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AP_IOMCU_FW: autodetect active high/low on heater control pin

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This commit is contained in:
Siddharth Purohit 2019-05-06 16:09:47 +05:30 committed by Andrew Tridgell
parent aa32a0d143
commit f23746053d
2 changed files with 14 additions and 3 deletions
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14
libraries/AP_IOMCU/iofirmware/iofirmware.cpp
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@ -171,6 +171,15 @@ void AP_IOMCU_FW::init()
has_heater = true;
}
//Set Heater PWM Polarity, 0 for Active Low and 1 for Active High
heater_pwm_polarity = !palReadLine(HAL_GPIO_PIN_HEATER);
//Set Heater pin mode
if (heater_pwm_polarity) {
palSetLineMode(HAL_GPIO_PIN_HEATER, PAL_MODE_OUTPUT_PUSHPULL);
} else {
palSetLineMode(HAL_GPIO_PIN_HEATER, PAL_MODE_OUTPUT_OPENDRAIN);
}
adc_init();
rcin_serial_init();
@ -284,10 +293,11 @@ void AP_IOMCU_FW::heater_update()
}
} else if (reg_setup.heater_duty_cycle == 0 || (now - last_heater_ms > 3000UL)) {
// turn off the heater
HEATER_SET(0);
HEATER_SET(!heater_pwm_polarity);
} else {
uint8_t cycle = ((now / 10UL) % 100U);
HEATER_SET(!(cycle >= reg_setup.heater_duty_cycle));
//Turn off heater when cycle is greater than specified duty cycle
HEATER_SET((cycle >= reg_setup.heater_duty_cycle) ? !heater_pwm_polarity : heater_pwm_polarity);
}
}

3
libraries/AP_IOMCU/iofirmware/iofirmware.h
View File

@ -126,6 +126,7 @@ private:
bool update_default_rate;
bool update_rcout_freq;
bool has_heater;
bool heater_pwm_polarity;
uint32_t last_blue_led_ms;
uint32_t safety_update_ms;
uint32_t safety_button_counter;
@ -144,7 +145,7 @@ private:
};
// GPIO macros
#define HEATER_SET(on) palWriteLine(HAL_GPIO_PIN_HEATER, !(on));
#define HEATER_SET(on) palWriteLine(HAL_GPIO_PIN_HEATER, (on));
#define BLUE_TOGGLE() palToggleLine(HAL_GPIO_PIN_HEATER);
#define AMBER_SET(on) palWriteLine(HAL_GPIO_PIN_AMBER_LED, !(on));
#define SPEKTRUM_POWER(on) palWriteLine(HAL_GPIO_PIN_SPEKTRUM_PWR_EN, on);