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HAL_ChibiOS: removed heater control

This commit is contained in:
Andrew Tridgell 2019-11-02 13:32:30 +11:00
parent f458d58dde
commit 64aae4f67e
2 changed files with 0 additions and 76 deletions
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61
libraries/AP_HAL_ChibiOS/Util.cpp
View File

@ -123,67 +123,6 @@ Util::safety_state Util::safety_switch_state(void)
#endif
}
void Util::set_imu_temp(float current)
{
#if HAL_HAVE_IMU_HEATER
if (!heater.target || *heater.target == -1) {
return;
}
// average over temperatures to remove noise
heater.count++;
heater.sum += current;
// update once a second
uint32_t now = AP_HAL::millis();
if (now - heater.last_update_ms < 1000) {
#if defined(HAL_HEATER_GPIO_PIN)
// output as duty cycle to local pin. Use a random sequence to
// prevent a periodic change to magnetic field
bool heater_on = (get_random16() < uint32_t(heater.output) * 0xFFFFU / 100U);
hal.gpio->write(HAL_HEATER_GPIO_PIN, heater_on);
#endif
return;
}
heater.last_update_ms = now;
current = heater.sum / heater.count;
heater.sum = 0;
heater.count = 0;
// experimentally tweaked for Pixhawk2
const float kI = 0.3f;
const float kP = 200.0f;
float target = (float)(*heater.target);
// limit to 65 degrees to prevent damage
target = constrain_float(target, 0, 65);
float err = target - current;
heater.integrator += kI * err;
heater.integrator = constrain_float(heater.integrator, 0, 70);
heater.output = constrain_float(kP * err + heater.integrator, 0, 100);
//hal.console->printf("integrator %.1f out=%.1f temp=%.2f err=%.2f\n", heater.integrator, heater.output, current, err);
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled()) {
// tell IOMCU to setup heater
iomcu.set_heater_duty_cycle(heater.output);
}
#endif
#endif // HAL_HAVE_IMU_HEATER
}
void Util::set_imu_target_temp(int8_t *target)
{
#if HAL_HAVE_IMU_HEATER
heater.target = target;
#endif
}
#ifdef HAL_PWM_ALARM
struct Util::ToneAlarmPwmGroup Util::_toneAlarm_pwm_group = HAL_PWM_ALARM;

15
libraries/AP_HAL_ChibiOS/Util.h
View File

@ -45,10 +45,6 @@ public:
*/
enum safety_state safety_switch_state(void) override;
// IMU temperature control
void set_imu_temp(float current) override;
void set_imu_target_temp(int8_t *target) override;
// get system ID as a string
bool get_system_id(char buf[40]) override;
bool get_system_id_unformatted(uint8_t buf[], uint8_t &len) override;
@ -79,17 +75,6 @@ private:
static ToneAlarmPwmGroup _toneAlarm_pwm_group;
#endif
#if HAL_HAVE_IMU_HEATER
struct {
int8_t *target;
float integrator;
uint16_t count;
float sum;
uint32_t last_update_ms;
float output;
} heater;
#endif
/*
set HW RTC in UTC microseconds
*/