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Diffstat (limited to 'apps/mix_and_link/mix_and_link.c')
| -rw-r--r-- | apps/mix_and_link/mix_and_link.c | 81 |
1 files changed, 81 insertions, 0 deletions
diff --git a/apps/mix_and_link/mix_and_link.c b/apps/mix_and_link/mix_and_link.c new file mode 100644 index 000000000..495f336b1 --- /dev/null +++ b/apps/mix_and_link/mix_and_link.c @@ -0,0 +1,81 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: Nils Wenzler <wenzlern@ethz.ch> + * + * 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 Mixing / linking of RC channels + */ + +#include <nuttx/config.h> +#include <unistd.h> +#include <stdint.h> + +#include "mix_and_link.h" + +/* + * Library function that mixes the abstract functions like ROLL, PITCH, THROTTLE + * to one or several actuators. + * @param *mixers is a pointer to the configuration struct, declared in mix_and_link.h + * @param nr_mixers is a integer that denotes the number of mixers that should be processed + * @param nr_actuators is a integer that denotes the max number of actuators that get linked to one source + * @param *data is a pointer to the mixer data struct, declared in mix_and_link.h + */ +void mix_and_link(const mixer_conf_t *mixers, uint8_t nr_mixers, uint8_t nr_actuators, mixer_data_t *data) +{ + + /* Reset the Output Array */ + uint8_t i, j; + + for (i = 0; i < nr_actuators; i++) { + data->output[i] = 0; + } + + /* Loop throug the given mixers */ + for (i = 0; i < nr_mixers; i++) { + + /* The actual mixing */ + for (j = 0; j < mixers[i].nr_actuators; j++) { + data->output[mixers[i].dest[j]] += (int16_t)(data->input[mixers[i].source] + * mixers[i].dual_rate[j]); + + /* Saturate to +-10000 */ + if (data->output[mixers[i].dest[j]] > 10000) + data->output[mixers[i].dest[j]] = 10000; + else if (data->output[mixers[i].dest[j]] < -10000) + data->output[mixers[i].dest[j]] = -10000; + + } + } +} + + |