diff options
Diffstat (limited to 'src/modules/systemlib/pwm_limit/pwm_limit.c')
| -rw-r--r-- | src/modules/systemlib/pwm_limit/pwm_limit.c | 30 |
1 files changed, 15 insertions, 15 deletions
diff --git a/src/modules/systemlib/pwm_limit/pwm_limit.c b/src/modules/systemlib/pwm_limit/pwm_limit.c index cac3dc82a..992a7024b 100644 --- a/src/modules/systemlib/pwm_limit/pwm_limit.c +++ b/src/modules/systemlib/pwm_limit/pwm_limit.c @@ -47,7 +47,7 @@ void pwm_limit_init(pwm_limit_t *limit) { - limit->state = LIMIT_STATE_OFF; + limit->state = PWM_LIMIT_STATE_OFF; limit->time_armed = 0; return; } @@ -56,26 +56,26 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_ { /* first evaluate state changes */ switch (limit->state) { - case LIMIT_STATE_OFF: + case PWM_LIMIT_STATE_OFF: if (armed) - limit->state = LIMIT_STATE_RAMP; + limit->state = PWM_LIMIT_STATE_RAMP; limit->time_armed = hrt_absolute_time(); break; - case LIMIT_STATE_INIT: + case PWM_LIMIT_STATE_INIT: if (!armed) - limit->state = LIMIT_STATE_OFF; + limit->state = PWM_LIMIT_STATE_OFF; else if (hrt_absolute_time() - limit->time_armed >= INIT_TIME_US) - limit->state = LIMIT_STATE_RAMP; + limit->state = PWM_LIMIT_STATE_RAMP; break; - case LIMIT_STATE_RAMP: + case PWM_LIMIT_STATE_RAMP: if (!armed) - limit->state = LIMIT_STATE_OFF; + limit->state = PWM_LIMIT_STATE_OFF; else if (hrt_absolute_time() - limit->time_armed >= INIT_TIME_US + RAMP_TIME_US) - limit->state = LIMIT_STATE_ON; + limit->state = PWM_LIMIT_STATE_ON; break; - case LIMIT_STATE_ON: + case PWM_LIMIT_STATE_ON: if (!armed) - limit->state = LIMIT_STATE_OFF; + limit->state = PWM_LIMIT_STATE_OFF; break; default: break; @@ -86,14 +86,14 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_ /* then set effective_pwm based on state */ switch (limit->state) { - case LIMIT_STATE_OFF: - case LIMIT_STATE_INIT: + case PWM_LIMIT_STATE_OFF: + case PWM_LIMIT_STATE_INIT: for (unsigned i=0; i<num_channels; i++) { effective_pwm[i] = disarmed_pwm[i]; output[i] = 0.0f; } break; - case LIMIT_STATE_RAMP: + case PWM_LIMIT_STATE_RAMP: progress = (hrt_absolute_time() - INIT_TIME_US - limit->time_armed)*10000 / RAMP_TIME_US; for (unsigned i=0; i<num_channels; i++) { @@ -120,7 +120,7 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_ output[i] = (float)progress/10000.0f * output[i]; } break; - case LIMIT_STATE_ON: + case PWM_LIMIT_STATE_ON: 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 */ |