diff options
Diffstat (limited to 'src/modules/systemlib/mixer/mixer.cpp')
-rw-r--r-- | src/modules/systemlib/mixer/mixer.cpp | 152 |
1 files changed, 152 insertions, 0 deletions
diff --git a/src/modules/systemlib/mixer/mixer.cpp b/src/modules/systemlib/mixer/mixer.cpp new file mode 100644 index 000000000..df0dfe838 --- /dev/null +++ b/src/modules/systemlib/mixer/mixer.cpp @@ -0,0 +1,152 @@ +/**************************************************************************** + * + * 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.cpp + * + * Programmable multi-channel mixer library. + */ + +#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 "mixer.h" + +Mixer::Mixer(ControlCallback control_cb, uintptr_t cb_handle) : + _next(nullptr), + _control_cb(control_cb), + _cb_handle(cb_handle) +{ +} + +float +Mixer::get_control(uint8_t group, uint8_t index) +{ + float value; + + _control_cb(_cb_handle, group, index, value); + + return value; +} + + +float +Mixer::scale(const mixer_scaler_s &scaler, float input) +{ + float output; + + if (input < 0.0f) { + output = (input * scaler.negative_scale) + scaler.offset; + + } else { + output = (input * scaler.positive_scale) + scaler.offset; + } + + if (output > scaler.max_output) { + output = scaler.max_output; + + } else if (output < scaler.min_output) { + output = scaler.min_output; + } + + return output; +} + +int +Mixer::scale_check(struct mixer_scaler_s &scaler) +{ + if (scaler.offset > 1.001f) + return 1; + + if (scaler.offset < -1.001f) + return 2; + + if (scaler.min_output > scaler.max_output) + return 3; + + if (scaler.min_output < -1.001f) + return 4; + + if (scaler.max_output > 1.001f) + return 5; + + return 0; +} + +/****************************************************************************/ + +NullMixer::NullMixer() : + Mixer(nullptr, 0) +{ +} + +unsigned +NullMixer::mix(float *outputs, unsigned space) +{ + if (space > 0) { + *outputs = 0.0f; + return 1; + } + + return 0; +} + +void +NullMixer::groups_required(uint32_t &groups) +{ + +} + +NullMixer * +NullMixer::from_text(const char *buf, unsigned &buflen) +{ + NullMixer *nm = nullptr; + + if ((buflen >= 2) && (buf[0] == 'Z') && (buf[1] == ':')) { + nm = new NullMixer; + buflen -= 2; + } + + return nm; +} |