mirror of https://github.com/ArduPilot/ardupilot
44 lines
1.3 KiB
C++
44 lines
1.3 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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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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#ifndef __HEAT_PWM_H__
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#define __HEAT_PWM_H__
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#include "AP_HAL_Linux.h"
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#include "Heat.h"
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class Linux::LinuxHeatPwm : public Linux::LinuxHeat {
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public:
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LinuxHeatPwm(const char* pwm_sysfs_path, float Kp, float Ki,uint32_t period_ns, float target);
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void set_imu_temp(float current)override;
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private:
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int _duty_fd = -1;
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int _period_fd = -1;
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int _run_fd = -1;
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uint32_t _last_temp_update = 0;
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float _Kp;
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float _Ki;
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uint32_t _period_ns;
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float _sum_error;
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float _target;
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void _set_duty(uint32_t duty);
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void _set_period(uint32_t period);
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void _set_run();
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};
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#endif
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