mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 14:33:33 +08:00
963a776fa6
* 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>
168 lines
8.0 KiB
C
168 lines
8.0 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2013, 2014 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 board_config.h
|
|
*
|
|
* PX4IOV2 internal definitions
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
/******************************************************************************
|
|
* Included Files
|
|
******************************************************************************/
|
|
|
|
#include <px4_platform_common/px4_config.h>
|
|
#include <nuttx/compiler.h>
|
|
#include <stdint.h>
|
|
|
|
/******************************************************************************
|
|
* Definitions
|
|
******************************************************************************/
|
|
/* Configuration **************************************************************/
|
|
|
|
/******************************************************************************
|
|
* Serial
|
|
******************************************************************************/
|
|
#define PX4FMU_SERIAL_BASE STM32_USART2_BASE
|
|
#define PX4FMU_SERIAL_VECTOR STM32_IRQ_USART2
|
|
#define PX4FMU_SERIAL_TX_GPIO GPIO_USART2_TX
|
|
#define PX4FMU_SERIAL_RX_GPIO GPIO_USART2_RX
|
|
#define PX4FMU_SERIAL_TX_DMA DMACHAN_USART2_TX
|
|
#define PX4FMU_SERIAL_RX_DMA DMACHAN_USART2_RX
|
|
#define PX4FMU_SERIAL_CLOCK STM32_PCLK1_FREQUENCY
|
|
#define PX4FMU_SERIAL_BITRATE 1500000
|
|
|
|
/******************************************************************************
|
|
* GPIOS
|
|
******************************************************************************/
|
|
|
|
/* LEDS **********************************************************************/
|
|
|
|
#define GPIO_LED_BLUE (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14) // IO-LED_BLUE or IMU_TEMPERATURE_CONTROL on Pixhawk 2.1
|
|
#define GPIO_LED_AMBER (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15) // IO-LED_AMBER
|
|
#define GPIO_LED_SAFETY (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13) // IO-LED_SAFETY
|
|
#define GPIO_LED_GREEN (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11) // IO-LED_POWER_BREATHING
|
|
|
|
#define GPIO_PC14 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
|
|
#define GPIO_PC15 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15)
|
|
|
|
/* PixHawk 1:
|
|
* PC14 Floating
|
|
* PC15 Floating
|
|
*
|
|
* PixHawk 2:
|
|
* PC14 3.3v
|
|
* PC15 GND
|
|
*/
|
|
#define GPIO_SENSE_PC14_DN (GPIO_INPUT|GPIO_CNF_INPULLDWN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
|
|
#define GPIO_SENSE_PC15_UP (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15)
|
|
# define SENSE_PH1 0b10 /* Floating pulled as set */
|
|
# define SENSE_PH2 0b01 /* Driven as tied */
|
|
|
|
#define SENSE_PIXHAWK2() (((stm32_gpioread(GPIO_SENSE_PC15_UP) << 1 | stm32_gpioread(GPIO_SENSE_PC14_DN)) == SENSE_PH2) ? 1 : 0)
|
|
|
|
#define LED_BLUE(on_true) (SENSE_PIXHAWK2() ? (void)0 : stm32_gpiowrite(GPIO_LED_BLUE, !(on_true)))
|
|
#define LED_AMBER(on_true) stm32_gpiowrite(GPIO_LED_AMBER, !(on_true))
|
|
#define LED_SAFETY(on_true) stm32_gpiowrite(GPIO_LED_SAFETY, !(on_true))
|
|
#define LED_GREEN(on_true) stm32_gpiowrite(GPIO_LED_GREEN, (on_true))
|
|
|
|
|
|
/* HEATER */
|
|
#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)
|
|
|
|
/* Safety switch button *******************************************************/
|
|
|
|
#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5)
|
|
|
|
/* Power switch controls ******************************************************/
|
|
|
|
#define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
|
|
#define SPEKTRUM_POWER(_on_true) px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_on_true))
|
|
|
|
#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_one_true))
|
|
#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART1_RX)
|
|
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_USART1_RX_SPEKTRUM)
|
|
|
|
#define GPIO_SERVO_FAULT_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN15)
|
|
|
|
/* Analog inputs **************************************************************/
|
|
|
|
#define GPIO_ADC_VSERVO (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
|
|
|
|
/* the same rssi signal goes to both an adc and a timer input */
|
|
#define GPIO_ADC_RSSI (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
|
|
#define GPIO_TIM_RSSI (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN12)
|
|
|
|
/* PWM pins **************************************************************/
|
|
|
|
#define GPIO_PPM (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN8)
|
|
|
|
#define GPIO_PWM1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
|
|
#define GPIO_PWM2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
|
|
#define GPIO_PWM3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
|
|
#define GPIO_PWM4 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
|
|
#define GPIO_PWM5 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6)
|
|
#define GPIO_PWM6 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
|
|
#define GPIO_PWM7 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
|
|
#define GPIO_PWM8 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
|
|
|
|
#define DIRECT_PWM_OUTPUT_CHANNELS 8
|
|
#define BOARD_HAS_NO_CAPTURE
|
|
|
|
/* SBUS pins *************************************************************/
|
|
|
|
/* XXX these should be UART pins */
|
|
#define GPIO_SBUS_INPUT (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN11)
|
|
#define GPIO_SBUS_OUTPUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
|
|
#define GPIO_SBUS_OENABLE (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)
|
|
|
|
/*
|
|
* High-resolution timer
|
|
*/
|
|
#define HRT_TIMER 1 /* use timer1 for the HRT */
|
|
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
|
|
#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 PA8 */
|
|
#define GPIO_PPM_IN (GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTA|GPIO_PIN8)
|
|
|
|
#define BOARD_NUM_IO_TIMERS 3
|
|
|
|
#include <px4_platform_common/board_common.h>
|