PX4 Firmware
PX4 Autopilot Software http://px4.io
drv_mixer.h
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33 
34 /**
35  * @file drv_mixer.h
36  *
37  * Mixer ioctl interfaces.
38  *
39  * Normal workflow is:
40  *
41  * - open mixer device
42  * - add mixer(s)
43  * loop:
44  * - mix actuators to array
45  *
46  * Each client has its own configuration.
47  *
48  * When mixing, outputs are produced by mixers in the order they are
49  * added. A simple mixer produces one output; a multirotor mixer will
50  * produce several outputs, etc.
51  */
52 
53 #ifndef _DRV_MIXER_H
54 #define _DRV_MIXER_H
55 
56 #include <px4_platform_common/defines.h>
57 #include <stdint.h>
58 #include <sys/ioctl.h>
59 
60 #define MIXER0_DEVICE_PATH "/dev/mixer0"
61 
62 /*
63  * ioctl() definitions
64  */
65 #define _MIXERIOCBASE (0x2500)
66 #define _MIXERIOC(_n) (_PX4_IOC(_MIXERIOCBASE, _n))
67 
68 /* _MIXERIOC(0) was deprecated */
69 
70 /** reset (clear) the mixer configuration */
71 #define MIXERIOCRESET _MIXERIOC(1)
72 
73 /* _MIXERIOC(3) was deprecated */
74 /* _MIXERIOC(4) was deprecated */
75 
76 /**
77  * Add mixer(s) from the buffer in (const char *)arg
78  */
79 #define MIXERIOCLOADBUF _MIXERIOC(5)
80 
81 /*
82  * XXX Thoughts for additional operations:
83  *
84  * - get/set output scale, for tuning center/limit values.
85  * - save/serialise for saving tuned mixers.
86  */
87 
88 #endif /* _DRV_ACCEL_H */