diff options
Diffstat (limited to 'apps/systemlib/mixer.h')
| -rw-r--r-- | apps/systemlib/mixer.h | 65 |
1 files changed, 45 insertions, 20 deletions
diff --git a/apps/systemlib/mixer.h b/apps/systemlib/mixer.h index d65041ea7..3a9e31bb1 100644 --- a/apps/systemlib/mixer.h +++ b/apps/systemlib/mixer.h @@ -36,7 +36,7 @@ /** * @file mixer.h - * + * * Generic control value mixing library. * * This library implements a generic mixer function that can be used @@ -46,10 +46,13 @@ * Terminology * =========== * - * control + * control value * A mixer input value, typically provided by some controlling * component of the system. * + * control group + * A collection of controls provided by a single controlling component. + * * actuator * The mixer output value. * @@ -124,49 +127,68 @@ * 3 | primary thrust */ -struct MixScaler { - unsigned control; /**< control consumed by this scaler */ +struct scaler_s { float negative_scale; /**< scale for inputs < 0 */ float positive_scale; /**< scale for inputs > 0 */ float offset; /**< bias applied to output */ float lower_limit; /**< minimum output value */ float upper_limit; /**< maximum output value */ + uint8_t control_group; /**< control group this scaler reads from */ + uint8_t control_index; /**< control index within the group */ }; -struct MixMixer { - unsigned control_count; /**< number of control scalers */ - struct MixScaler output_scaler; /**< scaler applied to mixer output */ - struct MixScaler control_scaler[0]; /**< array of control scalers */ +struct mixer_s { + unsigned control_count; /**< number of control scalers */ + struct scaler_s output_scaler; /**< scaler applied to mixer output */ + struct scaler_s control_scaler[0]; /**< array of control scalers */ }; /** * Handy macro for determining the allocation size of a mixer. */ -#define MIXER_SIZE(_num_scalers) (sizeof(struct MixMixer) + ((_num_scalers) * sizeof(struct MixScaler))) +#define MIXER_SIZE(_num_scalers) (sizeof(struct mixer_s) + ((_num_scalers) * sizeof(struct scaler_s))) __BEGIN_DECLS /** * Perform a mixer calculation. * - * Note that the controls array is assumed to be sufficiently large for any control - * index in the mixer. + * Note that the controls array, and the arrays it indexes, are assumed + * to be sufficiently large for any control index in the mixer. * * @param mixer Mixer configuration. - * @param controls Array of input control values. + * @param controls Array of pointers to control group values. * @return The mixed output. */ -__EXPORT float mixer_mix(struct MixMixer *mixer, float *controls); +__EXPORT float mixer_mix(struct mixer_s *mixer, float **controls); /** * Check a mixer configuration for sanity. * * @param mixer The mixer configuration to be checked. - * @param control_count The number of controls in the system. + * @param group_count The highest-numbered control group that + * should be considered legal. + * @param control_count The highest control index that should be + * considered legal. * @return Zero if the mixer configuration is sane, * nonzero otherwise. */ -__EXPORT int mixer_check(struct MixMixer *mixer, unsigned control_count); +__EXPORT int mixer_check(struct mixer_s *mixer, unsigned group_count, unsigned control_count); + +/** + * Evaluate the control inputs to a mixer and update the bitmask of + * required control groups. + * + * This function allows an actuator driver to selectively fetch just + * the control groups required to support a particular mixer or set of + * mixers. + * + * @param mixer The mixer being evaluated. + * @param groups Pointer to a bitmask to be updated with set bits + * corresponding to the control groups used by the + * mixer. + */ +__EXPORT void mixer_requires(struct mixer_s *mixer, uint32_t *groups); /** * Read a mixer definition from a file. @@ -178,13 +200,16 @@ __EXPORT int mixer_check(struct MixMixer *mixer, unsigned control_count); * scalers. * * M: <scaler count> - * S: <control> <negative_scale> <positive_scale> <offset> <lower_limit> <upper_limit> + * S: <control group> <control index> <negative_scale*> <positive_scale*> <offset*> <lower_limit*> <upper_limit*> * S: ... * - * The <control> value for the output scaler is ignored by the mixer. + * The <control ...> values for the output scaler are ignored by the mixer. + * + * Values marked * are integers representing floating point values; values are + * scaled by 10000 on load/save. * * Multiple mixer definitions may be stored in a single file; it is assumed that - * the reader will know how many to expect and read accordingly. + * the reader will know how many to expect and read accordingly. * * A mixer entry with a scaler count of zero indicates a disabled mixer. This * will return NULL for the mixer when processed by this function, and will be @@ -194,7 +219,7 @@ __EXPORT int mixer_check(struct MixMixer *mixer, unsigned control_count); * @param mixer Mixer is returned here. * @return 1 if a mixer was read, zero on EOF or negative on error. */ -__EXPORT int mixer_load(int fd, struct MixMixer **mixer); +__EXPORT int mixer_load(int fd, struct mixer_s **mixer); /** * Save a mixer definition to a file. @@ -203,7 +228,7 @@ __EXPORT int mixer_load(int fd, struct MixMixer **mixer); * @param mixer The mixer definition to save. * @return Zero on success, negative on error. */ -__EXPORT int mixer_save(int fd, struct MixMixer *mixers); +__EXPORT int mixer_save(int fd, struct mixer_s *mixers); __END_DECLS |