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Diffstat (limited to 'src/drivers/drv_mixer.h')
-rw-r--r-- | src/drivers/drv_mixer.h | 118 |
1 files changed, 118 insertions, 0 deletions
diff --git a/src/drivers/drv_mixer.h b/src/drivers/drv_mixer.h new file mode 100644 index 000000000..9f43015d9 --- /dev/null +++ b/src/drivers/drv_mixer.h @@ -0,0 +1,118 @@ +/**************************************************************************** + * + * 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 drv_mixer.h + * + * Mixer ioctl interfaces. + * + * Normal workflow is: + * + * - open mixer device + * - add mixer(s) + * loop: + * - mix actuators to array + * + * Each client has its own configuration. + * + * When mixing, outputs are produced by mixers in the order they are + * added. A simple mixer produces one output; a multotor mixer will + * produce several outputs, etc. + */ + +#ifndef _DRV_MIXER_H +#define _DRV_MIXER_H + +#include <stdint.h> +#include <sys/ioctl.h> + +#define MIXER_DEVICE_PATH "/dev/mixer" + +/* + * ioctl() definitions + */ +#define _MIXERIOCBASE (0x2500) +#define _MIXERIOC(_n) (_IOC(_MIXERIOCBASE, _n)) + +/** get the number of mixable outputs */ +#define MIXERIOCGETOUTPUTCOUNT _MIXERIOC(0) + +/** reset (clear) the mixer configuration */ +#define MIXERIOCRESET _MIXERIOC(1) + +/** simple channel scaler */ +struct mixer_scaler_s { + float negative_scale; + float positive_scale; + float offset; + float min_output; + float max_output; +}; + +/** mixer input */ +struct mixer_control_s { + uint8_t control_group; /**< group from which the input reads */ + uint8_t control_index; /**< index within the control group */ + struct mixer_scaler_s scaler; /**< scaling applied to the input before use */ +}; + +/** simple mixer */ +struct mixer_simple_s { + uint8_t control_count; /**< number of inputs */ + struct mixer_scaler_s output_scaler; /**< scaling for the output */ + struct mixer_control_s controls[0]; /**< actual size of the array is set by control_count */ +}; + +#define MIXER_SIMPLE_SIZE(_icount) (sizeof(struct mixer_simple_s) + (_icount) * sizeof(struct mixer_control_s)) + +/** + * add a simple mixer in (struct mixer_simple_s *)arg + */ +#define MIXERIOCADDSIMPLE _MIXERIOC(2) + +/* _MIXERIOC(3) was deprecated */ +/* _MIXERIOC(4) was deprecated */ + +/** + * Add mixer(s) from the buffer in (const char *)arg + */ +#define MIXERIOCLOADBUF _MIXERIOC(5) + +/* + * XXX Thoughts for additional operations: + * + * - get/set output scale, for tuning center/limit values. + * - save/serialise for saving tuned mixers. + */ + +#endif /* _DRV_ACCEL_H */ |