HAL_ChibiOS: dither heater pins to prevent magnetic impact

This commit is contained in:
Andrew Tridgell 2019-07-12 09:42:43 +10:00
parent 76a8d494c3
commit d2fe47d2e0
2 changed files with 4 additions and 4 deletions

View File

@ -138,9 +138,10 @@ void Util::set_imu_temp(float current)
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
hal.gpio->write(HAL_HEATER_GPIO_PIN, heater.duty_counter < heater.output);
heater.duty_counter = (heater.duty_counter+1) % 100;
// 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;
}

View File

@ -86,7 +86,6 @@ private:
uint16_t count;
float sum;
uint32_t last_update_ms;
uint8_t duty_counter;
float output;
} heater;
#endif