Rough in the new mixer path for PX4IO.

1 files changed, 0 insertions, 157 deletions

diff --git a/apps/px4io/mixer.c b/apps/px4io/mixer.c
deleted file mode 100644
index f02e98ae4..000000000
--- a/apps/px4io/mixer.c
+++ /dev/null
@@ -1,157 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file mixer.c
- *
- * Control channel input/output mixer and failsafe.
- */
-
-#include <nuttx/config.h>
-#include <nuttx/arch.h>
-
-#include <sys/types.h>
-#include <stdbool.h>
-#include <string.h>
-#include <assert.h>
-#include <errno.h>
-#include <unistd.h>
-#include <fcntl.h>
-
-#include <drivers/drv_pwm_output.h>
-
-#include "px4io.h"
-
-/*
- * Count of periodic calls in which we have no FMU input.
- */
-static unsigned fmu_input_drops;
-#define FMU_INPUT_DROP_LIMIT	20
-
-/*
- * Update a mixer based on the current control signals.
- */
-static void	mixer_update(int mixer, uint16_t *inputs, int input_count);
-
-/* current servo arm/disarm state */
-bool mixer_servos_armed = false;
-
-/*
- * Each mixer consumes a set of inputs and produces a single output.
- */
-struct mixer {
-	uint16_t current_value;
-	/* XXX more config here */
-} mixers[IO_SERVO_COUNT];
-
-void
-mixer_tick(void)
-{
-	uint16_t *control_values;
-	int control_count;
-	int i;
-	bool should_arm;
-
-	/*
-	 * Decide which set of inputs we're using.
-	 */
-	if (system_state.mixer_use_fmu) {
-		/* we have recent control data from the FMU */
-		control_count = PX4IO_OUTPUT_CHANNELS;
-		control_values = &system_state.fmu_channel_data[0];
-
-		/* check that we are receiving fresh data from the FMU */
-		if (!system_state.fmu_data_received) {
-			fmu_input_drops++;
-
-			/* too many frames without FMU input, time to go to failsafe */
-			if (fmu_input_drops >= FMU_INPUT_DROP_LIMIT) {
-				system_state.mixer_use_fmu = false;
-			}
-		} else {
-			fmu_input_drops = 0;
-			system_state.fmu_data_received = false;
-		}
-
-	} else if (system_state.rc_channels > 0) {
-		/* we have control data from an R/C input */
-		control_count = system_state.rc_channels;
-		control_values = &system_state.rc_channel_data[0];
-
-	} else {
-		/* we have no control input */
-		/* XXX builtin failsafe would activate here */
-		control_count = 0;
-	}
-
-	/*
-	 * Tickle each mixer, if we have control data.
-	 */
-	if (control_count > 0) {
-		for (i = 0; i < IO_SERVO_COUNT; i++) {
-			mixer_update(i, control_values, control_count);
-
-			/*
-			 * If we are armed, update the servo output.
-			 */
-			if (system_state.armed && system_state.arm_ok)
-				up_pwm_servo_set(i, mixers[i].current_value);
-		}
-	}
-
-	/*
-	 * Decide whether the servos should be armed right now.
-	 */
-	should_arm = system_state.armed && system_state.arm_ok && (control_count > 0);
-	if (should_arm && !mixer_servos_armed) {
-		/* need to arm, but not armed */
-		up_pwm_servo_arm(true);
-		mixer_servos_armed = true;
-
-	} else if (!should_arm && mixer_servos_armed) {
-		/* armed but need to disarm */
-		up_pwm_servo_arm(false);
-		mixer_servos_armed = false;
-	}
-}
-
-static void
-mixer_update(int mixer, uint16_t *inputs, int input_count)
-{
-	/* simple passthrough for now */
-	if (mixer < input_count) {
-		mixers[mixer].current_value = inputs[mixer];
-	} else {
-		mixers[mixer].current_value = 0;
-	}
-}