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118 lines
3.7 KiB
118 lines
3.7 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/** |
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* @file drv_mixer.h |
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* |
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* Mixer ioctl interfaces. |
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* |
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* Normal workflow is: |
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* |
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* - open mixer device |
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* - add mixer(s) |
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* loop: |
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* - mix actuators to array |
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* |
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* Each client has its own configuration. |
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* |
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* When mixing, outputs are produced by mixers in the order they are |
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* added. A simple mixer produces one output; a multotor mixer will |
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* produce several outputs, etc. |
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*/ |
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#ifndef _DRV_MIXER_H |
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#define _DRV_MIXER_H |
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#include <stdint.h> |
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#include <sys/ioctl.h> |
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#define MIXER_DEVICE_PATH "/dev/mixer" |
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/* |
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* ioctl() definitions |
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*/ |
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#define _MIXERIOCBASE (0x2500) |
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#define _MIXERIOC(_n) (_IOC(_MIXERIOCBASE, _n)) |
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/** get the number of mixable outputs */ |
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#define MIXERIOCGETOUTPUTCOUNT _MIXERIOC(0) |
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/** reset (clear) the mixer configuration */ |
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#define MIXERIOCRESET _MIXERIOC(1) |
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/** simple channel scaler */ |
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struct mixer_scaler_s { |
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float negative_scale; |
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float positive_scale; |
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float offset; |
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float min_output; |
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float max_output; |
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}; |
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/** mixer input */ |
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struct mixer_control_s { |
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uint8_t control_group; /**< group from which the input reads */ |
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uint8_t control_index; /**< index within the control group */ |
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struct mixer_scaler_s scaler; /**< scaling applied to the input before use */ |
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}; |
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/** simple mixer */ |
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struct mixer_simple_s { |
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uint8_t control_count; /**< number of inputs */ |
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struct mixer_scaler_s output_scaler; /**< scaling for the output */ |
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struct mixer_control_s controls[0]; /**< actual size of the array is set by control_count */ |
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}; |
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#define MIXER_SIMPLE_SIZE(_icount) (sizeof(struct mixer_simple_s) + (_icount) * sizeof(struct mixer_control_s)) |
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/** |
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* add a simple mixer in (struct mixer_simple_s *)arg |
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*/ |
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#define MIXERIOCADDSIMPLE _MIXERIOC(2) |
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/* _MIXERIOC(3) was deprecated */ |
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/* _MIXERIOC(4) was deprecated */ |
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/** |
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* Add mixer(s) from the buffer in (const char *)arg |
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*/ |
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#define MIXERIOCLOADBUF _MIXERIOC(5) |
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/* |
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* XXX Thoughts for additional operations: |
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* |
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* - get/set output scale, for tuning center/limit values. |
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* - save/serialise for saving tuned mixers. |
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*/ |
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#endif /* _DRV_ACCEL_H */
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