mirror of
https://github.com/PX4/PX4-Autopilot.git
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boards: cuav/x25-evo: Replace core_heater module with multi-instance heater. (#26624)
This commit is contained in:
CUAV Chen
GitHub
@@ -31,5 +31,4 @@
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#
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#
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############################################################################
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############################################################################
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add_subdirectory(core_heater)
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add_subdirectory(pwm_voltage)
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add_subdirectory(pwm_voltage)
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@@ -1,39 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2025 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE drivers__core_heater
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MAIN core_heater
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COMPILE_FLAGS
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SRCS
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core_heater.cpp
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)
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@@ -1,263 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2025 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
|
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
|
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* notice, this list of conditions and the following disclaimer.
|
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||||||
* 2. Redistributions in binary form must reproduce the above copyright
|
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* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
|
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
|
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file core_heater.cpp
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*
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*/
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#include "core_heater.h"
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/log.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_io_heater.h>
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ModuleBase::Descriptor Core_Heater::desc{task_spawn, custom_command, print_usage};
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# ifndef GPIO_CORE_HEATER_OUTPUT
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# error "To use the heater driver, the board_config.h must define and initialize GPIO_CORE_HEATER_OUTPUT"
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# endif
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Core_Heater::Core_Heater() :
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ModuleParams(nullptr),
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
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{
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_heater_status_pub.advertise();
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}
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Core_Heater::~Core_Heater()
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{
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disable_core_heater();
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}
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int Core_Heater::custom_command(int argc, char *argv[])
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{
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// Check if the driver is running.
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if (!is_running(desc)) {
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PX4_INFO("not running");
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return PX4_ERROR;
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}
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return print_usage("Unrecognized command.");
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}
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void Core_Heater::disable_core_heater()
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{
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// Reset heater to off state.
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px4_arch_unconfiggpio(GPIO_CORE_HEATER_OUTPUT);
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}
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void Core_Heater::initialize_core_heater_io()
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{
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// Initialize heater to off state.
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px4_arch_configgpio(GPIO_CORE_HEATER_OUTPUT);
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}
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void Core_Heater::core_heater_off()
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{
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CORE_HEATER_OUTPUT_EN(false);
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}
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void Core_Heater::core_heater_on()
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{
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CORE_HEATER_OUTPUT_EN(true);
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}
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bool Core_Heater::initialize_topics()
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{
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for (uint8_t i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
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uORB::SubscriptionData<sensor_accel_s> sensor_accel_sub{ORB_ID(sensor_accel), i};
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if (sensor_accel_sub.get().timestamp != 0 &&
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sensor_accel_sub.get().device_id != 0 &&
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PX4_ISFINITE(sensor_accel_sub.get().temperature)) {
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// If the correct ID is found, exit the for-loop with _sensor_accel_sub pointing to the correct instance.
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if (sensor_accel_sub.get().device_id == (uint32_t)_param_core_temp_id.get()) {
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_sensor_accel_sub.ChangeInstance(i);
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_sensor_device_id = sensor_accel_sub.get().device_id;
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initialize_core_heater_io();
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return true;
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}
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}
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}
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return false;
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}
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void Core_Heater::Run()
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{
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if (should_exit()) {
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exit_and_cleanup(desc);
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return;
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}
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update_params();
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if (_sensor_device_id == 0) {
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if (!initialize_topics()) {
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// if sensor still not found try again in 1 second
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ScheduleDelayed(1_s);
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return;
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}
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}
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sensor_accel_s sensor_accel;
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float temperature_delta {0.f};
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if (_core_heater_on) {
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// Turn the heater off.
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_core_heater_on = false;
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core_heater_off();
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ScheduleDelayed(_controller_period_usec - _controller_time_on_usec);
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} else if (_sensor_accel_sub.update(&sensor_accel)) {
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// Update the current IMU sensor temperature if valid.
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if (PX4_ISFINITE(sensor_accel.temperature)) {
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temperature_delta = _param_core_imu_temp.get() - sensor_accel.temperature;
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_temperature_last = sensor_accel.temperature;
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}
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_proportional_value = temperature_delta * _param_core_imu_temp_p.get();
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_integrator_value += temperature_delta * _param_core_imu_temp_i.get();
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_integrator_value = math::constrain(_integrator_value, -0.25f, 0.25f);
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_controller_time_on_usec = static_cast<int>((_param_core_imu_temp_ff.get() + _proportional_value +
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_integrator_value) * static_cast<float>(_controller_period_usec));
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_controller_time_on_usec = math::constrain(_controller_time_on_usec, 0, _controller_period_usec);
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if (fabsf(temperature_delta) < TEMPERATURE_TARGET_THRESHOLD) {
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_temperature_target_met = true;
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} else {
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_temperature_target_met = false;
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}
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_core_heater_on = true;
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core_heater_on();
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ScheduleDelayed(_controller_time_on_usec);
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}
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publish_status();
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}
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void Core_Heater::publish_status()
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{
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heater_status_s status{};
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status.device_id = _sensor_device_id;
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status.heater_on = _core_heater_on;
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status.temperature_sensor = _temperature_last;
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status.temperature_target = _param_core_imu_temp.get();
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status.temperature_target_met = _temperature_target_met;
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status.controller_period_usec = _controller_period_usec;
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status.controller_time_on_usec = _controller_time_on_usec;
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status.proportional_value = _proportional_value;
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status.integrator_value = _integrator_value;
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status.feed_forward_value = _param_core_imu_temp_ff.get();
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status.mode = heater_status_s::MODE_GPIO;
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status.timestamp = hrt_absolute_time();
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_heater_status_pub.publish(status);
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}
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int Core_Heater::start()
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{
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// Exit the driver if the sensor ID does not match the desired sensor.
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if (_param_core_temp_id.get() == 0) {
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PX4_ERR("Valid CORE_TEMP_ID required");
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request_stop();
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return PX4_ERROR;
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}
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update_params(true);
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ScheduleNow();
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return PX4_OK;
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}
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int Core_Heater::task_spawn(int argc, char *argv[])
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{
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Core_Heater *core_heater = new Core_Heater();
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if (!core_heater) {
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PX4_ERR("driver allocation failed");
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return PX4_ERROR;
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}
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desc.object.store(core_heater);
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desc.task_id = task_id_is_work_queue;
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core_heater->start();
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return 0;
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}
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void Core_Heater::update_params(const bool force)
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{
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if (_parameter_update_sub.updated() || force) {
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// clear update
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parameter_update_s param_update;
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_parameter_update_sub.copy(¶m_update);
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// update parameters from storage
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ModuleParams::updateParams();
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}
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}
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int Core_Heater::print_usage(const char *reason)
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{
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if (reason) {
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printf("%s\n\n", reason);
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}
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PRINT_MODULE_DESCRIPTION(
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R"DESCR_STR(
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### Description
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Background process running periodically on the LP work queue to regulate IMU temperature at a setpoint.
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)DESCR_STR");
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PRINT_MODULE_USAGE_NAME("core_heater", "system");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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return 0;
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}
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extern "C" __EXPORT int core_heater_main(int argc, char *argv[])
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{
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return ModuleBase::main(Core_Heater::desc, argc, argv);
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}
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@@ -1,161 +0,0 @@
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/****************************************************************************
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*
|
|
||||||
* Copyright (c) 2025 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
|
|
||||||
* are met:
|
|
||||||
*
|
|
||||||
* 1. Redistributions of source code must retain the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer.
|
|
||||||
* 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer in
|
|
||||||
* the documentation and/or other materials provided with the
|
|
||||||
* distribution.
|
|
||||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
* used to endorse or promote products derived from this software
|
|
||||||
* without specific prior written permission.
|
|
||||||
*
|
|
||||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
* POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
*
|
|
||||||
****************************************************************************/
|
|
||||||
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|
||||||
/**
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* @file core_heater.h
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*
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*/
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#pragma once
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/SubscriptionInterval.hpp>
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#include <uORB/topics/heater_status.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/sensor_accel.h>
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#include <mathlib/mathlib.h>
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using namespace time_literals;
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#define CONTROLLER_PERIOD_DEFAULT 10000
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|
||||||
#define TEMPERATURE_TARGET_THRESHOLD 2.5f
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||||||
|
|
||||||
class Core_Heater : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
|
|
||||||
{
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|
||||||
public:
|
|
||||||
static Descriptor desc;
|
|
||||||
|
|
||||||
Core_Heater();
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|
||||||
|
|
||||||
virtual ~Core_Heater();
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|
||||||
|
|
||||||
/**
|
|
||||||
* @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 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();
|
|
||||||
|
|
||||||
private:
|
|
||||||
|
|
||||||
/** Disables the heater (either by GPIO). */
|
|
||||||
void disable_core_heater();
|
|
||||||
|
|
||||||
/** Turns the heater on (either by GPIO). */
|
|
||||||
void core_heater_on();
|
|
||||||
|
|
||||||
/** Turns the heater off (either by GPIO). */
|
|
||||||
void core_heater_off();
|
|
||||||
|
|
||||||
void initialize();
|
|
||||||
|
|
||||||
/** Enables / configures the heater (either by GPIO). */
|
|
||||||
void initialize_core_heater_io();
|
|
||||||
|
|
||||||
/** @brief Called once to initialize uORB topics. */
|
|
||||||
bool initialize_topics();
|
|
||||||
|
|
||||||
void publish_status();
|
|
||||||
|
|
||||||
/** @brief Calculates the heater element on/off time 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 scheduler. */
|
|
||||||
static struct work_s _work;
|
|
||||||
|
|
||||||
bool _core_heater_initialized = false;
|
|
||||||
bool _core_heater_on = false;
|
|
||||||
bool _temperature_target_met = false;
|
|
||||||
|
|
||||||
int _controller_period_usec = CONTROLLER_PERIOD_DEFAULT;
|
|
||||||
int _controller_time_on_usec = 0;
|
|
||||||
|
|
||||||
float _integrator_value = 0.0f;
|
|
||||||
float _proportional_value = 0.0f;
|
|
||||||
|
|
||||||
uORB::Publication<heater_status_s> _heater_status_pub{ORB_ID(heater_status)};
|
|
||||||
|
|
||||||
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
|
|
||||||
|
|
||||||
uORB::Subscription _sensor_accel_sub{ORB_ID(sensor_accel)};
|
|
||||||
|
|
||||||
uint32_t _sensor_device_id{0};
|
|
||||||
|
|
||||||
float _temperature_last{NAN};
|
|
||||||
|
|
||||||
DEFINE_PARAMETERS(
|
|
||||||
(ParamFloat<px4::params::CORE_IMU_TEMP_FF>) _param_core_imu_temp_ff,
|
|
||||||
(ParamFloat<px4::params::CORE_IMU_TEMP_I>) _param_core_imu_temp_i,
|
|
||||||
(ParamFloat<px4::params::CORE_IMU_TEMP_P>) _param_core_imu_temp_p,
|
|
||||||
(ParamFloat<px4::params::CORE_IMU_TEMP>) _param_core_imu_temp,
|
|
||||||
(ParamInt<px4::params::CORE_TEMP_ID>) _param_core_temp_id
|
|
||||||
)
|
|
||||||
};
|
|
||||||
@@ -1,94 +0,0 @@
|
|||||||
/****************************************************************************
|
|
||||||
*
|
|
||||||
* Copyright (c) 2025 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
|
|
||||||
* are met:
|
|
||||||
*
|
|
||||||
* 1. Redistributions of source code must retain the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer.
|
|
||||||
* 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer in
|
|
||||||
* the documentation and/or other materials provided with the
|
|
||||||
* distribution.
|
|
||||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
* used to endorse or promote products derived from this software
|
|
||||||
* without specific prior written permission.
|
|
||||||
*
|
|
||||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
* POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
*
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @file core_heater_params.c
|
|
||||||
* Core Heater parameters.
|
|
||||||
*
|
|
||||||
*/
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Target IMU device ID to regulate temperature.
|
|
||||||
*
|
|
||||||
* @category system
|
|
||||||
* @group Sensors
|
|
||||||
*/
|
|
||||||
PARAM_DEFINE_INT32(CORE_TEMP_ID, 0);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Target IMU temperature.
|
|
||||||
*
|
|
||||||
* @category system
|
|
||||||
* @group Sensors
|
|
||||||
* @unit celcius
|
|
||||||
* @min 0
|
|
||||||
* @max 85.0
|
|
||||||
* @decimal 3
|
|
||||||
*/
|
|
||||||
PARAM_DEFINE_FLOAT(CORE_IMU_TEMP, 55.0f);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* IMU heater controller feedforward value.
|
|
||||||
*
|
|
||||||
* @category system
|
|
||||||
* @group Sensors
|
|
||||||
* @unit %
|
|
||||||
* @min 0
|
|
||||||
* @max 1.0
|
|
||||||
* @decimal 3
|
|
||||||
*/
|
|
||||||
PARAM_DEFINE_FLOAT(CORE_IMU_TEMP_FF, 0.05f);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* IMU heater controller integrator gain value.
|
|
||||||
*
|
|
||||||
* @category system
|
|
||||||
* @group Sensors
|
|
||||||
* @unit us/C
|
|
||||||
* @min 0
|
|
||||||
* @max 1.0
|
|
||||||
* @decimal 3
|
|
||||||
*/
|
|
||||||
PARAM_DEFINE_FLOAT(CORE_IMU_TEMP_I, 0.025f);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* IMU heater controller proportional gain value.
|
|
||||||
*
|
|
||||||
* @category system
|
|
||||||
* @group Sensors
|
|
||||||
* @unit us/C
|
|
||||||
* @min 0
|
|
||||||
* @max 2.0
|
|
||||||
* @decimal 3
|
|
||||||
*/
|
|
||||||
PARAM_DEFINE_FLOAT(CORE_IMU_TEMP_P, 1.0f);
|
|
||||||
@@ -20,15 +20,14 @@ param set-default USB_MAV_MODE 5
|
|||||||
param set-default UAVCAN_SUB_GPS 1
|
param set-default UAVCAN_SUB_GPS 1
|
||||||
param set-default UAVCAN_SUB_BAT 1
|
param set-default UAVCAN_SUB_BAT 1
|
||||||
|
|
||||||
# Enable IMU thermal control
|
# IMU thermal control (multi-instance heater)
|
||||||
|
# HEATER1_IMU_ID: 2818058(IIM42652 SPI1)
|
||||||
|
# HEATER2_IMU_ID: 3014698(IIM42653 SPI5)
|
||||||
param set-default SENS_EN_THERMAL 1
|
param set-default SENS_EN_THERMAL 1
|
||||||
param set-default SENS_IMU_TEMP 45
|
|
||||||
param set-default HEATER1_IMU_ID 2818058
|
param set-default HEATER1_IMU_ID 2818058
|
||||||
|
param set-default HEATER1_TEMP 45
|
||||||
# CUAV core board IMU thermal control
|
param set-default HEATER2_IMU_ID 3014698
|
||||||
param set-default CORE_IMU_TEMP 45
|
param set-default HEATER2_TEMP 45
|
||||||
param set-default CORE_TEMP_ID 3014698
|
|
||||||
core_heater start
|
|
||||||
|
|
||||||
# CUAV pwm voltage 3.3V/5V switch
|
# CUAV pwm voltage 3.3V/5V switch
|
||||||
pwm_voltage_apply start
|
pwm_voltage_apply start
|
||||||
|
|||||||
@@ -175,17 +175,14 @@
|
|||||||
#define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15
|
#define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15
|
||||||
#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
|
#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
|
||||||
|
|
||||||
/* HEATER
|
|
||||||
* PWM in future
|
/* HEATER */
|
||||||
*/
|
|
||||||
// IMU BOARD HEATER
|
|
||||||
#define GPIO_HEATER_OUTPUT
|
#define GPIO_HEATER_OUTPUT
|
||||||
#define HEATER_NUM 1
|
#define HEATER_NUM 2
|
||||||
#define GPIO_HEATER1_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
|
#define GPIO_HEATER1_OUTPUT /* PB10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
|
||||||
#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
|
#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
|
||||||
// CORE BOARD HEATER
|
#define GPIO_HEATER2_OUTPUT /* PE6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
|
||||||
#define GPIO_CORE_HEATER_OUTPUT /* PE6 T15CH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
|
#define HEATER2_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER2_OUTPUT, (on_true))
|
||||||
#define CORE_HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_CORE_HEATER_OUTPUT, (on_true))
|
|
||||||
|
|
||||||
/* PE7 is nARMED
|
/* PE7 is nARMED
|
||||||
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
|
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
|
||||||
@@ -406,7 +403,7 @@
|
|||||||
GPIO_CAN1_SILENT_S0, \
|
GPIO_CAN1_SILENT_S0, \
|
||||||
GPIO_CAN2_SILENT_S1, \
|
GPIO_CAN2_SILENT_S1, \
|
||||||
GPIO_HEATER1_OUTPUT, \
|
GPIO_HEATER1_OUTPUT, \
|
||||||
GPIO_CORE_HEATER_OUTPUT, \
|
GPIO_HEATER2_OUTPUT, \
|
||||||
GPIO_nPOWER_IN_A, \
|
GPIO_nPOWER_IN_A, \
|
||||||
GPIO_nPOWER_IN_B, \
|
GPIO_nPOWER_IN_B, \
|
||||||
GPIO_nPOWER_IN_C, \
|
GPIO_nPOWER_IN_C, \
|
||||||
|
|||||||
Reference in New Issue
Block a user