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px4io cleanup LED and heater handling

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- 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.
This commit is contained in:
Daniel Agar
2022-04-13 18:43:59 -04:00
committed by GitHub
parent 510ad00024
commit 3f13c70cae
17 changed files with 89 additions and 146 deletions
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src/modules/px4iofirmware/px4io.c
+36 -31
View File
@@ -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();
src/modules/px4iofirmware/px4io.h
+1 -15
View File
@@ -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))