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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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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>
206 lines
8.4 KiB
C
206 lines
8.4 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file board_config.h
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*
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* Board internal definitions
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*/
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#pragma once
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#include <px4_platform_common/px4_config.h>
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#include <nuttx/compiler.h>
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#include <stdint.h>
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#include <stm32_gpio.h>
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/**
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* If NuttX is built without support for SMPS it can brick the hardware.
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* Therefore, we make sure the NuttX headers are correct.
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*/
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#include "hardware/stm32h7x3xx_pwr.h"
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#if STM32_PWR_CR3_SMPSEXTHP != (1 << 3)
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# error "No SMPS support in NuttX submodule");
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#endif
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/* PX4IO connection configuration */
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#define BOARD_USES_PX4IO_VERSION 2
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#define PX4IO_SERIAL_DEVICE "/dev/ttyS3"
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#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX
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#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX
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#define PX4IO_SERIAL_BASE STM32_USART6_BASE
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#define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6
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#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX
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#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX
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#define PX4IO_SERIAL_RCC_REG STM32_RCC_APB2ENR
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#define PX4IO_SERIAL_RCC_EN RCC_APB2ENR_USART6EN
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#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY
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#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
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#define PX4IO_HEATER_ENABLED
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#define HEATER_NUM 1
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/* LEDs */
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#define GPIO_nLED_AMBER /* PE12 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
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#define BOARD_HAS_CONTROL_STATUS_LEDS 1
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#define BOARD_ARMED_LED LED_AMBER
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/* ADC channels */
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#define PX4_ADC_GPIO \
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/* PA2 */ GPIO_ADC12_INP14, \
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/* PA3 */ GPIO_ADC12_INP15, \
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/* PA4 */ GPIO_ADC12_INP18, \
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/* PC3 */ GPIO_ADC12_INP13, \
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/* PC4 */ GPIO_ADC12_INP4, \
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/* PC5 */ GPIO_ADC12_INP8
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/* Define Channel numbers must match above GPIO pins */
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#define ADC_BATTERY1_VOLTAGE_CHANNEL 14 /* PA2: BATT_VOLTAGE_SENS */
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#define ADC_BATTERY1_CURRENT_CHANNEL 15 /* PA3: BATT_CURRENT_SENS */
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#define ADC_SCALED_V5_CHANNEL 18 /* PA4: VDD_5V_SENS */
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#define ADC_BATTERY2_VOLTAGE_CHANNEL 13 /* PC3: FMU_AUX_POWER_ADC1 */
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#define ADC_BATTERY2_CURRENT_CHANNEL 4 /* PC4: FMU_AUX_ADC2 */
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#define ADC_AIRSPEED_VOLTAGE_CHANNEL 8 /* PC5: PRESSURE_SENS */
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#define ADC_CHANNELS \
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((1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \
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(1 << ADC_BATTERY1_CURRENT_CHANNEL) | \
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(1 << ADC_SCALED_V5_CHANNEL) | \
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(1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \
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(1 << ADC_BATTERY2_CURRENT_CHANNEL) | \
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(1 << ADC_AIRSPEED_VOLTAGE_CHANNEL))
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/* HW has to large of R termination on ADC todo:change when HW value is chosen */
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#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
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/* PWM */
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#define DIRECT_PWM_OUTPUT_CHANNELS 6
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#define GPIO_PWM_VOLT_SEL /* PB4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)
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/* Power supply control and monitoring GPIOs */
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#define BOARD_NUMBER_BRICKS 2
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#define GPIO_nVDD_BRICK1_VALID /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) // VDD_BRICK_VALID
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#define GPIO_nVDD_BRICK2_VALID /* PB7 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7) // VDD_BACKUP_VALID
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#define GPIO_nVDD_USB_VALID /* PC0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0) // VBUS_VALID
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#define GPIO_VDD_3V3_SENSORS_EN /* PE3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3) // VDD_3V3_SENSORS_EN
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#define GPIO_nVDD_5V_PERIPH_EN /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8) // VDD_5V_PERIPH_EN
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#define GPIO_nVDD_5V_PERIPH_OC /* PE15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15) // VDD_5V_PERIPH_OC
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#define GPIO_nVDD_5V_HIPOWER_OC /* PE10 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10) // VDD_5V_HIPOWER_OC
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/* Tone alarm output */
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#define TONE_ALARM_TIMER 2 /* timer 2 */
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#define TONE_ALARM_CHANNEL 1 /* PA15 TIM2_CH1 */
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#define GPIO_BUZZER_1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) // ALARM
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#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
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#define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2
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/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
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#define PWMIN_TIMER 4
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#define PWMIN_TIMER_CHANNEL /* T4C2 */ 2
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#define GPIO_PWM_IN /* PD13 */ GPIO_TIM4_CH2IN_2
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/* USB
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* OTG FS: PA9 OTG_FS_VBUS VBUS sensing
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*/
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#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
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/* High-resolution timer */
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#define HRT_TIMER 8 /* use timer8 for the HRT */
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#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */
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/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
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* this board support the ADC system_power interface, and therefore
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* provides the true logic GPIO BOARD_ADC_xxxx macros.
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*/
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#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
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#define BOARD_ADC_USB_VALID (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
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#define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
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#define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
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#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
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#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_HIPOWER_OC))
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/* This board provides a DMA pool and APIs */
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#define BOARD_DMA_ALLOC_POOL_SIZE 5120
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/* This board provides the board_on_reset interface */
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#define BOARD_HAS_ON_RESET 1
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#define BOARD_HAS_STATIC_MANIFEST 1
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#define BOARD_ENABLE_CONSOLE_BUFFER
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#define PX4_GPIO_INIT_LIST { \
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PX4_ADC_GPIO, \
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GPIO_CAN1_TX, \
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GPIO_CAN1_RX, \
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GPIO_CAN2_TX, \
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GPIO_CAN2_RX, \
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GPIO_PWM_VOLT_SEL, \
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GPIO_nVDD_BRICK1_VALID, \
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GPIO_nVDD_BRICK1_VALID, \
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GPIO_nVDD_USB_VALID, \
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GPIO_VDD_3V3_SENSORS_EN, \
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GPIO_nVDD_5V_PERIPH_EN, \
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GPIO_nVDD_5V_PERIPH_OC, \
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GPIO_nVDD_5V_HIPOWER_OC, \
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PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SCL), \
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PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SDA), \
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PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SCL), \
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PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SDA), \
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PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SCL), \
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PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SDA), \
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PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \
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PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \
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PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \
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PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3), \
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PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD),\
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GPIO_TONE_ALARM_IDLE, \
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GPIO_OTGFS_VBUS, \
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}
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__BEGIN_DECLS
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#ifndef __ASSEMBLY__
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extern void stm32_spiinitialize(void);
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extern void board_peripheral_reset(int ms);
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#include <px4_platform_common/board_common.h>
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#endif /* __ASSEMBLY__ */
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__END_DECLS
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