Fixes

main/softpwmlimiter.cpp

@@ -0,0 +1,55 @@
+#include "softpwmlimiter.h"
+
+// system includes
+#include <algorithm>
+
+// 3rdparty lib includes
+#include <espchrono.h>
+
+namespace soft_pwm_limiter {
+constexpr float MAX_LIMIT = 1500.f;
+
+namespace {
+float actual_limit = MAX_LIMIT;
+bool active = false;
+espchrono::millis_clock::time_point last_update;
+} // namespace
+
+bool trigger = false;
+
+void update()
+{
+    using namespace std::chrono_literals;
+
+    if (trigger)
+    {
+        const auto now = espchrono::millis_clock::now();
+        if (!active)
+        {
+            last_update = now;
+            active = true;
+            return;
+        }
+
+        // int time_delta = std::chrono::floor<std::chrono::milliseconds>(now - last_update).count();
+        int time_delta = espchrono::ago(last_update) / 1ms;
+        last_update = now;
+        time_delta = std::max(time_delta, 0);
+
+        // Exit field weakening area ]1000, 1500] within 2 seconds
+        actual_limit -= 500.f * time_delta / 2000.f;
+        actual_limit = std::max(actual_limit, 0.f);
+    }
+    else
+    {
+        actual_limit = MAX_LIMIT;
+        active = false;
+    }
+}
+
+float limit(float pwm)
+{
+    return std::clamp(pwm, -actual_limit, actual_limit);
+}
+
+} // namespace soft_pwm_limiter