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Factory method for a simple mixer that converts PWM/PPM values to the standard internal format.

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This commit is contained in:
px4dev
2012-12-29 16:00:50 -08:00
parent 0ae5997bd0
commit f9520ee39d
2 changed files with 118 additions and 26 deletions
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apps/systemlib/mixer/mixer.h
+31 -11
View File
@@ -335,7 +335,7 @@ public:
~SimpleMixer();
/**
* Factory method.
* Factory method with full external configuration.
*
* Given a pointer to a buffer containing a text description of the mixer,
* returns a pointer to a new instance of the mixer.
@@ -351,9 +351,29 @@ public:
* if the text format is bad.
*/
static SimpleMixer *from_text(Mixer::ControlCallback control_cb,
uintptr_t cb_handle,
const char *buf,
unsigned &buflen);
uintptr_t cb_handle,
const char *buf,
unsigned &buflen);
/**
* Factory method for PWM/PPM input to internal float representation.
*
* @param control_cb The callback to invoke when fetching a
* control value.
* @param cb_handle Handle passed to the control callback.
* @param input The control index used when fetching the input.
* @param min The PWM/PPM value considered to be "minimum" (gives -1.0 out)
* @param mid The PWM/PPM value considered to be the midpoint (gives 0.0 out)
* @param max The PWM/PPM value considered to be "maximum" (gives 1.0 out)
* @return A new SimpleMixer instance, or nullptr if one could not be
* allocated.
*/
static SimpleMixer *pwm_input(Mixer::ControlCallback *control_cb,
uintptr_t cb_handle,
unsigned input,
uint16_t min,
uint16_t mid,
uint16_t max);
virtual unsigned mix(float *outputs, unsigned space);
virtual void groups_required(uint32_t &groups);
@@ -375,10 +395,10 @@ private:
static int parse_output_scaler(const char *buf, unsigned &buflen, mixer_scaler_s &scaler);
static int parse_control_scaler(const char *buf,
unsigned &buflen,
mixer_scaler_s &scaler,
uint8_t &control_group,
uint8_t &control_index);
unsigned &buflen,
mixer_scaler_s &scaler,
uint8_t &control_group,
uint8_t &control_index);
};
/**
@@ -457,9 +477,9 @@ public:
* if the text format is bad.
*/
static MultirotorMixer *from_text(Mixer::ControlCallback control_cb,
uintptr_t cb_handle,
const char *buf,
unsigned &buflen);
uintptr_t cb_handle,
const char *buf,
unsigned &buflen);
virtual unsigned mix(float *outputs, unsigned space);
virtual void groups_required(uint32_t &groups);
apps/systemlib/mixer/mixer_simple.cpp
+76 -4
View File
@@ -77,9 +77,11 @@ skipspace(const char *p, unsigned &len)
while (isspace(*p)) {
if (len == 0)
return nullptr;
len--;
p++;
}
return p;
}
@@ -91,14 +93,16 @@ SimpleMixer::parse_output_scaler(const char *buf, unsigned &buflen, mixer_scaler
int used;
buf = skipspace(buf, buflen);
if (buflen < 16)
return -1;
if ((ret = sscanf(buf, "O: %d %d %d %d %d%n",
&s[0], &s[1], &s[2], &s[3], &s[4], &used)) != 5) {
&s[0], &s[1], &s[2], &s[3], &s[4], &used)) != 5) {
debug("scaler parse failed on '%s' (got %d)", buf, ret);
return -1;
}
buflen -= used;
scaler.negative_scale = s[0] / 10000.0f;
@@ -118,6 +122,7 @@ SimpleMixer::parse_control_scaler(const char *buf, unsigned &buflen, mixer_scale
int used;
buf = skipspace(buf, buflen);
if (buflen < 16)
return -1;
@@ -126,6 +131,7 @@ SimpleMixer::parse_control_scaler(const char *buf, unsigned &buflen, mixer_scale
debug("control parse failed on '%s'", buf);
return -1;
}
buflen -= used;
control_group = u[0];
@@ -153,13 +159,16 @@ SimpleMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, c
debug("simple parse failed on '%s'", buf);
goto out;
}
buflen -= used;
mixinfo = (mixer_simple_s *)malloc(MIXER_SIMPLE_SIZE(inputs));
if (mixinfo == nullptr) {
debug("could not allocate memory for mixer info");
goto out;
}
mixinfo->control_count = inputs;
if (parse_output_scaler(end - buflen, buflen, mixinfo->output_scaler))
@@ -167,21 +176,84 @@ SimpleMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, c
for (unsigned i = 0; i < inputs; i++) {
if (parse_control_scaler(end - buflen, buflen,
mixinfo->controls[i].scaler,
mixinfo->controls[i].control_group,
mixinfo->controls[i].control_index))
mixinfo->controls[i].scaler,
mixinfo->controls[i].control_group,
mixinfo->controls[i].control_index))
goto out;
}
sm = new SimpleMixer(control_cb, cb_handle, mixinfo);
if (sm != nullptr) {
mixinfo = nullptr;
debug("loaded mixer with %d inputs", inputs);
} else {
debug("could not allocate memory for mixer");
}
out:
if (mixinfo != nullptr)
free(mixinfo);
return sm;
}
SimpleMixer *
SimpleMixer::pwm_input(Mixer::ControlCallback *control_cb, uintptr_t cb_handle, unsigned input, uint16_t min, uint16_t mid, uint16_t max)
{
SimpleMixer *sm = nullptr;
mixer_simple_s *mixinfo = nullptr;
mixinfo = (mixer_simple_s *)malloc(MIXER_SIMPLE_SIZE(1));
if (mixinfo == nullptr) {
debug("could not allocate memory for mixer info");
goto out;
}
mixinfo->control_count = 1;
/*
* Always pull from group 0, with the input value giving the channel.
*/
mixinfo->controls[0].control_group = 0;
mixinfo->controls[0].control_index = input;
/*
* Conversion uses both the input and output side of the mixer.
*
* The input side is used to slide the control value such that the min argument
* results in a value of zero.
*
* The output side is used to apply the scaling for the min/max values so that
* the resulting output is a -1.0 ... 1.0 value for the min...max range.
*/
mixinfo->controls[0].scaler.negative_scale = 1.0f;
mixinfo->controls[0].scaler.positive_scale = 1.0f;
mixinfo->controls[0].scaler.offset = -mid;
mixinfo->controls[0].scaler.lower_limit = -(mid - min);
mixinfo->controls[0].scaler.upper_limit = (max - mid);
mixinfo->output_scaler.negative_scale = 500.0f / (mid - min);
mixinfo->output_scaler.positive_scale = 500.0f / (max - mid);
mixinfo->output_scaler.offset = 0.0f;
mixinfo->output_scaler.min_output = -1.0f;
mixinfo->output_scaler.max_output = 1.0f;
sm = new SimpleMixer(control_cb, cb_handle, mixinfo);
if (sm != nullptr) {
mixinfo = nullptr;
debug("PWM input mixer for %d", input);
} else {
debug("could not allocate memory for PWM input mixer");
}
out:
if (mixinfo != nullptr)
free(mixinfo);