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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>
44 lines
1.1 KiB
Bash
44 lines
1.1 KiB
Bash
#!/bin/sh
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#
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# Board specific sensors init
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#------------------------------------------------------------------------------
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board_adc start
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# Variants
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# 1. Isolated {ICM42688p, ICM20948(with mag)}, body-fixed {ICM20649}
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# 2. Isolated {ICM42688p, ICM42688p}, body-fixed {ICM20649, ICM45686, AK09918}
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# 3. Isolated {ICM42688p, ICM42688p}, body-fixed {ICM45686, AK09918}
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# 4. Isolated {ICM45686, ICM45686}, body-fixed {ICM45686, AK09918}
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# SPI4 is isolated, SPI1 is body-fixed
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# SPI4, isolated
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ms5611 -s -b 4 start
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if icm42688p -s -b 4 -R 10 -q start -c 15
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then
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# We need to use the temperature of the first isolated IMU for heater control.
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param set-default HEATER1_IMU_ID 2490402
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if ! icm20948 -s -b 4 -R 10 -M -q start
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then
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icm42688p -s -b 4 -R 6 start -c 13
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fi
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else
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icm45686 -s -b 4 -R 10 start -c 15
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icm45686 -s -b 4 -R 6 start -c 13
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param set-default HEATER1_IMU_ID 3407906
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fi
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# SPI1, body-fixed
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if icm45686 -s -b 1 -R 3 -q start
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then
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# if we detected the ICM45686 we also ought to have an AK09918
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ak09916 start -I -R 13
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else
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icm20649 -s -b 1 start
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fi
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ms5611 -s -b 1 start
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