heater.h
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/****************************************************************************
*
* Copyright (c) 2018-20 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file heater.h
*
* @author Mark Sauder <mcsauder@gmail.com>
* @author Alex Klimaj <alexklimaj@gmail.com>
* @author Jake Dahl <dahl.jakejacob@gmail.com>
* @author Jacob Crabill <jacob@flyvoly.com>
*/
#pragma once
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/heater_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_accel.h>
#include <mathlib/mathlib.h>
using namespace time_literals;
#define CONTROLLER_PERIOD_DEFAULT 100000
class Heater : public ModuleBase<Heater>, public ModuleParams, public px4::ScheduledWorkItem
{
public:
Heater();
virtual ~Heater();
/**
* @see ModuleBase::custom_command().
* @brief main Main entry point to the module that should be
* called directly from the module's main method.
* @param argc The input argument count.
* @param argv Pointer to the input argument array.
* @return Returns 0 iff successful, -1 otherwise.
*/
static int custom_command(int argc, char *argv[]);
/**
* @see ModuleBase::print_usage().
* @brief Prints the module usage to the nuttshell console.
* @param reason The requested reason for printing to console.
*/
static int print_usage(const char *reason = nullptr);
/**
* @see ModuleBase::task_spawn().
* @brief Initializes the class in the same context as the work queue
* and starts the background listener.
* @param argv Pointer to the input argument array.
* @return Returns 0 iff successful, -1 otherwise.
*/
static int task_spawn(int argc, char *argv[]);
/**
* @brief Initiates the heater driver work queue, starts a new background task,
* and fails if it is already running.
* @return Returns 1 iff start was successful.
*/
int start();
private:
/** @brief Called once to initialize uORB topics. */
bool initialize_topics();
/** @brief Calculates the heater element on/off time and schedules the next cycle. */
void Run() override;
/**
* @brief Updates and checks for updated uORB parameters.
* @param force Boolean to determine if an update check should be forced.
*/
void update_params(const bool force = false);
/** Enables / configures the heater (either by GPIO or PX4IO). */
void heater_initialize();
/** Disnables the heater (either by GPIO or PX4IO). */
void heater_disable();
/** Turns the heater on (either by GPIO or PX4IO). */
void heater_on();
/** Turns the heater off (either by GPIO or PX4IO). */
void heater_off();
/** Work queue struct for the scheduler. */
static struct work_s _work;
/** File descriptor for PX4IO for heater ioctl's */
#if defined(PX4IO_HEATER_ENABLED)
int _io_fd {-1};
#endif
bool _heater_on = false;
int _controller_period_usec = CONTROLLER_PERIOD_DEFAULT;
int _controller_time_on_usec = 0;
float _integrator_value = 0.0f;
float _proportional_value = 0.0f;
uORB::Publication<heater_status_s> _heater_status_pub{ORB_ID(heater_status)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _sensor_accel_sub{ORB_ID(sensor_accel)};
uint32_t _sensor_device_id{0};
float _temperature_last{NAN};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::SENS_IMU_TEMP_FF>) _param_sens_imu_temp_ff,
(ParamFloat<px4::params::SENS_IMU_TEMP_I>) _param_sens_imu_temp_i,
(ParamFloat<px4::params::SENS_IMU_TEMP_P>) _param_sens_imu_temp_p,
(ParamInt<px4::params::SENS_TEMP_ID>) _param_sens_temp_id,
(ParamFloat<px4::params::SENS_IMU_TEMP>) _param_sens_imu_temp
)
};