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boards: cuav/x25-super: add multi-instance heater support (#26623)

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* boards: cuav/x25-super: add multi-instance heater support

Restore heater support removed in #26621 using the generic
multi-instance heater driver from #26325. Defines HEATER_NUM 2
for the two IMU heater outputs (PB10, PE6).

* boards: cuav/x25-super: fix heater IMU IDs and temp from hw test

Update defaults per @cuav-chen2 hardware testing:
- HEATER1_IMU_ID: 2818066 (SCH16T)
- HEATER2_IMU_ID: 3014698 (IIM42653)
- HEATER2_TEMP: 65°C

* Update boards/cuav/x25-super/init/rc.board_defaults
This commit is contained in:
Jacob Dahl
2026-03-02 19:49:13 -09:00
committed by GitHub
parent f53a96be5d
commit 43aa8de22b
3 changed files with 15 additions and 11 deletions
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boards/cuav/x25-super/default.px4board
+1
View File
@@ -17,6 +17,7 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_HEATER=y
CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
boards/cuav/x25-super/init/rc.board_defaults
+5 -10
View File
@@ -21,17 +21,12 @@ param set-default USB_MAV_MODE 5
param set-default UAVCAN_SUB_GPS 1
param set-default UAVCAN_SUB_BAT 1
# Enable IMU thermal control
# IMU thermal control (multi-instance heater)
param set-default SENS_EN_THERMAL 1
param set-default SENS_IMU_TEMP 45
param set-default SENS_TEMP_ID 5963786
# CUAV core board IMU thermal control
param set-default CORE_IMU_TEMP 45
param set-default CORE_TEMP_ID 3014698
# TODO: replace with heater using the multi-heater defines from https://github.com/PX4/PX4-Autopilot/pull/26325
# core_heater start
param set-default HEATER1_IMU_ID 2818066
param set-default HEATER1_TEMP 45
param set-default HEATER2_IMU_ID 3014698
param set-default HEATER2_TEMP 45
# CUAV pwm voltage 3.3V/5V switch
pwm_voltage_apply start
boards/cuav/x25-super/src/board_config.h
+9 -1
View File
@@ -170,7 +170,13 @@
#define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15
#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
// TODO: add multi-heater definitions, see https://github.com/PX4/PX4-Autopilot/pull/26325
/* HEATER */
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 2
#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 GPIO_HEATER2_OUTPUT /* PE6 */ (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))
/* PE7 is nARMED
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -395,6 +401,8 @@
GPIO_CAN2_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_CAN2_SILENT_S1, \
GPIO_HEATER1_OUTPUT, \
GPIO_HEATER2_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \