drv_mixer.h File Reference

Mixer ioctl interfaces. More...

#include <px4_defines.h>
#include <stdint.h>
#include <sys/ioctl.h>

Go to the source code of this file.

Macros
#define	MIXER0_DEVICE_PATH   "/dev/mixer0"
#define	_MIXERIOCBASE   (0x2500)
#define	_MIXERIOC(_n)   (_PX4_IOC(_MIXERIOCBASE, _n))
#define	MIXERIOCGETOUTPUTCOUNT   _MIXERIOC(0)
	get the number of mixable outputs
#define	MIXERIOCRESET   _MIXERIOC(1)
	reset (clear) the mixer configuration
#define	MIXERIOCADDSIMPLE   _MIXERIOC(2)
	add a simple mixer in (struct mixer_simple_s *)arg
#define	MIXERIOCLOADBUF   _MIXERIOC(5)
	Add mixer(s) from the buffer in (const char *)arg.

Detailed Description

Mixer ioctl interfaces.

Normal workflow is:

• open mixer device
• add mixer(s) loop:
  • mix actuators to array

Each client has its own configuration.

When mixing, outputs are produced by mixers in the order they are added. A simple mixer produces one output; a multirotor mixer will produce several outputs, etc.