ardupilot/libraries/AP_HAL_Linux/Heat_Pwm.h

38 lines
1.2 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
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/>.
*/
#pragma once
#include "AP_HAL_Linux.h"
#include "PWM_Sysfs.h"
#include "Heat.h"
class Linux::HeatPwm : public Linux::Heat {
public:
HeatPwm(uint8_t pwm_num, float Kp, float Ki,
uint32_t period_ns);
void set_imu_temp(float current) override;
void set_imu_target_temp(int8_t *target) override;
private:
PWM_Sysfs_Base *_pwm;
uint32_t _last_temp_update = 0;
float _Kp;
float _Ki;
uint32_t _period_ns;
float _sum_error;
int8_t *_target = nullptr;
};