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px4dev
80 lines
1.7 KiB
C
80 lines
1.7 KiB
C
/**
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* @file Generic control value mixing library.
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*
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* This library implements a generic mixer function that can be used
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* by any driver or subsytem that wants to combine several control signals
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* into a single output.
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*
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* See mixer.h for more details.
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*/
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#include "mixer.h"
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static int
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scale_check(struct MixScaler *scale)
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{
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if (scale->offset > 1.0f)
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return -1;
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if (scale->offset > 1.0f)
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return -1;
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if (scale->lower_limit > scale->upper_limit)
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return -1;
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if (scale->lower_limit < -1.0f)
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return -1;
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if (scale->upper_limit > 1.0f)
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return -1;
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return 0;
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}
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int
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mixer_check(struct MixMixer *mixer, unsigned control_count)
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{
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if (mixer->control_count < 1)
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return -1;
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if (mixer->control_count > control_count)
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return -1;
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if (!scale_check(&mixer->output_scaler))
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return -1;
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for (unsigned i = 0; i < mixer->control_count; i++) {
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if (mixer->control_scaler[i].control >= control_count)
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return -1;
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if (!scale_check(&mixer->control_scaler[i]))
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return -1;
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}
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return 0;
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}
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static float
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scale(struct MixScaler *scaler, float input)
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{
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float output;
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if (input < 0.0f) {
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output = (input * scaler->negative_scale) + scaler->offset;
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} else {
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output = (input * scaler->positive_scale) + scaler->offset;
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}
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if (output > scaler->upper_limit) {
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output = scaler->upper_limit;
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} else if (output < scaler->lower_limit) {
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output = scaler->lower_limit;
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}
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return output;
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}
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float
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mixer_mix(struct MixMixer *mixer, float *controls)
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{
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struct MixScaler *scaler;
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float sum = 0.0f;
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for (unsigned i = 0; i < mixer->control_count; i++) {
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scaler = &mixer->control_scaler[i];
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sum += scale(scaler, controls[scaler->control]);
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}
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return scale(&mixer->output_scaler, sum);
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}
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