Moved PWM ramp to systemlib

7 files changed, 237 insertions, 109 deletions

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index f9dc3773e..18c9ef0bd 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -2402,7 +2402,7 @@ px4io_main(int argc, char *argv[])
 			/* set channel to commandline argument or to 900 for non-provided channels */
 			if (argc > i + 2) {
 				failsafe[i] = atoi(argv[i+2]);
-				if (failsafe[i] < PWM_MIN || failsafe[i] > PWM_AX) {
+				if (failsafe[i] < PWM_MIN || failsafe[i] > PWM_MAX) {
 					errx(1, "value out of range of %d < value < %d. Aborting.", PWM_MIN, PWM_MAX);
 				}
 			} else {
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 352b93e85..5232f9b96 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -47,6 +47,7 @@
 #include <drivers/drv_pwm_output.h>
 #include <drivers/drv_hrt.h>
 
+#include <systemlib/pwm_limit/pwm_limit.h>
 #include <systemlib/mixer/mixer.h>
 
 extern "C" {
@@ -59,12 +60,6 @@ extern "C" {
  */
 #define FMU_INPUT_DROP_LIMIT_US		200000
 
-/*
- * Time that the ESCs need to initialize
- */
- #define ESC_INIT_TIME_US		1000000
- #define ESC_RAMP_TIME_US		2000000
-
 /* XXX need to move the RC_CHANNEL_FUNCTION out of rc_channels.h and into systemlib */
 #define ROLL     0
 #define PITCH    1
@@ -76,15 +71,6 @@ extern "C" {
 static bool mixer_servos_armed = false;
 static bool should_arm = false;
 static bool should_always_enable_pwm = false;
-static uint64_t esc_init_time;
-
-enum esc_state_e {
-	ESC_OFF,
-	ESC_INIT,
-	ESC_RAMP,
-	ESC_ON
-};
-static esc_state_e esc_state;
 
 /* selected control values and count for mixing */
 enum mixer_source {
@@ -166,6 +152,30 @@ mixer_tick(void)
 	}
 
 	/*
+	 * Decide whether the servos should be armed right now.
+	 *
+	 * We must be armed, and we must have a PWM source; either raw from
+	 * FMU or from the mixer.
+	 *
+	 * XXX correct behaviour for failsafe may require an additional case
+	 * here.
+	 */
+	should_arm = (
+		/* IO initialised without error */   (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)
+		/* and IO is armed */ 		  && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
+		/* and FMU is armed */ 		  && (
+							    ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)
+		/* and there is valid input via or mixer */         &&   (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) )
+		/* or direct PWM is set */               || (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM)
+		/* or failsafe was set manually */	 || (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)
+						     )
+	);
+
+	should_always_enable_pwm = (r_setup_arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE)
+						&& (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)
+						&& (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK);
+
+	/*
 	 * Run the mixers.
 	 */
 	if (source == MIX_FAILSAFE) {
@@ -184,107 +194,17 @@ mixer_tick(void)
 		float	outputs[PX4IO_SERVO_COUNT];
 		unsigned mixed;
 
-		uint16_t ramp_promille;
-
-		/* update esc init state, but only if we are truely armed and not just PWM enabled */
-		if (mixer_servos_armed && should_arm) {
-
-			switch (esc_state) {
-
-				/* after arming, some ESCs need an initalization period, count the time from here */
-				case ESC_OFF:
-					esc_init_time = hrt_absolute_time();
-					esc_state = ESC_INIT;
-				break;
-
-				/* after waiting long enough for the ESC initialization, we can start with the ramp to start the ESCs */
-				case ESC_INIT:
-					if (hrt_elapsed_time(&esc_init_time) > ESC_INIT_TIME_US) {
-						esc_state = ESC_RAMP;
-					}
-				break;
-
-				/* then ramp until the min speed is reached */
-				case ESC_RAMP:
-					if (hrt_elapsed_time(&esc_init_time) > (ESC_INIT_TIME_US + ESC_RAMP_TIME_US)) {
-						esc_state = ESC_ON;
-					}
-				break;
-
-				case ESC_ON:
-				default:
-
-				break;
-			}
-		} else {
-			esc_state = ESC_OFF;
-		}
-
-		/* do the calculations during the ramp for all at once */
-		if (esc_state == ESC_RAMP) {
-			ramp_promille = (1000*(hrt_elapsed_time(&esc_init_time)-ESC_INIT_TIME_US))/ESC_RAMP_TIME_US;
-		}
-
-
 		/* mix */
 		mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT);
 
-		/* scale to PWM and update the servo outputs as required */
-		for (unsigned i = 0; i < mixed; i++) {
-
-			/* save actuator values for FMU readback */
-			r_page_actuators[i] = FLOAT_TO_REG(outputs[i]);
-
-			switch (esc_state) {
-				case ESC_INIT:
-					r_page_servos[i] = (outputs[i] * 600 + 1500);
-				break;
-
-				case ESC_RAMP:
-					r_page_servos[i] = (outputs[i]
-					 * (ramp_promille*r_page_servo_control_max[i] + (1000-ramp_promille)*PWM_MAX - ramp_promille*r_page_servo_control_min[i] - (1000-ramp_promille)*PWM_MIN)/2/1000
-					 + (ramp_promille*r_page_servo_control_max[i] + (1000-ramp_promille)*PWM_MAX + ramp_promille*r_page_servo_control_min[i] + (1000-ramp_promille)*PWM_MIN)/2/1000);
-				break;
+		pwm_limit.nchannels = mixed;
 
-				case ESC_ON:
-					r_page_servos[i] = (outputs[i]
-					 * (r_page_servo_control_max[i] - r_page_servo_control_min[i])/2
-					 + (r_page_servo_control_max[i] + r_page_servo_control_min[i])/2);
-				break;
+		pwm_limit_calc(should_arm, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
 
-				case ESC_OFF:
-				default:
-				break;
-			}
-		}
 		for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++)
 			r_page_servos[i] = 0;
 	}
 
-	/*
-	 * Decide whether the servos should be armed right now.
-	 *
-	 * We must be armed, and we must have a PWM source; either raw from
-	 * FMU or from the mixer.
-	 *
-	 * XXX correct behaviour for failsafe may require an additional case
-	 * here.
-	 */
-	should_arm = (
-		/* IO initialised without error */   (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)
-		/* and IO is armed */ 		  && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
-		/* and FMU is armed */ 		  && (
-							    ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)
-		/* and there is valid input via or mixer */         &&   (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) )
-		/* or direct PWM is set */               || (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM)
-		/* or failsafe was set manually */	 || (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)
-						     )
-	);
-
-	should_always_enable_pwm = (r_setup_arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE)
-						&& (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)
-						&& (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK);
-
 	if ((should_arm || should_always_enable_pwm) && !mixer_servos_armed) {
 		/* need to arm, but not armed */
 		up_pwm_servo_arm(true);
@@ -298,7 +218,6 @@ mixer_tick(void)
 		mixer_servos_armed = false;
 		r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED);
 		isr_debug(5, "> PWM disabled");
-
 	}
 
 	if (mixer_servos_armed && should_arm) {
diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk
index 59f470a94..01869569f 100644
--- a/src/modules/px4iofirmware/module.mk
+++ b/src/modules/px4iofirmware/module.mk
@@ -14,6 +14,7 @@ SRCS		= adc.c \
 		  ../systemlib/mixer/mixer_group.cpp \
 		  ../systemlib/mixer/mixer_multirotor.cpp \
 		  ../systemlib/mixer/mixer_simple.cpp \
+		  ../systemlib/pwm_limit/pwm_limit.c
 
 ifeq ($(BOARD),px4io-v1)
 SRCS		+= i2c.c
diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c
index e70b3fe88..71d649029 100644
--- a/src/modules/px4iofirmware/px4io.c
+++ b/src/modules/px4iofirmware/px4io.c
@@ -50,6 +50,7 @@
 #include <drivers/drv_hrt.h>
 
 #include <systemlib/perf_counter.h>
+#include <systemlib/pwm_limit/pwm_limit.h>
 
 #include <stm32_uart.h>
 
@@ -64,6 +65,8 @@ struct sys_state_s 	system_state;
 
 static struct hrt_call serial_dma_call;
 
+pwm_limit_t pwm_limit;
+
 /*
  * a set of debug buffers to allow us to send debug information from ISRs
  */
@@ -174,6 +177,9 @@ user_start(int argc, char *argv[])
 	struct mallinfo minfo = mallinfo();
 	lowsyslog("MEM: free %u, largest %u\n", minfo.mxordblk, minfo.fordblks);
 
+	/* initialize PWM limit lib */
+	pwm_limit_init(&pwm_limit);
+
 #if 0
 	/* not enough memory, lock down */
 	if (minfo.mxordblk < 500) {
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index 6c9007a75..4fea0288c 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -46,6 +46,8 @@
 
 #include "protocol.h"
 
+#include <systemlib/pwm_limit/pwm_limit.h>
+
 /*
  * Constants and limits.
  */
@@ -123,6 +125,11 @@ struct sys_state_s {
 extern struct sys_state_s system_state;
 
 /*
+ * PWM limit structure
+ */
+extern pwm_limit_t pwm_limit;
+
+/*
  * GPIO handling.
  */
 #define LED_BLUE(_s)			stm32_gpiowrite(GPIO_LED1, !(_s))
diff --git a/src/modules/systemlib/pwm_limit/pwm_limit.c b/src/modules/systemlib/pwm_limit/pwm_limit.c
new file mode 100644
index 000000000..675247578
--- /dev/null
+++ b/src/modules/systemlib/pwm_limit/pwm_limit.c
@@ -0,0 +1,116 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Julian Oes <joes@student.ethz.ch>
+ *
+ * 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.
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file pwm_limit.c
+ *
+ * Lib to limit PWM output
+ *
+ * @author Julian Oes <joes@student.ethz.ch>
+ */
+
+#include "pwm_limit.h"
+#include <math.h>
+#include <stdbool.h>
+#include <drivers/drv_hrt.h>
+
+__EXPORT 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)
+{
+	/* first evaluate state changes */
+	switch (limit->state) {
+		case LIMIT_STATE_OFF:
+			if (armed)
+				limit->state = LIMIT_STATE_RAMP;
+			limit->time_armed = hrt_absolute_time();
+			break;
+		case LIMIT_STATE_INIT:
+			if (!armed)
+				limit->state = LIMIT_STATE_OFF;
+			else if (hrt_absolute_time() - limit->time_armed >= INIT_TIME_US)
+				limit->state = LIMIT_STATE_RAMP;
+			break;
+		case LIMIT_STATE_RAMP:
+			if (!armed)
+				limit->state = LIMIT_STATE_OFF;
+			else if (hrt_absolute_time() - limit->time_armed >= INIT_TIME_US + RAMP_TIME_US)
+				limit->state = LIMIT_STATE_ON;
+			break;
+		case LIMIT_STATE_ON:
+			if (!armed)
+				limit->state = LIMIT_STATE_OFF;
+			break;
+		default:
+			break;
+	}
+
+	unsigned progress;
+	uint16_t temp_pwm;
+
+	/* then set effective_pwm based on state */
+	switch (limit->state) {
+		case LIMIT_STATE_OFF:
+		case LIMIT_STATE_INIT:
+			for (unsigned i=0; i<limit->nchannels; i++) {
+				effective_pwm[i] = disarmed_pwm[i];
+			}
+			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++) {
+
+				temp_pwm = output_requested[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;
+
+			}
+			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;
+			}
+			break;
+		default:
+			break;
+	}
+	return;
+}
diff --git a/src/modules/systemlib/pwm_limit/pwm_limit.h b/src/modules/systemlib/pwm_limit/pwm_limit.h
new file mode 100644
index 000000000..f8c6370e8
--- /dev/null
+++ b/src/modules/systemlib/pwm_limit/pwm_limit.h
@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Julian Oes <joes@student.ethz.ch>
+ *
+ * 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.
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file pwm_limit.h
+ *
+ * Lib to limit PWM output
+ *
+ * @author Julian Oes <joes@student.ethz.ch>
+ */
+
+#ifndef PWM_LIMIT_H_
+#define PWM_LIMIT_H_
+
+#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)
+ */
+#define INIT_TIME_US 500000
+/*
+ * time to slowly ramp up the ESCs
+ */
+#define RAMP_TIME_US 2500000
+
+typedef struct {
+	enum {
+		LIMIT_STATE_OFF = 0,
+		LIMIT_STATE_INIT,
+		LIMIT_STATE_RAMP,
+		LIMIT_STATE_ON
+	} state;
+	uint64_t time_armed;
+	unsigned nchannels;
+} pwm_limit_t;
+
+__EXPORT void pwm_limit_init(pwm_limit_t *limit);
+
+__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);
+
+
+__END_DECLS
+
+#endif /* PWM_LIMIT_H_ */