firmware: app: tasks: heater_controller: Improving the task implement…

…ation and increasing the period to 2 sec #142
spacelab-ufsc · Nov 27, 2021 · fb60d13 · fb60d13
1 parent de159ba
commit fb60d13
Show file tree

Hide file tree

Showing 3 changed files with 63 additions and 75 deletions.
diff --git a/firmware/app/tasks/heater_controller.c b/firmware/app/tasks/heater_controller.c
@@ -1,7 +1,7 @@
 /*
  * heater_controller.c
  *
- * Copyright (C) 2021, SpaceLab.
+ * Copyright The EPS 2.0 Contributors.
  *
  * This file is part of EPS 2.0.
  *
@@ -16,16 +16,17 @@
  * 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/>.
+ * 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>
+ * \author Gabriel Mariano Marcelino <gabriel.mm8@gmail.com>
  *
- * \version 0.2.23
+ * \version 0.2.36
  *
  * \date 2021/08/04
  *
@@ -43,12 +44,9 @@
 
 xTaskHandle xTaskHeaterControllerHandle;
 
-void vTaskHeaterController(void *pvParameters)
+void vTaskHeaterController(void)
 {
-	uint32_t heater_mode = 0;
-	uint32_t heater_duty_cyle = 0;
-	temperature_t temp = 0;
-	float actuator_output = 0;
+    uint32_t heater_mode = 0;
 
     /* Wait startup task to finish */
     xEventGroupWaitBits(task_startup_status, TASK_STARTUP_DONE, pdFALSE, pdTRUE, pdMS_TO_TICKS(TASK_HEATER_CONTROLLER_INIT_TIMEOUT_MS));
@@ -57,66 +55,57 @@ void vTaskHeaterController(void *pvParameters)
     {
         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 (get_sensor)!");
-	        		sys_log_new_line();
-	        		break;
-				}
-
-				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 (set_actuator)!");
-	        		sys_log_new_line();
-	        		break;
-				}
-				break;
-			case HEATER_MANUAL_MODE:
-				/* TODO: Implement 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 (get_sensor)!");
-	        		sys_log_new_line();
-	        		break;
-				}
-
-				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 (set_actuator)!");
-	        		sys_log_new_line();
-	        		break;
-				}
-				break;
-			case HEATER_MANUAL_MODE:
-				/* TODO: Implement manual mode */
-				break;
-			default:
-				sys_log_print_event_from_module(SYS_LOG_ERROR, TASK_HEATER_CONTROLLER_NAME, "Invalid mode!");
-        		sys_log_new_line();
-				break;
-		}
+        /* Heater 1 */
+        eps_buffer_read(EPS2_PARAM_ID_BAT_HEATER_1_MODE, &heater_mode);
+
+        heater_control(HEATER_CONTROL_LOOP_CH_0, heater_mode);
+
+        /* Heater 2 */
+        eps_buffer_read(EPS2_PARAM_ID_BAT_HEATER_2_MODE, &heater_mode);
+
+        heater_control(HEATER_CONTROL_LOOP_CH_1, heater_mode);
 
         vTaskDelayUntil(&last_cycle, pdMS_TO_TICKS(TASK_HEATER_CONTROLLER_PERIOD_MS));
     }
 }
 
+void heater_control(int channel, uint32_t mode)
+{
+    switch(mode)
+    {
+        case HEATER_AUTOMATIC_MODE:
+        {
+            temperature_t temp = 0;
+
+            if (heater_get_sensor(channel, &temp) == 0)
+            {
+                if (heater_set_actuator(channel, heater_algorithm(PID_BASE_SET_POINT, temp)) != 0)
+                {
+                    sys_log_print_event_from_module(SYS_LOG_ERROR, TASK_HEATER_CONTROLLER_NAME, "Heater channel ");
+                    sys_log_print_uint(channel);
+                    sys_log_print_msg(" failed! (set_actuator)");
+                    sys_log_new_line();
+                }
+            }
+            else
+            {
+                sys_log_print_event_from_module(SYS_LOG_ERROR, TASK_HEATER_CONTROLLER_NAME, "Heater channel ");
+                sys_log_print_uint(channel);
+                sys_log_print_msg(" failed! (get_sensor)");
+                sys_log_new_line();
+            }
+
+            break;
+        }
+        case HEATER_MANUAL_MODE:
+            /* TODO: Implement manual mode */
+            break;
+        default:
+            sys_log_print_event_from_module(SYS_LOG_ERROR, TASK_HEATER_CONTROLLER_NAME, "Invalid mode!");
+            sys_log_new_line();
+
+            break;
+    }
+}
+
 /** \} End of heater_controller group */
diff --git a/firmware/app/tasks/heater_controller.h b/firmware/app/tasks/heater_controller.h
@@ -1,7 +1,7 @@
 /*
  * heater_controller.h
  *
- * Copyright (C) 2021, SpaceLab.
+ * Copyright The EPS 2.0 Contributors.
  *
  * This file is part of EPS 2.0.
  *
@@ -25,7 +25,7 @@
  *
  * \author André M. P. de Mattos <andre.mattos@spacelab.ufsc.br>
  *
- * \version 0.2.12
+ * \version 0.2.36
  *
  * \date 2021/08/04
  *
@@ -43,11 +43,12 @@
 #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_PERIOD_MS        2000             	/**< 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
+/* Heater modes */
+#define HEATER_AUTOMATIC_MODE                   0
+#define HEATER_MANUAL_MODE                      1
 
 /**
  * \brief Heater controller task handle.
@@ -57,11 +58,9 @@ 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);
+void vTaskHeaterController(void);
 
 #endif /* HEATER_CONTROLLER_H_ */
 

diff --git a/firmware/version.h b/firmware/version.h
@@ -25,7 +25,7 @@
  * 
  * \author Gabriel Mariano Marcelino <gabriel.mm8@gmail.com>
  * 
- * \version 0.2.35
+ * \version 0.2.36
  * 
  * \date 2020/10/21
  * 
@@ -36,7 +36,7 @@
 #ifndef VERSION_H_
 #define VERSION_H_
 
-#define FIRMWARE_VERSION            "0.2.35"
+#define FIRMWARE_VERSION            "0.2.36"
 
 #define FIRMWARE_STATUS             "Development"