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-rw-r--r--apps/systemlib/mixer/mixer_simple.cpp334
1 files changed, 0 insertions, 334 deletions
diff --git a/apps/systemlib/mixer/mixer_simple.cpp b/apps/systemlib/mixer/mixer_simple.cpp
deleted file mode 100644
index 07dc5f37f..000000000
--- a/apps/systemlib/mixer/mixer_simple.cpp
+++ /dev/null
@@ -1,334 +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_simple.cpp
- *
- * Simple summing mixer.
- */
-
-#include <nuttx/config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-#include <fcntl.h>
-#include <poll.h>
-#include <errno.h>
-#include <stdio.h>
-#include <math.h>
-#include <unistd.h>
-#include <ctype.h>
-
-#include "mixer.h"
-
-#define debug(fmt, args...) do { } while(0)
-//#define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0)
-
-SimpleMixer::SimpleMixer(ControlCallback control_cb,
- uintptr_t cb_handle,
- mixer_simple_s *mixinfo) :
- Mixer(control_cb, cb_handle),
- _info(mixinfo)
-{
-}
-
-SimpleMixer::~SimpleMixer()
-{
- if (_info != nullptr)
- free(_info);
-}
-
-static const char *
-findtag(const char *buf, unsigned &buflen, char tag)
-{
- while (buflen >= 2) {
- if ((buf[0] == tag) && (buf[1] == ':'))
- return buf;
- buf++;
- buflen--;
- }
- return nullptr;
-}
-
-static void
-skipline(const char *buf, unsigned &buflen)
-{
- const char *p;
-
- /* if we can find a CR or NL in the buffer, skip up to it */
- if ((p = (const char *)memchr(buf, '\r', buflen)) || (p = (const char *)memchr(buf, '\n', buflen)))
- buflen -= (p - buf);
-}
-
-int
-SimpleMixer::parse_output_scaler(const char *buf, unsigned &buflen, mixer_scaler_s &scaler)
-{
- int ret;
- int s[5];
-
- buf = findtag(buf, buflen, 'O');
- if ((buf == nullptr) || (buflen < 12))
- return -1;
-
- if ((ret = sscanf(buf, "O: %d %d %d %d %d",
- &s[0], &s[1], &s[2], &s[3], &s[4])) != 5) {
- debug("scaler parse failed on '%s' (got %d)", buf, ret);
- return -1;
- }
- skipline(buf, buflen);
-
- scaler.negative_scale = s[0] / 10000.0f;
- scaler.positive_scale = s[1] / 10000.0f;
- scaler.offset = s[2] / 10000.0f;
- scaler.min_output = s[3] / 10000.0f;
- scaler.max_output = s[4] / 10000.0f;
-
- return 0;
-}
-
-int
-SimpleMixer::parse_control_scaler(const char *buf, unsigned &buflen, mixer_scaler_s &scaler, uint8_t &control_group, uint8_t &control_index)
-{
- unsigned u[2];
- int s[5];
-
- buf = findtag(buf, buflen, 'S');
- if ((buf == nullptr) || (buflen < 16))
- return -1;
-
- if (sscanf(buf, "S: %u %u %d %d %d %d %d",
- &u[0], &u[1], &s[0], &s[1], &s[2], &s[3], &s[4]) != 7) {
- debug("control parse failed on '%s'", buf);
- return -1;
- }
- skipline(buf, buflen);
-
- control_group = u[0];
- control_index = u[1];
- scaler.negative_scale = s[0] / 10000.0f;
- scaler.positive_scale = s[1] / 10000.0f;
- scaler.offset = s[2] / 10000.0f;
- scaler.min_output = s[3] / 10000.0f;
- scaler.max_output = s[4] / 10000.0f;
-
- return 0;
-}
-
-SimpleMixer *
-SimpleMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen)
-{
- SimpleMixer *sm = nullptr;
- mixer_simple_s *mixinfo = nullptr;
- unsigned inputs;
- int used;
- const char *end = buf + buflen;
-
- /* get the base info for the mixer */
- if (sscanf(buf, "M: %u%n", &inputs, &used) != 1) {
- debug("simple parse failed on '%s'", buf);
- goto out;
- }
-
- buflen -= used;
-
- mixinfo = (mixer_simple_s *)malloc(MIXER_SIMPLE_SIZE(inputs));
-
- if (mixinfo == nullptr) {
- debug("could not allocate memory for mixer info");
- goto out;
- }
-
- mixinfo->control_count = inputs;
-
- if (parse_output_scaler(end - buflen, buflen, mixinfo->output_scaler))
- goto out;
-
- for (unsigned i = 0; i < inputs; i++) {
- if (parse_control_scaler(end - buflen, buflen,
- mixinfo->controls[i].scaler,
- mixinfo->controls[i].control_group,
- mixinfo->controls[i].control_index))
- goto out;
- }
-
- sm = new SimpleMixer(control_cb, cb_handle, mixinfo);
-
- if (sm != nullptr) {
- mixinfo = nullptr;
- debug("loaded mixer with %d inputs", inputs);
-
- } else {
- debug("could not allocate memory for mixer");
- }
-
-out:
-
- if (mixinfo != nullptr)
- free(mixinfo);
-
- return sm;
-}
-
-SimpleMixer *
-SimpleMixer::pwm_input(Mixer::ControlCallback control_cb, uintptr_t cb_handle, unsigned input, uint16_t min, uint16_t mid, uint16_t max)
-{
- SimpleMixer *sm = nullptr;
- mixer_simple_s *mixinfo = nullptr;
-
- mixinfo = (mixer_simple_s *)malloc(MIXER_SIMPLE_SIZE(1));
-
- if (mixinfo == nullptr) {
- debug("could not allocate memory for mixer info");
- goto out;
- }
-
- mixinfo->control_count = 1;
-
- /*
- * Always pull from group 0, with the input value giving the channel.
- */
- mixinfo->controls[0].control_group = 0;
- mixinfo->controls[0].control_index = input;
-
- /*
- * Conversion uses both the input and output side of the mixer.
- *
- * The input side is used to slide the control value such that the min argument
- * results in a value of zero.
- *
- * The output side is used to apply the scaling for the min/max values so that
- * the resulting output is a -1.0 ... 1.0 value for the min...max range.
- */
- mixinfo->controls[0].scaler.negative_scale = 1.0f;
- mixinfo->controls[0].scaler.positive_scale = 1.0f;
- mixinfo->controls[0].scaler.offset = -mid;
- mixinfo->controls[0].scaler.min_output = -(mid - min);
- mixinfo->controls[0].scaler.max_output = (max - mid);
-
- mixinfo->output_scaler.negative_scale = 500.0f / (mid - min);
- mixinfo->output_scaler.positive_scale = 500.0f / (max - mid);
- mixinfo->output_scaler.offset = 0.0f;
- mixinfo->output_scaler.min_output = -1.0f;
- mixinfo->output_scaler.max_output = 1.0f;
-
- sm = new SimpleMixer(control_cb, cb_handle, mixinfo);
-
- if (sm != nullptr) {
- mixinfo = nullptr;
- debug("PWM input mixer for %d", input);
-
- } else {
- debug("could not allocate memory for PWM input mixer");
- }
-
-out:
-
- if (mixinfo != nullptr)
- free(mixinfo);
-
- return sm;
-}
-
-unsigned
-SimpleMixer::mix(float *outputs, unsigned space)
-{
- float sum = 0.0f;
-
- if (_info == nullptr)
- return 0;
-
- if (space < 1)
- return 0;
-
- for (unsigned i = 0; i < _info->control_count; i++) {
- float input;
-
- _control_cb(_cb_handle,
- _info->controls[i].control_group,
- _info->controls[i].control_index,
- input);
-
- sum += scale(_info->controls[i].scaler, input);
- }
-
- *outputs = scale(_info->output_scaler, sum);
- return 1;
-}
-
-void
-SimpleMixer::groups_required(uint32_t &groups)
-{
- for (unsigned i = 0; i < _info->control_count; i++)
- groups |= 1 << _info->controls[i].control_group;
-}
-
-int
-SimpleMixer::check()
-{
- int ret;
- float junk;
-
- /* sanity that presumes that a mixer includes a control no more than once */
- /* max of 32 groups due to groups_required API */
- if (_info->control_count > 32)
- return -2;
-
- /* validate the output scaler */
- ret = scale_check(_info->output_scaler);
-
- if (ret != 0)
- return ret;
-
- /* validate input scalers */
- for (unsigned i = 0; i < _info->control_count; i++) {
-
- /* verify that we can fetch the control */
- if (_control_cb(_cb_handle,
- _info->controls[i].control_group,
- _info->controls[i].control_index,
- junk) != 0) {
- return -3;
- }
-
- /* validate the scaler */
- ret = scale_check(_info->controls[i].scaler);
-
- if (ret != 0)
- return (10 * i + ret);
- }
-
- return 0;
-}
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