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/****************************************************************************
*
* 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>
/*
* 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;
} pwm_limit_t;
__BEGIN_DECLS
__EXPORT void pwm_limit_init(pwm_limit_t *limit);
__EXPORT 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);
__END_DECLS
#endif /* PWM_LIMIT_H_ */
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