forked from Archive/PX4-Autopilot
116 lines
4.5 KiB
C
116 lines
4.5 KiB
C
/****************************************************************************
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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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