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Syntax change to improve readability; output scalers are now labelled O: instead of looking like control scalers.

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Make mixer terminology more consistent; mixer inputs are 'controls'.
This commit is contained in:
px4dev
2012-08-11 11:27:07 -07:00
parent 42ace38e31
commit 65aec69705
3 changed files with 90 additions and 39 deletions
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apps/drivers/drv_mixer.h
+5 -5
View File
@@ -81,7 +81,7 @@ struct mixer_scaler_s
};
/** mixer input */
struct mixer_input_s
struct mixer_control_s
{
uint8_t control_group; /**< group from which the input reads */
uint8_t control_index; /**< index within the control group */
@@ -91,12 +91,12 @@ struct mixer_input_s
/** simple mixer */
struct mixer_simple_s
{
uint8_t input_count; /**< number of inputs */
uint8_t control_count; /**< number of inputs */
struct mixer_scaler_s output_scaler; /**< scaling for the output */
struct mixer_input_s inputs[0]; /**< actual size of the array is set by input_count */
struct mixer_control_s controls[0]; /**< actual size of the array is set by control_count */
};
#define MIXER_SIMPLE_SIZE(_icount) (sizeof(struct mixer_simple_s) + (_icount) * sizeof(struct mixer_input_s))
#define MIXER_SIMPLE_SIZE(_icount) (sizeof(struct mixer_simple_s) + (_icount) * sizeof(struct mixer_control_s))
/**
* add a simple mixer in (struct mixer_simple_s *)arg
@@ -114,7 +114,7 @@ struct mixer_rotor_output_s
struct mixer_multirotor_s
{
uint8_t rotor_count;
struct mixer_input_s inputs[4]; /**< inputs are roll, pitch, yaw, thrust */
struct mixer_control_s controls[4]; /**< controls are roll, pitch, yaw, thrust */
struct mixer_rotor_output_s rotors[0]; /**< actual size of the array is set by rotor_count */
};
apps/systemlib/mixer/mixer.cpp
+11 -11
View File
@@ -151,15 +151,15 @@ SimpleMixer::mix(float *outputs, unsigned space)
if (space < 1)
return 0;
for (unsigned i = 0; i < _info->input_count; i++) {
for (unsigned i = 0; i < _info->control_count; i++) {
float input;
_control_cb(_cb_handle,
_info->inputs[i].control_group,
_info->inputs[i].control_index,
_info->controls[i].control_group,
_info->controls[i].control_index,
input);
sum += scale(_info->inputs[i].scaler, input);
sum += scale(_info->controls[i].scaler, input);
}
*outputs = scale(_info->output_scaler, sum);
return 1;
@@ -168,8 +168,8 @@ SimpleMixer::mix(float *outputs, unsigned space)
void
SimpleMixer::groups_required(uint32_t &groups)
{
for (unsigned i = 0; i < _info->input_count; i++)
groups |= 1 << _info->inputs[i].control_group;
for (unsigned i = 0; i < _info->control_count; i++)
groups |= 1 << _info->controls[i].control_group;
}
int
@@ -180,7 +180,7 @@ SimpleMixer::check()
/* sanity that presumes that a mixer includes a control no more than once */
/* max of 32 groups due to groups_required API */
if (_info->input_count > 32)
if (_info->control_count > 32)
return -2;
/* validate the output scaler */
@@ -190,18 +190,18 @@ SimpleMixer::check()
return ret;
/* validate input scalers */
for (unsigned i = 0; i < _info->input_count; i++) {
for (unsigned i = 0; i < _info->control_count; i++) {
/* verify that we can fetch the control */
if (_control_cb(_cb_handle,
_info->inputs[i].control_group,
_info->inputs[i].control_index,
_info->controls[i].control_group,
_info->controls[i].control_index,
junk) != 0) {
return -3;
}
/* validate the scaler */
ret = scale_check(_info->inputs[i].scaler);
ret = scale_check(_info->controls[i].scaler);
if (ret != 0)
return (10 * i + ret);
apps/systemlib/mixer/mixer_group.cpp
+74 -23
View File
@@ -53,6 +53,9 @@
#include "mixer.h"
#define debug(fmt, args...) do { } while(0)
//#define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0)
namespace
{
@@ -76,8 +79,10 @@ mixer_getline(int fd, char *line, unsigned maxlen)
ret = read(fd, &c, 1);
/* on error or EOF, return same */
if (ret <= 0)
if (ret <= 0) {
debug("read: EOF");
return ret;
}
/* ignore carriage returns */
if (c == '\r')
@@ -94,6 +99,7 @@ mixer_getline(int fd, char *line, unsigned maxlen)
/* terminate line as string and return */
*p = '\0';
debug("read: '%s'", line);
return 1;
}
@@ -105,17 +111,42 @@ mixer_getline(int fd, char *line, unsigned maxlen)
}
/**
* Parse a scaler from the buffer.
* Parse an output scaler from the buffer.
*/
static int
mixer_parse_scaler(const char *buf, mixer_scaler_s &scaler, uint8_t &control_group, uint8_t &control_index)
mixer_parse_output_scaler(const char *buf, mixer_scaler_s &scaler)
{
int s[5];
if (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'", buf);
return -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;
}
/**
* Parse a control scaler from the buffer.
*/
static int
mixer_parse_control_scaler(const char *buf, mixer_scaler_s &scaler, uint8_t &control_group, uint8_t &control_index)
{
unsigned u[2];
int s[5];
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)
&u[0], &u[1], &s[0], &s[1], &s[2], &s[3], &s[4]) != 7) {
debug("scaler parse failed on '%s'", buf);
return -1;
}
control_group = u[0];
control_index = u[1];
@@ -133,7 +164,6 @@ mixer_load_simple(Mixer::ControlCallback control_cb, uintptr_t cb_handle, int fd
{
mixer_simple_s *mixinfo = nullptr;
char buf[60];
uint8_t control_group, control_index;
int ret;
/* let's assume we're going to read a simple mixer */
@@ -141,22 +171,30 @@ mixer_load_simple(Mixer::ControlCallback control_cb, uintptr_t cb_handle, int fd
/* first, get the output scaler */
ret = mixer_getline(fd, buf, sizeof(buf));
if (ret < 1)
if (ret < 1) {
debug("failed reading for output scaler");
goto fail;
if (mixer_parse_scaler(buf, mixinfo->output_scaler, control_group, control_index))
}
if (mixer_parse_output_scaler(buf, mixinfo->output_scaler)) {
debug("failed parsing output scaler");
goto fail;
}
/* now get any inputs */
for (unsigned i = 0; i < inputs; i++) {
ret = mixer_getline(fd, buf, sizeof(buf));
if (ret < 1)
goto fail;
if (mixer_parse_scaler(buf,
mixinfo->inputs[i].scaler,
mixinfo->inputs[i].control_group,
mixinfo->inputs[i].control_index)) {
if (ret < 1) {
debug("failed reading for control scaler");
goto fail;
}
if (mixer_parse_control_scaler(buf,
mixinfo->controls[i].scaler,
mixinfo->controls[i].control_group,
mixinfo->controls[i].control_index)) {
debug("failed parsing control scaler");
goto fail;
}
debug("got control %d", i);
}
/* XXX should be a factory that validates the mixinfo ... */
@@ -172,27 +210,32 @@ mixer_load(Mixer::ControlCallback control_cb, uintptr_t cb_handle, int fd, Mixer
{
int ret;
char buf[60];
unsigned scalers;
unsigned inputs;
ret = mixer_getline(fd, buf, sizeof(buf));
/* end of file or error ?*/
if (ret < 1)
if (ret < 1) {
debug("getline %d", ret);
return ret;
}
/* slot is empty - allocate a null mixer */
if (buf[0] == 'Z') {
debug("got null mixer");
mixer = new NullMixer();
return 0;
return 1;
}
/* is it a simple mixer? */
if (sscanf(buf, "M: %u", &scalers) == 1) {
mixer = mixer_load_simple(control_cb, cb_handle, fd, scalers);
return (mixer == nullptr) ? -1 : 0;
if (sscanf(buf, "M: %u", &inputs) == 1) {
debug("got simple mixer with %d inputs", inputs);
mixer = mixer_load_simple(control_cb, cb_handle, fd, inputs);
return (mixer == nullptr) ? -1 : 1;
}
/* we don't recognise the mixer type */
debug("unrecognized mixer type '%c'", buf[0]);
return -1;
}
@@ -260,10 +303,12 @@ MixerGroup::load_from_file(const char *path)
return -1;
int fd = open(path, O_RDONLY);
if (fd < 0)
if (fd < 0) {
debug("failed to open %s", path);
return -1;
}
for (;;) {
for (unsigned count = 0;; count++) {
int result;
Mixer *mixer;
@@ -273,13 +318,19 @@ MixerGroup::load_from_file(const char *path)
mixer);
/* error? */
if (result < 0)
if (result < 0) {
debug("error");
return -1;
}
/* EOF or error */
if (result < 1)
if (result < 1) {
printf("[mixer] loaded %u mixers\n", count);
debug("EOF");
break;
}
debug("loaded mixer %p", mixer);
add_mixer(mixer);
}