drv_accel.h
|
|
*
|
|
* 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_BASE_DEVICE_PATH "/dev/accel"
|
|
|
|
#include <uORB/topics/sensor_accel.h>
|
|
|
|
/** accel scaling factors; Vout = Vscale * (Vin + Voffset) */
|
|
struct accel_calibration_s {
|
|
float x_offset;
|
|
float x_scale;
|
|
float y_offset;
|
|
float y_scale;
|
|
float z_offset;
|
|
float z_scale;
|
|
};
|
|
/*
|
|
* ioctl() definitions
|
|
*
|
|
* Accelerometer drivers also implement the generic sensor driver
|
|
* interfaces from drv_sensor.h
|
|
*/
|
|
|
|
#define _ACCELIOCBASE (0x2100)
|
|
#define _ACCELIOC(_n) (_PX4_IOC(_ACCELIOCBASE, _n))
|
|
|
|
/** set the accel scaling constants to the structure pointed to by (arg) */
|
|
#define ACCELIOCSSCALE _ACCELIOC(5)
|
|
|
|
#endif /* _DRV_ACCEL_H */
|