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115 lines
4.5 KiB
115 lines
4.5 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. |
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* Author: Nils Wenzler <wenzlern@ethz.ch> |
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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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#ifndef _MIX_AND_LINK_H_ |
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#define _MIX_AND_LINK_H_ |
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#include <nuttx/config.h> |
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#include <unistd.h> |
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#include <stdint.h> |
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/**< The maximum number of actuators that get linked to one abstract function*/ |
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#define NR_MAX_ACTUATORS 2 |
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/** |
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* The struct mixer_conf_t contains all the necessary information for one mixer. |
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* Make an array of type mixer_conf_t for several mix functions. |
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*/ |
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typedef struct { |
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uint8_t source; /**< source RC channel index 0..n */ |
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uint8_t nr_actuators; /**< number of actuators to output to */ |
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uint8_t dest[NR_MAX_ACTUATORS]; /**< Which actuators to output to */ |
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float dual_rate[NR_MAX_ACTUATORS]; /**< Direction and rate of mixing. Range [-1,1] */ |
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} mixer_conf_t; /**< Setup for one mixer */ |
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/* |
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* The struct mixer_data contains two int16_t arrays with the abstract source functions |
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* (Throttle, Roll,...) in the input, and an empty array output of the desired |
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* size for the results. |
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*/ |
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typedef struct { |
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int16_t *input; |
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int16_t *output; |
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} mixer_data_t; |
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/**************************************************************************** |
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* Public Functions |
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****************************************************************************/ |
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/* |
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* Mixes the functions to the actuators. |
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* e.g. Throttle, Roll,... |
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* |
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* Each mixer_conf struct in the mixers array contains the source function (ex. THROTTLE), the number |
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* of actuators, an array with the desired actuators, Dual Rate determines which |
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* percentage of the source gets mixed to the destination and sets the direction. |
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* It's range is between -1 and 1. |
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* |
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* EXAMPLE: Deltamix for a wing plane: |
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* |
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* mixer_data_t mixer_buffer; |
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* mixer_buffer.input = buffer_rc; |
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* mixer_buffer.output = buffer_servo; |
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* |
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* |
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* mixer_conf_t mixers[3]; |
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* |
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* mixers[0].source = PITCH; |
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* mixers[0].nr_actuators = 2; |
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* mixers[0].dest[0] = AIL_1; |
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* mixers[0].dest[1] = AIL_2; |
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* mixers[0].dual_rate[0] = 1; |
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* mixers[0].dual_rate[1] = 1; |
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* |
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* mixers[1].source = ROLL; |
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* mixers[1].nr_actuators = 2; |
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* mixers[1].dest[0] = AIL_1; |
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* mixers[1].dest[1] = AIL_2; |
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* mixers[1].dual_rate[0] = 1; |
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* mixers[1].dual_rate[0] = -1; |
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* |
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* mixers[2].source = THROTTLE; |
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* mixers[2].nr_actuators = 1; |
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* mixers[2].dest[0] = MOT; |
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* mixers[2].dual_rate[0] = 1; |
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* |
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* @param mixers pointer to the mixer struct array |
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* @param nr_mixers number of mixers in struct array |
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* @param nr_actuators number of actuators |
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* @param data pointer to the mixer_data struct. |
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*/ |
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void mix_and_link(const mixer_conf_t *mixers, uint8_t nr_mixers, uint8_t nr_actuators, mixer_data_t *data); |
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#endif
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