diff options
| author | Julian Oes <julian@oes.ch> | 2013-10-11 10:19:50 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-10-11 10:19:50 +0200 |
| commit | 3dc2bdfa22f0ac152392299628e037e3a6120c2e (patch) | |
| tree | 485da7855cc87bb73b355503053c131734d98b95 /src/modules/systemlib/pwm_limit/pwm_limit.c | |
| parent | e2fef6b374e14f8c0f383557cf3569f8265ba034 (diff) | |
| download | px4-firmware-3dc2bdfa22f0ac152392299628e037e3a6120c2e.tar.gz px4-firmware-3dc2bdfa22f0ac152392299628e037e3a6120c2e.tar.bz2 px4-firmware-3dc2bdfa22f0ac152392299628e037e3a6120c2e.zip | |
Changed pwm_limit interface a bit
Diffstat (limited to 'src/modules/systemlib/pwm_limit/pwm_limit.c')
| -rw-r--r-- | src/modules/systemlib/pwm_limit/pwm_limit.c | 19 |
1 files changed, 10 insertions, 9 deletions
diff --git a/src/modules/systemlib/pwm_limit/pwm_limit.c b/src/modules/systemlib/pwm_limit/pwm_limit.c index f67b5edf2..3187a4fa2 100644 --- a/src/modules/systemlib/pwm_limit/pwm_limit.c +++ b/src/modules/systemlib/pwm_limit/pwm_limit.c @@ -45,15 +45,14 @@ #include <stdbool.h> #include <drivers/drv_hrt.h> -__EXPORT void pwm_limit_init(pwm_limit_t *limit) +void pwm_limit_init(pwm_limit_t *limit) { - limit->nchannels = 0; limit->state = LIMIT_STATE_OFF; limit->time_armed = 0; return; } -__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) +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) { /* first evaluate state changes */ switch (limit->state) { @@ -89,24 +88,26 @@ __EXPORT void pwm_limit_calc(const bool armed, const uint16_t *disarmed_pwm, con switch (limit->state) { case LIMIT_STATE_OFF: case LIMIT_STATE_INIT: - for (unsigned i=0; i<limit->nchannels; i++) { + for (unsigned i=0; i<num_channels; i++) { effective_pwm[i] = disarmed_pwm[i]; + output[i] = 0.0f; } break; case LIMIT_STATE_RAMP: progress = (hrt_absolute_time() - INIT_TIME_US - limit->time_armed)*10000 / RAMP_TIME_US; - for (unsigned i=0; i<limit->nchannels; i++) { + for (unsigned i=0; i<num_channels; i++) { - temp_pwm = output_requested[i] * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2; + temp_pwm = output[i] * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2; /* already follow user/controller input if higher than min_pwm */ effective_pwm[i] = (disarmed_pwm[i]*(10000-progress) + (temp_pwm > min_pwm[i] ? temp_pwm : min_pwm[i])*progress)/10000; - + output[i] = (float)progress/10000.0f * output[i]; } break; case LIMIT_STATE_ON: - for (unsigned i=0; i<limit->nchannels; i++) { - effective_pwm[i] = output_requested[i] * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2; + 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 */ } break; default: |