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)