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/**
 * @file heater.cpp
 *
 * @author Mark Sauder <mcsauder@gmail.com>
 * @author Alex Klimaj <alexklimaj@gmail.com>
 * @author Jake Dahl <dahl.jakejacob@gmail.com>
 * @author Mohammed Kabir <mhkabir@mit.edu>
 * @author Jacob Crabill <jacob@flyvoly.com>
 */

#include "heater.h"

#include <px4_platform_common/getopt.h>
#include <px4_platform_common/log.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_io_heater.h>

#if defined(BOARD_USES_PX4IO_VERSION) and defined(PX4IO_HEATER_ENABLED)
// Heater on some boards is on IO MCU
// Use ioctl calls to IO driver to turn heater on/off
#  define HEATER_PX4IO
#else
// Use direct calls to turn GPIO pin on/off
#  ifndef GPIO_HEATER_OUTPUT
#  error "To use the heater driver, the board_config.h must define and initialize GPIO_HEATER_OUTPUT"
#  endif
#  define HEATER_GPIO
#endif

Heater::Heater() :
	ModuleParams(nullptr),
	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
{
#ifdef HEATER_PX4IO
	_io_fd = px4_open(IO_HEATER_DEVICE_PATH, O_RDWR);

	if (_io_fd < 0) {
		PX4_ERR("Unable to open heater device path");
		return;
	}

#endif
}

Heater::~Heater()
{
	heater_disable();
}

int Heater::custom_command(int argc, char *argv[])
{
	// Check if the driver is running.
	if (!is_running()) {
		PX4_INFO("not running");
		return PX4_ERROR;
	}

	return print_usage("Unrecognized command.");
}

void Heater::heater_disable()
{
	// Reset heater to off state.
#ifdef HEATER_PX4IO
	if (_io_fd >= 0) {
		px4_ioctl(_io_fd, PX4IO_HEATER_CONTROL, HEATER_MODE_DISABLED);
	}

#endif

#ifdef HEATER_GPIO
	px4_arch_configgpio(GPIO_HEATER_OUTPUT);
#endif
}

void Heater::heater_initialize()
{
	// Initialize heater to off state.
#ifdef HEATER_PX4IO
	if (_io_fd < 0) {
		_io_fd = px4_open(IO_HEATER_DEVICE_PATH, O_RDWR);
	}

	if (_io_fd >= 0) {
		px4_ioctl(_io_fd, PX4IO_HEATER_CONTROL, HEATER_MODE_OFF);
	}

#endif

#ifdef HEATER_GPIO
	px4_arch_configgpio(GPIO_HEATER_OUTPUT);
#endif
}

void Heater::heater_off()
{
#ifdef HEATER_PX4IO

	if (_io_fd >= 0) {
		px4_ioctl(_io_fd, PX4IO_HEATER_CONTROL, HEATER_MODE_OFF);
	}

#endif

#ifdef HEATER_GPIO
	px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 0);
#endif
}

void Heater::heater_on()
{
#ifdef HEATER_PX4IO

	if (_io_fd >= 0) {
		px4_ioctl(_io_fd, PX4IO_HEATER_CONTROL, HEATER_MODE_ON);
	}

#endif

#ifdef HEATER_GPIO
	px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 1);
#endif
}

bool Heater::initialize_topics()
{
	for (uint8_t i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
		uORB::SubscriptionData<sensor_accel_s> sensor_accel_sub{ORB_ID(sensor_accel), i};

		if (sensor_accel_sub.get().timestamp != 0 && sensor_accel_sub.get().device_id != 0
		    && PX4_ISFINITE(sensor_accel_sub.get().temperature)) {

			// If the correct ID is found, exit the for-loop with _sensor_accel_sub pointing to the correct instance.
			if (sensor_accel_sub.get().device_id == (uint32_t)_param_sens_temp_id.get()) {
				_sensor_accel_sub.ChangeInstance(i);
				_sensor_device_id = sensor_accel_sub.get().device_id;
				return true;
			}
		}
	}

	return false;
}

void Heater::Run()
{
	if (should_exit()) {
#if defined(HEATER_PX4IO)

		// must be closed from wq thread
		if (_io_fd >= 0) {
			px4_close(_io_fd);
		}

#endif
		exit_and_cleanup();
		return;
	}

	// check for parameter updates
	if (_parameter_update_sub.updated()) {
		// clear update
		parameter_update_s pupdate;
		_parameter_update_sub.copy(&pupdate);

		// update parameters from storage
		ModuleParams::updateParams();
	}

	if (_sensor_device_id == 0) {
		if (initialize_topics()) {
			heater_initialize();

		} else {
			// if sensor still not found try again in 1 second
			ScheduleDelayed(1_s);
			return;
		}
	}

	sensor_accel_s sensor_accel;

	if (_heater_on) {
		// Turn the heater off.
		heater_off();
		_heater_on = false;

	} else if (_sensor_accel_sub.update(&sensor_accel)) {
		float temperature_delta {0.f};

		// Update the current IMU sensor temperature if valid.
		if (PX4_ISFINITE(sensor_accel.temperature)) {
			temperature_delta = _param_sens_imu_temp.get() - sensor_accel.temperature;
			_temperature_last = sensor_accel.temperature;
		}

		_proportional_value = temperature_delta * _param_sens_imu_temp_p.get();
		_integrator_value += temperature_delta * _param_sens_imu_temp_i.get();

		if (fabs(_param_sens_imu_temp_i.get()) <= 0.0001) {
			_integrator_value = 0.f;
		}

		// Guard against integrator wind up.
		_integrator_value = math::constrain(_integrator_value, -0.25f, 0.25f);

		_controller_time_on_usec = static_cast<int>((_param_sens_imu_temp_ff.get() + _proportional_value +
					   _integrator_value) * static_cast<float>(_controller_period_usec));

		_controller_time_on_usec = math::constrain(_controller_time_on_usec, 0, _controller_period_usec);

		_heater_on = true;
		heater_on();
	}

	// Schedule the next cycle.
	if (_heater_on) {
		ScheduleDelayed(_controller_time_on_usec);

	} else {
		ScheduleDelayed(_controller_period_usec - _controller_time_on_usec);
	}


	// publish status
	heater_status_s status{};
	status.heater_on = _heater_on;
	status.device_id = _sensor_device_id;
	status.temperature_sensor = _temperature_last;
	status.temperature_target = _param_sens_imu_temp.get();
	status.controller_period_usec = _controller_period_usec;
	status.controller_time_on_usec = _controller_time_on_usec;
	status.proportional_value = _proportional_value;
	status.integrator_value = _integrator_value;
	status.feed_forward_value = _param_sens_imu_temp_ff.get();

#ifdef HEATER_PX4IO
	status.mode |= heater_status_s::MODE_PX4IO;
#endif
#ifdef HEATER_GPIO
	status.mode |= heater_status_s::MODE_GPIO;
#endif

	status.timestamp = hrt_absolute_time();
	_heater_status_pub.publish(status);
}

int Heater::start()
{
	// Exit the driver if the sensor ID does not match the desired sensor.
	if (_param_sens_temp_id.get() == 0) {
		PX4_ERR("Valid SENS_TEMP_ID required");
		request_stop();
		return PX4_ERROR;
	}

	ScheduleNow();
	return PX4_OK;
}

int Heater::task_spawn(int argc, char *argv[])
{
	Heater *heater = new Heater();

	if (!heater) {
		PX4_ERR("driver allocation failed");
		return PX4_ERROR;
	}

	_object.store(heater);
	_task_id = task_id_is_work_queue;

	heater->start();
	return 0;
}

int Heater::print_usage(const char *reason)
{
	if (reason) {
		printf("%s\n\n", reason);
	}

	PRINT_MODULE_DESCRIPTION(
		R"DESCR_STR(
### Description
Background process running periodically on the LP work queue to regulate IMU temperature at a setpoint.

This task can be started at boot from the startup scripts by setting SENS_EN_THERMAL or via CLI.
)DESCR_STR");

	PRINT_MODULE_USAGE_NAME("heater", "system");
	PRINT_MODULE_USAGE_COMMAND("start");
	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();

	return 0;
}

extern "C" __EXPORT int heater_main(int argc, char *argv[])
{
	return Heater::main(argc, argv);
}