mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-08 02:17:07 +08:00
hauptmech
0b784c20c8
Fix config utility to work with all devices of each type. Accel, gyro and mag devices correctly set their device_id devtype. Combo devices (mpu6000 lsm303d) now correctly return their devtype. config util shows device id for all sensor types. Add, save during calibration and check during preflight ID parameters for accelerometer and gyro
130 lines
3.7 KiB
C
130 lines
3.7 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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* 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 Magnetometer driver interface.
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*/
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#ifndef _DRV_MAG_H
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#define _DRV_MAG_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 MAG_DEVICE_PATH "/dev/mag"
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/**
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* mag report structure. Reads from the device must be in multiples of this
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* structure.
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*
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* Output values are in gauss.
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*/
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struct mag_report {
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uint64_t timestamp;
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uint64_t error_count;
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float x;
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float y;
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float z;
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float range_ga;
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float scaling;
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int16_t x_raw;
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int16_t y_raw;
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int16_t z_raw;
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};
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/** mag scaling factors; Vout = (Vin * Vscale) + Voffset */
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struct mag_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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* ObjDev tag for raw magnetometer data.
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*/
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ORB_DECLARE(sensor_mag);
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/*
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* ioctl() definitions
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*/
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#define _MAGIOCBASE (0x2400)
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#define _MAGIOC(_n) (_IOC(_MAGIOCBASE, _n))
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/** set the mag internal sample rate to at least (arg) Hz */
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#define MAGIOCSSAMPLERATE _MAGIOC(0)
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/** return the mag internal sample rate in Hz */
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#define MAGIOCGSAMPLERATE _MAGIOC(1)
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/** set the mag internal lowpass filter to no lower than (arg) Hz */
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#define MAGIOCSLOWPASS _MAGIOC(2)
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/** return the mag internal lowpass filter in Hz */
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#define MAGIOCGLOWPASS _MAGIOC(3)
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/** set the mag scaling constants to the structure pointed to by (arg) */
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#define MAGIOCSSCALE _MAGIOC(4)
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/** copy the mag scaling constants to the structure pointed to by (arg) */
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#define MAGIOCGSCALE _MAGIOC(5)
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/** set the measurement range to handle (at least) arg Gauss */
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#define MAGIOCSRANGE _MAGIOC(6)
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/** return the current mag measurement range in Gauss */
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#define MAGIOCGRANGE _MAGIOC(7)
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/** perform self-calibration, update scale factors to canonical units */
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#define MAGIOCCALIBRATE _MAGIOC(8)
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/** excite strap */
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#define MAGIOCEXSTRAP _MAGIOC(9)
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/** perform self test and report status */
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#define MAGIOCSELFTEST _MAGIOC(10)
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/** determine if mag is external or onboard */
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#define MAGIOCGEXTERNAL _MAGIOC(11)
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#endif /* _DRV_MAG_H */
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