diff options
Diffstat (limited to 'apps/mix_and_link/mix_and_link.h')
| -rw-r--r-- | apps/mix_and_link/mix_and_link.h | 115 |
1 files changed, 115 insertions, 0 deletions
diff --git a/apps/mix_and_link/mix_and_link.h b/apps/mix_and_link/mix_and_link.h new file mode 100644 index 000000000..0a374fd85 --- /dev/null +++ b/apps/mix_and_link/mix_and_link.h @@ -0,0 +1,115 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + + +#ifndef _MIX_AND_LINK_H_ +#define _MIX_AND_LINK_H_ + +#include <nuttx/config.h> +#include <unistd.h> +#include <stdint.h> + +/**< The maximum number of actuators that get linked to one abstract function*/ +#define NR_MAX_ACTUATORS 2 + +/** + * The struct mixer_conf_t contains all the necessary information for one mixer. + * Make an array of type mixer_conf_t for several mix functions. + */ +typedef struct { + uint8_t source; /**< source RC channel index 0..n */ + uint8_t nr_actuators; /**< number of actuators to output to */ + uint8_t dest[NR_MAX_ACTUATORS]; /**< Which actuators to output to */ + float dual_rate[NR_MAX_ACTUATORS]; /**< Direction and rate of mixing. Range [-1,1] */ +} mixer_conf_t; /**< Setup for one mixer */ + +/* + * The struct mixer_data contains two int16_t arrays with the abstract source functions + * (Throttle, Roll,...) in the input, and an empty array output of the desired + * size for the results. + */ +typedef struct { + int16_t *input; + int16_t *output; +} mixer_data_t; + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/* + * Mixes the functions to the actuators. + * e.g. Throttle, Roll,... + * + * Each mixer_conf struct in the mixers array contains the source function (ex. THROTTLE), the number + * of actuators, an array with the desired actuators, Dual Rate determines which + * percentage of the source gets mixed to the destination and sets the direction. + * It's range is between -1 and 1. + * + * EXAMPLE: Deltamix for a wing plane: + * + * mixer_data_t mixer_buffer; + * mixer_buffer.input = buffer_rc; + * mixer_buffer.output = buffer_servo; + * + * + * mixer_conf_t mixers[3]; + * + * mixers[0].source = PITCH; + * mixers[0].nr_actuators = 2; + * mixers[0].dest[0] = AIL_1; + * mixers[0].dest[1] = AIL_2; + * mixers[0].dual_rate[0] = 1; + * mixers[0].dual_rate[1] = 1; + * + * mixers[1].source = ROLL; + * mixers[1].nr_actuators = 2; + * mixers[1].dest[0] = AIL_1; + * mixers[1].dest[1] = AIL_2; + * mixers[1].dual_rate[0] = 1; + * mixers[1].dual_rate[0] = -1; + * + * mixers[2].source = THROTTLE; + * mixers[2].nr_actuators = 1; + * mixers[2].dest[0] = MOT; + * mixers[2].dual_rate[0] = 1; + * + * @param mixers pointer to the mixer struct array + * @param nr_mixers number of mixers in struct array + * @param nr_actuators number of actuators + * @param data pointer to the mixer_data struct. + */ +void mix_and_link(const mixer_conf_t *mixers, uint8_t nr_mixers, uint8_t nr_actuators, mixer_data_t *data); + +#endif |