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

Browse Source 
* 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 2026-03-03 05:13:08 +08:00 committed by GitHub
parent d5a47925ab
commit 963a776fa6
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
53 changed files with 729 additions and 306 deletions
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8
boards/accton-godwit/ga1/src/board_config.h
View File

@ -221,8 +221,10 @@
/* 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.
@ -442,7 +444,7 @@
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, \

4
boards/ark/fmu-v6x/init/rc.board_defaults
View File

@ -26,12 +26,12 @@ param set-default UAVCAN_ESC_IFACE 2
if ver hwtypecmp ARKV6X000
then
param set-default SENS_TEMP_ID 2818058
param set-default HEATER1_IMU_ID 2818058
fi
if ver hwtypecmp ARKV6X001
then
param set-default SENS_TEMP_ID 3014666
param set-default HEATER1_IMU_ID 3014666
fi
safety_button start

8
boards/ark/fmu-v6x/src/board_config.h
View File

@ -224,8 +224,10 @@
/* 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.
@ -436,7 +438,7 @@
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, \

2
boards/ark/fpv/init/rc.board_defaults
View File

@ -22,7 +22,7 @@ param set-default SENS_IMU_TEMP 10.0
if ver hwtypecmp ARKFPV000
then
param set-default SENS_TEMP_ID 3014666
param set-default HEATER1_IMU_ID 3014666
fi
param set-default BAT1_V_DIV 21.0

8
boards/ark/fpv/src/board_config.h
View File

@ -205,8 +205,10 @@
/* 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.
@ -318,7 +320,7 @@
GPIO_HW_VER_REV_DRIVE, \
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_VDD_5V_PGOOD, \
GPIO_VDD_12V_PGOOD, \
GPIO_VDD_12V_EN, \

2
boards/ark/pi6x/init/rc.board_defaults
View File

@ -31,7 +31,7 @@ param set-default UAVCAN_ESC_IFACE 1
if ver hwtypecmp ARKPI6X000
then
# TODO: Add the correct sensor ID
param set-default SENS_TEMP_ID 2490378
param set-default HEATER1_IMU_ID 2490378
fi
param set-default EKF2_MULTI_IMU 0

8
boards/ark/pi6x/src/board_config.h
View File

@ -188,8 +188,10 @@
/* 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.
@ -324,7 +326,7 @@
GPIO_HW_VER_REV_DRIVE, \
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_VDD_5V_HIPOWER_nEN, \
GPIO_VDD_5V_HIPOWER_nOC, \
GPIO_VDD_3V3_SD_CARD_EN, \

6
boards/atl/mantis-edu/src/board_config.h
View File

@ -121,7 +121,9 @@
#define BOARD_REAR_LED_MASK (1 << 1) | (1 << 2)
/* HEATER */
#define GPIO_HEATER_OUTPUT /* PA7 T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
#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 BOARD_HAS_LED_PWM 1
#define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
@ -182,7 +184,7 @@
PX4_ADC_GPIO, \
GPIO_HW_REV_DRIVE, \
GPIO_HW_VER_DRIVE, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_VDD_3V3_SD_CARD_EN, \
GPIO_OTGFS_VBUS \
}

8
boards/auterion/fmu-v6x/src/board_config.h
View File

@ -224,8 +224,10 @@
/* 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.
@ -443,7 +445,7 @@
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, \

8
boards/cuav/fmu-v6x/src/board_config.h
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.
@ -453,7 +455,7 @@
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, \

8
boards/cuav/nora/src/board_config.h
View File

@ -104,8 +104,10 @@
#define GPIO_CAN2_SILENT_S1 /* PH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN3)
/* HEATER */
#define GPIO_HEATER_OUTPUT /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
#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 /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
/* PWM */
#define DIRECT_PWM_OUTPUT_CHANNELS 14
@ -212,7 +214,7 @@
GPIO_CAN2_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_CAN2_SILENT_S1, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_CAN, \
GPIO_nPOWER_IN_ADC, \
GPIO_nPOWER_IN_C, \

2
boards/cuav/x25-evo/init/rc.board_defaults
View File

@ -23,7 +23,7 @@ param set-default UAVCAN_SUB_BAT 1
# Enable IMU thermal control
param set-default SENS_EN_THERMAL 1
param set-default SENS_IMU_TEMP 45
param set-default SENS_TEMP_ID 2818058
param set-default HEATER1_IMU_ID 2818058
# CUAV core board IMU thermal control
param set-default CORE_IMU_TEMP 45

8
boards/cuav/x25-evo/src/board_config.h
View File

@ -179,8 +179,10 @@
* PWM in future
*/
// IMU BOARD HEATER
#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))
// CORE BOARD HEATER
#define GPIO_CORE_HEATER_OUTPUT /* PE6 T15CH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
#define CORE_HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_CORE_HEATER_OUTPUT, (on_true))
@ -403,7 +405,7 @@
GPIO_CAN2_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_CAN2_SILENT_S1, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_CORE_HEATER_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \

2
boards/cuav/x7pro/init/rc.board_defaults
View File

@ -12,7 +12,7 @@ param set-default BAT2_A_PER_V 24
# Enable IMU thermal control
param set-default SENS_EN_THERMAL 1
param set-default SENS_TEMP_ID 6946850
param set-default HEATER1_IMU_ID 6946850
rgbled_pwm start
safety_button start

8
boards/cuav/x7pro/src/board_config.h
View File

@ -104,8 +104,10 @@
#define GPIO_CAN2_SILENT_S1 /* PH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN3)
/* HEATER */
#define GPIO_HEATER_OUTPUT /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
#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 /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
/* PWM */
#define DIRECT_PWM_OUTPUT_CHANNELS 14
@ -212,7 +214,7 @@
GPIO_CAN2_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_CAN2_SILENT_S1, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_CAN, \
GPIO_nPOWER_IN_ADC, \
GPIO_nPOWER_IN_C, \

2
boards/cubepilot/cubeorange/init/rc.board_defaults
View File

@ -12,6 +12,6 @@ param set-default BAT2_A_PER_V 17
# Disable IMU thermal control
param set-default SENS_EN_THERMAL 0
param set-default -s SENS_TEMP_ID 2621474
param set-default -s HEATER1_IMU_ID 2621474
set IOFW "/etc/extras/cubepilot_io-v2_default.bin"

1
boards/cubepilot/cubeorange/src/board_config.h
View File

@ -59,6 +59,7 @@
#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
#define PX4IO_HEATER_ENABLED
#define HEATER_NUM 1
/* LEDs */
#define GPIO_nLED_AMBER /* PE12 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)

4
boards/cubepilot/cubeorangeplus/init/rc.board_sensors
View File

@ -18,7 +18,7 @@ ms5611 -s -b 4 start
if icm42688p -s -b 4 -R 10 -q start -c 15
then
# We need to use the temperature of the first isolated IMU for heater control.
param set-default SENS_TEMP_ID 2490402
param set-default HEATER1_IMU_ID 2490402
if ! icm20948 -s -b 4 -R 10 -M -q start
then
@ -28,7 +28,7 @@ else
icm45686 -s -b 4 -R 10 start -c 15
icm45686 -s -b 4 -R 6 start -c 13
param set-default SENS_TEMP_ID 3407906
param set-default HEATER1_IMU_ID 3407906
fi
# SPI1, body-fixed

1
boards/cubepilot/cubeorangeplus/src/board_config.h
View File

@ -69,6 +69,7 @@
#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
#define PX4IO_HEATER_ENABLED
#define HEATER_NUM 1
/* LEDs */
#define GPIO_nLED_AMBER /* PE12 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)

6
boards/cubepilot/io-v2/src/board_config.h
View File

@ -80,8 +80,10 @@
/* 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_HEATER_OUTPUT
#define HEATER_NUM 1
#define GPIO_HEATER1_OUTPUT /* PB14 */ (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
#define HEATER1_OUTPUT_EN(on_true) stm32_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
#define GPIO_USART1_RX_SPEKTRUM (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)

4
boards/cubepilot/io-v2/src/init.c
View File

@ -86,7 +86,7 @@ __EXPORT void stm32_boardinitialize(void)
{
/* configure GPIOs */
stm32_configgpio(GPIO_HEATER_OUTPUT);
stm32_configgpio(GPIO_HEATER1_OUTPUT);
/* LEDS - default to off */
stm32_configgpio(GPIO_LED_AMBER);
@ -141,5 +141,5 @@ __EXPORT void stm32_boardinitialize(void)
stm32_configgpio(GPIO_PWM8);
/* disable heater */
HEATER_OUTPUT_EN(false);
HEATER1_OUTPUT_EN(false);
}

8
boards/holybro/durandal-v1/src/board_config.h
View File

@ -170,8 +170,10 @@
/* 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))
/* PWM
*/
@ -299,7 +301,7 @@
GPIO_CAN2_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_CAN2_SILENT_S1, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \

8
boards/holybro/pix32v5/src/board_config.h
View File

@ -204,8 +204,10 @@
/* 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
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
@ -409,7 +411,7 @@
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, \

2
boards/narinfc/h7/init/rc.board_defaults
View File

@ -12,7 +12,7 @@ param set-default BAT2_A_PER_V 24
# Enable IMU thermal control
param set-default SENS_EN_THERMAL 1
param set-default SENS_TEMP_ID 6946850
param set-default HEATER1_IMU_ID 6946850
rgbled_pwm start
safety_button start

8
boards/narinfc/h7/src/board_config.h
View File

@ -104,8 +104,10 @@
#define GPIO_CAN2_SILENT_S1 /* PH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN3)
/* HEATER */
#define GPIO_HEATER_OUTPUT /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
#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 /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
/* PWM */
#define DIRECT_PWM_OUTPUT_CHANNELS 14
@ -212,7 +214,7 @@
GPIO_CAN2_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_CAN2_SILENT_S1, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_CAN, \
GPIO_nPOWER_IN_ADC, \
GPIO_nPOWER_IN_C, \

1
boards/px4/fmu-v3/src/board_config.h
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

6
boards/px4/fmu-v4/src/board_config.h
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 */

4
boards/px4/fmu-v4/src/init.c
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);

8
boards/px4/fmu-v5/src/board_config.h
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, \

8
boards/px4/fmu-v5x/src/board_config.h
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, \

8
boards/px4/fmu-v6c/src/board_config.h
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, \

8
boards/px4/fmu-v6u/src/board_config.h
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, \

8
boards/px4/fmu-v6x/src/board_config.h
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, \

10
boards/px4/fmu-v6xrt/src/board_config.h
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, \

6
boards/px4/io-v2/src/board_config.h
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)

4
boards/px4/io-v2/src/init.c
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);
}

8
boards/siyi/n7/src/board_config.h
View File

@ -139,8 +139,10 @@
/* 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))
/* PWM
*/
@ -245,7 +247,7 @@
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_VDD_5V_PERIPH_nEN, \

2
boards/sky-drones/smartap-airlink/init/rc.board_defaults
View File

@ -10,7 +10,7 @@ param set-default SER_TEL2_BAUD 921600 # 921600
# Temperature stabilization
param set-default SENS_EN_THERMAL 1 # Enable heater
param set-default SENS_TEMP_ID 2359314 # Heated IMU ID
param set-default HEATER1_IMU_ID 2359314 # Heated IMU ID
# Battery scaling
param set-default BAT1_N_CELLS 4

8
boards/sky-drones/smartap-airlink/src/board_config.h
View File

@ -178,8 +178,10 @@
/* 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.
@ -335,7 +337,7 @@
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_HEATER1_OUTPUT, \
GPIO_VDD_3V5_LTE_nEN, \
GPIO_VDD_3V5_LTE_nOC, \
GPIO_VDD_5V_HIPOWER_nEN, \

4
boards/sky-drones/smartap-airlink/src/init.cpp
View File

@ -253,8 +253,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
}
// Power down the heater
px4_arch_configgpio(GPIO_HEATER_OUTPUT);
px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 1);
px4_arch_configgpio(GPIO_HEATER1_OUTPUT);
px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, 1);
#ifdef CONFIG_MMCSD
int ret = stm32_sdio_initialize();

8
boards/svehicle/e2/src/board_config.h
View File

@ -219,8 +219,10 @@
/* 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.
@ -410,7 +412,7 @@
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, \

6
boards/uvify/core/src/board_config.h
View File

@ -139,8 +139,10 @@
/* Heater pins (reserved) */
#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 */

4
boards/uvify/core/src/init.c
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);

4
boards/xc-fly/xc-slam/src/board_config.h
View File

@ -115,8 +115,8 @@
// /* HEATER PA15 TIM2_CH1
// * PWM in future
// */
// #define GPIO_HEATER_OUTPUT /* PA15 T2CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
// #define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
// #define GPIO_HEATER1_OUTPUT /* PA15 T2CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
// #define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))

4
boards/xc-fly/xc-slim/src/board_config.h
View File

@ -115,8 +115,8 @@
// /* HEATER PA15 TIM2_CH1
// * PWM in future
// */
// #define GPIO_HEATER_OUTPUT /* PA15 T2CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
// #define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
// #define GPIO_HEATER1_OUTPUT /* PA15 T2CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
// #define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))

8
boards/zeroone/x6/src/board_config.h
View File

@ -226,8 +226,10 @@
/* 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.
@ -442,7 +444,7 @@
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, \

4
src/drivers/heater/CMakeLists.txt
View File

@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2016 PX4 Development Team. All rights reserved.
# Copyright (c) 2015-2026 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
@ -36,4 +36,6 @@ px4_add_module(
COMPILE_FLAGS
SRCS
heater.cpp
MODULE_CONFIG
module.yaml
)

499
src/drivers/heater/heater.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2018-20 PX4 Development Team. All rights reserved.
* Copyright (c) 2018-2026 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
@ -48,47 +48,81 @@
#include <drivers/drv_hrt.h>
#include <drivers/drv_io_heater.h>
ModuleBase::Descriptor Heater::desc{task_spawn, custom_command, print_usage};
#if defined(BOARD_USES_PX4IO_VERSION) and defined(PX4IO_HEATER_ENABLED)
// Heater on some boards is on IO MCU
// Use ioctl calls to IO driver to turn heater on/off
// TODO: Multi-instance heater for PX4IO to be implemented
# 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
# if !(HEATER_NUM >=1 && HEATER_NUM <=3)
# error "HEATER_NUM must be defined 1, 2, or 3 in the board_config.h"
# endif
# if HEATER_NUM >= 1
# ifndef GPIO_HEATER1_OUTPUT
# error "The board_config.h must define every heater's GPIO"
# endif
# endif
# if HEATER_NUM >= 2
# ifndef GPIO_HEATER2_OUTPUT
# error "The board_config.h must define every heater's GPIO"
# endif
# endif
# if HEATER_NUM == 3
# ifndef GPIO_HEATER3_OUTPUT
# error "The board_config.h must define every heater's GPIO"
# endif
# endif
# define HEATER_GPIO
#endif
Heater::Heater() :
Heater *Heater::g_heater[HEATER_MAX_INSTANCES] {}; //! 0-based
Heater::Heater(uint8_t instance) :
ScheduledWorkItem(heater_instance_name(instance), px4::wq_configurations::lp_default),
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
_instance(instance)
{
_heater_status_pub.advertise();
initialize_heater_io();
char name[32];
// Dynamically locate the parameter handle corresponding to the current instance
snprintf(name, sizeof(name), "HEATER%u_IMU_ID", (unsigned)_instance);
_param_handles.imu_id = param_find(name); //
snprintf(name, sizeof(name), "HEATER%u_TEMP", (unsigned)_instance);
_param_handles.temp = param_find(name); //
snprintf(name, sizeof(name), "HEATER%u_TEMP_P", (unsigned)_instance);
_param_handles.temp_p = param_find(name); //
snprintf(name, sizeof(name), "HEATER%u_TEMP_I", (unsigned)_instance);
_param_handles.temp_i = param_find(name); //
snprintf(name, sizeof(name), "HEATER%u_TEMP_FF", (unsigned)_instance);
_param_handles.temp_ff = param_find(name); //
_heater_status_pub.advertise(); //
// Initialization parameter values
update_params(true);
}
Heater::~Heater()
{
disable_heater();
}
int Heater::custom_command(int argc, char *argv[])
{
// Check if the driver is running.
if (!is_running(desc)) {
PX4_INFO("not running");
return PX4_ERROR;
}
return print_usage("Unrecognized command.");
ScheduleClear();
}
void Heater::disable_heater()
{
// Reset heater to off state.
#ifdef HEATER_PX4IO
// TODO: Multi-instance heater for PX4IO to be implemented
if (_io_fd >= 0) {
px4_ioctl(_io_fd, PX4IO_HEATER_CONTROL, HEATER_MODE_DISABLED);
}
@ -96,7 +130,30 @@ void Heater::disable_heater()
#endif
#ifdef HEATER_GPIO
px4_arch_configgpio(GPIO_HEATER_OUTPUT);
switch (_instance) {
case 1 :
#ifdef GPIO_HEATER1_OUTPUT
px4_arch_configgpio(GPIO_HEATER1_OUTPUT);
#endif
break;
case 2 :
#ifdef GPIO_HEATER2_OUTPUT
px4_arch_configgpio(GPIO_HEATER2_OUTPUT);
#endif
break;
case 3 :
#ifdef GPIO_HEATER3_OUTPUT
px4_arch_configgpio(GPIO_HEATER3_OUTPUT);
#endif
break;
default:
break;
}
#endif
}
@ -104,6 +161,7 @@ void Heater::initialize_heater_io()
{
// Initialize heater to off state.
#ifdef HEATER_PX4IO
// TODO: Multi-instance heater for PX4IO to be implemented
if (_io_fd < 0) {
_io_fd = px4_open(IO_HEATER_DEVICE_PATH, O_RDWR);
}
@ -115,7 +173,30 @@ void Heater::initialize_heater_io()
#endif
#ifdef HEATER_GPIO
px4_arch_configgpio(GPIO_HEATER_OUTPUT);
switch (_instance) {
case 1 :
#ifdef GPIO_HEATER1_OUTPUT
px4_arch_configgpio(GPIO_HEATER1_OUTPUT);
#endif
break;
case 2 :
#ifdef GPIO_HEATER2_OUTPUT
px4_arch_configgpio(GPIO_HEATER2_OUTPUT);
#endif
break;
case 3 :
#ifdef GPIO_HEATER3_OUTPUT
px4_arch_configgpio(GPIO_HEATER3_OUTPUT);
#endif
break;
default:
break;
}
#endif
}
@ -123,6 +204,7 @@ void Heater::heater_off()
{
#ifdef HEATER_PX4IO
// TODO: Multi-instance heater for PX4IO to be implemented
if (_io_fd >= 0) {
px4_ioctl(_io_fd, PX4IO_HEATER_CONTROL, HEATER_MODE_OFF);
}
@ -130,7 +212,33 @@ void Heater::heater_off()
#endif
#ifdef HEATER_GPIO
HEATER_OUTPUT_EN(false);
switch (_instance) {
case 1 :
#ifdef GPIO_HEATER1_OUTPUT
HEATER1_OUTPUT_EN(false);
// px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, false);
#endif
break;
case 2 :
#ifdef GPIO_HEATER2_OUTPUT
HEATER2_OUTPUT_EN(false);
// px4_arch_gpiowrite(GPIO_HEATER2_OUTPUT, false);
#endif
break;
case 3 :
#ifdef GPIO_HEATER3_OUTPUT
HEATER3_OUTPUT_EN(false);
// px4_arch_gpiowrite(GPIO_HEATER3_OUTPUT, false);
#endif
break;
default:
break;
}
#endif
}
@ -138,6 +246,7 @@ void Heater::heater_on()
{
#ifdef HEATER_PX4IO
// TODO: Multi-instance heater for PX4IO to be implemented
if (_io_fd >= 0) {
px4_ioctl(_io_fd, PX4IO_HEATER_CONTROL, HEATER_MODE_ON);
}
@ -145,35 +254,106 @@ void Heater::heater_on()
#endif
#ifdef HEATER_GPIO
HEATER_OUTPUT_EN(true);
switch (_instance) {
case 1 :
# ifdef GPIO_HEATER1_OUTPUT
HEATER1_OUTPUT_EN(true);
// px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, true);
# endif
break;
case 2 :
# ifdef GPIO_HEATER2_OUTPUT
HEATER2_OUTPUT_EN(true);
// px4_arch_gpiowrite(GPIO_HEATER2_OUTPUT, true);
# endif
break;
case 3 :
# ifdef GPIO_HEATER3_OUTPUT
HEATER3_OUTPUT_EN(true);
// px4_arch_gpiowrite(GPIO_HEATER3_OUTPUT, true);
# endif
break;
default:
break;
}
#endif
}
bool Heater::initialize_topics()
{
for (uint8_t i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
uORB::SubscriptionData<sensor_accel_s> sensor_accel_sub{ORB_ID(sensor_accel), i};
// Force a single read of the parameters to ensure _params.imu_id is already up to date.
update_params(true);
if (sensor_accel_sub.get().timestamp != 0 &&
sensor_accel_sub.get().device_id != 0 &&
PX4_ISFINITE(sensor_accel_sub.get().temperature)) {
if (!_heater_initialized) {
PX4_ERR("heater %u: params not initialized", (unsigned)_instance);
return false;
}
// If the correct ID is found, exit the for-loop with _sensor_accel_sub pointing to the correct instance.
if (sensor_accel_sub.get().device_id == (uint32_t)_param_sens_temp_id.get()) {
_sensor_accel_sub.ChangeInstance(i);
_sensor_device_id = sensor_accel_sub.get().device_id;
initialize_heater_io();
return true;
}
const int32_t target = _params.imu_id;
// Scan multiple instances of accel, matching device_id or auto-select
int8_t selected_instance = -1;
sensor_accel_s accel{};
for (uint8_t i = 0; i < HEATER_MAX_INSTANCES; i++) {
uORB::Subscription s{ORB_ID(sensor_accel), i};
if (!s.advertised()) {
continue;
}
sensor_accel_s a{};
if (!s.copy(&a)) {
continue;
}
if (target == 0) {
// Select the first available option
selected_instance = i;
accel = a;
break;
}
if ((uint32_t)target == a.device_id) {
selected_instance = i;
accel = a;
break;
}
}
return false;
if (selected_instance < 0) {
if (target == 0) {
PX4_ERR("heater %u: no sensor_accel instances available", (unsigned)_instance);
} else {
PX4_ERR("heater %u: no accel matches device_id=%ld", (unsigned)_instance, (long)target);
}
return false;
}
_sensor_device_id = accel.device_id;
// Switch subscription to this instance
_sensor_accel_sub.ChangeInstance(selected_instance);
PX4_INFO("heater %u bound accel instance %d (device_id=%lu)",
(unsigned)_instance, selected_instance, (unsigned long)_sensor_device_id);
return true;
}
void Heater::Run()
{
if (should_exit()) {
if (_should_exit) {
#if defined(HEATER_PX4IO)
// must be closed from wq thread
@ -182,7 +362,13 @@ void Heater::Run()
}
#endif
exit_and_cleanup(desc);
ScheduleClear();
// Ensure heating is turned off (avoid leaving it in the ON position).
heater_off();
delete Heater::g_heater[_instance - 1];
Heater::g_heater[_instance - 1] = nullptr;
return;
}
@ -209,16 +395,16 @@ void Heater::Run()
// Update the current IMU sensor temperature if valid.
if (PX4_ISFINITE(sensor_accel.temperature)) {
temperature_delta = _param_sens_imu_temp.get() - sensor_accel.temperature;
temperature_delta = _params.temp - sensor_accel.temperature;
_temperature_last = sensor_accel.temperature;
}
_proportional_value = temperature_delta * _param_sens_imu_temp_p.get();
_integrator_value += temperature_delta * _param_sens_imu_temp_i.get();
_proportional_value = temperature_delta * _params.temp_p;
_integrator_value += temperature_delta * _params.temp_i;
_integrator_value = math::constrain(_integrator_value, -0.25f, 0.25f);
_controller_time_on_usec = static_cast<int>((_param_sens_imu_temp_ff.get() + _proportional_value +
_controller_time_on_usec = static_cast<int>((_params.temp_ff + _proportional_value +
_integrator_value) * static_cast<float>(CONTROLLER_PERIOD_DEFAULT));
_controller_time_on_usec = math::constrain(_controller_time_on_usec, 0, CONTROLLER_PERIOD_DEFAULT);
@ -231,16 +417,9 @@ void Heater::Run()
_temperature_target_met = false;
}
if (_controller_time_on_usec > 0) {
// Turn the heater on.
_heater_on = true;
heater_on();
ScheduleDelayed(_controller_time_on_usec);
} else {
// Turn the heater off.
ScheduleDelayed(CONTROLLER_PERIOD_DEFAULT);
}
_heater_on = true;
heater_on();
ScheduleDelayed(_controller_time_on_usec);
}
publish_status();
@ -252,13 +431,13 @@ void Heater::publish_status()
status.device_id = _sensor_device_id;
status.heater_on = _heater_on;
status.temperature_sensor = _temperature_last;
status.temperature_target = _param_sens_imu_temp.get();
status.temperature_target = _params.temp;
status.temperature_target_met = _temperature_target_met;
status.controller_period_usec = CONTROLLER_PERIOD_DEFAULT;
status.controller_time_on_usec = _controller_time_on_usec;
status.proportional_value = _proportional_value;
status.integrator_value = _integrator_value;
status.feed_forward_value = _param_sens_imu_temp_ff.get();
status.feed_forward_value = _params.temp_ff;
#ifdef HEATER_PX4IO
status.mode = heater_status_s::MODE_PX4IO;
@ -273,32 +452,135 @@ void Heater::publish_status()
int Heater::start()
{
// Exit the driver if the sensor ID does not match the desired sensor.
if (_param_sens_temp_id.get() == 0) {
PX4_ERR("Valid SENS_TEMP_ID required");
request_stop();
return PX4_ERROR;
update_params(true);
const int32_t target = _params.imu_id;
// Disabled instance
if (target < 0) {
PX4_INFO("heater %u disabled (HEATER%u_IMU_ID=%ld)",
(unsigned)_instance, (unsigned)_instance, (long)target);
return PX4_OK;
}
// Auto-select only allowed for legacy single-heater setups
if ((target == 0) && (HEATER_NUM > 1)) {
PX4_INFO("heater %u disabled (HEATER%u_IMU_ID=0 not allowed when HEATER_NUM>1)",
(unsigned)_instance, (unsigned)_instance);
return PX4_OK;
}
update_params(true);
ScheduleNow();
return PX4_OK;
}
int Heater::task_spawn(int argc, char *argv[])
void Heater::stop()
{
Heater *heater = new Heater();
_should_exit = true;
heater_off();
ScheduleNow();
}
if (!heater) {
PX4_ERR("driver allocation failed");
int Heater::status(uint8_t instance)
{
if (instance > 0 && instance <= HEATER_MAX_INSTANCES) {
if (Heater::is_running_instance(instance)) {
PX4_INFO("instance %u: running", (unsigned)instance);
PX4_INFO("instance %u: IMU ID is %lu", (unsigned)instance, Heater::g_heater[instance - 1]->_sensor_device_id);
PX4_INFO("instance %u: IMU Temperature is %f", (unsigned)instance, (double)Heater::g_heater[instance - 1]->_temperature_last);
PX4_INFO("instance %u: Set Temperature is %f", (unsigned)instance, (double)Heater::g_heater[instance - 1]->_params.temp);
}
} else {
for (instance = 1; instance <= HEATER_MAX_INSTANCES; instance++) {
if (Heater::is_running_instance(instance)) {
PX4_INFO("instance %u: running", (unsigned)instance);
PX4_INFO("instance %u: IMU ID is %lu", (unsigned)instance, Heater::g_heater[instance - 1]->_sensor_device_id);
PX4_INFO("instance %u: IMU Temperature is %f", (unsigned)instance, (double)Heater::g_heater[instance - 1]->_temperature_last);
PX4_INFO("instance %u: Set Temperature is %f", (unsigned)instance, (double)Heater::g_heater[instance - 1]->_params.temp);
}
}
}
return PX4_OK;
}
const char *Heater::heater_instance_name(uint8_t inst)
{
switch (inst) {
case 1: return "heater_1";
case 2: return "heater_2";
case 3: return "heater_3";
default: return "heater";
}
}
int Heater::stop_all()
{
for (uint8_t i = 0; i < HEATER_MAX_INSTANCES; i++) {
if (Heater::g_heater[i]) {
Heater::g_heater[i]->stop();
}
}
PX4_INFO("All heater stoped");
return PX4_OK;
}
bool Heater::is_running_instance(uint8_t instance)
{
if (instance < 1 || instance > HEATER_MAX_INSTANCES) {
return false;
}
return Heater::g_heater[instance - 1] != nullptr;
}
bool Heater::is_running_any()
{
for (uint8_t i = 0; i < HEATER_MAX_INSTANCES; i++) {
if (Heater::g_heater[i] != nullptr) { return true; }
}
return false;
}
int Heater::start_instance(uint8_t instance)
{
if (instance < 1 || instance > HEATER_NUM) {
PX4_ERR("invalid instance %u", (unsigned)instance);
return PX4_ERROR;
}
desc.object.store(heater);
desc.task_id = task_id_is_work_queue;
if (Heater::is_running_instance(instance)) {
PX4_WARN("heater %u already running", (unsigned)instance);
return PX4_OK;
}
heater->start();
return 0;
Heater *h = new Heater(instance);
if (!h) {
PX4_ERR("alloc failed");
return PX4_ERROR;
}
int ret = h->start();
if (ret != PX4_OK) {
h->stop();
delete h;
return ret;
}
Heater::g_heater[instance - 1] = h;
return PX4_OK;
}
void Heater::update_params(const bool force)
@ -309,10 +591,31 @@ void Heater::update_params(const bool force)
_parameter_update_sub.copy(&param_update);
// update parameters from storage
ModuleParams::updateParams();
if (_param_handles.imu_id != PARAM_INVALID) {
param_get(_param_handles.imu_id, &_params.imu_id);
}
if (_param_handles.temp != PARAM_INVALID) {
param_get(_param_handles.temp, &_params.temp);
}
if (_param_handles.temp_p != PARAM_INVALID) {
param_get(_param_handles.temp_p, &_params.temp_p);
}
if (_param_handles.temp_i != PARAM_INVALID) {
param_get(_param_handles.temp_i, &_params.temp_i);
}
if (_param_handles.temp_ff != PARAM_INVALID) {
param_get(_param_handles.temp_ff, &_params.temp_ff);
}
_heater_initialized = true;
}
}
int Heater::print_usage(const char *reason)
{
if (reason) {
@ -322,7 +625,7 @@ int Heater::print_usage(const char *reason)
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Background process running periodically on the LP work queue to regulate IMU temperature at a setpoint.
Background process running periodically on the INS{i} queue to regulate IMU temperature at a setpoint.
This task can be started at boot from the startup scripts by setting SENS_EN_THERMAL or via CLI.
)DESCR_STR");
@ -334,7 +637,65 @@ This task can be started at boot from the startup scripts by setting SENS_EN_THE
return 0;
}
extern "C" __EXPORT int heater_main(int argc, char *argv[])
{
return ModuleBase::main(Heater::desc, argc, argv);
if (argc < 2) {
PX4_INFO("usage: heater {start|stop|status} [-i N]");
return PX4_ERROR;
}
int ch;
int myoptind = 2;
const char *myoptarg = nullptr;
int instance = -1;
while ((ch = px4_getopt(argc, argv, "i:", &myoptind, &myoptarg)) != EOF) {
if (ch == 'i') {
instance = (int)strtol(myoptarg, nullptr, 10);
}
}
if (!strcmp(argv[1], "start")) {
// Compatibility: Without parameters, only the first one is applied by default.
if (instance > 0) {
return Heater::start_instance((uint8_t)instance);
} else {
PX4_INFO("Heater numbers start from 1, trying to start all Heaters");
for(uint8_t i = 0; i < HEATER_NUM; i++){
Heater::start_instance(i + 1);
}
return PX4_OK;
}
}
if (!strcmp(argv[1], "stop")) {
// Compatibility: Without parameters, only the first one is applied by default.
if (instance > 0 && instance <= HEATER_MAX_INSTANCES) {
if (Heater::g_heater[instance - 1]) {
Heater::g_heater[instance - 1]->stop();
return PX4_OK;
}
return PX4_ERROR;
} else {
return Heater::stop_all();
}
}
if (!strcmp(argv[1], "status")) {
if (!Heater::is_running_any()) {
PX4_INFO("not running");
return PX4_OK;
}
Heater::status(instance);
return PX4_OK;
}
PX4_INFO("unknown command");
return PX4_ERROR;
}

75
src/drivers/heater/heater.h
View File

@ -48,10 +48,12 @@
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/heater_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_accel.h>
#include <parameters/param.h>
#include <mathlib/mathlib.h>
@ -59,25 +61,26 @@ using namespace time_literals;
#define CONTROLLER_PERIOD_DEFAULT 10000
#define TEMPERATURE_TARGET_THRESHOLD 2.5f
#define HEATER_MAX_INSTANCES 3 // If changed, also need to change `max_num_config_instances` in module.yaml
#if HEATER_NUM > HEATER_MAX_INSTANCES
#error "HEATER_NUM must less than HEATER_MAX_INSTANCES"
#endif
class Heater : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
class Heater : px4::ScheduledWorkItem, public ModuleParams
{
public:
static Descriptor desc;
Heater();
Heater(uint8_t instance);
virtual ~Heater();
/**
* @see ModuleBase::custom_command().
* @brief main Main entry point to the module that should be
* called directly from the module's main method.
* @param argc The input argument count.
* @param argv Pointer to the input argument array.
* @return Returns 0 iff successful, -1 otherwise.
* @brief Initiates the heater driver work queue, starts a new background task,
* and fails if it is already running.
* @return Returns 1 iff start was successful.
*/
static int custom_command(int argc, char *argv[]);
int start();
void stop();
/**
* @see ModuleBase::print_usage().
@ -86,21 +89,15 @@ public:
*/
static int print_usage(const char *reason = nullptr);
/**
* @see ModuleBase::task_spawn().
* @brief Initializes the class in the same context as the work queue
* and starts the background listener.
* @param argv Pointer to the input argument array.
* @return Returns 0 iff successful, -1 otherwise.
*/
static int task_spawn(int argc, char *argv[]);
static bool is_running_instance(uint8_t instance);
static bool is_running_any();
/**
* @brief Initiates the heater driver work queue, starts a new background task,
* and fails if it is already running.
* @return Returns 1 iff start was successful.
*/
int start();
static int start_instance(uint8_t instance);
static int stop_all();
static int status(uint8_t instance);
static const char *heater_instance_name(uint8_t inst);
static Heater *g_heater[HEATER_MAX_INSTANCES];
private:
@ -149,7 +146,7 @@ private:
float _integrator_value = 0.0f;
float _proportional_value = 0.0f;
uORB::Publication<heater_status_s> _heater_status_pub{ORB_ID(heater_status)};
uORB::PublicationMulti<heater_status_s> _heater_status_pub{ORB_ID(heater_status)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
@ -159,11 +156,23 @@ private:
float _temperature_last{NAN};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::SENS_IMU_TEMP_FF>) _param_sens_imu_temp_ff,
(ParamFloat<px4::params::SENS_IMU_TEMP_I>) _param_sens_imu_temp_i,
(ParamFloat<px4::params::SENS_IMU_TEMP_P>) _param_sens_imu_temp_p,
(ParamFloat<px4::params::SENS_IMU_TEMP>) _param_sens_imu_temp,
(ParamInt<px4::params::SENS_TEMP_ID>) _param_sens_temp_id
)
const uint8_t _instance; //! 1-based
volatile bool _should_exit{false};
struct {
param_t imu_id;
param_t temp;
param_t temp_p;
param_t temp_i;
param_t temp_ff;
} _param_handles;
struct {
int32_t imu_id; // HEATER<i>_IMU_ID: <0 disable, 0 auto, >0 match device_id
float temp; // target temperature
float temp_p;
float temp_i;
float temp_ff;
} _params;
};

97
src/drivers/heater/heater_params.c
View File

@ -1,97 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2018-19 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file heater_params.c
* Heater parameters.
*
* @author Mark Sauder <mcsauder@gmail.com>
* @author Alex Klimaj <alexklimaj@gmail.com>
* @author Jake Dahl <dahl.jakejacob@gmail.com>
*/
/**
* Target IMU device ID to regulate temperature.
*
* @category system
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_TEMP_ID, 0);
/**
* Target IMU temperature.
*
* @category system
* @group Sensors
* @unit celcius
* @min 0
* @max 85.0
* @decimal 3
*/
PARAM_DEFINE_FLOAT(SENS_IMU_TEMP, 55.0f);
/**
* IMU heater controller feedforward value.
*
* @category system
* @group Sensors
* @unit %
* @min 0
* @max 1.0
* @decimal 3
*/
PARAM_DEFINE_FLOAT(SENS_IMU_TEMP_FF, 0.05f);
/**
* IMU heater controller integrator gain value.
*
* @category system
* @group Sensors
* @unit us/C
* @min 0
* @max 1.0
* @decimal 3
*/
PARAM_DEFINE_FLOAT(SENS_IMU_TEMP_I, 0.025f);
/**
* IMU heater controller proportional gain value.
*
* @category system
* @group Sensors
* @unit us/C
* @min 0
* @max 2.0
* @decimal 3
*/
PARAM_DEFINE_FLOAT(SENS_IMU_TEMP_P, 1.0f);

90
src/drivers/heater/module.yaml Normal file
View File

@ -0,0 +1,90 @@
__max_num_config_instances: &max_num_config_instances 3
module_name: heater
parameters:
- group: Sensors
definitions:
HEATER${i}_IMU_ID:
description:
short: The ID of the IMU controlled by heater ${i}
long: |
Specifies the sensor device ID (DEVID) that this heater instance controls.
-1 disables this heater instance.
If set to 0, auto-select is only supported when HEATER_NUM == 1. On boards with multiple heater outputs,
a valid DEVID must be configured for each heater to ensure a 1:1 mapping between heater output and IMU.
type: int32
reboot_required: true
num_instances: *max_num_config_instances
instance_start: 1
default: [0, 0, 0]
HEATER${i}_TEMP:
description:
short: Target temperature for heater ${i}
long: |
Specify the target stable temperature (in degrees Celsius) for the IMU.
It is generally recommended to set this between 40°C and 60°C,
which must be higher than the maximum ambient temperature.
type: float
decimal: 3
reboot_required: true
num_instances: *max_num_config_instances
instance_start: 1
unit: celcius
min: 0
max: 85.0
default: [55.0, 55.0, 55.0]
HEATER${i}_TEMP_FF:
description:
short: IMU heater controller ${i} feedforward value
long: |
Used to predict the baseline power consumption required to maintain temperature,
helping to reduce adjustment time.
type: float
unit: '%'
min: 0
max: 1.0
decimal: 3
reboot_required: false
num_instances: *max_num_config_instances
instance_start: 1
default: [0.05, 0.05, 0.05]
HEATER${i}_TEMP_I:
description:
short: IMU heater controller ${i} integrator gain value
long: |
Integral gain is used to eliminate steady-state error,
ensuring that the temperature ultimately reaches the setpoint target.
type: float
unit: us/C
min: 0
max: 1.0
decimal: 3
reboot_required: false
num_instances: *max_num_config_instances
instance_start: 1
default: [0.025, 0.025, 0.025]
HEATER${i}_TEMP_P:
description:
short: IMU heater controller ${i} proportional gain value
long: |
The proportional gain determines how quickly the controller responds to temperature deviations.
type: float
unit: us/C
min: 0
max: 2.0
decimal: 3
reboot_required: false
num_instances: *max_num_config_instances
instance_start: 1
default: [1.0, 1.0, 1.0]

2
src/modules/logger/logged_topics.cpp
View File

@ -79,7 +79,7 @@ void LoggedTopics::add_default_topics()
add_topic("gps_dump");
add_optional_topic("gimbal_controls", 200);
add_optional_topic("gripper");
add_optional_topic("heater_status");
add_optional_topic_multi("heater_status");
add_topic("home_position");
add_topic("hover_thrust_estimate", 100);
add_topic("input_rc", 500);

7
src/modules/px4iofirmware/px4io.cpp
View File

@ -391,16 +391,17 @@ extern "C" __EXPORT int user_start(int argc, char *argv[])
heartbeat_blink();
}
#if defined(HEATER_OUTPUT_EN)
#if defined(HEATER1_OUTPUT_EN)
// TODO: Multi-instance heater for PX4IO to be implemented
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);
HEATER1_OUTPUT_EN(false);
} else {
/* switch resistive heater hard on */
HEATER_OUTPUT_EN(true);
HEATER1_OUTPUT_EN(true);
}
}