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[imu] Add heater and temperature options (#2929)

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This commit is contained in:
Freek van Tienen
2022-10-27 14:00:13 +02:00
committed by GitHub
parent 6e6bc37d1d
commit 6fa9cdfa53
46 changed files with 733 additions and 97 deletions
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conf/modules/imu_cube.xml
+7 -1
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@@ -10,7 +10,7 @@
</description>
</doc>
<dep>
<depends>spi_master,imu_common</depends>
<depends>spi_master,imu_common,intermcu_iomcu,imu_heater</depends>
<provides>imu</provides>
</dep>
<autoload name="imu_nps"/>
@@ -46,6 +46,12 @@
<define name="CUBE_IMU3_SPI_SLAVE_IDX" value="$(CUBE_IMU3_SPI_SLAVE_IDX)"/>
<define name="USE_$(CUBE_IMU3_SPI_SLAVE_IDX)"/>
<!-- Configure the heater (ICM20602) -->
<define name="IMU_HEATER_GYRO_ID" value="IMU_CUBE2_ID"/>
<define name="IMU_HEATER_TARGET_TEMP" value="55.0"/>
<define name="IMU_HEATER_P_GAIN" value="50.0"/>
<define name="IMU_HEATER_I_GAIN" value="0.07"/>
<file name="invensense2.c" dir="peripherals"/>
<file name="mpu60x0.c" dir="peripherals"/>
<file name="mpu60x0_spi.c" dir="peripherals"/>
conf/modules/imu_heater.xml
+35
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@@ -0,0 +1,35 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_heater" dir="imu">
<doc>
<description>
IMU Heater through a resistor or IO co-processor
</description>
<define name="IMU_HEATER_TARGET_TEMP" value="55." description="Target temperature" unit="Celcius"/>
<define name="IMU_HEATER_P_GAIN" value="200." description="kP gain for the heater" unit="%/degC"/>
<define name="IMU_HEATER_I_GAIN" value="0.3" description="kI gain for the heater"/>
<define name="IMU_HEATER_GYRO_ID" value="ABI_BROADCAST" description="Gyro ABI id for the temperature measurement"/>
<define name="IMU_HEATER_ACCEL_ID" description="Accel ABI id for the temperature measurement"/>
<define name="IMU_HEATER_GPIO" description="Heater GPIO port for resistor activation"/>
<define name="IMU_HEATER_GPIO_PIN" description="Heater GPIO pin for resistor activation"/>
<define name="INTERMCU_IOMCU" description="Heater IOMCU communication enabled"/>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="IMU Heater">
<dl_setting var="imu_heater.target_temp" min="-1" step="0.1" max="70" shortname="target_temp" param="IMU_HEATER_TARGET_TEMP"/>
<dl_setting var="imu_heater.gain_p" min="0" step="0.1" max="500" shortname="gain_p" param="IMU_HEATER_P_GAIN"/>
<dl_setting var="imu_heater.gain_i" min="0" step="0.01" max="10" shortname="gain_i" param="IMU_HEATER_I_GAIN"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="imu_heater.h"/>
</header>
<init fun="imu_heater_init()"/>
<periodic fun="imu_heater_periodic()"/>
<periodic fun="imu_heater_periodic_10hz()" freq="10"/>
<makefile target="!sim|nps|fbw">
<file name="imu_heater.c"/>
</makefile>
</module>
conf/modules/intermcu_iomcu.xml
+27
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@@ -0,0 +1,27 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="intermcu_iomcu" dir="intermcu">
<doc>
<description>
InterMCU communication with the ardupilot IO co-processor
</description>
<configure name="INTERMCU_PORT" value="UART6" description="UART used for IO mcu communication"/>
<configure name="INTERMCU_BAUD" value="B1500000" description="UART baud rate"/>
</doc>
<dep>
<depends>uart</depends>
</dep>
<header>
<file name="iomcu.h"/>
</header>
<makefile target="!sim|nps|fbw">
<configure name="INTERMCU_PORT" default="UART6" case="upper|lower"/>
<configure name="INTERMCU_BAUD" default="B1500000"/>
<define name="INTERMCU_LINK" value="$(INTERMCU_PORT_LOWER)"/>
<define name="USE_$(INTERMCU_PORT_UPPER)"/>
<define name="$(INTERMCU_PORT_UPPER)_BAUD" value="$(INTERMCU_BAUD)"/>
<define name="INTERMCU_IOMCU" value="true"/>
<file name="iomcu.c"/>
</makefile>
</module>