mirror of https://github.com/ArduPilot/ardupilot
41 lines
1.1 KiB
C++
41 lines
1.1 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/>.
|
|
*/
|
|
#pragma once
|
|
|
|
#include "AP_HAL_Linux.h"
|
|
#include "PWM_Sysfs.h"
|
|
#include "Heat.h"
|
|
|
|
namespace Linux {
|
|
|
|
class HeatPwm : public 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;
|
|
};
|
|
|
|
}
|