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
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+++ b/apps/drivers/drv_mixer.h
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+/****************************************************************************
+ *
+ *   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 */