4 Commits

Author	SHA1	Message	Date
Jacob Dahl	ba5b96edbe	fix(boards): correct GPIO_VDD_3V3_SENSORS_EN macro name (#26751) ... * fix(fmu-v6c): correct GPIO_VDD_3V3_SENSORS_EN macro name VDD_3V3_SENSORS_EN() referenced GPIO_VDD_3V3_SENSORS4_EN which does not exist. The correct macro is GPIO_VDD_3V3_SENSORS_EN. Fixes #26454 * fix(boards): rename VDD_3V3_SENSORS4_EN to VDD_3V3_SENSORS_EN These boards have a single sensor power rail that was incorrectly named SENSORS4_EN (copy-paste from boards with 4 rails). Rename to SENSORS_EN to match the actual hardware. Boards with legitimately numbered rails (fmu-v6xrt, x25-evo, x25-super) are not changed.	2026-03-16 14:51:47 -08:00
CaFeZn	963a776fa6	feat(heater): Add multi-instance support for heaters (#26325) ... * 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>	2026-03-02 12:13:08 -09:00
Phil-Engljaehringer	3438d593a1	drivers: MCP23009 & MCP23017 shared code base (#25924) ... * Implemented driver for MCP23017 * fixed compatability with mcp23009. (naming of instantiated GPIO-Devices) * removed some comments * removed even more comments * commented out instatntiation of driver since it will not be used with v6x * removed last useless comments * re-activated gpio_mcp23009 driver, removed useless comments and empty lines * removed empty lines at the end of mcp23017.cpp * removed empty line * Implemented driver for MCP23017 * fixed compatability with mcp23009. (naming of instantiated GPIO-Devices) * removed some comments * removed even more comments * commented out instatntiation of driver since it will not be used with v6x * removed last useless comments * re-activated gpio_mcp23009 driver, removed useless comments and empty lines * removed empty lines at the end of mcp23017.cpp * removed empty line * basic working implementation * first improved driver version with shared code base for MCP23009 & MCP23017 (built as state machine with sanity checks) * removed unused imports * changed module name from MCP to MCP230XX * removed debug print statements * adjusted auto start command of driver * removed comments * -added seperate main functions for both derivative modules (mcp23009 and mcp23017) * compile common functions as shared library in src/lib/drivers * fixed cleanup of modules * ->unclean working version with shared common library * used make format * working & cleaned version * -> Added CallbackHandler to be able to use multiple reading GPIO-expanders simultaneously -> Removed old mcap23009 calls and pin registrations -> Adjusted GpioIn.msg to contain MAX_INSTANCES * ->removed unused imports ->used make format * Fix: Re-enabled platform_mcp_gpio for accton-godwit, cuav, fmu-v5x * Fix: enabled platform_mcp_gpio in px4/fmu-v5x * added depency to fmu-v5x * Fix: removed new lines * Fix: fixed linker errors * removed unused linkage against mcp-library * Made mcp start calls consistent for fmu-v5x and fmu-v6x * moved logging of comm errors to read/write function directly * added perf_count for sanity_check * removed error message * ensured member variables follow naming convention * added retries to probe function * simplyfied state-logic * add break to terminate loop early * ensured clean state when register_gpios() fails * add registered-flag to pins * used path from top dir instead of relative path in CMakeLists * used constexpr to set parameters instead of calculating them at runtime * style: used make format * fix: corrected i2c_bus assignment * style: init input of callbackhandler to 0 * fix: mark pin as registered if successful * style: made arguments const type --------- Co-authored-by: Alexander Lerach <alexander@auterion.com>	2025-12-17 17:48:30 +01:00
accton-iot	2333fb2853	boards: new accton-godwit_ga1	2025-08-13 11:28:37 -04:00