heater: px4io: Add support for heaters on IO MCU

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

@@ -168,6 +168,12 @@
 
 #define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
 
+/* Internal IMU Heater
+ *
+ * Connected to the IO MCU; tell compiler to enable support
+ */
+#define PX4IO_HEATER_ENABLED
+
 __BEGIN_DECLS
 
 /****************************************************************************************************

src/drivers/drv_io_heater.h

@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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 drv_io_heater.h
+ *
+ * IO IMU heater control interface (PX4IO)
+ */
+
+#ifndef _DRV_IO_HEATER_H
+#define _DRV_IO_HEATER_H
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+/*
+ * ioctl() definitions
+ */
+
+#define IO_HEATER_DEVICE_PATH	"/dev/px4io"
+
+#define _IO_HEATER_BASE		(0x2e00)
+
+#define PX4IO_HEATER_CONTROL		_PX4_IOC(_IO_HEATER_BASE, 0)
+
+/* ... to IOX_SET_VALUE + 8 */
+
+/* enum passed to IO_HEATER_CONTROL ioctl()*/
+enum IO_HEATER_MODE {
+	HEATER_MODE_OFF = 0,
+	HEATER_MODE_ON = 1,
+	HEATER_MODE_DISABLED = -1
+};
+
+#endif

src/drivers/heater/heater.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2018-19 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2018-20 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
@@ -38,6 +38,7 @@
  * @author Alex Klimaj <alexklimaj@gmail.com>
  * @author Jake Dahl <dahl.jakejacob@gmail.com>
  * @author Mohammed Kabir <mhkabir@mit.edu>
+ * @author Jacob Crabill <jacob@flyvoly.com>
  */
 
 #include "heater.h"
@@ -45,23 +46,86 @@
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/log.h>
 #include <drivers/drv_hrt.h>
-
-#ifndef GPIO_HEATER_OUTPUT
-#error "To use the heater driver, the board_config.h must define and initialize GPIO_HEATER_OUTPUT"
+#include <drivers/drv_io_heater.h>
+
+#if defined(BOARD_USES_PX4IO) and defined(PX4IO_HEATER_ENABLED)
+// Heater on some boards is on IO MCU
+// Use ioctl calls to IO driver to turn heater on/off
+#  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
+#  define HEATER_GPIO
 #endif
 
 Heater::Heater() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
 {
+#ifdef HEATER_PX4IO
+	_io_fd = px4_open(IO_HEATER_DEVICE_PATH, O_RDWR);
+
+	if (_io_fd < 0) {
+		PX4_ERR("Unable to open heater device path");
+		return;
+	}
+
+#endif
+
 	// Initialize heater to off state
-	px4_arch_configgpio(GPIO_HEATER_OUTPUT);
+	heater_enable();
 }
 
 Heater::~Heater()
 {
 	// Reset heater to off state
+	heater_disable();
+
+#ifdef HEATER_PX4IO
+	px4_close(_io_fd);
+#endif
+}
+
+void Heater::heater_enable()
+{
+#ifdef HEATER_PX4IO
+	px4_ioctl(_io_fd, PX4IO_HEATER_CONTROL, HEATER_MODE_OFF);
+#endif
+#ifdef HEATER_GPIO
 	px4_arch_configgpio(GPIO_HEATER_OUTPUT);
+#endif
+}
+
+void Heater::heater_disable()
+{
+#ifdef HEATER_PX4IO
+	px4_ioctl(_io_fd, PX4IO_HEATER_CONTROL, HEATER_MODE_DISABLED);
+#endif
+#ifdef HEATER_GPIO
+	px4_arch_configgpio(GPIO_HEATER_OUTPUT);
+#endif
+}
+
+void Heater::heater_on()
+{
+#ifdef HEATER_PX4IO
+	px4_ioctl(_io_fd, PX4IO_HEATER_CONTROL, HEATER_MODE_ON);
+#endif
+#ifdef HEATER_GPIO
+	px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 1);
+#endif
+}
+
+void Heater::heater_off()
+{
+#ifdef HEATER_PX4IO
+	px4_ioctl(_io_fd, PX4IO_HEATER_CONTROL, HEATER_MODE_OFF);
+#endif
+#ifdef HEATER_GPIO
+	px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 0);
+#endif
 }
 
 int Heater::custom_command(int argc, char *argv[])
@@ -84,7 +148,7 @@ void Heater::Run()
 
 	if (_heater_on) {
 		// Turn the heater off.
-		px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 0);
+		heater_off();
 		_heater_on = false;
 
 	} else {
@@ -115,7 +179,7 @@ void Heater::Run()
 
 		// Turn the heater on.
 		_heater_on = true;
-		px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 1);
+		heater_on();
 	}
 
 	// Schedule the next cycle.

src/drivers/heater/heater.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2018-20 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
@@ -37,6 +37,7 @@
  * @author Mark Sauder <mcsauder@gmail.com>
  * @author Alex Klimaj <alexklimaj@gmail.com>
  * @author Jake Dahl <dahl.jakejacob@gmail.com>
+ * @author Jacob Crabill <jacob@flyvoly.com>
  */
 
 #pragma once
@@ -165,9 +166,34 @@ private:
 	 */
 	void update_params(const bool force = false);
 
+	/**
+	 * @brief Enables / configures the heater (either by GPIO or PX4IO)
+	 */
+	void heater_enable();
+
+	/**
+	 * @brief Disnables the heater (either by GPIO or PX4IO)
+	 */
+	void heater_disable();
+
+	/**
+	 * @brief Turns the heater on (either by GPIO or PX4IO)
+	 */
+	void heater_on();
+
+	/**
+	 * @brief Turns the heater off (either by GPIO or PX4IO)
+	 */
+	void heater_off();
+
 	/** Work queue struct for the RTOS scheduler. */
 	static struct work_s _work;
 
+	/** File descriptor for PX4IO for heater ioctl's */
+#if defined(HEATER_PX4IO)
+	int _io_fd;
+#endif
+
 	int _controller_period_usec = CONTROLLER_PERIOD_DEFAULT;
 
 	int _controller_time_on_usec = 0;

src/drivers/px4io/px4io.cpp

@@ -65,6 +65,7 @@
 #include <drivers/drv_pwm_output.h>
 #include <drivers/drv_sbus.h>
 #include <drivers/drv_hrt.h>
+#include <drivers/drv_io_heater.h>
 #include <drivers/drv_mixer.h>
 
 #include <rc/dsm.h>
@@ -2931,6 +2932,20 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 
 		break;
 
+	case PX4IO_HEATER_CONTROL:
+		if (arg == (unsigned long)HEATER_MODE_DISABLED) {
+			io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_THERMAL, PX4IO_THERMAL_IGNORE);
+
+		} else if (arg == 1) {
+			io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_THERMAL, PX4IO_THERMAL_FULL);
+
+		} else {
+			io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_THERMAL, PX4IO_THERMAL_OFF);
+
+		}
+
+		break;
+
 	default:
 		/* see if the parent class can make any use of it */
 		ret = CDev::ioctl(filep, cmd, arg);