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Add conversions and mixer tests. Work in progress

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This commit is contained in:
Lorenz Meier
2013-12-31 14:45:38 +01:00
parent c367959d28
commit 7f14f1f7de
12 changed files with 315 additions and 28 deletions
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src/modules/systemlib/pwm_limit/pwm_limit.c
+15 -15
View File
@@ -47,7 +47,7 @@
void pwm_limit_init(pwm_limit_t *limit)
{
limit->state = LIMIT_STATE_OFF;
limit->state = PWM_LIMIT_STATE_OFF;
limit->time_armed = 0;
return;
}
@@ -56,26 +56,26 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
{
/* first evaluate state changes */
switch (limit->state) {
case LIMIT_STATE_OFF:
case PWM_LIMIT_STATE_OFF:
if (armed)
limit->state = LIMIT_STATE_RAMP;
limit->state = PWM_LIMIT_STATE_RAMP;
limit->time_armed = hrt_absolute_time();
break;
case LIMIT_STATE_INIT:
case PWM_LIMIT_STATE_INIT:
if (!armed)
limit->state = LIMIT_STATE_OFF;
limit->state = PWM_LIMIT_STATE_OFF;
else if (hrt_absolute_time() - limit->time_armed >= INIT_TIME_US)
limit->state = LIMIT_STATE_RAMP;
limit->state = PWM_LIMIT_STATE_RAMP;
break;
case LIMIT_STATE_RAMP:
case PWM_LIMIT_STATE_RAMP:
if (!armed)
limit->state = LIMIT_STATE_OFF;
limit->state = PWM_LIMIT_STATE_OFF;
else if (hrt_absolute_time() - limit->time_armed >= INIT_TIME_US + RAMP_TIME_US)
limit->state = LIMIT_STATE_ON;
limit->state = PWM_LIMIT_STATE_ON;
break;
case LIMIT_STATE_ON:
case PWM_LIMIT_STATE_ON:
if (!armed)
limit->state = LIMIT_STATE_OFF;
limit->state = PWM_LIMIT_STATE_OFF;
break;
default:
break;
@@ -86,14 +86,14 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
/* then set effective_pwm based on state */
switch (limit->state) {
case LIMIT_STATE_OFF:
case LIMIT_STATE_INIT:
case PWM_LIMIT_STATE_OFF:
case PWM_LIMIT_STATE_INIT:
for (unsigned i=0; i<num_channels; i++) {
effective_pwm[i] = disarmed_pwm[i];
output[i] = 0.0f;
}
break;
case LIMIT_STATE_RAMP:
case PWM_LIMIT_STATE_RAMP:
progress = (hrt_absolute_time() - INIT_TIME_US - limit->time_armed)*10000 / RAMP_TIME_US;
for (unsigned i=0; i<num_channels; i++) {
@@ -120,7 +120,7 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
output[i] = (float)progress/10000.0f * output[i];
}
break;
case LIMIT_STATE_ON:
case PWM_LIMIT_STATE_ON:
for (unsigned i=0; i<num_channels; i++) {
effective_pwm[i] = output[i] * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2;
/* effective_output stays the same */
src/modules/systemlib/pwm_limit/pwm_limit.h
+10 -8
View File
@@ -46,6 +46,8 @@
#include <stdint.h>
#include <stdbool.h>
__BEGIN_DECLS
/*
* time for the ESCs to initialize
* (this is not actually needed if PWM is sent right after boot)
@@ -56,18 +58,18 @@
*/
#define RAMP_TIME_US 2500000
enum pwm_limit_state {
PWM_LIMIT_STATE_OFF = 0,
PWM_LIMIT_STATE_INIT,
PWM_LIMIT_STATE_RAMP,
PWM_LIMIT_STATE_ON
};
typedef struct {
enum {
LIMIT_STATE_OFF = 0,
LIMIT_STATE_INIT,
LIMIT_STATE_RAMP,
LIMIT_STATE_ON
} state;
enum pwm_limit_state state;
uint64_t time_armed;
} pwm_limit_t;
__BEGIN_DECLS
__EXPORT void pwm_limit_init(pwm_limit_t *limit);
__EXPORT void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm, float *output, uint16_t *effective_pwm, pwm_limit_t *limit);