#include <heater.h>

Inheritance diagram for Heater:

Collaboration diagram for Heater:

Public Member Functions
	Heater ()

virtual	~Heater ()

int	controller_period (char *argv[])
	Sets and/or reports the heater controller time period value in microseconds. More...

float	integrator (char *argv[])
	Sets and/or reports the heater controller integrator gain value. More...

float	proportional (char *argv[])
	Sets and/or reports the heater controller proportional gain value. More...

uint32_t	sensor_id ()
	Reports the heater target sensor. More...

int	start ()
	Initiates the heater driver work queue, starts a new background task, and fails if it is already running. More...

int	print_status ()
	Reports curent status and diagnostic information about the heater driver. More...

float	temperature_setpoint (char *argv[])
	Sets and/or reports the heater target temperature. More...

Static Public Member Functions
static int	custom_command (int argc, char *argv[])
	main Main entry point to the module that should be called directly from the module's main method. More...

static int	print_usage (const char *reason=nullptr)
	Prints the module usage to the nuttshell console. More...

static int	task_spawn (int argc, char *argv[])
	Initializes the class in the same context as the work queue and starts the background listener. More...

Protected Member Functions
void	initialize_topics ()
	Called once to initialize uORB topics. More...

Private Member Functions
void	Run () override
	Calculates the heater element on/off time, carries out closed loop feedback and feedforward temperature control, and schedules the next cycle. More...

void	update_params (const bool force=false)
	Updates and checks for updated uORB parameters. More...

Private Attributes
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

Static Private Attributes
static struct work_s	_work
	Work queue struct for the RTOS scheduler. More...

Detailed Description

Definition at line 64 of file heater.h.

Constructor & Destructor Documentation

◆ Heater()

Heater::Heater ( )

Definition at line 53 of file heater.cpp.

Referenced by task_spawn().

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◆ ~Heater()

Heater::~Heater ( )

virtual

Definition at line 61 of file heater.cpp.

Member Function Documentation

◆ controller_period()

int Heater::controller_period ( char * argv[] )

Sets and/or reports the heater controller time period value in microseconds.

Parameters

argv	Pointer to the input argument array.

Returns: Returns 0 iff successful, -1 otherwise.

◆ custom_command()

int Heater::custom_command	(	int	argc,
		char *	argv[]
	)

static

main Main entry point to the module that should be called directly from the module's main method.

See also: ModuleBase::custom_command().

Parameters

argc	The input argument count.
argv	Pointer to the input argument array.

Returns: Returns 0 iff successful, -1 otherwise.

Definition at line 67 of file heater.cpp.

References is_running(), and print_usage().

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◆ initialize_topics()

void Heater::initialize_topics ( )

protected

Called once to initialize uORB topics.

Definition at line 130 of file heater.cpp.

References _sensor_accel, _sensor_accel_sub, uORB::Subscription::advertised(), uORB::Subscription::copy(), sensor_accel_s::device_id, orb_group_count(), and ORB_ID.

Referenced by start().

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◆ integrator()

float Heater::integrator ( char * argv[] )

Sets and/or reports the heater controller integrator gain value.

Parameters

argv	Pointer to the input argument array.

Returns: Returns the heater integrator gain value iff successful, 0.0f otherwise.

◆ print_status()

int Heater::print_status ( )

Reports curent status and diagnostic information about the heater driver.

Returns: Returns 0 iff successful, -1 otherwise.

Definition at line 158 of file heater.cpp.

References _heater_on, _sensor_accel, _sensor_temperature, and sensor_accel_s::device_id.

◆ print_usage()

int Heater::print_usage ( const char * reason = nullptr )

static

Prints the module usage to the nuttshell console.

See also: ModuleBase::print_usage().

Parameters

reason The requested reason for printing to console.

Definition at line 209 of file heater.cpp.

Referenced by custom_command().

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◆ proportional()

float Heater::proportional ( char * argv[] )

Sets and/or reports the heater controller proportional gain value.

Parameters

argv	Pointer to the input argument array.

Returns: Returns the heater proportional gain value iff successful, 0.0f otherwise.

◆ Run()

void Heater::Run ( )

overrideprivate

Calculates the heater element on/off time, carries out closed loop feedback and feedforward temperature control, and schedules the next cycle.

Definition at line 78 of file heater.cpp.

References _controller_period_usec, _controller_time_on_usec, _heater_on, _integrator_value, _proportional_value, _sensor_accel, _sensor_accel_sub, _sensor_temperature, math::constrain(), f(), sensor_accel_s::temperature, uORB::Subscription::update(), and update_params().

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◆ sensor_id()

uint32_t Heater::sensor_id ( )

Reports the heater target sensor.

Returns: Returns the id of the target sensor

◆ start()

int Heater::start ( )

Initiates the heater driver work queue, starts a new background task, and fails if it is already running.

Returns: Returns 1 iff start was successful.

Definition at line 169 of file heater.cpp.

References initialize_topics(), and update_params().

Referenced by task_spawn().

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◆ task_spawn()

int Heater::task_spawn	(	int	argc,
		char *	argv[]
	)

static

Initializes the class in the same context as the work queue and starts the background listener.

See also: ModuleBase::task_spawn().

Parameters

argv	Pointer to the input argument array.

Returns: Returns 0 iff successful, -1 otherwise.

Definition at line 179 of file heater.cpp.

References Heater(), and start().

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◆ temperature_setpoint()

float Heater::temperature_setpoint ( char * argv[] )

Sets and/or reports the heater target temperature.

Parameters

argv	Pointer to the input argument array.

Returns: Returns the heater target temperature value iff successful, -1.0f otherwise.

◆ update_params()

void Heater::update_params ( const bool force = false )

private

Updates and checks for updated uORB parameters.

Parameters

force Boolean to determine if an update check should be forced.

Definition at line 196 of file heater.cpp.

References _parameter_update_sub, uORB::Subscription::copy(), and uORB::Subscription::updated().

struct work_s Heater::_work

staticprivate

Work queue struct for the RTOS scheduler.

Definition at line 167 of file heater.h.

The documentation for this class was generated from the following files:

src/drivers/heater/heater.h
src/drivers/heater/heater.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Heater()

◆ ~Heater()

Member Function Documentation

◆ controller_period()

◆ custom_command()

◆ initialize_topics()

◆ integrator()

◆ print_status()

◆ print_usage()

◆ proportional()

◆ Run()

◆ sensor_id()

◆ start()

◆ task_spawn()

◆ temperature_setpoint()

◆ update_params()

Member Data Documentation

◆ _controller_period_usec

◆ _controller_time_on_usec

◆ _heater_on

◆ _integrator_value

◆ _parameter_update_sub

◆ _proportional_value

◆ _sensor_accel

◆ _sensor_accel_sub

◆ _sensor_temperature

◆ _work