mirror of https://github.com/ArduPilot/ardupilot
97 lines
2.5 KiB
C++
97 lines
2.5 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
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#include <cmath>
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#include <fcntl.h>
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#include <linux/limits.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <sys/stat.h>
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#include <sys/types.h>
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#include <unistd.h>
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#include "Heat_Pwm.h"
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extern const AP_HAL::HAL& hal;
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using namespace Linux;
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HeatPwm::HeatPwm(uint8_t pwm_num, float Kp, float Ki, uint32_t period_ns) :
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_Kp(Kp),
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_Ki(Ki),
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_period_ns(period_ns)
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{
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
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_pwm = new PWM_Sysfs(0, pwm_num);
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hal.gpio->pinMode(26, HAL_GPIO_OUTPUT);
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hal.gpio->write(26, 1);
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#else
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_pwm = new PWM_Sysfs_Bebop(pwm_num);
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#endif
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_pwm->init();
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_pwm->set_period(_period_ns);
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_pwm->set_duty_cycle(0);
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_pwm->enable(true);
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}
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void HeatPwm::set_imu_temp(float current)
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{
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float error, output;
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if (_target == nullptr) {
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// not configured
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return;
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}
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if (AP_HAL::millis() - _last_temp_update < 5) {
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return;
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}
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/* minimal PI algo without dt */
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error = ((float)*_target) - current;
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/* Don't accumulate errors if the integrated error is superior
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* to the max duty cycle(pwm_period)
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*/
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if ((fabsf(_sum_error) * _Ki < _period_ns)) {
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_sum_error = _sum_error + error;
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}
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output = _Kp*error + _Ki * _sum_error;
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if (output > _period_ns) {
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output = _period_ns;
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} else if (output < 0) {
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output = 0;
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}
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_pwm->set_duty_cycle(output);
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_last_temp_update = AP_HAL::millis();
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// printf("target %.1f current %.1f out %.2f\n", _target, current, output);
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}
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void HeatPwm::set_imu_target_temp(int8_t *target)
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{
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_target = target;
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}
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#endif
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