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108 lines
3.5 KiB
C
108 lines
3.5 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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* 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 drv_accel.h
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*
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* Accelerometer driver interface.
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*/
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#ifndef _DRV_ACCEL_H
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#define _DRV_ACCEL_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 ACCEL_BASE_DEVICE_PATH "/dev/accel"
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#define ACCEL0_DEVICE_PATH "/dev/accel0"
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#define ACCEL1_DEVICE_PATH "/dev/accel1"
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#define ACCEL2_DEVICE_PATH "/dev/accel2"
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#include <uOrb/topics/sensor_accel.h>
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#define accel_report sensor_accel_s
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/** accel scaling factors; Vout = Vscale * (Vin + Voffset) */
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struct accel_scale {
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float x_offset;
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float x_scale;
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float y_offset;
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float y_scale;
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float z_offset;
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float z_scale;
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};
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/*
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* ioctl() definitions
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*
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* Accelerometer 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 _ACCELIOCBASE (0x2100)
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#define _ACCELIOC(_n) (_PX4_IOC(_ACCELIOCBASE, _n))
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/** set the accel internal sample rate to at least (arg) Hz */
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#define ACCELIOCSSAMPLERATE _ACCELIOC(0)
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#define ACCEL_SAMPLERATE_DEFAULT 1000003 /**< default sample rate */
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/** return the accel internal sample rate in Hz */
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#define ACCELIOCGSAMPLERATE _ACCELIOC(1)
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/** set the accel internal lowpass filter to no lower than (arg) Hz */
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#define ACCELIOCSLOWPASS _ACCELIOC(2)
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/** return the accel internal lowpass filter in Hz */
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#define ACCELIOCGLOWPASS _ACCELIOC(3)
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/** set the accel scaling constants to the structure pointed to by (arg) */
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#define ACCELIOCSSCALE _ACCELIOC(5)
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/** get the accel scaling constants into the structure pointed to by (arg) */
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#define ACCELIOCGSCALE _ACCELIOC(6)
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/** set the accel measurement range to handle at least (arg) g */
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#define ACCELIOCSRANGE _ACCELIOC(7)
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/** get the current accel measurement range in g */
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#define ACCELIOCGRANGE _ACCELIOC(8)
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/** get the result of a sensor self-test */
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#define ACCELIOCSELFTEST _ACCELIOC(9)
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#endif /* _DRV_ACCEL_H */
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