drv_gyro.h

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/**
 * @file drv_gyro.h
 *
 * Gyroscope driver interface.
 */

#ifndef _DRV_GYRO_H
#define _DRV_GYRO_H

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

#include "drv_sensor.h"
#include "drv_orb_dev.h"

#define GYRO_BASE_DEVICE_PATH   "/dev/gyro"

#include <uORB/topics/sensor_gyro.h>

/** gyro scaling factors; Vout = (Vin * Vscale) + Voffset */
struct gyro_calibration_s {
    float   x_offset;
    float   x_scale;
    float   y_offset;
    float   y_scale;
    float   z_offset;
    float   z_scale;
};

/*
 * ioctl() definitions
 */

#define _GYROIOCBASE        (0x2300)
#define _GYROIOC(_n)        (_PX4_IOC(_GYROIOCBASE, _n))

/** set the gyro scaling constants to (arg) */
#define GYROIOCSSCALE       _GYROIOC(4)

#endif /* _DRV_GYRO_H */