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Moved PWM ramp to systemlib
This commit is contained in:
Julian Oes
@@ -0,0 +1,116 @@
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/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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* Author: Julian Oes <joes@student.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file pwm_limit.c
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*
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* Lib to limit PWM output
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*
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* @author Julian Oes <joes@student.ethz.ch>
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*/
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#include "pwm_limit.h"
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#include <math.h>
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#include <stdbool.h>
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#include <drivers/drv_hrt.h>
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__EXPORT pwm_limit_init(pwm_limit_t *limit)
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{
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limit->nchannels = 0;
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limit->state = LIMIT_STATE_OFF;
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limit->time_armed = 0;
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return;
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}
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__EXPORT void pwm_limit_calc(const bool armed, const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm, const float *output_requested, uint16_t *effective_pwm, pwm_limit_t *limit)
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{
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/* first evaluate state changes */
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switch (limit->state) {
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case LIMIT_STATE_OFF:
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if (armed)
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limit->state = LIMIT_STATE_RAMP;
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limit->time_armed = hrt_absolute_time();
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break;
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case LIMIT_STATE_INIT:
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if (!armed)
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limit->state = LIMIT_STATE_OFF;
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else if (hrt_absolute_time() - limit->time_armed >= INIT_TIME_US)
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limit->state = LIMIT_STATE_RAMP;
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break;
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case LIMIT_STATE_RAMP:
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if (!armed)
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limit->state = LIMIT_STATE_OFF;
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else if (hrt_absolute_time() - limit->time_armed >= INIT_TIME_US + RAMP_TIME_US)
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limit->state = LIMIT_STATE_ON;
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break;
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case LIMIT_STATE_ON:
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if (!armed)
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limit->state = LIMIT_STATE_OFF;
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break;
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default:
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break;
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}
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unsigned progress;
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uint16_t temp_pwm;
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/* then set effective_pwm based on state */
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switch (limit->state) {
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case LIMIT_STATE_OFF:
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case LIMIT_STATE_INIT:
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for (unsigned i=0; i<limit->nchannels; i++) {
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effective_pwm[i] = disarmed_pwm[i];
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}
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break;
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case LIMIT_STATE_RAMP:
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progress = (hrt_absolute_time() - INIT_TIME_US - limit->time_armed)*10000 / RAMP_TIME_US;
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for (unsigned i=0; i<limit->nchannels; i++) {
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temp_pwm = output_requested[i] * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2;
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/* already follow user/controller input if higher than min_pwm */
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effective_pwm[i] = (disarmed_pwm[i]*(10000-progress) + (temp_pwm > min_pwm[i] ? temp_pwm : min_pwm[i])*progress)/10000;
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}
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break;
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case LIMIT_STATE_ON:
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for (unsigned i=0; i<limit->nchannels; i++) {
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effective_pwm[i] = output_requested[i] * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2;
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}
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break;
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default:
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break;
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}
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return;
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}
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@@ -0,0 +1,79 @@
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/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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* Author: Julian Oes <joes@student.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
|
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
|
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* 2. Redistributions in binary form must reproduce the above copyright
|
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* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
|
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
|
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file pwm_limit.h
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*
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* Lib to limit PWM output
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*
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* @author Julian Oes <joes@student.ethz.ch>
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*/
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#ifndef PWM_LIMIT_H_
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#define PWM_LIMIT_H_
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#include <stdint.h>
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#include <stdbool.h>
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__BEGIN_DECLS
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/*
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* time for the ESCs to initialize
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* (this is not actually needed if PWM is sent right after boot)
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*/
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#define INIT_TIME_US 500000
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/*
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* time to slowly ramp up the ESCs
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*/
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#define RAMP_TIME_US 2500000
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typedef struct {
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enum {
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LIMIT_STATE_OFF = 0,
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LIMIT_STATE_INIT,
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LIMIT_STATE_RAMP,
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LIMIT_STATE_ON
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} state;
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uint64_t time_armed;
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unsigned nchannels;
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} pwm_limit_t;
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__EXPORT void pwm_limit_init(pwm_limit_t *limit);
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__EXPORT void pwm_limit_calc(const bool armed, const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm, const float *output_requested, uint16_t *effective_pwm, pwm_limit_t *limit);
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__END_DECLS
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#endif /* PWM_LIMIT_H_ */
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