imu_heater.h File Reference

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

#include "std.h"

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Data Structures
struct	imu_heater_t
	Main IMU heater structure. More...

Functions
void	imu_heater_init (void)
	Main external functions. More...
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. More...
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. More...

Variables
struct imu_heater_t	imu_heater
	Local variables and functions. More...

Detailed Description

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

Definition in file imu_heater.h.

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Data Structure Documentation

imu_heater_t

struct imu_heater_t

Main IMU heater structure.

Definition at line 33 of file imu_heater.h.

Data Fields
float	gain_i	Heater kI gain.
float	gain_p	Heater kP gain.
uint8_t	heat_cmd	Heater command 0-100%.
float	integrated	Integrated temperature error multiplied by kI (max 70%)
uint32_t	last_ts	Last integration timestamp.
float	meas_temp	Measered average temperature in degrees Celcius.
uint32_t	meas_temp_cnt	Amount of summed temperatures.
float	meas_temp_sum	Summed temperature in degrees Celcius.
float	target_temp	Target temeperature in degrees Celcius.

Function Documentation

imu_heater_init()

void imu_heater_init

(

void

)

Main external functions.

Main external functions.

Definition at line 127 of file imu_heater.c.

References DefaultPeriodic, 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.

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

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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.

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Variable Documentation

imu_heater

struct imu_heater_t imu_heater

extern

Local variables and functions.

Definition at line 1 of file imu_heater.c.

Referenced by imu_heater_gyro_raw_cb(), imu_heater_init(), imu_heater_periodic(), imu_heater_periodic_10hz(), and send_imu_heater().