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feat(heater): Add multi-instance support for heaters (#26325)

Browse Source 
* heater: add multi-instance support, refactor parameter handling, remove legacy params file

This change introduces multi-instance heater support to allow independent temperature control for multiple IMUs.

Main changes:
- Add support for multiple heater instances
- Refactor parameter handling to use per-instance parameters
- Remove the legacy parameter file and migrate to the updated parameter structure

This improves scalability and makes heater configuration consistent across setups with multiple sensors.

* Refactor heater configuration across multiple boards

- Updated heater GPIO definitions to introduce a new naming convention for better clarity and consistency.
- Replaced `GPIO_HEATER_OUTPUT` with `GPIO_HEATER1_OUTPUT` and adjusted the corresponding output enable macros.
- Changed parameter names from `SENS_TEMP_ID` to `HEATER1_IMU_ID` in various board default configurations to reflect the new heater setup.
- Ensured all affected board configurations are updated to maintain functionality with the new heater definitions.

* heater: fix missing HEATER1_OUTPUT_EN control

* heater: fix more missing HEATER1_OUTPUT_EN control

* heater: tidy config, docs, and instance handling

- Remove unused controller period member and use CONTROLLER_PERIOD_DEFAULT
- Improve HEATER${i}_IMU_ID description and instance-related logging/behavior
- Add a guard when HEATER_NUM exceeds HEATER_MAX_INSTANCES

Note: drop intermediate/reverted change around the 'celsius' spelling.

* heater: refactor constructor to remove unused parameter and add instance name function

- Remove unused ModuleParams argument from Heater constructor
- Add heater_instance_name() helper to provide per-instance work queue task names
- Use instance-specific parameter lookup (HEATER{n}_*) during initialization

Use heater_instance_name() to label each instance (heater_1/2/3) in work queue.
Also drop unused ModuleParams argument from constructor and keep per-instance
parameter handle lookup in initialization.

* format

* board: update GPIO configuration for multiple heater instances, add HEATER_NUM for boards using PX4IO

* heater: update heater control to use HEATER1_OUTPUT_EN when using PX4IO for consistency

* heater: add a TODO for px4io multi-instance

* heater: update missing GPIO_HEATER1_OUTPUT in  sky-drones

* heater: fix multiple newlines at EOF (resolve CI check failure)

* heater: switch to PublicationMulti for heater_status and log multi-instance

- Changed _heater_status_pub from Publication to PublicationMulti to support independent per-instance publications without overwriting.
- Updated logged_topics.cpp to use add_optional_topic_multi("heater_status")

This fixes the issue where multiple heater instances were writing to the same heater_status topic, causing data overwriting and incorrect update rates in logs.

---------

Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
This commit is contained in:
CaFeZn
2026-03-03 05:13:08 +08:00
committed by GitHub
parent d5a47925ab
commit 963a776fa6
53 changed files with 729 additions and 306 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
boards/accton-godwit/ga1/src/board_config.h
View File

@@ -221,8 +221,10 @@
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PB10 T2CH3 */ (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))
/* PE6 is nARMED
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -442,7 +444,7 @@
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \

4
boards/ark/fmu-v6x/init/rc.board_defaults
View File

@@ -26,12 +26,12 @@ param set-default UAVCAN_ESC_IFACE 2
if ver hwtypecmp ARKV6X000
then
param set-default SENS_TEMP_ID 2818058
param set-default HEATER1_IMU_ID 2818058
fi
if ver hwtypecmp ARKV6X001
then
param set-default SENS_TEMP_ID 3014666
param set-default HEATER1_IMU_ID 3014666
fi
safety_button start

8
boards/ark/fmu-v6x/src/board_config.h
View File

@@ -224,8 +224,10 @@
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PB10 T2CH3 */ (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))
/* PE6 is nARMED
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -436,7 +438,7 @@
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \

2
boards/ark/fpv/init/rc.board_defaults
View File

@@ -22,7 +22,7 @@ param set-default SENS_IMU_TEMP 10.0
if ver hwtypecmp ARKFPV000
then
param set-default SENS_TEMP_ID 3014666
param set-default HEATER1_IMU_ID 3014666
fi
param set-default BAT1_V_DIV 21.0

8
boards/ark/fpv/src/board_config.h
View File

@@ -205,8 +205,10 @@
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PB10 T2CH3 */ (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))
/* PE6 is nARMED
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -318,7 +320,7 @@
GPIO_HW_VER_REV_DRIVE, \
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_VDD_5V_PGOOD, \
GPIO_VDD_12V_PGOOD, \
GPIO_VDD_12V_EN, \

2
boards/ark/pi6x/init/rc.board_defaults
View File

@@ -31,7 +31,7 @@ param set-default UAVCAN_ESC_IFACE 1
if ver hwtypecmp ARKPI6X000
then
# TODO: Add the correct sensor ID
param set-default SENS_TEMP_ID 2490378
param set-default HEATER1_IMU_ID 2490378
fi
param set-default EKF2_MULTI_IMU 0

8
boards/ark/pi6x/src/board_config.h
View File

@@ -188,8 +188,10 @@
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PB10 T2CH3 */ (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))
/* PE6 is nARMED
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -324,7 +326,7 @@
GPIO_HW_VER_REV_DRIVE, \
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_VDD_5V_HIPOWER_nEN, \
GPIO_VDD_5V_HIPOWER_nOC, \
GPIO_VDD_3V3_SD_CARD_EN, \

6
boards/atl/mantis-edu/src/board_config.h
View File

@@ -121,7 +121,9 @@
#define BOARD_REAR_LED_MASK (1 << 1) | (1 << 2)
/* HEATER */
#define GPIO_HEATER_OUTPUT /* PA7 T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PA7 T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
#define BOARD_HAS_LED_PWM 1
#define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
@@ -182,7 +184,7 @@
PX4_ADC_GPIO, \
GPIO_HW_REV_DRIVE, \
GPIO_HW_VER_DRIVE, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_VDD_3V3_SD_CARD_EN, \
GPIO_OTGFS_VBUS \
}

8
boards/auterion/fmu-v6x/src/board_config.h
View File

@@ -224,8 +224,10 @@
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PB10 T2CH3 */ (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))
/* PE6 is nARMED
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -443,7 +445,7 @@
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \

8
boards/cuav/fmu-v6x/src/board_config.h
View File

@@ -230,8 +230,10 @@
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PB10 T2CH3 */ (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))
/* PE6 is nARMED
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -453,7 +455,7 @@
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \

8
boards/cuav/nora/src/board_config.h
View File

@@ -104,8 +104,10 @@
#define GPIO_CAN2_SILENT_S1 /* PH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN3)
/* HEATER */
#define GPIO_HEATER_OUTPUT /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
/* PWM */
#define DIRECT_PWM_OUTPUT_CHANNELS 14
@@ -212,7 +214,7 @@
GPIO_CAN2_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_CAN2_SILENT_S1, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_CAN, \
GPIO_nPOWER_IN_ADC, \
GPIO_nPOWER_IN_C, \

2
boards/cuav/x25-evo/init/rc.board_defaults
View File

@@ -23,7 +23,7 @@ param set-default UAVCAN_SUB_BAT 1
# Enable IMU thermal control
param set-default SENS_EN_THERMAL 1
param set-default SENS_IMU_TEMP 45
param set-default SENS_TEMP_ID 2818058
param set-default HEATER1_IMU_ID 2818058
# CUAV core board IMU thermal control
param set-default CORE_IMU_TEMP 45

8
boards/cuav/x25-evo/src/board_config.h
View File

@@ -179,8 +179,10 @@
* PWM in future
*/
// IMU BOARD HEATER
#define GPIO_HEATER_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PB10 T2CH3 */ (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))
// CORE BOARD HEATER
#define GPIO_CORE_HEATER_OUTPUT /* PE6 T15CH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
#define CORE_HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_CORE_HEATER_OUTPUT, (on_true))
@@ -403,7 +405,7 @@
GPIO_CAN2_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_CAN2_SILENT_S1, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_CORE_HEATER_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \

2
boards/cuav/x7pro/init/rc.board_defaults
View File

@@ -12,7 +12,7 @@ param set-default BAT2_A_PER_V 24
# Enable IMU thermal control
param set-default SENS_EN_THERMAL 1
param set-default SENS_TEMP_ID 6946850
param set-default HEATER1_IMU_ID 6946850
rgbled_pwm start
safety_button start

8
boards/cuav/x7pro/src/board_config.h
View File

@@ -104,8 +104,10 @@
#define GPIO_CAN2_SILENT_S1 /* PH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN3)
/* HEATER */
#define GPIO_HEATER_OUTPUT /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
/* PWM */
#define DIRECT_PWM_OUTPUT_CHANNELS 14
@@ -212,7 +214,7 @@
GPIO_CAN2_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_CAN2_SILENT_S1, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_CAN, \
GPIO_nPOWER_IN_ADC, \
GPIO_nPOWER_IN_C, \

2
boards/cubepilot/cubeorange/init/rc.board_defaults
View File

@@ -12,6 +12,6 @@ param set-default BAT2_A_PER_V 17
# Disable IMU thermal control
param set-default SENS_EN_THERMAL 0
param set-default -s SENS_TEMP_ID 2621474
param set-default -s HEATER1_IMU_ID 2621474
set IOFW "/etc/extras/cubepilot_io-v2_default.bin"

1
boards/cubepilot/cubeorange/src/board_config.h
View File

@@ -59,6 +59,7 @@
#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
#define PX4IO_HEATER_ENABLED
#define HEATER_NUM 1
/* LEDs */
#define GPIO_nLED_AMBER /* PE12 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)

4
boards/cubepilot/cubeorangeplus/init/rc.board_sensors
View File

@@ -18,7 +18,7 @@ ms5611 -s -b 4 start
if icm42688p -s -b 4 -R 10 -q start -c 15
then
# We need to use the temperature of the first isolated IMU for heater control.
param set-default SENS_TEMP_ID 2490402
param set-default HEATER1_IMU_ID 2490402
if ! icm20948 -s -b 4 -R 10 -M -q start
then
@@ -28,7 +28,7 @@ else
icm45686 -s -b 4 -R 10 start -c 15
icm45686 -s -b 4 -R 6 start -c 13
param set-default SENS_TEMP_ID 3407906
param set-default HEATER1_IMU_ID 3407906
fi
# SPI1, body-fixed

1
boards/cubepilot/cubeorangeplus/src/board_config.h
View File

@@ -69,6 +69,7 @@
#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
#define PX4IO_HEATER_ENABLED
#define HEATER_NUM 1
/* LEDs */
#define GPIO_nLED_AMBER /* PE12 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)

6
boards/cubepilot/io-v2/src/board_config.h
View File

@@ -80,8 +80,10 @@
/* HEATER */
#define GPIO_HEATER_OUTPUT /* PB14 */ (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
#define HEATER_OUTPUT_EN(on_true) stm32_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PB14 */ (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
#define HEATER1_OUTPUT_EN(on_true) stm32_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
#define GPIO_USART1_RX_SPEKTRUM (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)

4
boards/cubepilot/io-v2/src/init.c
View File

@@ -86,7 +86,7 @@ __EXPORT void stm32_boardinitialize(void)
{
/* configure GPIOs */
stm32_configgpio(GPIO_HEATER_OUTPUT);
stm32_configgpio(GPIO_HEATER1_OUTPUT);
/* LEDS - default to off */
stm32_configgpio(GPIO_LED_AMBER);
@@ -141,5 +141,5 @@ __EXPORT void stm32_boardinitialize(void)
stm32_configgpio(GPIO_PWM8);
/* disable heater */
HEATER_OUTPUT_EN(false);
HEATER1_OUTPUT_EN(false);
}

8
boards/holybro/durandal-v1/src/board_config.h
View File

@@ -170,8 +170,10 @@
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PA7 T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PA7 T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
/* PWM
*/
@@ -299,7 +301,7 @@
GPIO_CAN2_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_CAN2_SILENT_S1, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \

8
boards/holybro/pix32v5/src/board_config.h
View File

@@ -204,8 +204,10 @@
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PA7 T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PA7 T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
/* PI0 is nARMED
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -409,7 +411,7 @@
GPIO_CAN1_SILENT_S0, \
GPIO_CAN2_SILENT_S1, \
GPIO_CAN3_SILENT_S2, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \

2
boards/narinfc/h7/init/rc.board_defaults
View File

@@ -12,7 +12,7 @@ param set-default BAT2_A_PER_V 24
# Enable IMU thermal control
param set-default SENS_EN_THERMAL 1
param set-default SENS_TEMP_ID 6946850
param set-default HEATER1_IMU_ID 6946850
rgbled_pwm start
safety_button start

8
boards/narinfc/h7/src/board_config.h
View File

@@ -104,8 +104,10 @@
#define GPIO_CAN2_SILENT_S1 /* PH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN3)
/* HEATER */
#define GPIO_HEATER_OUTPUT /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
/* PWM */
#define DIRECT_PWM_OUTPUT_CHANNELS 14
@@ -212,7 +214,7 @@
GPIO_CAN2_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_CAN2_SILENT_S1, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_CAN, \
GPIO_nPOWER_IN_ADC, \
GPIO_nPOWER_IN_C, \

1
boards/px4/fmu-v3/src/board_config.h
View File

@@ -164,6 +164,7 @@
* Connected to the IO MCU; tell compiler to enable support
*/
#define PX4IO_HEATER_ENABLED
#define HEATER_NUM 1
__BEGIN_DECLS

6
boards/px4/fmu-v4/src/board_config.h
View File

@@ -140,8 +140,10 @@
/* Heater pins */
#define GPIO_HEATER_INPUT (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN6)
#define GPIO_HEATER_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
/* Power switch controls */

4
boards/px4/fmu-v4/src/init.c
View File

@@ -222,7 +222,7 @@ stm32_boardinitialize(void)
// Configure heater GPIO.
stm32_configgpio(GPIO_HEATER_INPUT);
stm32_configgpio(GPIO_HEATER_OUTPUT);
stm32_configgpio(GPIO_HEATER1_OUTPUT);
}
/****************************************************************************
@@ -283,7 +283,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
}
// Power down the heater.
stm32_gpiowrite(GPIO_HEATER_OUTPUT, 0);
stm32_gpiowrite(GPIO_HEATER1_OUTPUT, 0);
// Configure SPI-based devices.
spi1 = stm32_spibus_initialize(1);

8
boards/px4/fmu-v5/src/board_config.h
View File

@@ -209,8 +209,10 @@
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PA7 T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PA7 T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
/* PI0 is nARMED
@@ -426,7 +428,7 @@
GPIO_CAN1_SILENT_S0, \
GPIO_CAN2_SILENT_S1, \
GPIO_CAN3_SILENT_S2, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \

8
boards/px4/fmu-v5x/src/board_config.h
View File

@@ -196,8 +196,10 @@
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PB10 T2CH3 */ (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))
/* PC12 is nARMED
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -399,7 +401,7 @@
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \

8
boards/px4/fmu-v6c/src/board_config.h
View File

@@ -154,8 +154,10 @@
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PB9 T17CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PB9 T17CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
/* PWM
*/
@@ -257,7 +259,7 @@
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \

8
boards/px4/fmu-v6u/src/board_config.h
View File

@@ -179,8 +179,10 @@
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PA2 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PA2 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
/* PE6 is nARMED
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -368,7 +370,7 @@
GPIO_HW_VER_REV_DRIVE, \
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \

8
boards/px4/fmu-v6x/src/board_config.h
View File

@@ -230,8 +230,10 @@
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PB10 T2CH3 */ (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))
/* PE6 is nARMED
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -444,7 +446,7 @@
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \

10
boards/px4/fmu-v6xrt/src/board_config.h
View File

@@ -308,9 +308,11 @@
* PWM in future
*/
#define HEATER_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_SLEW_FAST)
//#define GPIO_HEATER_OUTPUT /* GPIO_EMC_B2_17 QTIMER3 TIMER0 GPIO2_IO27 */ (GPIO_QTIMER3_TIMER0_3 | HEATER_IOMUX)
#define GPIO_HEATER_OUTPUT /* GPIO_EMC_B2_17 GPIO2_IO27 */ (GPIO_PORT2 | GPIO_PIN27 | GPIO_OUTPUT | HEATER_IOMUX)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
//#define GPIO_HEATER1_OUTPUT /* GPIO_EMC_B2_17 QTIMER3 TIMER0 GPIO2_IO27 */ (GPIO_QTIMER3_TIMER0_3 | HEATER_IOMUX)
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* GPIO_EMC_B2_17 GPIO2_IO27 */ (GPIO_PORT2 | GPIO_PIN27 | GPIO_OUTPUT | HEATER_IOMUX)
#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
/* nARMED GPIO1_IO17
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -573,7 +575,7 @@
GPIO_FLEXCAN2_RX, \
GPIO_FLEXCAN3_TX, \
GPIO_FLEXCAN3_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_FMU_CAP1, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \

6
boards/px4/io-v2/src/board_config.h
View File

@@ -100,8 +100,10 @@
/* HEATER */
#define GPIO_HEATER_OUTPUT /* PB14 */ (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
#define HEATER_OUTPUT_EN(on_true) (SENSE_PIXHAWK2() ? stm32_gpiowrite(GPIO_HEATER_OUTPUT, !(on_true)) : (void)0)
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PB14 */ (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
#define HEATER1_OUTPUT_EN(on_true) (SENSE_PIXHAWK2() ? stm32_gpiowrite(GPIO_HEATER1_OUTPUT, !(on_true)) : (void)0)
#define GPIO_USART1_RX_SPEKTRUM (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)

4
boards/px4/io-v2/src/init.c
View File

@@ -96,7 +96,7 @@ __EXPORT void stm32_boardinitialize(void)
by allowing to disable the LED / heater.
*/
if (SENSE_PIXHAWK2()) {
stm32_configgpio(GPIO_HEATER_OUTPUT);
stm32_configgpio(GPIO_HEATER1_OUTPUT);
} else {
stm32_configgpio(GPIO_LED_BLUE);
@@ -159,5 +159,5 @@ __EXPORT void stm32_boardinitialize(void)
stm32_configgpio(GPIO_PWM8);
/* disable heater */
HEATER_OUTPUT_EN(false);
HEATER1_OUTPUT_EN(false);
}

8
boards/siyi/n7/src/board_config.h
View File

@@ -139,8 +139,10 @@
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PA7 T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PA7 T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
/* PWM
*/
@@ -245,7 +247,7 @@
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_VDD_5V_PERIPH_nEN, \

2
boards/sky-drones/smartap-airlink/init/rc.board_defaults
View File

@@ -10,7 +10,7 @@ param set-default SER_TEL2_BAUD 921600 # 921600
# Temperature stabilization
param set-default SENS_EN_THERMAL 1 # Enable heater
param set-default SENS_TEMP_ID 2359314 # Heated IMU ID
param set-default HEATER1_IMU_ID 2359314 # Heated IMU ID
# Battery scaling
param set-default BAT1_N_CELLS 4

8
boards/sky-drones/smartap-airlink/src/board_config.h
View File

@@ -178,8 +178,10 @@
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PB10 T2CH3 */ (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))
/* PC12 is nARMED
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -335,7 +337,7 @@
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_VDD_3V5_LTE_nEN, \
GPIO_VDD_3V5_LTE_nOC, \
GPIO_VDD_5V_HIPOWER_nEN, \

4
boards/sky-drones/smartap-airlink/src/init.cpp
View File

@@ -253,8 +253,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
}
// Power down the heater
px4_arch_configgpio(GPIO_HEATER_OUTPUT);
px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 1);
px4_arch_configgpio(GPIO_HEATER1_OUTPUT);
px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, 1);
#ifdef CONFIG_MMCSD
int ret = stm32_sdio_initialize();

8
boards/svehicle/e2/src/board_config.h
View File

@@ -219,8 +219,10 @@
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PB10 T2CH3 */ (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))
/* PE6 is nARMED
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -410,7 +412,7 @@
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \

6
boards/uvify/core/src/board_config.h
View File

@@ -139,8 +139,10 @@
/* Heater pins (reserved) */
#define GPIO_HEATER_INPUT (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN6)
#define GPIO_HEATER_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
/* Power switch controls */

4
boards/uvify/core/src/init.c
View File

@@ -222,7 +222,7 @@ stm32_boardinitialize(void)
// Configure heater GPIO.
stm32_configgpio(GPIO_HEATER_INPUT);
stm32_configgpio(GPIO_HEATER_OUTPUT);
stm32_configgpio(GPIO_HEATER1_OUTPUT);
}
/****************************************************************************
@@ -283,7 +283,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
}
// Power down the heater.
stm32_gpiowrite(GPIO_HEATER_OUTPUT, 0);
stm32_gpiowrite(GPIO_HEATER1_OUTPUT, 0);
// Configure SPI-based devices.
spi1 = stm32_spibus_initialize(1);

4
boards/xc-fly/xc-slam/src/board_config.h
View File

@@ -115,8 +115,8 @@
// /* HEATER PA15 TIM2_CH1
// * PWM in future
// */
// #define GPIO_HEATER_OUTPUT /* PA15 T2CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
// #define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
// #define GPIO_HEATER1_OUTPUT /* PA15 T2CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
// #define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))

4
boards/xc-fly/xc-slim/src/board_config.h
View File

@@ -115,8 +115,8 @@
// /* HEATER PA15 TIM2_CH1
// * PWM in future
// */
// #define GPIO_HEATER_OUTPUT /* PA15 T2CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
// #define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
// #define GPIO_HEATER1_OUTPUT /* PA15 T2CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
// #define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))

8
boards/zeroone/x6/src/board_config.h
View File

@@ -226,8 +226,10 @@
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PB10 T2CH3 */ (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))
/* PE6 is nARMED
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -442,7 +444,7 @@
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \