forked from Archive/PX4-Autopilot
134 lines
4.2 KiB
C
134 lines
4.2 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 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 (0x2400)
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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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/** multirotor output definition */
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struct mixer_rotor_output_s {
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float angle; /**< rotor angle clockwise from forward in radians */
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float distance; /**< motor distance from centre in arbitrary units */
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};
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/** multirotor mixer */
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struct mixer_multirotor_s {
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uint8_t rotor_count;
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struct mixer_control_s controls[4]; /**< controls are roll, pitch, yaw, thrust */
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struct mixer_rotor_output_s rotors[0]; /**< actual size of the array is set by rotor_count */
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};
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/**
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* Add a multirotor mixer in (struct mixer_multirotor_s *)arg
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*/
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#define MIXERIOCADDMULTIROTOR _MIXERIOC(3)
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/**
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* Add mixers(s) from a the file in (const char *)arg
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*/
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#define MIXERIOCLOADFILE _MIXERIOC(4)
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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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