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Diffstat (limited to 'apps/systemlib/mixer/mixer.h')
| -rw-r--r-- | apps/systemlib/mixer/mixer.h | 358 |
1 files changed, 358 insertions, 0 deletions
diff --git a/apps/systemlib/mixer/mixer.h b/apps/systemlib/mixer/mixer.h new file mode 100644 index 000000000..5a3857a00 --- /dev/null +++ b/apps/systemlib/mixer/mixer.h @@ -0,0 +1,358 @@ +/**************************************************************************** + * + * 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.h + * + * Generic, programmable, procedural control signal mixers. + * + * This library implements a generic mixer interface that can be used + * by any driver or subsytem that wants to combine several control signals + * into a single output. + * + * Terminology + * =========== + * + * 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. + * + * + * Mixing basics + * ============= + * + * An actuator derives its value from the combination of one or more + * control values. Each of the control values is scaled according to + * the actuator's configuration and then combined to produce the + * actuator value, which may then be further scaled to suit the specific + * output type. + * + * Internally, all scaling is performed using floating point values. + * Inputs and outputs are clamped to the range -1.0 to 1.0. + * + * control control control + * | | | + * v v v + * scale scale scale + * | | | + * | v | + * +-------> mix <------+ + * | + * scale + * | + * v + * out + * + * Scaling + * ------- + * + * Each scaler allows the input value to be scaled independently for + * inputs greater/less than zero. An offset can be applied to the output, + * as well as lower and upper boundary constraints. + * Negative scaling factors cause the output to be inverted (negative input + * produces positive output). + * + * Scaler pseudocode: + * + * if (input < 0) + * output = (input * NEGATIVE_SCALE) + OFFSET + * else + * output = (input * POSITIVE_SCALE) + OFFSET + * + * if (output < LOWER_LIMIT) + * output = LOWER_LIMIT + * if (output > UPPER_LIMIT) + * output = UPPER_LIMIT + * + * + * Mixing + * ------ + * + * Mixing behaviour varies based on the specific mixer class; each + * mixer class describes its behaviour in more detail. + * + * + * Controls + * -------- + * + * The precise assignment of controls may vary depending on the + * application, but the following assignments should be used + * when appropriate. Some mixer classes have specific assumptions + * about the assignment of controls. + * + * control | standard meaning + * --------+----------------------- + * 0 | roll + * 1 | pitch + * 2 | yaw + * 3 | primary thrust + */ + + +#ifndef _SYSTEMLIB_MIXER_MIXER_H +#define _SYSTEMLIB_MIXER_MIXER_H value + +#include "drivers/drv_mixer.h" + +/** + * Abstract class defining a mixer mixing zero or more inputs to + * one or more outputs. + */ +class __EXPORT Mixer +{ +public: + /** next mixer in a list */ + Mixer *_next; + + /** + * Fetch a control value. + * + * @param handle Token passed when the callback is registered. + * @param control_group The group to fetch the control from. + * @param control_index The group-relative index to fetch the control from. + * @param control The returned control + * @return Zero if the value was fetched, nonzero otherwise. + */ + typedef int (* ControlCallback)(uintptr_t handle, + uint8_t control_group, + uint8_t control_index, + float &control); + + /** + * Constructor. + * + * @param control_cb Callback invoked when reading controls. + */ + Mixer(ControlCallback control_cb, uintptr_t cb_handle); + ~Mixer() {}; + + /** + * Perform the mixing function. + * + * @param outputs Array into which mixed output(s) should be placed. + * @param space The number of available entries in the output array; + * @return The number of entries in the output array that were populated. + */ + virtual unsigned mix(float *outputs, unsigned space) = 0; + + /** + * Analyses the mix configuration and updates a bitmask of groups + * that are required. + * + * @param groups A bitmask of groups (0-31) that the mixer requires. + */ + virtual void groups_required(uint32_t &groups) = 0; + +protected: + /** client-supplied callback used when fetching control values */ + ControlCallback _control_cb; + uintptr_t _cb_handle; + + /** + * Perform simpler linear scaling. + * + * @param scaler The scaler configuration. + * @param input The value to be scaled. + * @return The scaled value. + */ + static float scale(const mixer_scaler_s &scaler, float input); + + /** + * Validate a scaler + * + * @param scaler The scaler to be validated. + * @return Zero if good, nonzero otherwise. + */ + static int scale_check(struct mixer_scaler_s &scaler); + +private: +}; + +/** + * Group of mixers, built up from single mixers and processed + * in order when mixing. + */ +class __EXPORT MixerGroup : public Mixer +{ +public: + MixerGroup(ControlCallback control_cb, uintptr_t cb_handle); + ~MixerGroup(); + + virtual unsigned mix(float *outputs, unsigned space); + virtual void groups_required(uint32_t &groups); + + /** + * Add a mixer to the group. + * + * @param mixer The mixer to be added. + */ + void add_mixer(Mixer *mixer); + + /** + * Reads a mixer definition from a file and configures a corresponding + * group. + * + * The mixer group must be empty when this function is called. + * + * A mixer definition is a text representation of the configuration of a + * mixer. Definition lines begin with a capital letter followed by a colon. + * + * Null Mixer: + * + * Z: + * + * This mixer generates a constant zero output, and is normally used to + * skip over outputs that are not in use. + * + * Simple Mixer: + * + * M: <scaler count> + * S: <control group> <control index> <negative_scale*> <positive_scale*> <offset*> <lower_limit*> <upper_limit*> + * S: ... + * + * The definition consists of a single-line header indicating the + * number of scalers and then one line defining each scaler. The first + * scaler in the file is always the output scaler, followed by the input + * scalers. + * + * 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. + * + * 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 + * generated by passing NULL as the mixer to mixer_save. + * + * @param path The mixer configuration file to read. + * @return Zero on successful load, nonzero otherwise. + */ + int load_from_file(const char *path); + +private: + Mixer *_first; /**< linked list of mixers */ +}; + +/** + * Null mixer; returns zero. + * + * Used as a placeholder for output channels that are unassigned in groups. + */ +class __EXPORT NullMixer : public Mixer +{ +public: + NullMixer(); + ~NullMixer() {}; + + virtual unsigned mix(float *outputs, unsigned space); + virtual void groups_required(uint32_t &groups); +}; + +/** + * Simple summing mixer. + * + * Collects zero or more inputs and mixes them to a single output. + */ +class __EXPORT SimpleMixer : public Mixer +{ +public: + /** + * Constructor + * + * @param mixinfo Mixer configuration. The pointer passed + * becomes the property of the mixer and + * will be freed when the mixer is deleted. + */ + SimpleMixer(ControlCallback control_cb, + uintptr_t cb_handle, + mixer_simple_s *mixinfo); + ~SimpleMixer(); + + virtual unsigned mix(float *outputs, unsigned space); + virtual void groups_required(uint32_t &groups); + + /** + * Check that the mixer configuration as loaded is sensible. + * + * Note that this function will call control_cb, but only cares about + * error returns, not the input value. + * + * @return Zero if the mixer makes sense, nonzero otherwise. + */ + int check(); +protected: + +private: + mixer_simple_s *_info; +}; + +/** + * Multi-rotor mixer. + * + * Collects four inputs (roll, pitch, yaw, thrust) and mixes them to + * a set of outputs based on the configured geometry. + */ +class __EXPORT MultirotorMixer : public Mixer +{ +public: + enum Geometry + { + MULTIROTOR_QUAD_PLUS, + MULTIROTOR_QUAD_X + /* XXX add more here */ + }; + + MultirotorMixer(ControlCallback control_cb, + uintptr_t cb_handle, + Geometry geom); + ~MultirotorMixer(); + + virtual unsigned mix(float *outputs, unsigned space); + virtual void groups_required(uint32_t &groups); + +private: + Geometry _geometry; +}; + +#endif |