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Work in progress; standard mixer API and utility

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px4dev
2012-08-05 14:13:33 -07:00
parent 62e18b580c
commit 145a6c4c49
14 changed files with 787 additions and 48 deletions
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apps/drivers/drv_accel.h
+1 -1
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@@ -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 */
apps/drivers/drv_baro.h
+1 -1
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@@ -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 */
apps/drivers/drv_gyro.h
+1 -1
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@@ -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 */
apps/drivers/drv_mag.h
+1 -1
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@@ -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 */
apps/drivers/drv_mixer.h
+91
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@@ -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 */
apps/drivers/drv_orb_dev.h
+1 -1
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@@ -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))
/*
apps/drivers/drv_pwm_output.h
+1 -1
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@@ -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)