drv_mag.h

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/**
 * @file Magnetometer driver interface.
 */

#ifndef _DRV_MAG_H
#define _DRV_MAG_H

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

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

#define MAG_BASE_DEVICE_PATH    "/dev/mag"
#define MAG0_DEVICE_PATH    "/dev/mag0"
#define MAG1_DEVICE_PATH    "/dev/mag1"
#define MAG2_DEVICE_PATH    "/dev/mag2"

#include <uORB/topics/sensor_mag.h>
#define mag_report sensor_mag_s

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

/*
 * ioctl() definitions
 */

#define _MAGIOCBASE     (0x2400)
#define _MAGIOC(_n)     (_PX4_IOC(_MAGIOCBASE, _n))

/** set the mag scaling constants to the structure pointed to by (arg) */
#define MAGIOCSSCALE        _MAGIOC(4)

/** copy the mag scaling constants to the structure pointed to by (arg) */
#define MAGIOCGSCALE        _MAGIOC(5)

/** set the measurement range to handle (at least) arg Gauss */
#define MAGIOCSRANGE        _MAGIOC(6)

/** perform self-calibration, update scale factors to canonical units */
#define MAGIOCCALIBRATE     _MAGIOC(8)

/** excite strap */
#define MAGIOCEXSTRAP       _MAGIOC(9)

/** determine if mag is external or onboard */
#define MAGIOCGEXTERNAL     _MAGIOC(11)

/** enable/disable temperature compensation */
#define MAGIOCSTEMPCOMP     _MAGIOC(12)

#endif /* _DRV_MAG_H */