Julian Oes
12 years ago
7 changed files with 237 additions and 109 deletions
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@@ -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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|
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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 @@
@@ -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 |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
||||
* |
||||
* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
||||
* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
||||
* the documentation and/or other materials provided with the |
||||
* distribution. |
||||
* 3. Neither the name PX4 nor the names of its contributors may be |
||||
* used to endorse or promote products derived from this software |
||||
* without specific prior written permission. |
||||
* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||||
* POSSIBILITY OF SUCH DAMAGE. |
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* |
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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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