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/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: Nils Wenzler <wenzlern@ethz.ch>
*
* 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 <nuttx/config.h>
#include <unistd.h>
#include <stdint.h>
#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;
}
}
}
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