heater.h

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/**
 * @file heater.h
 *
 * @author Mark Sauder <mcsauder@gmail.com>
 * @author Alex Klimaj <alexklimaj@gmail.com>
 * @author Jake Dahl <dahl.jakejacob@gmail.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/Subscription.hpp>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_accel.h>

#include <mathlib/mathlib.h>

#define CONTROLLER_PERIOD_DEFAULT 100000

/**
 * @brief IMU Heater Controller driver used to maintain consistent
 *        temparature at the IMU.
 */
extern "C" __EXPORT int heater_main(int argc, char *argv[]);


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 Sets and/or reports the heater controller time period value in microseconds.
     * @param argv Pointer to the input argument array.
     * @return Returns 0 iff successful, -1 otherwise.
     */
    int controller_period(char *argv[]);

    /**
     * @brief Sets and/or reports the heater controller integrator gain value.
     * @param argv Pointer to the input argument array.
     * @return Returns the heater integrator gain value iff successful, 0.0f otherwise.
     */
    float integrator(char *argv[]);

    /**
     * @brief Sets and/or reports the heater controller proportional gain value.
     * @param argv Pointer to the input argument array.
     * @return Returns the heater proportional gain value iff successful, 0.0f otherwise.
     */
    float proportional(char *argv[]);

    /**
     * @brief Reports the heater target sensor.
     * @return Returns the id of the target sensor
     */
    uint32_t sensor_id();

    /**
     * @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();

    /**
     * @brief Reports curent status and diagnostic information about the heater driver.
     * @return Returns 0 iff successful, -1 otherwise.
     */
    int print_status();

    /**
     * @brief Sets and/or reports the heater target temperature.
     * @param argv Pointer to the input argument array.
     * @return Returns the heater target temperature value iff successful, -1.0f otherwise.
     */
    float temperature_setpoint(char *argv[]);

protected:

    /**
     * @brief Called once to initialize uORB topics.
     */
    void initialize_topics();

private:

    /**
     * @brief Calculates the heater element on/off time, carries out
     *        closed loop feedback and feedforward temperature control,
     *        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);

    /** Work queue struct for the RTOS scheduler. */
    static struct work_s _work;

    int _controller_period_usec = CONTROLLER_PERIOD_DEFAULT;

    int _controller_time_on_usec = 0;

    bool _heater_on = false;

    float _integrator_value = 0.0f;

    uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};

    float _proportional_value = 0.0f;

    uORB::Subscription _sensor_accel_sub{ORB_ID(sensor_accel)};
    sensor_accel_s _sensor_accel{};

    float _sensor_temperature = 0.0f;

    /** @note Declare local parameters using defined parameters. */
    DEFINE_PARAMETERS(
        (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
    )
};