From 8a365179eafdf3aea98e60ab9f5882b200d4c759 Mon Sep 17 00:00:00 2001 From: px4dev Date: Sat, 4 Aug 2012 15:12:36 -0700 Subject: Fresh import of the PX4 firmware sources. --- apps/mix_and_link/Makefile | 38 +++++++++++++ apps/mix_and_link/mix_and_link.c | 81 +++++++++++++++++++++++++++ apps/mix_and_link/mix_and_link.h | 115 +++++++++++++++++++++++++++++++++++++++ 3 files changed, 234 insertions(+) create mode 100644 apps/mix_and_link/Makefile create mode 100644 apps/mix_and_link/mix_and_link.c create mode 100644 apps/mix_and_link/mix_and_link.h (limited to 'apps/mix_and_link') diff --git a/apps/mix_and_link/Makefile b/apps/mix_and_link/Makefile new file mode 100644 index 000000000..a907277c7 --- /dev/null +++ b/apps/mix_and_link/Makefile @@ -0,0 +1,38 @@ +############################################################################ +# +# 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. +# +############################################################################ + +# +# Makefile to build the mix-and-link functions +# + +include $(APPDIR)/mk/app.mk diff --git a/apps/mix_and_link/mix_and_link.c b/apps/mix_and_link/mix_and_link.c new file mode 100644 index 000000000..495f336b1 --- /dev/null +++ b/apps/mix_and_link/mix_and_link.c @@ -0,0 +1,81 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: Nils Wenzler + * + * 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 Mixing / linking of RC channels + */ + +#include +#include +#include + +#include "mix_and_link.h" + +/* + * Library function that mixes the abstract functions like ROLL, PITCH, THROTTLE + * to one or several actuators. + * @param *mixers is a pointer to the configuration struct, declared in mix_and_link.h + * @param nr_mixers is a integer that denotes the number of mixers that should be processed + * @param nr_actuators is a integer that denotes the max number of actuators that get linked to one source + * @param *data is a pointer to the mixer data struct, declared in mix_and_link.h + */ +void mix_and_link(const mixer_conf_t *mixers, uint8_t nr_mixers, uint8_t nr_actuators, mixer_data_t *data) +{ + + /* Reset the Output Array */ + uint8_t i, j; + + for (i = 0; i < nr_actuators; i++) { + data->output[i] = 0; + } + + /* Loop throug the given mixers */ + for (i = 0; i < nr_mixers; i++) { + + /* The actual mixing */ + for (j = 0; j < mixers[i].nr_actuators; j++) { + data->output[mixers[i].dest[j]] += (int16_t)(data->input[mixers[i].source] + * mixers[i].dual_rate[j]); + + /* Saturate to +-10000 */ + if (data->output[mixers[i].dest[j]] > 10000) + data->output[mixers[i].dest[j]] = 10000; + else if (data->output[mixers[i].dest[j]] < -10000) + data->output[mixers[i].dest[j]] = -10000; + + } + } +} + + 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 + * + * 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 +#include +#include + +/**< 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 -- cgit v1.2.3