bizhang_-obav/src/drivers/drv_sensor.h

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/**
 * @file drv_sensor.h
 *
 * Common sensor API and ioctl definitions.
 */

#ifndef _DRV_SENSOR_H
#define _DRV_SENSOR_H

#include <px4_platform_common/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_MAGSIM   0x03
#define DRV_MAG_DEVTYPE_MPU9250  0x04
#define DRV_MAG_DEVTYPE_LIS3MDL  0x05
#define DRV_MAG_DEVTYPE_IST8310  0x06
#define DRV_MAG_DEVTYPE_RM3100   0x07
#define DRV_MAG_DEVTYPE_QMC5883  0x08
#define DRV_MAG_DEVTYPE_AK09916  0x09
#define DRV_IMU_DEVTYPE_ICM20948 0x0A
#define DRV_MAG_DEVTYPE_IST8308  0x0B

#define DRV_ACC_DEVTYPE_LSM303D  0x11
#define DRV_ACC_DEVTYPE_BMA180   0x12
#define DRV_ACC_DEVTYPE_MPU6000_LEGACY  0x13
#define DRV_ACC_DEVTYPE_ACCELSIM 0x14
#define DRV_ACC_DEVTYPE_MPU9250_LEGACY  0x16
#define DRV_ACC_DEVTYPE_BMI160   0x17

#define DRV_IMU_DEVTYPE_MPU6000  0x21
#define DRV_GYR_DEVTYPE_L3GD20   0x22
#define DRV_GYR_DEVTYPE_GYROSIM  0x23
#define DRV_IMU_DEVTYPE_MPU9250  0x24
#define DRV_GYR_DEVTYPE_BMI160   0x25

#define DRV_RNG_DEVTYPE_MB12XX   0x31
#define DRV_RNG_DEVTYPE_LL40LS   0x32
#define DRV_ACC_DEVTYPE_MPU6050  0x33
#define DRV_ACC_DEVTYPE_MPU6500  0x34
#define DRV_GYR_DEVTYPE_MPU6050  0x35
#define DRV_GYR_DEVTYPE_MPU6500  0x36
#define DRV_ACC_DEVTYPE_ICM20602_LEGACY	0x37
#define DRV_IMU_DEVTYPE_ICM20602 0x38
#define DRV_ACC_DEVTYPE_ICM20608_LEGACY	0x39
#define DRV_IMU_DEVTYPE_ICM20608 0x3A
#define DRV_ACC_DEVTYPE_ICM20689_LEGACY	0x3B
#define DRV_IMU_DEVTYPE_ICM20689 0x3C
#define DRV_BARO_DEVTYPE_MS5611		0x3D
#define DRV_BARO_DEVTYPE_MS5607		0x3E
#define DRV_BARO_DEVTYPE_BMP280		0x3F
#define DRV_BARO_DEVTYPE_LPS25H		0x40
#define DRV_ACC_DEVTYPE_BMI055		0x41
#define DRV_GYR_DEVTYPE_BMI055		0x42
#define DRV_MAG_DEVTYPE_BMM150		0x43
#define DRV_IMU_DEVTYPE_ST_LSM9DS1_AG   0x44
#define DRV_MAG_DEVTYPE_ST_LSM9DS1_M    0x45
#define DRV_DIFF_PRESS_DEVTYPE_ETS3     0x46
#define DRV_DIFF_PRESS_DEVTYPE_MS4525   0x47
#define DRV_DIFF_PRESS_DEVTYPE_MS5525   0x48
#define DRV_DIFF_PRESS_DEVTYPE_SDP31    0x49
#define DRV_DIFF_PRESS_DEVTYPE_SDP32    0x4A
#define DRV_DIFF_PRESS_DEVTYPE_SDP33    0x4B

#define DRV_BARO_DEVTYPE_MPL3115A2	0x51
#define DRV_ACC_DEVTYPE_FXOS8701C	0x52

#define DRV_GYR_DEVTYPE_FXAS2100C	0x54
#define DRV_ACC_DEVTYPE_ADIS16448	0x55
#define DRV_MAG_DEVTYPE_ADIS16448	0x56
#define DRV_GYR_DEVTYPE_ADIS16448	0x57
#define DRV_BARO_DEVTYPE_LPS22HB	0x58
#define DRV_ACC_DEVTYPE_ADIS16477	0x59

#define DRV_GYR_DEVTYPE_ADIS16477	0x60
#define DRV_ACC_DEVTYPE_LSM303AGR	0x61
#define DRV_MAG_DEVTYPE_LSM303AGR	0x62
#define DRV_ACC_DEVTYPE_ADIS16497	0x63
#define DRV_GYR_DEVTYPE_ADIS16497	0x64
#define DRV_BARO_DEVTYPE_BAROSIM	0x65
#define DRV_GYR_DEVTYPE_BMI088		0x66
#define DRV_BARO_DEVTYPE_BMP388	0x67
#define DRV_BARO_DEVTYPE_DPS310	0x68
#define DRV_IMU_DEVTYPE_ST_ISM330DLC	0x69
#define DRV_ACC_DEVTYPE_BMI088		0x6a
#define DRV_OSD_DEVTYPE_ATXXXX		0x6b
#define DRV_FLOW_DEVTYPE_PMW3901	0x6c
#define DRV_FLOW_DEVTYPE_PAW3902	0x6d
#define DRV_FLOW_DEVTYPE_PX4FLOW	0x6e

#define DRV_DIST_DEVTYPE_LL40LS       0x70
#define DRV_DIST_DEVTYPE_MAPPYDOT     0x71
#define DRV_DIST_DEVTYPE_MB12XX       0x72
#define DRV_DIST_DEVTYPE_SF1XX        0x73
#define DRV_DIST_DEVTYPE_SRF02        0x74
#define DRV_DIST_DEVTYPE_TERARANGER   0x75
#define DRV_DIST_DEVTYPE_VL53LXX      0x76
#define DRV_POWER_DEVTYPE_INA226      0x77
#define DRV_POWER_DEVTYPE_VOXLPM      0x78
#define DRV_LED_DEVTYPE_BLINKM        0x79
#define DRV_LED_DEVTYPE_RGBLED        0x7a
#define DRV_LED_DEVTYPE_RGBLED_NCP5623C 0x7b
#define DRV_BAT_DEVTYPE_SMBUS         0x7c
#define DRV_SENS_DEVTYPE_IRLOCK       0x7d
#define DRV_SENS_DEVTYPE_PCF8583      0x7e

#define DRV_DEVTYPE_UNUSED		0xff

/*
 * 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)

#define SENSOR_POLLRATE_DEFAULT		1000003	/**< poll at driver normal rate */

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

#endif /* _DRV_SENSOR_H */