ardupilot/libraries/AP_HAL_Linux/Heat_Pwm.cpp

97 lines
2.5 KiB
C++

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