From 43aa8de22b615c1c81866d14512c4c85ea717d25 Mon Sep 17 00:00:00 2001
From: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Date: Mon, 2 Mar 2026 19:49:13 -0900
Subject: [PATCH] boards: cuav/x25-super: add multi-instance heater support
 (#26623)
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* boards: cuav/x25-super: add multi-instance heater support

Restore heater support removed in #26621 using the generic
multi-instance heater driver from #26325. Defines HEATER_NUM 2
for the two IMU heater outputs (PB10, PE6).

* boards: cuav/x25-super: fix heater IMU IDs and temp from hw test

Update defaults per @cuav-chen2 hardware testing:
- HEATER1_IMU_ID: 2818066 (SCH16T)
- HEATER2_IMU_ID: 3014698 (IIM42653)
- HEATER2_TEMP: 65°C

* Update boards/cuav/x25-super/init/rc.board_defaults
---
 boards/cuav/x25-super/default.px4board       |  1 +
 boards/cuav/x25-super/init/rc.board_defaults | 15 +++++----------
 boards/cuav/x25-super/src/board_config.h     | 10 +++++++++-
 3 files changed, 15 insertions(+), 11 deletions(-)

diff --git a/boards/cuav/x25-super/default.px4board b/boards/cuav/x25-super/default.px4board
index 13c9bdbf3e..b166d4d442 100644
--- a/boards/cuav/x25-super/default.px4board
+++ b/boards/cuav/x25-super/default.px4board
@@ -17,6 +17,7 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
diff --git a/boards/cuav/x25-super/init/rc.board_defaults b/boards/cuav/x25-super/init/rc.board_defaults
index e292413cfc..04ac2def5b 100644
--- a/boards/cuav/x25-super/init/rc.board_defaults
+++ b/boards/cuav/x25-super/init/rc.board_defaults
@@ -21,17 +21,12 @@ param set-default USB_MAV_MODE 5
 param set-default UAVCAN_SUB_GPS 1
 param set-default UAVCAN_SUB_BAT 1
 
-# Enable IMU thermal control
+# IMU thermal control (multi-instance heater)
 param set-default SENS_EN_THERMAL 1
-param set-default SENS_IMU_TEMP 45
-param set-default SENS_TEMP_ID 5963786
-
-# CUAV core board IMU thermal control
-param set-default CORE_IMU_TEMP 45
-param set-default CORE_TEMP_ID 3014698
-
-# TODO: replace with heater using the multi-heater defines from https://github.com/PX4/PX4-Autopilot/pull/26325
-# core_heater start
+param set-default HEATER1_IMU_ID 2818066
+param set-default HEATER1_TEMP 45
+param set-default HEATER2_IMU_ID 3014698
+param set-default HEATER2_TEMP 45
 
 # CUAV pwm voltage 3.3V/5V switch
 pwm_voltage_apply start
diff --git a/boards/cuav/x25-super/src/board_config.h b/boards/cuav/x25-super/src/board_config.h
index 68cc628805..47fc455dd9 100644
--- a/boards/cuav/x25-super/src/board_config.h
+++ b/boards/cuav/x25-super/src/board_config.h
@@ -170,7 +170,13 @@
 #define GPIO_HW_REV_SENSE      /* PH4 */  GPIO_ADC3_INP15
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
 
-// TODO: add multi-heater definitions, see https://github.com/PX4/PX4-Autopilot/pull/26325
+/* HEATER */
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM	2
+#define GPIO_HEATER1_OUTPUT       /* PB10 */ (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))
+#define GPIO_HEATER2_OUTPUT       /* PE6  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
+#define HEATER2_OUTPUT_EN(on_true)             px4_arch_gpiowrite(GPIO_HEATER2_OUTPUT, (on_true))
 
 /* PE7 is nARMED
  *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -395,6 +401,8 @@
 		GPIO_CAN2_RX,                   \
 		GPIO_CAN1_SILENT_S0,		\
 		GPIO_CAN2_SILENT_S1,            \
+		GPIO_HEATER1_OUTPUT,            \
+		GPIO_HEATER2_OUTPUT,            \
 		GPIO_nPOWER_IN_A,               \
 		GPIO_nPOWER_IN_B,               \
 		GPIO_nPOWER_IN_C,               \