bizhang_-obav/src/drivers/drv_sensor.h

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 *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
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/**
 * @file drv_sensor.h
 *
 * Common sensor API and ioctl definitions.
 */

#ifndef _DRV_SENSOR_H
#define _DRV_SENSOR_H

#include <px4_defines.h>
#include <stdint.h>
#include <sys/ioctl.h>

#include "drv_device.h"

/**
 * Sensor type definitions.
 *
 * Used to create a unique device id for redundant and combo sensors
 */

#define DRV_MAG_DEVTYPE_HMC5883  0x01
#define DRV_MAG_DEVTYPE_LSM303D  0x02
#define DRV_MAG_DEVTYPE_ACCELSIM 0x03
#define DRV_MAG_DEVTYPE_MPU9250  0x04
#define DRV_MAG_DEVTYPE_LIS3MDL  0x05
#define DRV_ACC_DEVTYPE_LSM303D  0x11
#define DRV_ACC_DEVTYPE_BMA180   0x12
#define DRV_ACC_DEVTYPE_MPU6000  0x13
#define DRV_ACC_DEVTYPE_ACCELSIM 0x14
#define DRV_ACC_DEVTYPE_GYROSIM  0x15
#define DRV_ACC_DEVTYPE_MPU9250  0x16
#define DRV_ACC_DEVTYPE_BMI160   0x17
#define DRV_GYR_DEVTYPE_MPU6000  0x21
#define DRV_GYR_DEVTYPE_L3GD20   0x22
#define DRV_GYR_DEVTYPE_GYROSIM  0x23
#define DRV_GYR_DEVTYPE_MPU9250  0x24
#define DRV_GYR_DEVTYPE_BMI160   0x25
#define DRV_RNG_DEVTYPE_MB12XX   0x31
#define DRV_RNG_DEVTYPE_LL40LS   0x32

#if defined (CONFIG_ARCH_BOARD_MINDPX_V2) || defined (CONFIG_ARCH_BOARD_TAP_V1)
#define DRV_ACC_DEVTYPE_MPU6050 0x14
#define DRV_ACC_DEVTYPE_MPU6500 0x13

#define DRV_GYR_DEVTYPE_MPU6050 0x20
#define DRV_GYR_DEVTYPE_MPU6500 0x21
#endif


/*
 * ioctl() definitions
 *
 * Note that a driver may not implement all of these operations, but
 * if the operation is implemented it should conform to this API.
 */

#define _SENSORIOCBASE		(0x2000)
#define _SENSORIOC(_n)		(_PX4_IOC(_SENSORIOCBASE, _n))

/**
 * Set the driver polling rate to (arg) Hz, or one of the SENSOR_POLLRATE
 * constants
 */
#define SENSORIOCSPOLLRATE	_SENSORIOC(0)

/**
 * Return the driver's approximate polling rate in Hz, or one of the
 * SENSOR_POLLRATE values.
 */
#define SENSORIOCGPOLLRATE	_SENSORIOC(1)

#define SENSOR_POLLRATE_MANUAL		1000000	/**< poll when read */
#define SENSOR_POLLRATE_EXTERNAL	1000001	/**< poll when device signals ready */
#define SENSOR_POLLRATE_MAX		1000002	/**< poll at device maximum rate */
#define SENSOR_POLLRATE_DEFAULT		1000003	/**< poll at driver normal rate */

/**
 * Set the internal queue depth to (arg) entries, must be at least 1
 *
 * This sets the upper bound on the number of readings that can be
 * read from the driver.
 */
#define SENSORIOCSQUEUEDEPTH	_SENSORIOC(2)

/** return the internal queue depth */
#define SENSORIOCGQUEUEDEPTH	_SENSORIOC(3)

/**
 * Reset the sensor to its default configuration
 */
#define SENSORIOCRESET		_SENSORIOC(4)

/**
 * Set the sensor orientation
 */
#define SENSORIOCSROTATION	_SENSORIOC(5)

/**
 * Get the sensor orientation
 */
#define SENSORIOCGROTATION	_SENSORIOC(6)

/**
 * Test the sensor calibration
 */
#define SENSORIOCCALTEST	_SENSORIOC(7)

#endif /* _DRV_SENSOR_H */