IMU heater module which can actuate a resistor heater through GPIO or IOMCU. More...

#include "imu_heater.h"
#include "mcu_periph/sys_time.h"
#include "modules/core/abi.h"
#include "modules/imu/imu.h"
#include "math/pprz_random.h"
#include "modules/datalink/telemetry.h"

Include dependency graph for imu_heater.c:

Go to the source code of this file.

Macros
#define	IMU_HEATER_TARGET_TEMP 45
	Default target temperature.

#define	IMU_HEATER_P_GAIN 200.0
	Default heater kP gain.

#define	IMU_HEATER_I_GAIN 0.3
	Default heater kI gain.

#define	IMU_HEATER_GYRO_ID ABI_BROADCAST
	Default heater gyro abi ID.

Functions
static float	imu_heater_run (struct imu_heater_t *heater, float temp)
	Calculate the IMU command percentage.

static void	send_imu_heater (struct transport_tx trans, struct link_device dev)
	Send the IMU heater message.

static void	imu_heater_gyro_raw_cb (uint8_t sender_id, uint32_t stamp, struct Int32Rates *data, uint8_t samples, float rate, float temp)

void	imu_heater_init (void)
	Initialize the heater Sets the default gains and resets the initial values.

void	imu_heater_periodic (void)
	High speed heater periodic This calculates the temperature average and in case of GPIO heater it will provide a heater output.

void	imu_heater_periodic_10hz (void)
	10Hz IMU heater periodic This will run the control loop for the IMU heater and in case of an IOMCU will transmit the duty cycle to the IMU co-processor.

Variables
struct imu_heater_t	imu_heater
	Local variables and functions.

static abi_event	imu_heater_abi_ev

Detailed Description

IMU heater module which can actuate a resistor heater through GPIO or IOMCU.

Definition in file imu_heater.c.

Macro Definition Documentation

◆ IMU_HEATER_GYRO_ID

#define IMU_HEATER_GYRO_ID ABI_BROADCAST

Default heater gyro abi ID.

Definition at line 54 of file imu_heater.c.

◆ IMU_HEATER_I_GAIN

#define IMU_HEATER_I_GAIN 0.3

Default heater kI gain.

Definition at line 49 of file imu_heater.c.

◆ IMU_HEATER_P_GAIN

#define IMU_HEATER_P_GAIN 200.0

Default heater kP gain.

Definition at line 44 of file imu_heater.c.

◆ IMU_HEATER_TARGET_TEMP

#define IMU_HEATER_TARGET_TEMP 45

Default target temperature.

Definition at line 39 of file imu_heater.c.

Function Documentation

◆ imu_heater_gyro_raw_cb()

static void imu_heater_gyro_raw_cb	(	uint8_t	sender_id,
		uint32_t	stamp,
		struct Int32Rates *	data,
		uint8_t	samples,
		float	rate,
		float	temp
	)

static

Definition at line 104 of file imu_heater.c.

References foo, imu_heater, imu_heater_t::meas_temp_cnt, and imu_heater_t::meas_temp_sum.

Referenced by imu_heater_init().

Here is the caller graph for this function:

◆ imu_heater_init()

void imu_heater_init ( void )

Initialize the heater Sets the default gains and resets the initial values.

Main external functions.

Definition at line 127 of file imu_heater.c.

References DefaultPeriodic, foo, imu_heater_t::gain_i, imu_heater_t::gain_p, imu_heater_t::heat_cmd, imu_heater, imu_heater_abi_ev, IMU_HEATER_GYRO_ID, imu_heater_gyro_raw_cb(), IMU_HEATER_I_GAIN, IMU_HEATER_P_GAIN, IMU_HEATER_TARGET_TEMP, imu_heater_t::integrated, imu_heater_t::last_ts, imu_heater_t::meas_temp, imu_heater_t::meas_temp_cnt, imu_heater_t::meas_temp_sum, preflight_check_register(), register_periodic_telemetry(), send_imu_heater(), and imu_heater_t::target_temp.

Here is the call graph for this function:

◆ imu_heater_periodic()

void imu_heater_periodic ( void )

High speed heater periodic This calculates the temperature average and in case of GPIO heater it will provide a heater output.

The GPIO out is randomized to reduce the magnetometer influence.

Definition at line 163 of file imu_heater.c.

References foo, gpio_clear(), gpio_set(), imu_heater_t::heat_cmd, imu_heater, and rand_uniform().

Here is the call graph for this function:

◆ imu_heater_periodic_10hz()

void imu_heater_periodic_10hz ( void )

10Hz IMU heater periodic This will run the control loop for the IMU heater and in case of an IOMCU will transmit the duty cycle to the IMU co-processor.

Definition at line 180 of file imu_heater.c.

References imu_heater_t::heat_cmd, imu_heater, imu_heater_run(), iomcu_set_heater_duty_cycle(), imu_heater_t::meas_temp, imu_heater_t::meas_temp_cnt, and imu_heater_t::meas_temp_sum.

Here is the call graph for this function: