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heater: px4io: Add support for heaters on IO MCU

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This commit is contained in:
JacobCrabill
2021-01-17 12:03:53 +01:00
committed by Lorenz Meier
parent 653fef56de
commit 8e8497ff77
5 changed files with 183 additions and 7 deletions
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src/drivers/heater/heater.cpp
+70 -6
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2018-19 PX4 Development Team. All rights reserved.
* Copyright (c) 2018-20 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
@@ -38,6 +38,7 @@
* @author Alex Klimaj <alexklimaj@gmail.com>
* @author Jake Dahl <dahl.jakejacob@gmail.com>
* @author Mohammed Kabir <mhkabir@mit.edu>
* @author Jacob Crabill <jacob@flyvoly.com>
*/
#include "heater.h"
@@ -45,23 +46,86 @@
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/log.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_io_heater.h>
#ifndef GPIO_HEATER_OUTPUT
#error "To use the heater driver, the board_config.h must define and initialize GPIO_HEATER_OUTPUT"
#if defined(BOARD_USES_PX4IO) and defined(PX4IO_HEATER_ENABLED)
// Heater on some boards is on IO MCU
// Use ioctl calls to IO driver to turn heater on/off
# define HEATER_PX4IO
#else
// Use direct calls to turn GPIO pin on/off
# ifndef GPIO_HEATER_OUTPUT
# error "To use the heater driver, the board_config.h must define and initialize GPIO_HEATER_OUTPUT"
# endif
# define HEATER_GPIO
#endif
Heater::Heater() :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
{
#ifdef HEATER_PX4IO
_io_fd = px4_open(IO_HEATER_DEVICE_PATH, O_RDWR);
if (_io_fd < 0) {
PX4_ERR("Unable to open heater device path");
return;
}
#endif
// Initialize heater to off state
px4_arch_configgpio(GPIO_HEATER_OUTPUT);
heater_enable();
}
Heater::~Heater()
{
// Reset heater to off state
heater_disable();
#ifdef HEATER_PX4IO
px4_close(_io_fd);
#endif
}
void Heater::heater_enable()
{
#ifdef HEATER_PX4IO
px4_ioctl(_io_fd, PX4IO_HEATER_CONTROL, HEATER_MODE_OFF);
#endif
#ifdef HEATER_GPIO
px4_arch_configgpio(GPIO_HEATER_OUTPUT);
#endif
}
void Heater::heater_disable()
{
#ifdef HEATER_PX4IO
px4_ioctl(_io_fd, PX4IO_HEATER_CONTROL, HEATER_MODE_DISABLED);
#endif
#ifdef HEATER_GPIO
px4_arch_configgpio(GPIO_HEATER_OUTPUT);
#endif
}
void Heater::heater_on()
{
#ifdef HEATER_PX4IO
px4_ioctl(_io_fd, PX4IO_HEATER_CONTROL, HEATER_MODE_ON);
#endif
#ifdef HEATER_GPIO
px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 1);
#endif
}
void Heater::heater_off()
{
#ifdef HEATER_PX4IO
px4_ioctl(_io_fd, PX4IO_HEATER_CONTROL, HEATER_MODE_OFF);
#endif
#ifdef HEATER_GPIO
px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 0);
#endif
}
int Heater::custom_command(int argc, char *argv[])
@@ -84,7 +148,7 @@ void Heater::Run()
if (_heater_on) {
// Turn the heater off.
px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 0);
heater_off();
_heater_on = false;
} else {
@@ -115,7 +179,7 @@ void Heater::Run()
// Turn the heater on.
_heater_on = true;
px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 1);
heater_on();
}
// Schedule the next cycle.