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

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* 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
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boards/cuav/x25-evo/init/rc.board_defaults
+1 -1
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
boards/cuav/x25-evo/src/board_config.h
+5 -3
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, \