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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>
164 lines
5.3 KiB
C
164 lines
5.3 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 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 init.c
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*
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* PX4FMU-specific early startup code. This file implements the
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* stm32_boardinitialize() function that is called during cpu startup.
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*
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* Code here is run before the rcS script is invoked; it should start required
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* subsystems and perform board-specific initialization.
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*/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <px4_platform_common/px4_config.h>
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#include <stdbool.h>
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#include <stdio.h>
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#include <debug.h>
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#include <errno.h>
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#include <syslog.h>
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#include <nuttx/board.h>
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#include <stm32.h>
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#include "board_config.h"
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#include <arch/board/board.h>
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/****************************************************************************
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* Pre-Processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Protected Functions
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****************************************************************************/
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/************************************************************************************
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* Name: stm32_boardinitialize
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*
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* Description:
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* All STM32 architectures must provide the following entry point. This entry point
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* is called early in the initialization -- after all memory has been configured
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* and mapped but before any devices have been initialized.
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*
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************************************************************************************/
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__EXPORT void stm32_boardinitialize(void)
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{
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/* configure GPIOs */
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/* Set up for sensing HW */
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stm32_configgpio(GPIO_SENSE_PC14_DN);
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stm32_configgpio(GPIO_SENSE_PC15_UP);
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/* some boards such as Pixhawk 2.1 made
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the unfortunate choice to combine the blue led channel with
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the IMU heater. We need a software hack to fix the hardware hack
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by allowing to disable the LED / heater.
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*/
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if (SENSE_PIXHAWK2()) {
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stm32_configgpio(GPIO_HEATER1_OUTPUT);
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} else {
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stm32_configgpio(GPIO_LED_BLUE);
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}
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stm32_configgpio(GPIO_PC14);
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stm32_configgpio(GPIO_PC15);
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/* LEDS - default to off */
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stm32_configgpio(GPIO_LED_AMBER);
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stm32_configgpio(GPIO_LED_SAFETY);
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stm32_configgpio(GPIO_LED_GREEN);
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stm32_configgpio(GPIO_BTN_SAFETY);
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/* spektrum power enable is active high - enable it by default */
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stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
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stm32_configgpio(GPIO_SERVO_FAULT_DETECT);
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/* RSSI inputs */
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stm32_configgpio(GPIO_TIM_RSSI); /* xxx alternate function */
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stm32_configgpio(GPIO_ADC_RSSI);
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/* servo rail voltage */
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stm32_configgpio(GPIO_ADC_VSERVO);
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stm32_configgpio(GPIO_SBUS_INPUT); /* xxx alternate function */
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stm32_configgpio(GPIO_SBUS_OUTPUT);
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/* sbus output enable is active low - disable it by default */
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stm32_gpiowrite(GPIO_SBUS_OENABLE, true);
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stm32_configgpio(GPIO_SBUS_OENABLE);
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stm32_configgpio(GPIO_PPM); /* xxx alternate function */
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stm32_gpiowrite(GPIO_PWM1, true);
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stm32_configgpio(GPIO_PWM1);
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stm32_gpiowrite(GPIO_PWM2, true);
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stm32_configgpio(GPIO_PWM2);
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stm32_gpiowrite(GPIO_PWM3, true);
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stm32_configgpio(GPIO_PWM3);
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stm32_gpiowrite(GPIO_PWM4, true);
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stm32_configgpio(GPIO_PWM4);
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stm32_gpiowrite(GPIO_PWM5, true);
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stm32_configgpio(GPIO_PWM5);
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stm32_gpiowrite(GPIO_PWM6, true);
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stm32_configgpio(GPIO_PWM6);
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stm32_gpiowrite(GPIO_PWM7, true);
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stm32_configgpio(GPIO_PWM7);
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stm32_gpiowrite(GPIO_PWM8, true);
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stm32_configgpio(GPIO_PWM8);
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/* disable heater */
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HEATER1_OUTPUT_EN(false);
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}
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