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feat(heater): Add multi-instance support for heaters (#26325)

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* 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>
This commit is contained in:
CaFeZn
2026-03-02 12:13:08 -09:00
committed by GitHub
co-authored by Jacob Dahl Jacob Dahl
parent d5a47925ab
commit 963a776fa6
53 changed files with 729 additions and 306 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/px4/fmu-v3/src/board_config.h
+1
View File
@@ -164,6 +164,7 @@
* Connected to the IO MCU; tell compiler to enable support
*/
#define PX4IO_HEATER_ENABLED
#define HEATER_NUM 1
__BEGIN_DECLS
boards/px4/fmu-v4/src/board_config.h
+4 -2
View File
@@ -140,8 +140,10 @@
/* Heater pins */
#define GPIO_HEATER_INPUT (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN6)
#define GPIO_HEATER_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
/* Power switch controls */
boards/px4/fmu-v4/src/init.c
+2 -2
View File
@@ -222,7 +222,7 @@ stm32_boardinitialize(void)
// Configure heater GPIO.
stm32_configgpio(GPIO_HEATER_INPUT);
stm32_configgpio(GPIO_HEATER_OUTPUT);
stm32_configgpio(GPIO_HEATER1_OUTPUT);
}
/****************************************************************************
@@ -283,7 +283,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
}
// Power down the heater.
stm32_gpiowrite(GPIO_HEATER_OUTPUT, 0);
stm32_gpiowrite(GPIO_HEATER1_OUTPUT, 0);
// Configure SPI-based devices.
spi1 = stm32_spibus_initialize(1);
boards/px4/fmu-v5/src/board_config.h
+5 -3
View File
@@ -209,8 +209,10 @@
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PA7 T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PA7 T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
/* PI0 is nARMED
@@ -426,7 +428,7 @@
GPIO_CAN1_SILENT_S0, \
GPIO_CAN2_SILENT_S1, \
GPIO_CAN3_SILENT_S2, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \
boards/px4/fmu-v5x/src/board_config.h
+5 -3
View File
@@ -196,8 +196,10 @@
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PB10 T2CH3 */ (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))
/* PC12 is nARMED
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -399,7 +401,7 @@
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \
boards/px4/fmu-v6c/src/board_config.h
+5 -3
View File
@@ -154,8 +154,10 @@
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PB9 T17CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PB9 T17CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
/* PWM
*/
@@ -257,7 +259,7 @@
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \
boards/px4/fmu-v6u/src/board_config.h
+5 -3
View File
@@ -179,8 +179,10 @@
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PA2 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PA2 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
/* PE6 is nARMED
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -368,7 +370,7 @@
GPIO_HW_VER_REV_DRIVE, \
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \
boards/px4/fmu-v6x/src/board_config.h
+5 -3
View File
@@ -230,8 +230,10 @@
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PB10 T2CH3 */ (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))
/* PE6 is nARMED
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -444,7 +446,7 @@
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \
boards/px4/fmu-v6xrt/src/board_config.h
+6 -4
View File
@@ -308,9 +308,11 @@
* PWM in future
*/
#define HEATER_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_SLEW_FAST)
//#define GPIO_HEATER_OUTPUT /* GPIO_EMC_B2_17 QTIMER3 TIMER0 GPIO2_IO27 */ (GPIO_QTIMER3_TIMER0_3 | HEATER_IOMUX)
#define GPIO_HEATER_OUTPUT /* GPIO_EMC_B2_17 GPIO2_IO27 */ (GPIO_PORT2 | GPIO_PIN27 | GPIO_OUTPUT | HEATER_IOMUX)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
//#define GPIO_HEATER1_OUTPUT /* GPIO_EMC_B2_17 QTIMER3 TIMER0 GPIO2_IO27 */ (GPIO_QTIMER3_TIMER0_3 | HEATER_IOMUX)
#define GPIO_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* GPIO_EMC_B2_17 GPIO2_IO27 */ (GPIO_PORT2 | GPIO_PIN27 | GPIO_OUTPUT | HEATER_IOMUX)
#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
/* nARMED GPIO1_IO17
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -573,7 +575,7 @@
GPIO_FLEXCAN2_RX, \
GPIO_FLEXCAN3_TX, \
GPIO_FLEXCAN3_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_FMU_CAP1, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
boards/px4/io-v2/src/board_config.h
+4 -2
View File
@@ -100,8 +100,10 @@
/* 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_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PB14 */ (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
#define HEATER1_OUTPUT_EN(on_true) (SENSE_PIXHAWK2() ? stm32_gpiowrite(GPIO_HEATER1_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)
boards/px4/io-v2/src/init.c
+2 -2
View File
@@ -96,7 +96,7 @@ __EXPORT void stm32_boardinitialize(void)
by allowing to disable the LED / heater.
*/
if (SENSE_PIXHAWK2()) {
stm32_configgpio(GPIO_HEATER_OUTPUT);
stm32_configgpio(GPIO_HEATER1_OUTPUT);
} else {
stm32_configgpio(GPIO_LED_BLUE);
@@ -159,5 +159,5 @@ __EXPORT void stm32_boardinitialize(void)
stm32_configgpio(GPIO_PWM8);
/* disable heater */
HEATER_OUTPUT_EN(false);
HEATER1_OUTPUT_EN(false);
}