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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 19:43:33 +08:00
Daniel Agar
26364d44c9
* adds a work_queue systemcmd that will bring a tree view of all active work queues and work items * WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached
80 lines
2.8 KiB
C
80 lines
2.8 KiB
C
/****************************************************************************
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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 output_limit.h
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*
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* Library for output limiting (PWM for example)
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*
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* @author Julian Oes <julian@px4.io>
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*/
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#pragma once
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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 the signal 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 output_limit_state {
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OUTPUT_LIMIT_STATE_OFF = 0,
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OUTPUT_LIMIT_STATE_INIT,
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OUTPUT_LIMIT_STATE_RAMP,
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OUTPUT_LIMIT_STATE_ON
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};
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typedef struct {
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enum output_limit_state state;
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uint64_t time_armed;
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bool ramp_up; ///< if true, motors will ramp up from disarmed to min_output after arming
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} output_limit_t;
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__EXPORT void output_limit_init(output_limit_t *limit);
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__EXPORT void output_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_output,
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const uint16_t *min_output, const uint16_t *max_output,
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const float *output, uint16_t *effective_output, output_limit_t *limit);
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__END_DECLS
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