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https://github.com/ArduPilot/ardupilot
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ffbb892a01
It uses a heating resistor controlled by a pwm. By changing the duty cycle of the pwm, we can control the temperature. A simple PI algorithm is used in order to get to the correct temperature fast enough and without too much overshoot It is implemented as a member of the Util class in order not to make to much modification to the current codebase
53 lines
1.5 KiB
C++
53 lines
1.5 KiB
C++
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#ifndef __AP_HAL_LINUX_UTIL_H__
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#define __AP_HAL_LINUX_UTIL_H__
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_Linux_Namespace.h"
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#include "ToneAlarmDriver.h"
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class Linux::LinuxUtil : public AP_HAL::Util {
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public:
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static LinuxUtil *from(AP_HAL::Util *util) {
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return static_cast<LinuxUtil*>(util);
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}
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void init(int argc, char * const *argv);
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bool run_debug_shell(AP_HAL::BetterStream *stream) { return false; }
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/**
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return commandline arguments, if available
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*/
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void commandline_arguments(uint8_t &argc, char * const *&argv);
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bool toneAlarm_init();
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void toneAlarm_set_tune(uint8_t tune);
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void _toneAlarm_timer_tick();
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/*
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set system clock in UTC microseconds
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*/
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void set_system_clock(uint64_t time_utc_usec);
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const char* get_custom_log_directory() { return custom_log_directory; }
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const char* get_custom_terrain_directory() { return custom_terrain_directory; }
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void set_custom_log_directory(const char *_custom_log_directory) { custom_log_directory = _custom_log_directory; }
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void set_custom_terrain_directory(const char *_custom_terrain_directory) { custom_terrain_directory = _custom_terrain_directory; }
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bool is_chardev_node(const char *path);
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void set_imu_temp(float current);
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private:
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static Linux::ToneAlarm _toneAlarm;
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Linux::LinuxHeat *_heat;
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int saved_argc;
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char* const *saved_argv;
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const char* custom_log_directory = NULL;
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const char* custom_terrain_directory = NULL;
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};
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#endif // __AP_HAL_LINUX_UTIL_H__
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