From 3f13c70cae9744cc19733c59c18681a8f24538c7 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 13 Apr 2022 18:43:59 -0400
Subject: [PATCH] px4io cleanup LED and heater handling

 - most px4_io-v2 boards have a blue LED that breathes for status
 - the pixhawk 2.1 (hex) re-used this blue LED for as an IMU heater (active low), but kept the same board id (so we have to detect at runtime)
 - the new cubepilot boards (yellow, orange) inverted the polarity of this heater pin
 - untangle the mess slightly so that things we know statically (eg cubepilot cubeorange LEDs and heater polarity) are handled at build time.
---
 .../extras/cubepilot_io-v2_default.bin        | Bin 39492 -> 39408 bytes
 .../extras/cubepilot_io-v2_default.bin        | Bin 39492 -> 39408 bytes
 boards/cubepilot/io-v2/src/board_config.h     |  40 +++--------
 boards/cubepilot/io-v2/src/init.c             |  37 +++-------
 .../durandal-v1/extras/px4_io-v2_default.bin  | Bin 39492 -> 39632 bytes
 .../pix32v5/extras/px4_io-v2_default.bin      | Bin 39492 -> 39632 bytes
 .../mro/x21-777/extras/px4_io-v2_default.bin  | Bin 39492 -> 39632 bytes
 .../px4/fmu-v2/extras/px4_io-v2_default.bin   | Bin 39492 -> 39632 bytes
 .../px4/fmu-v3/extras/px4_io-v2_default.bin   | Bin 39492 -> 39632 bytes
 .../fmu-v4pro/extras/px4_io-v2_default.bin    | Bin 39492 -> 39632 bytes
 .../px4/fmu-v5/extras/px4_io-v2_default.bin   | Bin 39492 -> 39632 bytes
 .../px4/fmu-v5x/extras/px4_io-v2_default.bin  | Bin 39492 -> 39632 bytes
 .../px4/fmu-v6x/extras/px4_io-v2_default.bin  | Bin 39492 -> 39632 bytes
 boards/px4/io-v2/src/board_config.h           |  36 +++++-----
 boards/px4/io-v2/src/init.c                   |  39 +++++-----
 src/modules/px4iofirmware/px4io.c             |  67 ++++++++++--------
 src/modules/px4iofirmware/px4io.h             |  16 +----
 17 files changed, 89 insertions(+), 146 deletions(-)

diff --git a/boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin b/boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
index 1767f928576956d236eae16b93deb332b606127a..ebf4aef07cb1b4c6e7fa934c10333f7671489fac 100755
GIT binary patch
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diff --git a/boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin b/boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
index 1767f928576956d236eae16b93deb332b606127a..ebf4aef07cb1b4c6e7fa934c10333f7671489fac 100755
GIT binary patch
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delta 2739
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O_raqaUq`DBt@uAcF_{hk

diff --git a/boards/cubepilot/io-v2/src/board_config.h b/boards/cubepilot/io-v2/src/board_config.h
index c5257560c6..913564eb4a 100644
--- a/boards/cubepilot/io-v2/src/board_config.h
+++ b/boards/cubepilot/io-v2/src/board_config.h
@@ -70,29 +70,19 @@
 
 /* LEDS  **********************************************************************/
 
-#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
-#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
-#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13)
-#define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11)
+#define GPIO_LED_AMBER  (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15) // IO-LED_AMBER
+#define GPIO_LED_SAFETY (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13) // IO-LED_SAFETY
+#define GPIO_LED_GREEN  (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11) // IO-LED_POWER_BREATHING
 
-#define GPIO_HEATER_OFF (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
+#define LED_AMBER(on_true)  stm32_gpiowrite(GPIO_LED_AMBER, !(on_true))
+#define LED_SAFETY(on_true) stm32_gpiowrite(GPIO_LED_SAFETY, !(on_true))
+#define LED_GREEN(on_true)   stm32_gpiowrite(GPIO_LED_GREEN, (on_true))
 
-#define GPIO_PC14 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
-#define GPIO_PC15 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15)
 
-/*  PixHawk 1:
- *      PC14 Floating
- *      PC15 Floating
- *
- *  PixHawk 2:
- *      PC14 3.3v
- *      PC15 GND
- */
+/* 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_SENSE_PC14_DN (GPIO_INPUT|GPIO_CNF_INPULLDWN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
-#define GPIO_SENSE_PC15_UP (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15)
-# define SENSE_PH1 0b10 /* Floating pulled as set */
-# define SENSE_PH2 0b01 /* Driven as tied */
 
 #define GPIO_USART1_RX_SPEKTRUM		(GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
 
@@ -150,18 +140,6 @@
 #define HRT_PPM_CHANNEL		1	/* use capture/compare channel 1 PA8 */
 #define GPIO_PPM_IN		(GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTA|GPIO_PIN8)
 
-/* LED definitions ******************************************************************/
-/* PX4 has two LEDs that we will encode as: */
-
-#define LED_STARTED       0  /* LED? */
-#define LED_HEAPALLOCATE  1  /* LED? */
-#define LED_IRQSENABLED   2  /* LED? + LED? */
-#define LED_STACKCREATED  3  /* LED? */
-#define LED_INIRQ         4  /* LED? + LED? */
-#define LED_SIGNAL        5  /* LED? + LED? */
-#define LED_ASSERTION     6  /* LED? + LED? + LED? */
-#define LED_PANIC         7  /* N/C  + N/C  + N/C + LED? */
-
 #define BOARD_NUM_IO_TIMERS 3
 
 #include <px4_platform_common/board_common.h>
diff --git a/boards/cubepilot/io-v2/src/init.c b/boards/cubepilot/io-v2/src/init.c
index 28811b621a..55ade132e1 100644
--- a/boards/cubepilot/io-v2/src/init.c
+++ b/boards/cubepilot/io-v2/src/init.c
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4iov2_init.c
+ * @file init.c
  *
  * PX4FMU-specific early startup code.  This file implements the
  * stm32_boardinitialize() function that is called during cpu startup.
@@ -84,38 +84,14 @@
 
 __EXPORT void stm32_boardinitialize(void)
 {
-
 	/* configure GPIOs */
 
-	/* Set up for sensing HW */
-
-	stm32_configgpio(GPIO_SENSE_PC14_DN);
-	stm32_configgpio(GPIO_SENSE_PC15_UP);
+	stm32_configgpio(GPIO_HEATER_OUTPUT);
 
 	/* LEDS - default to off */
-	stm32_configgpio(GPIO_LED1);
-	stm32_configgpio(GPIO_LED2);
-	stm32_configgpio(GPIO_LED3);
-	stm32_configgpio(GPIO_LED4);
-
-	/*  PixHawk 1:
-	 *      PC14 Floating
-	 *      PC15 Floating
-	 *
-	 *  PixHawk 2:
-	 *      PC14 3.3v
-	 *      PC15 GND
-	 */
-
-	uint8_t sense = stm32_gpioread(GPIO_SENSE_PC15_UP) << 1  | stm32_gpioread(GPIO_SENSE_PC14_DN);
-
-	if (sense == SENSE_PH2) {
-		stm32_configgpio(GPIO_HEATER_OFF);
-	}
-
-	stm32_configgpio(GPIO_PC14);
-	stm32_configgpio(GPIO_PC15);
-
+	stm32_configgpio(GPIO_LED_AMBER);
+	stm32_configgpio(GPIO_LED_SAFETY);
+	stm32_configgpio(GPIO_LED_GREEN);
 
 	stm32_configgpio(GPIO_BTN_SAFETY);
 
@@ -163,4 +139,7 @@ __EXPORT void stm32_boardinitialize(void)
 
 	stm32_gpiowrite(GPIO_PWM8, true);
 	stm32_configgpio(GPIO_PWM8);
+
+	/* disable heater */
+	HEATER_OUTPUT_EN(false);
 }
diff --git a/boards/holybro/durandal-v1/extras/px4_io-v2_default.bin b/boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
index 577ee46036a5d29d7706106fc44bb8d386c8b5be..9f901fd5cad88fcfe8e53687c2d8e2422ebb0049 100755
GIT binary patch
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delta 2805
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diff --git a/boards/holybro/pix32v5/extras/px4_io-v2_default.bin b/boards/holybro/pix32v5/extras/px4_io-v2_default.bin
index 577ee46036a5d29d7706106fc44bb8d386c8b5be..9f901fd5cad88fcfe8e53687c2d8e2422ebb0049 100755
GIT binary patch
delta 2928
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delta 2805
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diff --git a/boards/mro/x21-777/extras/px4_io-v2_default.bin b/boards/mro/x21-777/extras/px4_io-v2_default.bin
index 577ee46036a5d29d7706106fc44bb8d386c8b5be..9f901fd5cad88fcfe8e53687c2d8e2422ebb0049 100755
GIT binary patch
delta 2928
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diff --git a/boards/px4/fmu-v2/extras/px4_io-v2_default.bin b/boards/px4/fmu-v2/extras/px4_io-v2_default.bin
index 577ee46036a5d29d7706106fc44bb8d386c8b5be..9f901fd5cad88fcfe8e53687c2d8e2422ebb0049 100755
GIT binary patch
delta 2928
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delta 2805
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diff --git a/boards/px4/fmu-v3/extras/px4_io-v2_default.bin b/boards/px4/fmu-v3/extras/px4_io-v2_default.bin
index 577ee46036a5d29d7706106fc44bb8d386c8b5be..9f901fd5cad88fcfe8e53687c2d8e2422ebb0049 100755
GIT binary patch
delta 2928
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delta 2805
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diff --git a/boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin b/boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin
index 577ee46036a5d29d7706106fc44bb8d386c8b5be..9f901fd5cad88fcfe8e53687c2d8e2422ebb0049 100755
GIT binary patch
delta 2928
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diff --git a/boards/px4/fmu-v5/extras/px4_io-v2_default.bin b/boards/px4/fmu-v5/extras/px4_io-v2_default.bin
index 577ee46036a5d29d7706106fc44bb8d386c8b5be..9f901fd5cad88fcfe8e53687c2d8e2422ebb0049 100755
GIT binary patch
delta 2928
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delta 2805
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diff --git a/boards/px4/fmu-v5x/extras/px4_io-v2_default.bin b/boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
index 577ee46036a5d29d7706106fc44bb8d386c8b5be..9f901fd5cad88fcfe8e53687c2d8e2422ebb0049 100755
GIT binary patch
delta 2928
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delta 2805
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diff --git a/boards/px4/fmu-v6x/extras/px4_io-v2_default.bin b/boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
index 577ee46036a5d29d7706106fc44bb8d386c8b5be..9f901fd5cad88fcfe8e53687c2d8e2422ebb0049 100755
GIT binary patch
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delta 2805
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diff --git a/boards/px4/io-v2/src/board_config.h b/boards/px4/io-v2/src/board_config.h
index c5257560c6..e934397996 100644
--- a/boards/px4/io-v2/src/board_config.h
+++ b/boards/px4/io-v2/src/board_config.h
@@ -70,12 +70,10 @@
 
 /* LEDS  **********************************************************************/
 
-#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
-#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
-#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13)
-#define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11)
-
-#define GPIO_HEATER_OFF (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
+#define GPIO_LED_BLUE   (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14) // IO-LED_BLUE or IMU_TEMPERATURE_CONTROL on Pixhawk 2.1
+#define GPIO_LED_AMBER  (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15) // IO-LED_AMBER
+#define GPIO_LED_SAFETY (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13) // IO-LED_SAFETY
+#define GPIO_LED_GREEN  (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11) // IO-LED_POWER_BREATHING
 
 #define GPIO_PC14 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
 #define GPIO_PC15 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15)
@@ -88,12 +86,24 @@
  *      PC14 3.3v
  *      PC15 GND
  */
-
 #define GPIO_SENSE_PC14_DN (GPIO_INPUT|GPIO_CNF_INPULLDWN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
 #define GPIO_SENSE_PC15_UP (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15)
 # define SENSE_PH1 0b10 /* Floating pulled as set */
 # define SENSE_PH2 0b01 /* Driven as tied */
 
+#define SENSE_PIXHAWK2() (((stm32_gpioread(GPIO_SENSE_PC15_UP) << 1 | stm32_gpioread(GPIO_SENSE_PC14_DN)) == SENSE_PH2) ? 1 : 0)
+
+#define LED_BLUE(on_true)   (SENSE_PIXHAWK2() ? (void)0 : stm32_gpiowrite(GPIO_LED_BLUE, !(on_true)))
+#define LED_AMBER(on_true)  stm32_gpiowrite(GPIO_LED_AMBER, !(on_true))
+#define LED_SAFETY(on_true) stm32_gpiowrite(GPIO_LED_SAFETY, !(on_true))
+#define LED_GREEN(on_true)   stm32_gpiowrite(GPIO_LED_GREEN, (on_true))
+
+
+/* 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_USART1_RX_SPEKTRUM		(GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
 
 /* Safety switch button *******************************************************/
@@ -150,18 +160,6 @@
 #define HRT_PPM_CHANNEL		1	/* use capture/compare channel 1 PA8 */
 #define GPIO_PPM_IN		(GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTA|GPIO_PIN8)
 
-/* LED definitions ******************************************************************/
-/* PX4 has two LEDs that we will encode as: */
-
-#define LED_STARTED       0  /* LED? */
-#define LED_HEAPALLOCATE  1  /* LED? */
-#define LED_IRQSENABLED   2  /* LED? + LED? */
-#define LED_STACKCREATED  3  /* LED? */
-#define LED_INIRQ         4  /* LED? + LED? */
-#define LED_SIGNAL        5  /* LED? + LED? */
-#define LED_ASSERTION     6  /* LED? + LED? + LED? */
-#define LED_PANIC         7  /* N/C  + N/C  + N/C + LED? */
-
 #define BOARD_NUM_IO_TIMERS 3
 
 #include <px4_platform_common/board_common.h>
diff --git a/boards/px4/io-v2/src/init.c b/boards/px4/io-v2/src/init.c
index 28811b621a..404a3620f7 100644
--- a/boards/px4/io-v2/src/init.c
+++ b/boards/px4/io-v2/src/init.c
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4iov2_init.c
+ * @file init.c
  *
  * PX4FMU-specific early startup code.  This file implements the
  * stm32_boardinitialize() function that is called during cpu startup.
@@ -84,39 +84,33 @@
 
 __EXPORT void stm32_boardinitialize(void)
 {
-
 	/* configure GPIOs */
 
 	/* Set up for sensing HW */
-
 	stm32_configgpio(GPIO_SENSE_PC14_DN);
 	stm32_configgpio(GPIO_SENSE_PC15_UP);
 
-	/* LEDS - default to off */
-	stm32_configgpio(GPIO_LED1);
-	stm32_configgpio(GPIO_LED2);
-	stm32_configgpio(GPIO_LED3);
-	stm32_configgpio(GPIO_LED4);
+	/* some boards such as Pixhawk 2.1 made
+	the unfortunate choice to combine the blue led channel with
+	the IMU heater. We need a software hack to fix the hardware hack
+	by allowing to disable the LED / heater.
+	*/
+	if (SENSE_PIXHAWK2()) {
+		stm32_configgpio(GPIO_HEATER_OUTPUT);
 
-	/*  PixHawk 1:
-	 *      PC14 Floating
-	 *      PC15 Floating
-	 *
-	 *  PixHawk 2:
-	 *      PC14 3.3v
-	 *      PC15 GND
-	 */
-
-	uint8_t sense = stm32_gpioread(GPIO_SENSE_PC15_UP) << 1  | stm32_gpioread(GPIO_SENSE_PC14_DN);
-
-	if (sense == SENSE_PH2) {
-		stm32_configgpio(GPIO_HEATER_OFF);
+	} else {
+		stm32_configgpio(GPIO_LED_BLUE);
 	}
 
 	stm32_configgpio(GPIO_PC14);
 	stm32_configgpio(GPIO_PC15);
 
 
+	/* LEDS - default to off */
+	stm32_configgpio(GPIO_LED_AMBER);
+	stm32_configgpio(GPIO_LED_SAFETY);
+	stm32_configgpio(GPIO_LED_GREEN);
+
 	stm32_configgpio(GPIO_BTN_SAFETY);
 
 	/* spektrum power enable is active high - enable it by default */
@@ -163,4 +157,7 @@ __EXPORT void stm32_boardinitialize(void)
 
 	stm32_gpiowrite(GPIO_PWM8, true);
 	stm32_configgpio(GPIO_PWM8);
+
+	/* disable heater */
+	HEATER_OUTPUT_EN(false);
 }
diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c
index a84ad857d7..9da4b9431b 100644
--- a/src/modules/px4iofirmware/px4io.c
+++ b/src/modules/px4iofirmware/px4io.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2022 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
@@ -173,18 +173,20 @@ update_mem_usage(void)
 static void
 heartbeat_blink(void)
 {
+#if defined(LED_BLUE)
 	static bool heartbeat = false;
 	LED_BLUE(heartbeat = !heartbeat);
+#endif /* LED_BLUE */
 }
 
 static void
 ring_blink(void)
 {
-#ifdef GPIO_LED4
+#if defined(LED_GREEN)
 
 	if (/* IO armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
 			   /* and FMU is armed */ && (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
-		LED_RING(1);
+		LED_GREEN(true);
 		return;
 	}
 
@@ -205,7 +207,7 @@ ring_blink(void)
 		// remove the ! in the line below
 		// to return to the proper breathe
 		// animation / pattern (currently inverted)
-		LED_RING(!on);
+		LED_GREEN(!on);
 		brightness_counter++;
 
 		if (on) {
@@ -301,11 +303,13 @@ user_start(int argc, char *argv[])
 
 	/* default all the LEDs to off while we start */
 	LED_AMBER(false);
+#if defined(LED_BLUE)
 	LED_BLUE(false);
+#endif /* LED_BLUE */
 	LED_SAFETY(false);
-#ifdef GPIO_LED4
-	LED_RING(false);
-#endif
+#if defined(LED_GREEN)
+	LED_GREEN(false);
+#endif /* LED_GREEN */
 
 	/* turn off S.Bus out (if supported) */
 #ifdef ENABLE_SBUS_OUT
@@ -377,34 +381,35 @@ user_start(int argc, char *argv[])
 		perf_end(controls_perf);
 #endif
 
-		/* some boards such as Pixhawk 2.1 made
-		   the unfortunate choice to combine the blue led channel with
-		   the IMU heater. We need a software hack to fix the hardware hack
-		   by allowing to disable the LED / heater.
-		 */
-		if (r_page_setup[PX4IO_P_SETUP_THERMAL] == PX4IO_THERMAL_IGNORE) {
-			/*
-			  blink blue LED at 4Hz in normal operation. When in
-			  override blink 4x faster so the user can clearly see
-			  that override is happening. This helps when
-			  pre-flight testing the override system
-			 */
-			uint32_t heartbeat_period_us = 250 * 1000UL;
 
-			if ((hrt_absolute_time() - last_heartbeat_time) > heartbeat_period_us) {
-				last_heartbeat_time = hrt_absolute_time();
-				heartbeat_blink();
-			}
+		/*
+		blink blue LED at 4Hz in normal operation. When in
+		override blink 4x faster so the user can clearly see
+		that override is happening. This helps when
+		pre-flight testing the override system
+		*/
+		uint32_t heartbeat_period_us = 250 * 1000UL;
 
-		} else if (r_page_setup[PX4IO_P_SETUP_THERMAL] < PX4IO_THERMAL_FULL) {
-			/* switch resistive heater off */
-			LED_BLUE(false);
-
-		} else {
-			/* switch resistive heater hard on */
-			LED_BLUE(true);
+		if ((hrt_absolute_time() - last_heartbeat_time) > heartbeat_period_us) {
+			last_heartbeat_time = hrt_absolute_time();
+			heartbeat_blink();
 		}
 
+#if defined(HEATER_OUTPUT_EN)
+
+		if (r_page_setup[PX4IO_P_SETUP_THERMAL] != PX4IO_THERMAL_IGNORE) {
+			if (r_page_setup[PX4IO_P_SETUP_THERMAL] < PX4IO_THERMAL_FULL) {
+				/* switch resistive heater off */
+				HEATER_OUTPUT_EN(false);
+
+			} else {
+				/* switch resistive heater hard on */
+				HEATER_OUTPUT_EN(true);
+			}
+		}
+
+#endif /* HEATER_OUTPUT_EN */
+
 		update_mem_usage();
 
 		ring_blink();
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index c815f8b578..0ee36d4e71 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2022 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
@@ -123,20 +123,6 @@ extern struct sys_state_s system_state;
 extern bool update_mc_thrust_param;
 extern bool update_trims;
 
-/*
- * GPIO handling.
- */
-/* HEX Cube Orange and Cube Yellow uses an inverted signal to control the IMU heater */
-#ifdef CONFIG_ARCH_BOARD_CUBEPILOT_IO_V2
-#define LED_BLUE(_s)			px4_arch_gpiowrite(GPIO_LED1, (_s))
-#else
-#define LED_BLUE(_s)			px4_arch_gpiowrite(GPIO_LED1, !(_s))
-#endif
-#define LED_AMBER(_s)			px4_arch_gpiowrite(GPIO_LED2, !(_s))
-#define LED_SAFETY(_s)			px4_arch_gpiowrite(GPIO_LED3, !(_s))
-#define LED_RING(_s)			px4_arch_gpiowrite(GPIO_LED4, (_s))
-
-
 # define ENABLE_SBUS_OUT(_s)		px4_arch_gpiowrite(GPIO_SBUS_OENABLE, !(_s))
 
 # define VDD_SERVO_FAULT		(!px4_arch_gpioread(GPIO_SERVO_FAULT_DETECT))