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Beat Küng
c659d2bcc2
- avoid including <px4_defines.h> from the math headers - avoid driver include <drivers/drv_mixer.h> from the mixer
95 lines
2.9 KiB
C
95 lines
2.9 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 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 multirotor 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 <px4_defines.h>
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#include <stdint.h>
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#include <sys/ioctl.h>
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#define MIXER0_DEVICE_PATH "/dev/mixer0"
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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) (_PX4_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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/**
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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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