output_limit.h
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/****************************************************************************
*
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
*
* 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 output_limit.h
*
* Library for output limiting (PWM for example)
*
* @author Julian Oes <julian@px4.io>
*/
#pragma once
#include <stdint.h>
#include <stdbool.h>
__BEGIN_DECLS
/*
* time for the ESCs to initialize
* (this is not actually needed if the signal is sent right after boot)
*/
#define INIT_TIME_US 50000
/*
* time to slowly ramp up the ESCs
*/
#define RAMP_TIME_US 500000
enum output_limit_state {
OUTPUT_LIMIT_STATE_OFF = 0,
OUTPUT_LIMIT_STATE_INIT,
OUTPUT_LIMIT_STATE_RAMP,
OUTPUT_LIMIT_STATE_ON
};
typedef struct {
enum output_limit_state state;
uint64_t time_armed;
bool ramp_up; ///< if true, motors will ramp up from disarmed to min_output after arming
} output_limit_t;
__EXPORT void output_limit_init(output_limit_t *limit);
__EXPORT void output_limit_calc(const bool armed, const bool pre_armed, const unsigned num_channels,
const uint16_t reverse_mask, const uint16_t *disarmed_output,
const uint16_t *min_output, const uint16_t *max_output,
const float *output, uint16_t *effective_output, output_limit_t *limit);
__END_DECLS