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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.
*
****************************************************************************/
#ifndef _MIX_AND_LINK_H_
#define _MIX_AND_LINK_H_
#include <nuttx/config.h>
#include <unistd.h>
#include <stdint.h>
/**< 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
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