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drivers: heater: fix module build and startup

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- Startup was broken due to unnecessary cyclic check probably introduced during transition to work_queues
- Module never used other than on Teal One which had a hacky heater input GPIO, this enables usage on general boards

drivers: heater: reduce verbosity and simplify commandline options

- We prefer the linux way of only reporting errors and staying quiet when everything is functioning as designed
- Most of the commandline options just read out the values of the system parameters, and one can just check the parameter values directly.

sensor_params: make thermal control parameters system parameters

heater_params: make thermal control parameters system parameters

drivers: heater: remove pin control hacks

- px4_arch_configgpio(GPIO_HEATER_OUTPUT) directly inits the heater pin to OFF, and as a PUSHPULL (TTL totem pole) OUTPUT

drivers: heater: set default device ID to 0
This commit is contained in:
Mohammed Kabir 2019-11-15 00:58:54 -05:00 committed by Lorenz Meier
parent 69694ab000
commit 00d00fdca9
3 changed files with 20 additions and 120 deletions
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127
src/drivers/heater/heater.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
* Copyright (c) 2018-19 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
@ -37,6 +37,7 @@
* @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>
*/
#include "heater.h"
@ -45,39 +46,22 @@
#include <px4_platform_common/log.h>
#include <drivers/drv_hrt.h>
#ifndef GPIO_HEATER_INPUT
#error "To use the heater driver, the board_config.h must define and initialize GPIO_HEATER_INPUT and GPIO_HEATER_OUTPUT"
#ifndef GPIO_HEATER_OUTPUT
#error "To use the heater driver, the board_config.h must define and initialize GPIO_HEATER_OUTPUT"
#endif
Heater::Heater() :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
{
// Initialize heater to off state
px4_arch_configgpio(GPIO_HEATER_OUTPUT);
px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 0);
}
Heater::~Heater()
{
// Drive the heater GPIO pin low.
px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 0);
// Verify if GPIO is low, and if not, configure it as an input pulldown then reconfigure as an output.
if (px4_arch_gpioread(GPIO_HEATER_OUTPUT)) {
px4_arch_configgpio(GPIO_HEATER_INPUT);
px4_arch_configgpio(GPIO_HEATER_OUTPUT);
px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 0);
}
}
int Heater::controller_period(char *argv[])
{
if (argv[1]) {
_controller_period_usec = atoi(argv[1]);
}
PX4_INFO("controller period (usec): %i", _controller_period_usec);
return _controller_period_usec;
// Reset heater to off state
px4_arch_configgpio(GPIO_HEATER_OUTPUT);
}
int Heater::custom_command(int argc, char *argv[])
@ -88,35 +72,7 @@ int Heater::custom_command(int argc, char *argv[])
return PX4_ERROR;
}
const char *arg_v = argv[0];
// Display/Set the heater controller period value (usec).
if (strcmp(arg_v, "controller_period") == 0) {
return get_instance()->controller_period(argv);
}
// Display/Set the heater driver integrator gain value.
if (strcmp(arg_v, "integrator") == 0) {
return get_instance()->integrator(argv);
}
// Display/Set the heater driver proportional gain value.
if (strcmp(arg_v, "proportional") == 0) {
return get_instance()->proportional(argv);
}
// Display the id of the sensor we are controlling temperature on.
if (strcmp(arg_v, "sensor_id") == 0) {
return get_instance()->sensor_id();
}
// Displays/Set the current IMU temperature setpoint.
if (strcmp(arg_v, "setpoint") == 0) {
return get_instance()->temperature_setpoint(argv);
}
get_instance()->print_usage("Unrecognized command.");
return PX4_OK;
return print_usage("Unrecognized command.");
}
void Heater::Run()
@ -131,13 +87,6 @@ void Heater::Run()
px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 0);
_heater_on = false;
// Check if GPIO is stuck on, and if so, configure it as an input pulldown then reconfigure as an output.
if (px4_arch_gpioread(GPIO_HEATER_OUTPUT)) {
px4_arch_configgpio(GPIO_HEATER_INPUT);
px4_arch_configgpio(GPIO_HEATER_OUTPUT);
px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 0);
}
} else {
update_params(false);
@ -166,7 +115,6 @@ void Heater::Run()
// Turn the heater on.
_heater_on = true;
px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 1);
}
@ -196,13 +144,10 @@ void Heater::initialize_topics()
// If the correct ID is found, exit the for-loop with _sensor_accel_sub pointing to the correct instance.
if (_sensor_accel.device_id == (uint32_t)_param_sens_temp_id.get()) {
PX4_INFO("IMU sensor identified.");
break;
}
}
PX4_INFO("Device ID: %d", _sensor_accel.device_id);
// Exit the driver if the sensor ID does not match the desired sensor.
if (_sensor_accel.device_id != (uint32_t)_param_sens_temp_id.get()) {
request_stop();
@ -210,19 +155,10 @@ void Heater::initialize_topics()
}
}
float Heater::integrator(char *argv[])
{
if (argv[1]) {
_param_sens_imu_temp_i.set(atof(argv[1]));
}
PX4_INFO("Integrator gain: %2.5f", (double)_param_sens_imu_temp_i.get());
return _param_sens_imu_temp_i.get();
}
int Heater::print_status()
{
PX4_INFO("Temperature: %3.3fC - Setpoint: %3.2fC - Heater State: %s",
PX4_INFO("Sensor ID: %d - Temperature: %3.3fC, Setpoint: %3.2fC, Heater State: %s",
_sensor_accel.device_id,
(double)_sensor_temperature,
(double)_param_sens_imu_temp.get(),
_heater_on ? "On" : "Off");
@ -230,36 +166,13 @@ int Heater::print_status()
return PX4_OK;
}
float Heater::proportional(char *argv[])
{
if (argv[1]) {
_param_sens_imu_temp_p.set(atof(argv[1]));
}
PX4_INFO("Proportional gain: %2.5f", (double)_param_sens_imu_temp_p.get());
return _param_sens_imu_temp_p.get();
}
uint32_t Heater::sensor_id()
{
PX4_INFO("Sensor ID: %d", _sensor_accel.device_id);
return _sensor_accel.device_id;
}
int Heater::start()
{
if (is_running()) {
PX4_INFO("Driver already running.");
return PX4_ERROR;
}
update_params(true);
initialize_topics();
ScheduleNow();
PX4_INFO("Driver started successfully.");
return PX4_OK;
}
@ -280,16 +193,6 @@ int Heater::task_spawn(int argc, char *argv[])
return 0;
}
float Heater::temperature_setpoint(char *argv[])
{
if (argv[1]) {
_param_sens_imu_temp.set(atof(argv[1]));
}
PX4_INFO("Target temp: %3.3f", (double)_param_sens_imu_temp.get());
return _param_sens_imu_temp.get();
}
void Heater::update_params(const bool force)
{
// check for parameter updates
@ -318,15 +221,7 @@ This task can be started at boot from the startup scripts by setting SENS_EN_THE
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("heater", "system");
PRINT_MODULE_USAGE_COMMAND_DESCR("controller_period", "Reports the heater driver cycle period value, (us), and sets it if supplied an argument.");
PRINT_MODULE_USAGE_COMMAND_DESCR("integrator", "Sets the integrator gain value if supplied an argument and reports the current value.");
PRINT_MODULE_USAGE_COMMAND_DESCR("proportional", "Sets the proportional gain value if supplied an argument and reports the current value.");
PRINT_MODULE_USAGE_COMMAND_DESCR("sensor_id", "Reports the current IMU the heater is temperature controlling.");
PRINT_MODULE_USAGE_COMMAND_DESCR("setpoint", "Reports the current IMU temperature.");
PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Starts the IMU heater driver as a background task");
PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Reports the current IMU temperature, temperature setpoint, and heater on/off status.");
PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stops the IMU heater driver.");
PRINT_MODULE_USAGE_COMMAND_DESCR("temp", "Reports the current IMU temperature.");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;

9
src/drivers/heater/heater_params.c
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
* Copyright (c) 2018-19 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
@ -43,13 +43,15 @@
/**
* Target IMU device ID to regulate temperature.
*
* @category system
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_TEMP_ID, 1442826);
PARAM_DEFINE_INT32(SENS_TEMP_ID, 0);
/**
* Target IMU temperature.
*
* @category system
* @group Sensors
* @unit C
* @min 0
@ -61,6 +63,7 @@ PARAM_DEFINE_FLOAT(SENS_IMU_TEMP, 55.0f);
/**
* IMU heater controller integrator gain value.
*
* @category system
* @group Sensors
* @unit microseconds/C
* @min 0
@ -69,10 +72,10 @@ PARAM_DEFINE_FLOAT(SENS_IMU_TEMP, 55.0f);
*/
PARAM_DEFINE_FLOAT(SENS_IMU_TEMP_I, 0.025f);
/**
* IMU heater controller proportional gain value.
*
* @category system
* @group Sensors
* @unit microseconds/C
* @min 0

4
src/modules/sensors/sensor_params.c
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2019 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
@ -207,6 +207,8 @@ PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f);
*
* @value -1 Thermal control unavailable
* @value 0 Thermal control off
* @value 1 Thermal control enabled
* @category system
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1);