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AP_BoardConfig: allow for heater polarity setting on FMU

This commit is contained in:
Andrew Tridgell 2021-10-29 09:21:31 +11:00
parent 5b3dc03cf6
commit e1c9da85b9
1 changed files with 6 additions and 2 deletions
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8
libraries/AP_BoardConfig/IMU_heater.cpp
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@ -27,6 +27,10 @@
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#ifndef HAL_HEATER_GPIO_ON
#define HAL_HEATER_GPIO_ON 1
#endif
void AP_BoardConfig::set_imu_temp(float current) void AP_BoardConfig::set_imu_temp(float current)
{ {
int8_t target = heater.imu_target_temperature.get(); int8_t target = heater.imu_target_temperature.get();
@ -37,7 +41,7 @@ void AP_BoardConfig::set_imu_temp(float current)
if (target == -1) { if (target == -1) {
// nothing to do, make sure heater is left off // nothing to do, make sure heater is left off
#if defined(HAL_HEATER_GPIO_PIN) #if defined(HAL_HEATER_GPIO_PIN)
hal.gpio->write(HAL_HEATER_GPIO_PIN, false); hal.gpio->write(HAL_HEATER_GPIO_PIN, !HAL_HEATER_GPIO_ON);
#endif #endif
return; return;
} }
@ -57,7 +61,7 @@ void AP_BoardConfig::set_imu_temp(float current)
// output as duty cycle to local pin. Use a random sequence to // output as duty cycle to local pin. Use a random sequence to
// prevent a periodic change to magnetic field // prevent a periodic change to magnetic field
bool heater_on = (get_random16() < uint32_t(heater.output) * 0xFFFFU / 100U); bool heater_on = (get_random16() < uint32_t(heater.output) * 0xFFFFU / 100U);
hal.gpio->write(HAL_HEATER_GPIO_PIN, heater_on); hal.gpio->write(HAL_HEATER_GPIO_PIN, heater_on?HAL_HEATER_GPIO_ON : !HAL_HEATER_GPIO_ON);
#endif #endif
return; return;
} }