Simple summing mixer. More...

#include <mixer.h>

Inheritance diagram for SimpleMixer:

Public Member Functions
	SimpleMixer (ControlCallback control_cb, uintptr_t cb_handle, mixer_simple_s *mixinfo)
	Constructor. More...

unsigned	mix (float *outputs, unsigned space) override
	Perform the mixing function. More...

uint16_t	get_saturation_status (void) override
	Get the saturation status. More...

void	groups_required (uint32_t &groups) override
	Analyses the mix configuration and updates a bitmask of groups that are required. More...

int	check ()
	Check that the mixer configuration as loaded is sensible. More...

unsigned	set_trim (float trim) override
	Set trim offset for this mixer. More...

unsigned	get_trim (float *trim) override
	Get trim offset for this mixer. More...

Public Member Functions inherited from Mixer
	Mixer (ControlCallback control_cb, uintptr_t cb_handle)
	Constructor. More...

virtual void	set_max_delta_out_once (float delta_out_max)
	Empty method, only implemented for MultirotorMixer and MixerGroup class. More...

virtual void	set_thrust_factor (float val)

virtual void	set_airmode (Airmode airmode)
	Set airmode. More...

Static Public Member Functions
static SimpleMixer *	from_text (Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen)
	Factory method with full external configuration. More...

static SimpleMixer *	pwm_input (Mixer::ControlCallback control_cb, uintptr_t cb_handle, unsigned input, uint16_t min, uint16_t mid, uint16_t max)
	Factory method for PWM/PPM input to internal float representation. More...

Additional Inherited Members
Public Types inherited from Mixer
enum	Airmode : int32_t { disabled = 0, roll_pitch = 1, roll_pitch_yaw = 2 }

typedef int(*	ControlCallback) (uintptr_t handle, uint8_t control_group, uint8_t control_index, float &control)
	Fetch a control value. More...

Public Attributes inherited from Mixer
Mixer *	_next
	next mixer in a list

Protected Member Functions inherited from Mixer
float	get_control (uint8_t group, uint8_t index)
	Invoke the client callback to fetch a control value. More...

Static Protected Member Functions inherited from Mixer
static float	scale (const mixer_scaler_s &scaler, float input)
	Perform simpler linear scaling. More...

static int	scale_check (struct mixer_scaler_s &scaler)
	Validate a scaler. More...

static const char *	findtag (const char *buf, unsigned &buflen, char tag)
	Find a tag. More...

static char	findnexttag (const char *buf, unsigned buflen)
	Find next tag and return it (0 is returned if no tag is found) More...

static const char *	skipline (const char *buf, unsigned &buflen)
	Skip a line. More...

static bool	string_well_formed (const char *buf, unsigned &buflen)
	Check wether the string is well formed and suitable for parsing.

Protected Attributes inherited from Mixer
ControlCallback	_control_cb
	client-supplied callback used when fetching control values

uintptr_t	_cb_handle

Detailed Description

Simple summing mixer.

Collects zero or more inputs and mixes them to a single output.

Constructor & Destructor Documentation

§ SimpleMixer()

SimpleMixer::SimpleMixer	(	ControlCallback	control_cb,
		uintptr_t	cb_handle,
		mixer_simple_s *	mixinfo
	)

Constructor.

Parameters

mixinfo Mixer configuration. The pointer passed becomes the property of the mixer and will be freed when the mixer is deleted.

Member Function Documentation

§ check()

int SimpleMixer::check ( )

Check that the mixer configuration as loaded is sensible.

Note that this function will call control_cb, but only cares about error returns, not the input value.

Returns: Zero if the mixer makes sense, nonzero otherwise.

§ from_text()

SimpleMixer * SimpleMixer::from_text	(	Mixer::ControlCallback	control_cb,
		uintptr_t	cb_handle,
		const char *	buf,
		unsigned &	buflen
	)

static

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.

Parameters

control_cb	The callback to invoke when fetching a control value.
cb_handle	Handle passed to the control callback.
buf	Buffer containing a text description of the mixer.
buflen	Length of the buffer in bytes, adjusted to reflect the bytes consumed.

Returns: A new SimpleMixer instance, or nullptr if the text format is bad.

§ get_saturation_status()

uint16_t SimpleMixer::get_saturation_status ( void )

overridevirtual

Get the saturation status.

Returns: Integer bitmask containing saturation_status from multirotor_motor_limits.msg.

Implements Mixer.

§ get_trim()

unsigned SimpleMixer::get_trim ( float * trim )

overridevirtual

Get trim offset for this mixer.

Returns: the number of outputs this mixer feeds to

Implements Mixer.

§ groups_required()

void SimpleMixer::groups_required ( uint32_t & groups )

overridevirtual

Analyses the mix configuration and updates a bitmask of groups that are required.

Parameters

groups A bitmask of groups (0-31) that the mixer requires.

Implements Mixer.

§ mix()

unsigned SimpleMixer::mix	(	float *	outputs,
		unsigned	space
	)

overridevirtual

Perform the mixing function.

Parameters

outputs	Array into which mixed output(s) should be placed.
space	The number of available entries in the output array;

Returns: The number of entries in the output array that were populated.

Implements Mixer.

§ pwm_input()

SimpleMixer * SimpleMixer::pwm_input	(	Mixer::ControlCallback	control_cb,
		uintptr_t	cb_handle,
		unsigned	input,
		uint16_t	min,
		uint16_t	mid,
		uint16_t	max
	)

static

Factory method for PWM/PPM input to internal float representation.

Parameters

control_cb	The callback to invoke when fetching a control value.
cb_handle	Handle passed to the control callback.
input	The control index used when fetching the input.
min	The PWM/PPM value considered to be "minimum" (gives -1.0 out)
mid	The PWM/PPM value considered to be the midpoint (gives 0.0 out)
max	The PWM/PPM value considered to be "maximum" (gives 1.0 out)

Returns: A new SimpleMixer instance, or nullptr if one could not be allocated.

§ set_trim()

unsigned SimpleMixer::set_trim ( float trim )

overridevirtual

Set trim offset for this mixer.

Returns: the number of outputs this mixer feeds to

Implements Mixer.

The documentation for this class was generated from the following files:

src/lib/mixer/mixer.h
src/lib/mixer/mixer_simple.cpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

§ SimpleMixer()

Member Function Documentation

§ check()

§ from_text()

§ get_saturation_status()

§ get_trim()

§ groups_required()

§ mix()

§ pwm_input()

§ set_trim()