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40 lines
1.1 KiB
40 lines
1.1 KiB
/* |
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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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#pragma once |
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#include "AP_HAL_Linux.h" |
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#include "PWM_Sysfs.h" |
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#include "Heat.h" |
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namespace Linux { |
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class HeatPwm : public Heat { |
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public: |
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HeatPwm(uint8_t pwm_num, float Kp, float Ki, |
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uint32_t period_ns); |
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void set_imu_temp(float current) override; |
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void set_imu_target_temp(int8_t *target) override; |
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private: |
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PWM_Sysfs_Base *_pwm; |
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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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int8_t *_target = nullptr; |
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}; |
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}
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