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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
boards/accton-godwit/ga1/src/board_config.h
+5 -3
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, \
boards/ark/fmu-v6x/init/rc.board_defaults
+2 -2
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
boards/ark/fmu-v6x/src/board_config.h
+5 -3
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, \
boards/ark/fpv/init/rc.board_defaults
+1 -1
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
boards/ark/fpv/src/board_config.h
+5 -3
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, \
boards/ark/pi6x/init/rc.board_defaults
+1 -1
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
boards/ark/pi6x/src/board_config.h
+5 -3
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, \
boards/atl/mantis-edu/src/board_config.h
+4 -2
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 \
}
boards/auterion/fmu-v6x/src/board_config.h
+5 -3
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, \
boards/cuav/fmu-v6x/src/board_config.h
+5 -3
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, \
boards/cuav/nora/src/board_config.h
+5 -3
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, \
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, \
boards/cuav/x7pro/init/rc.board_defaults
+1 -1
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
boards/cuav/x7pro/src/board_config.h
+5 -3
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, \
boards/cubepilot/cubeorange/init/rc.board_defaults
+1 -1
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"
boards/cubepilot/cubeorange/src/board_config.h
+1
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)
boards/cubepilot/cubeorangeplus/init/rc.board_sensors
+2 -2
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
boards/cubepilot/cubeorangeplus/src/board_config.h
+1
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)
boards/cubepilot/io-v2/src/board_config.h
+4 -2
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)
boards/cubepilot/io-v2/src/init.c
+2 -2
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);
}
boards/holybro/durandal-v1/src/board_config.h
+5 -3
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, \
boards/holybro/pix32v5/src/board_config.h
+5 -3
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, \
boards/narinfc/h7/init/rc.board_defaults
+1 -1
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
boards/narinfc/h7/src/board_config.h
+5 -3
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, \
boards/px4/fmu-v3/src/board_config.h
+1
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
boards/px4/fmu-v4/src/board_config.h
+4 -2
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 */
boards/px4/fmu-v4/src/init.c
+2 -2
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);
boards/px4/fmu-v5/src/board_config.h
+5 -3
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, \
boards/px4/fmu-v5x/src/board_config.h
+5 -3
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, \
boards/px4/fmu-v6c/src/board_config.h
+5 -3
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, \
boards/px4/fmu-v6u/src/board_config.h
+5 -3
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, \
boards/px4/fmu-v6x/src/board_config.h
+5 -3
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, \
boards/px4/fmu-v6xrt/src/board_config.h
+6 -4
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, \
boards/px4/io-v2/src/board_config.h
+4 -2
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)
boards/px4/io-v2/src/init.c
+2 -2
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);
}
boards/siyi/n7/src/board_config.h
+5 -3
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, \
boards/sky-drones/smartap-airlink/init/rc.board_defaults
+1 -1
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
boards/sky-drones/smartap-airlink/src/board_config.h
+5 -3
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, \
boards/sky-drones/smartap-airlink/src/init.cpp
+2 -2
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();
boards/svehicle/e2/src/board_config.h
+5 -3
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, \
boards/uvify/core/src/board_config.h
+4 -2
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 */
boards/uvify/core/src/init.c
+2 -2
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);
boards/xc-fly/xc-slam/src/board_config.h
+2 -2
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))
boards/xc-fly/xc-slim/src/board_config.h
+2 -2
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))
boards/zeroone/x6/src/board_config.h
+5 -3
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, \
src/drivers/heater/CMakeLists.txt
+3 -1
View File
@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2016 PX4 Development Team. All rights reserved.
# Copyright (c) 2015-2026 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
@@ -36,4 +36,6 @@ px4_add_module(
COMPILE_FLAGS
SRCS
heater.cpp
MODULE_CONFIG
module.yaml
)
src/drivers/heater/heater.cpp
+430 -69
View File
File diff suppressed because it is too large Load Diff
src/drivers/heater/heater.h
+42 -33
View File
@@ -48,10 +48,12 @@
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/heater_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_accel.h>
#include <parameters/param.h>
#include <mathlib/mathlib.h>
@@ -59,25 +61,26 @@ using namespace time_literals;
#define CONTROLLER_PERIOD_DEFAULT 10000
#define TEMPERATURE_TARGET_THRESHOLD 2.5f
#define HEATER_MAX_INSTANCES 3 // If changed, also need to change `max_num_config_instances` in module.yaml
#if HEATER_NUM > HEATER_MAX_INSTANCES
#error "HEATER_NUM must less than HEATER_MAX_INSTANCES"
#endif
class Heater : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
class Heater : px4::ScheduledWorkItem, public ModuleParams
{
public:
static Descriptor desc;
Heater();
Heater(uint8_t instance);
virtual ~Heater();
/**
* @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.
* @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.
*/
static int custom_command(int argc, char *argv[]);
int start();
void stop();
/**
* @see ModuleBase::print_usage().
@@ -86,21 +89,15 @@ public:
*/
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[]);
static bool is_running_instance(uint8_t instance);
static bool is_running_any();
/**
* @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();
static int start_instance(uint8_t instance);
static int stop_all();
static int status(uint8_t instance);
static const char *heater_instance_name(uint8_t inst);
static Heater *g_heater[HEATER_MAX_INSTANCES];
private:
@@ -149,7 +146,7 @@ private:
float _integrator_value = 0.0f;
float _proportional_value = 0.0f;
uORB::Publication<heater_status_s> _heater_status_pub{ORB_ID(heater_status)};
uORB::PublicationMulti<heater_status_s> _heater_status_pub{ORB_ID(heater_status)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
@@ -159,11 +156,23 @@ private:
float _temperature_last{NAN};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::SENS_IMU_TEMP_FF>) _param_sens_imu_temp_ff,
(ParamFloat<px4::params::SENS_IMU_TEMP_I>) _param_sens_imu_temp_i,
(ParamFloat<px4::params::SENS_IMU_TEMP_P>) _param_sens_imu_temp_p,
(ParamFloat<px4::params::SENS_IMU_TEMP>) _param_sens_imu_temp,
(ParamInt<px4::params::SENS_TEMP_ID>) _param_sens_temp_id
)
const uint8_t _instance; //! 1-based
volatile bool _should_exit{false};
struct {
param_t imu_id;
param_t temp;
param_t temp_p;
param_t temp_i;
param_t temp_ff;
} _param_handles;
struct {
int32_t imu_id; // HEATER<i>_IMU_ID: <0 disable, 0 auto, >0 match device_id
float temp; // target temperature
float temp_p;
float temp_i;
float temp_ff;
} _params;
};
src/drivers/heater/heater_params.c
-97
View File
@@ -1,97 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2018-19 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 heater_params.c
* Heater parameters.
*
* @author Mark Sauder <mcsauder@gmail.com>
* @author Alex Klimaj <alexklimaj@gmail.com>
* @author Jake Dahl <dahl.jakejacob@gmail.com>
*/
/**
* Target IMU device ID to regulate temperature.
*
* @category system
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_TEMP_ID, 0);
/**
* Target IMU temperature.
*
* @category system
* @group Sensors
* @unit celcius
* @min 0
* @max 85.0
* @decimal 3
*/
PARAM_DEFINE_FLOAT(SENS_IMU_TEMP, 55.0f);
/**
* IMU heater controller feedforward value.
*
* @category system
* @group Sensors
* @unit %
* @min 0
* @max 1.0
* @decimal 3
*/
PARAM_DEFINE_FLOAT(SENS_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(SENS_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(SENS_IMU_TEMP_P, 1.0f);

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