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author | px4dev <px4@purgatory.org> | 2012-08-04 20:05:47 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-08-05 14:13:33 -0700 |
commit | 145a6c4c49b1aac9a8b8065ac5e48ba50754ba7f (patch) | |
tree | e335a9579f8a86500d245daf38a29604ebdd379b /apps/drivers/drv_mixer.h | |
parent | 62e18b580cc56ecabf0a586ab64efbcd1c4139ba (diff) | |
download | px4-firmware-145a6c4c49b1aac9a8b8065ac5e48ba50754ba7f.tar.gz px4-firmware-145a6c4c49b1aac9a8b8065ac5e48ba50754ba7f.tar.bz2 px4-firmware-145a6c4c49b1aac9a8b8065ac5e48ba50754ba7f.zip |
Work in progress; standard mixer API and utility
Diffstat (limited to 'apps/drivers/drv_mixer.h')
-rw-r--r-- | apps/drivers/drv_mixer.h | 91 |
1 files changed, 91 insertions, 0 deletions
diff --git a/apps/drivers/drv_mixer.h b/apps/drivers/drv_mixer.h new file mode 100644 index 000000000..10cda792a --- /dev/null +++ b/apps/drivers/drv_mixer.h @@ -0,0 +1,91 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Mixer ioctl interface. + * + * This interface can/should be exported by any device that supports + * control -> actuator mixing. + */ + +#ifndef _DRV_MIXER_H +#define _DRV_MIXER_H + +#include <stdint.h> +#include <sys/ioctl.h> + +#include <systemlib/mixer.h> + +/** + * Structure used for receiving mixers. + * + * Note that the mixers array is not actually an array of mixers; it + * simply represents the first mixer in the buffer. + */ +struct MixInfo +{ + unsigned num_controls; + struct MixMixer mixer; +}; + +/** + * Handy macro for determining the allocation size of a MixInfo structure. + */ +#define MIXINFO_SIZE(_num_controls) (sizeof(struct MixInfo) + ((_num_controls) * sizeof(struct MixScaler))) + +/* + * ioctl() definitions + */ + +#define _MIXERIOCBASE (0x2400) +#define _MIXERIOC(_n) (_IOC(_MIXERIOCBASE, _n)) + +/** get the number of actuators that require mixers in *(unsigned)arg */ +#define MIXERIOCGETMIXERCOUNT _MIXERIOC(0) + +/** + * Copy a mixer from the device into *(struct MixInfo *)arg. + * + * The num_controls field indicates the number of controls for which space + * is allocated following the MixInfo structure. If the allocation + * is too small, no mixer data is retured. The control_count field in + * the MixInfo.mixer structure is always updated. + */ +#define MIXERIOCGETMIXER(_mixer) _MIXERIOC(0x20 + _mixer) + +/** + * Copy a mixer from *(struct MixMixer *)arg to the device. + */ +#define MIXERIOCSETMIXER(_mixer) _MIXERIOC(0x40 + _mixer) + +#endif /* _DRV_ACCEL_H */ |