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px4dev
9804447a66
Solve the multiple publishers issue with 'control groups', one group per controller. Mixer inputs now specify both group and control offset within the group. Avoid using %f when loading/saving mixers; use scaled integers instead.
97 lines
3.3 KiB
C
97 lines
3.3 KiB
C
/****************************************************************************
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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 interface.
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*
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* This interface can/should be exported by any device that supports
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* control -> actuator mixing.
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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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#include <systemlib/mixer.h>
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/**
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* Structure used for receiving mixers.
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*
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* Note that the mixers array is not actually an array of mixers; it
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* simply represents the first mixer in the buffer.
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*/
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struct MixInfo {
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unsigned num_controls;
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struct mixer_s mixer;
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};
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/**
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* Handy macro for determining the allocation size of a MixInfo structure.
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*/
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#define MIXINFO_SIZE(_num_controls) (sizeof(struct MixInfo) + ((_num_controls) * sizeof(struct scaler_s)))
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/*
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* ioctl() definitions
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*/
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#define _MIXERIOCBASE (0x2400)
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#define _MIXERIOC(_n) (_IOC(_MIXERIOCBASE, _n))
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/** get the number of actuators that require mixers in *(unsigned)arg */
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#define MIXERIOCGETMIXERCOUNT _MIXERIOC(0)
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/**
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* Copy a mixer from the device into *(struct MixInfo *)arg.
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*
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* The num_controls field indicates the number of controls for which space
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* is allocated following the MixInfo structure. If the allocation
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* is too small, no mixer data is retured. The control_count field in
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* the MixInfo.mixer structure is always updated.
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*
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* If no mixer is assigned for the given index, the ioctl returns ENOENT.
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*/
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#define MIXERIOCGETMIXER(_mixer) _MIXERIOC(0x20 + _mixer)
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/**
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* Copy a mixer from *(struct mixer_s *)arg to the device.
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*
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* If arg is zero, the mixer is deleted.
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*/
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#define MIXERIOCSETMIXER(_mixer) _MIXERIOC(0x40 + _mixer)
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#endif /* _DRV_ACCEL_H */
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