firmware: app: tasks: heater_controller: Adding task structure and im…

…plementation #142
spacelab-ufsc · Aug 4, 2021 · 7e2f7b7 · 7e2f7b7
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diff --git a/firmware/app/tasks/heater_controller.c b/firmware/app/tasks/heater_controller.c
@@ -0,0 +1,118 @@
+/*
+ * heater_controller.c
+ *
+ * Copyright (C) 2021, SpaceLab.
+ *
+ * This file is part of EPS 2.0.
+ *
+ * EPS 2.0 is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * EPS 2.0 is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with EPS 2.0. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * \brief Heater controller task implementation.
+ *
+ * \author André M. P. de Mattos <andre.mattos@spacelab.ufsc.br>
+ *
+ * \version 0.2.12
+ *
+ * \date 2021/08/04
+ *
+ * \addtogroup heater_controller
+ * \{
+ */
+
+#include <system/sys_log/sys_log.h>
+#include <structs/eps2_data.h>
+
+#include <devices/heater/heater.h>
+
+#include "heater_controller.h"
+#include "startup.h"
+
+xTaskHandle xTaskHeaterControllerHandle;
+
+void vTaskHeaterController(void *pvParameters)
+{
+	uint32_t heater_mode = 0;
+	uint32_t heater_duty_cyle = 0;
+	temperature_t temp = 0;
+	float actuator_output = 0;
+
+    /* Wait startup task to finish */
+    xEventGroupWaitBits(task_startup_status, TASK_STARTUP_DONE, pdFALSE, pdTRUE, pdMS_TO_TICKS(TASK_HEATER_CONTROLLER_INIT_TIMEOUT_MS));
+
+    while(1)
+    {
+        TickType_t last_cycle = xTaskGetTickCount();
+
+		eps_buffer_read(EPS2_PARAM_ID_BAT_HEATER_1_MODE, &heater_mode);
+		switch(heater_mode) 
+		{
+			case HEATER_AUTOMATIC_MODE:
+				if(heater_get_sensor(HEATER_CONTROL_LOOP_CH_0, &temp) != 0) 
+				{
+					sys_log_print_event_from_module(SYS_LOG_ERROR, TASK_HEATER_CONTROLLER_NAME, "Heater channel 0 failed!");
+	        		sys_log_new_line();
+				}
+
+				actuator_output = heater_algorithm(PID_BASE_SET_POINT, temp);
+
+				if(heater_set_actuator(HEATER_CONTROL_LOOP_CH_0, actuator_output) != 0) 
+				{
+					sys_log_print_event_from_module(SYS_LOG_ERROR, TASK_HEATER_CONTROLLER_NAME, "Heater channel 0 failed!");
+	        		sys_log_new_line();
+				}
+				break;
+			case HEATER_MANUAL_MODE:
+				/* TODO: Implemente manual mode */
+				break;
+			default:
+				sys_log_print_event_from_module(SYS_LOG_ERROR, TASK_HEATER_CONTROLLER_NAME, "Invalid mode!");
+        		sys_log_new_line();
+				break;
+		}
+
+		eps_buffer_read(EPS2_PARAM_ID_BAT_HEATER_2_MODE, &heater_mode);
+		switch(heater_mode) 
+		{
+			case HEATER_AUTOMATIC_MODE:
+				if(heater_get_sensor(HEATER_CONTROL_LOOP_CH_1, &temp) != 0) 
+				{
+					sys_log_print_event_from_module(SYS_LOG_ERROR, TASK_HEATER_CONTROLLER_NAME, "Heater channel 1 failed!");
+	        		sys_log_new_line();
+				}
+
+				actuator_output = heater_algorithm(PID_BASE_SET_POINT, temp);
+
+				if(heater_set_actuator(HEATER_CONTROL_LOOP_CH_1, actuator_output) != 0) 
+				{
+					sys_log_print_event_from_module(SYS_LOG_ERROR, TASK_HEATER_CONTROLLER_NAME, "Heater channel 1 failed!");
+	        		sys_log_new_line();
+				}
+				break;
+			case HEATER_MANUAL_MODE:
+				/* TODO: Implemente manual mode */
+				break;
+			default:
+				sys_log_print_event_from_module(SYS_LOG_ERROR, TASK_HEATER_CONTROLLER_NAME, "Invalid mode!");
+        		sys_log_new_line();
+				break;
+		}
+
+        vTaskDelayUntil(&last_cycle, pdMS_TO_TICKS(TASK_HEATER_CONTROLLER_PERIOD_MS));
+    }
+}
+
+/** \} End of heater_controller group */
diff --git a/firmware/app/tasks/heater_controller.h b/firmware/app/tasks/heater_controller.h
@@ -0,0 +1,68 @@
+/*
+ * heater_controller.h
+ *
+ * Copyright (C) 2021, SpaceLab.
+ *
+ * This file is part of EPS 2.0.
+ *
+ * EPS 2.0 is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * EPS 2.0 is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with EPS 2.0. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * \brief Heater controller task definition.
+ *
+ * \author André M. P. de Mattos <andre.mattos@spacelab.ufsc.br>
+ *
+ * \version 0.2.12
+ *
+ * \date 2021/08/04
+ *
+ * \defgroup heater_controller Heater Controller
+ * \ingroup tasks
+ * \{
+ */
+
+#ifndef HEATER_CONTROLLER_H_
+#define HEATER_CONTROLLER_H_
+
+#include <FreeRTOS.h>
+#include <task.h>
+
+#define TASK_HEATER_CONTROLLER_NAME             "Heater Controller" /**< Task name. */
+#define TASK_HEATER_CONTROLLER_STACK_SIZE       160             	/**< Memory stack size in bytes. */
+#define TASK_HEATER_CONTROLLER_PRIORITY         3               	/**< Priority. */
+#define TASK_HEATER_CONTROLLER_PERIOD_MS        500             	/**< Period in milliseconds. */
+#define TASK_HEATER_CONTROLLER_INIT_TIMEOUT_MS  2000            	/**< Wait time to initialize the task in milliseconds. */
+
+#define HEATER_AUTOMATIC_MODE		0x00
+#define HEATER_MANUAL_MODE 			0x01
+
+/**
+ * \brief Heater controller task handle.
+ */
+extern xTaskHandle xTaskHeaterControllerHandle;
+
+/**
+ * \brief Heater controller task.
+ *
+ * \param[in] pvParameters is a value that will passed as the task's parameter.
+ *
+ * \return None.
+ */
+void vTaskHeaterController(void *pvParameters);
+
+#endif /* HEATER_CONTROLLER_H_ */
+
+/** \} End of heater_controller group */
diff --git a/firmware/devices/heater/heater.h b/firmware/devices/heater/heater.h
@@ -49,6 +49,7 @@
 /**
  * \brief PID algorithm constants.
  */
+#define PID_BASE_SET_POINT                      5           /**< TODO. */         
 #define PID_PROPORTIONAL_CONSTANT               1           /**< Kp: Modulate the proportional actuation influence. */
 #define PID_INTEGRATOR_CONSTANT                 1           /**< Ki: Modulate the integrator actuation influence. */
 #define PID_DIFFERENTIATOR_CONSTANT             1           /**< Kd: Modulate the differentiator actuation influence. */
@@ -62,7 +63,7 @@
 #define PID_PREVIOUS_ERROR_INIT                 0           /**< TODO. */                  
 #define PID_DIFFERENTIATOR_INIT                 0           /**< TODO. */                
 #define PID_PREVIOUS_MEASUREMENT_INIT           0           /**< TODO. */                       
-#define PID_OUTPUT_INIT                         50          /**< TODO. */          
+#define PID_OUTPUT_INIT                         50          /**< TODO. */ 
 
 /**
  * \brief PWM constants.

diff --git a/firmware/version.h b/firmware/version.h
@@ -25,7 +25,7 @@
  * 
  * \author Gabriel Mariano Marcelino <gabriel.mm8@gmail.com>
  * 
- * \version 0.2.11
+ * \version 0.2.12
  * 
  * \date 2020/10/21
  * 
@@ -36,7 +36,7 @@
 #ifndef VERSION_H_
 #define VERSION_H_
 
-#define FIRMWARE_VERSION            "0.2.11"
+#define FIRMWARE_VERSION            "0.2.12"
 
 #define FIRMWARE_STATUS             "Development"