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PWM output limiter: Improve comments.

This commit is contained in:
Lorenz Meier 2015-06-29 10:02:33 +02:00
parent a33700a7ec
commit cde8d72694
2 changed files with 15 additions and 11 deletions
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17
src/modules/systemlib/pwm_limit/pwm_limit.c
View File

@ -1,7 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
* Author: Julian Oes <joes@student.ethz.ch>
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@ -35,9 +34,9 @@
/** /**
* @file pwm_limit.c * @file pwm_limit.c
* *
* Lib to limit PWM output * Library for PWM output limiting
* *
* @author Julian Oes <joes@student.ethz.ch> * @author Julian Oes <julian@px4.io>
*/ */
#include "pwm_limit.h" #include "pwm_limit.h"
@ -46,6 +45,8 @@
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#include <stdio.h> #include <stdio.h>
#define PROGRESS_INT_SCALING 10000
void pwm_limit_init(pwm_limit_t *limit) void pwm_limit_init(pwm_limit_t *limit)
{ {
limit->state = PWM_LIMIT_STATE_INIT; limit->state = PWM_LIMIT_STATE_INIT;
@ -112,7 +113,11 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
{ {
hrt_abstime diff = hrt_elapsed_time(&limit->time_armed); hrt_abstime diff = hrt_elapsed_time(&limit->time_armed);
progress = diff * 10000 / RAMP_TIME_US; progress = diff * PROGRESS_INT_SCALING / RAMP_TIME_US;
if (progress > PROGRESS_INT_SCALING) {
progress = PROGRESS_INT_SCALING;
}
for (unsigned i=0; i<num_channels; i++) { for (unsigned i=0; i<num_channels; i++) {
@ -128,7 +133,7 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
} }
unsigned disarmed_min_diff = min_pwm[i] - disarmed; unsigned disarmed_min_diff = min_pwm[i] - disarmed;
ramp_min_pwm = disarmed + (disarmed_min_diff * progress) / 10000; ramp_min_pwm = disarmed + (disarmed_min_diff * progress) / PROGRESS_INT_SCALING;
} else { } else {

9
src/modules/systemlib/pwm_limit/pwm_limit.h
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@ -1,7 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2013 PX4 Development Team. All rights reserved. * Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
* Author: Julian Oes <joes@student.ethz.ch>
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@ -33,11 +32,11 @@
****************************************************************************/ ****************************************************************************/
/** /**
* @file pwm_limit.h * @file pwm_limit.c
* *
* Lib to limit PWM output * Library for PWM output limiting
* *
* @author Julian Oes <joes@student.ethz.ch> * @author Julian Oes <julian@px4.io>
*/ */
#ifndef PWM_LIMIT_H_ #ifndef PWM_LIMIT_H_