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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 | |
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')
-rw-r--r-- | apps/drivers/drv_accel.h | 2 | ||||
-rw-r--r-- | apps/drivers/drv_baro.h | 2 | ||||
-rw-r--r-- | apps/drivers/drv_gyro.h | 2 | ||||
-rw-r--r-- | apps/drivers/drv_mag.h | 2 | ||||
-rw-r--r-- | apps/drivers/drv_mixer.h | 91 | ||||
-rw-r--r-- | apps/drivers/drv_orb_dev.h | 2 | ||||
-rw-r--r-- | apps/drivers/drv_pwm_output.h | 2 |
7 files changed, 97 insertions, 6 deletions
diff --git a/apps/drivers/drv_accel.h b/apps/drivers/drv_accel.h index bf13b2c32..370cc5d87 100644 --- a/apps/drivers/drv_accel.h +++ b/apps/drivers/drv_accel.h @@ -75,7 +75,7 @@ ORB_DECLARE(sensor_accel); * ioctl() definitions */ -#define _ACCELIOCBASE (_SNIOCBASE + 0x20) +#define _ACCELIOCBASE (0x2000) #define _ACCELIOC(_n) (_IOC(_ACCELIOCBASE, _n)) /** set the driver polling rate to (arg) Hz, or one of the ACC_POLLRATE constants */ diff --git a/apps/drivers/drv_baro.h b/apps/drivers/drv_baro.h index 4cfb35454..323b25c83 100644 --- a/apps/drivers/drv_baro.h +++ b/apps/drivers/drv_baro.h @@ -65,7 +65,7 @@ ORB_DECLARE(sensor_baro); * ioctl() definitions */ -#define _BAROIOCBASE (_SNIOCBASE + 0x10) +#define _BAROIOCBASE (0x2100) #define _BAROIOC(_n) (_IOC(_BAROIOCBASE, _n)) /** set the driver polling rate to (arg) Hz, or one of the BARO_POLLRATE constants */ diff --git a/apps/drivers/drv_gyro.h b/apps/drivers/drv_gyro.h index 21f6493b1..82e23f62a 100644 --- a/apps/drivers/drv_gyro.h +++ b/apps/drivers/drv_gyro.h @@ -75,7 +75,7 @@ ORB_DECLARE(sensor_gyro); * ioctl() definitions */ -#define _GYROIOCBASE (_SNIOCBASE + 0x10) +#define _GYROIOCBASE (0x2200) #define _GYROIOC(_n) (_IOC(_GYROIOCBASE, _n)) /** set the driver polling rate to (arg) Hz, or one of the GYRO_POLLRATE constants */ diff --git a/apps/drivers/drv_mag.h b/apps/drivers/drv_mag.h index 7e90e9e46..673a3988f 100644 --- a/apps/drivers/drv_mag.h +++ b/apps/drivers/drv_mag.h @@ -75,7 +75,7 @@ ORB_DECLARE(sensor_mag); * ioctl() definitions */ -#define _MAGIOCBASE (_SNIOCBASE + 0x30) +#define _MAGIOCBASE (0x2300) #define _MAGIOC(_n) (_IOC(_MAGIOBASE, _n)) /** set the driver polling rate to (arg) Hz, or one of the MAG_POLLRATE constants */ 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 */ diff --git a/apps/drivers/drv_orb_dev.h b/apps/drivers/drv_orb_dev.h index bacef1cd3..b3fc01a5f 100644 --- a/apps/drivers/drv_orb_dev.h +++ b/apps/drivers/drv_orb_dev.h @@ -58,7 +58,7 @@ /** maximum ogbject name length */ #define ORB_MAXNAME 32 -#define _ORBIOCBASE (_DIOCBASE + 0x80) +#define _ORBIOCBASE (0x2500) #define _ORBIOC(_n) (_IOC(_ORBIOCBASE, _n)) /* diff --git a/apps/drivers/drv_pwm_output.h b/apps/drivers/drv_pwm_output.h index 551f9b1a6..73e3310ae 100644 --- a/apps/drivers/drv_pwm_output.h +++ b/apps/drivers/drv_pwm_output.h @@ -94,7 +94,7 @@ ORB_DECLARE(output_pwm); * Note that ioctls and ObjDev updates should not be mixed, as the * behaviour of the system in this case is not defined. */ -#define _PWM_SERVO_BASE 0x7500 +#define _PWM_SERVO_BASE 0x2600 /** arm all servo outputs handle by this driver */ #define PWM_SERVO_ARM _IOC(_PWM_SERVO_BASE, 0) |