mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-26 10:30:35 +08:00
move systemlib/pwm_limit to standalone lib
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
387bc81f26
commit
e468a9bbcc
@@ -40,7 +40,6 @@ set(SRCS
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mavlink_log.c
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otp.c
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pid/pid.c
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pwm_limit/pwm_limit.c
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)
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if(${OS} STREQUAL "nuttx")
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@@ -1,227 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
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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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* Library for PWM output limiting
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*
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* @author Julian Oes <julian@px4.io>
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* @author Lorenz Meier <lorenz@px4.io>
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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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#include <stdio.h>
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#define PROGRESS_INT_SCALING 10000
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void pwm_limit_init(pwm_limit_t *limit)
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{
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limit->state = PWM_LIMIT_STATE_INIT;
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limit->time_armed = 0;
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}
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void pwm_limit_calc(const bool armed, const bool pre_armed, const unsigned num_channels, const uint16_t reverse_mask,
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const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm,
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const float *output, 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 PWM_LIMIT_STATE_INIT:
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if (armed) {
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/* set arming time for the first call */
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if (limit->time_armed == 0) {
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limit->time_armed = hrt_absolute_time();
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}
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if (hrt_elapsed_time(&limit->time_armed) >= INIT_TIME_US) {
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limit->state = PWM_LIMIT_STATE_OFF;
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}
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}
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break;
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case PWM_LIMIT_STATE_OFF:
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if (armed) {
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limit->state = PWM_LIMIT_STATE_RAMP;
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/* reset arming time, used for ramp timing */
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limit->time_armed = hrt_absolute_time();
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}
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break;
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case PWM_LIMIT_STATE_RAMP:
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if (!armed) {
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limit->state = PWM_LIMIT_STATE_OFF;
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} else if (hrt_elapsed_time(&limit->time_armed) >= RAMP_TIME_US) {
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limit->state = PWM_LIMIT_STATE_ON;
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}
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break;
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case PWM_LIMIT_STATE_ON:
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if (!armed) {
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limit->state = PWM_LIMIT_STATE_OFF;
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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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/* if the system is pre-armed, the limit state is temporarily on,
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* as some outputs are valid and the non-valid outputs have been
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* set to NaN. This is not stored in the state machine though,
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* as the throttle channels need to go through the ramp at
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* regular arming time.
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*/
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unsigned local_limit_state = limit->state;
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if (pre_armed) {
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local_limit_state = PWM_LIMIT_STATE_ON;
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}
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unsigned progress;
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/* then set effective_pwm based on state */
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switch (local_limit_state) {
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case PWM_LIMIT_STATE_OFF:
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case PWM_LIMIT_STATE_INIT:
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for (unsigned i = 0; i < num_channels; 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 PWM_LIMIT_STATE_RAMP: {
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hrt_abstime diff = hrt_elapsed_time(&limit->time_armed);
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progress = diff * PROGRESS_INT_SCALING / RAMP_TIME_US;
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if (progress > PROGRESS_INT_SCALING) {
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progress = PROGRESS_INT_SCALING;
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}
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for (unsigned i = 0; i < num_channels; i++) {
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float control_value = output[i];
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/* check for invalid / disabled channels */
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if (!isfinite(control_value)) {
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effective_pwm[i] = disarmed_pwm[i];
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continue;
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}
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uint16_t ramp_min_pwm;
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/* if a disarmed pwm value was set, blend between disarmed and min */
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if (disarmed_pwm[i] > 0) {
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/* safeguard against overflows */
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unsigned disarmed = disarmed_pwm[i];
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if (disarmed > min_pwm[i]) {
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disarmed = min_pwm[i];
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}
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unsigned disarmed_min_diff = min_pwm[i] - disarmed;
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ramp_min_pwm = disarmed + (disarmed_min_diff * progress) / PROGRESS_INT_SCALING;
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} else {
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/* no disarmed pwm value set, choose min pwm */
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ramp_min_pwm = min_pwm[i];
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}
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if (reverse_mask & (1 << i)) {
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control_value = -1.0f * control_value;
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}
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effective_pwm[i] = control_value * (max_pwm[i] - ramp_min_pwm) / 2 + (max_pwm[i] + ramp_min_pwm) / 2;
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/* last line of defense against invalid inputs */
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if (effective_pwm[i] < ramp_min_pwm) {
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effective_pwm[i] = ramp_min_pwm;
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} else if (effective_pwm[i] > max_pwm[i]) {
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effective_pwm[i] = max_pwm[i];
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}
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}
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}
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break;
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case PWM_LIMIT_STATE_ON:
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for (unsigned i = 0; i < num_channels; i++) {
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float control_value = output[i];
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/* check for invalid / disabled channels */
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if (!isfinite(control_value)) {
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effective_pwm[i] = disarmed_pwm[i];
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continue;
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}
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if (reverse_mask & (1 << i)) {
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control_value = -1.0f * control_value;
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}
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effective_pwm[i] = control_value * (max_pwm[i] - min_pwm[i]) / 2 + (max_pwm[i] + min_pwm[i]) / 2;
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/* last line of defense against invalid inputs */
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if (effective_pwm[i] < min_pwm[i]) {
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effective_pwm[i] = min_pwm[i];
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} else if (effective_pwm[i] > max_pwm[i]) {
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effective_pwm[i] = max_pwm[i];
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}
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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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}
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@@ -1,81 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
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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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* Library for PWM output limiting
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*
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* @author Julian Oes <julian@px4.io>
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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 50000
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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 500000
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enum pwm_limit_state {
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PWM_LIMIT_STATE_OFF = 0,
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PWM_LIMIT_STATE_INIT,
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PWM_LIMIT_STATE_RAMP,
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PWM_LIMIT_STATE_ON
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};
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typedef struct {
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enum pwm_limit_state state;
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uint64_t time_armed;
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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 bool pre_armed, const unsigned num_channels,
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const uint16_t reverse_mask, const uint16_t *disarmed_pwm,
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const uint16_t *min_pwm, const uint16_t *max_pwm,
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const float *output, 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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