heater: added support of inverted IMU heat controller output

4 years ago · e13884410b
12 changed files with 14 additions and 2 deletions
--- a/boards/cuav/nora/src/board_config.h
+++ b/boards/cuav/nora/src/board_config.h
@ -105,6 +105,7 @@
				@@ -105,6 +105,7 @@

 /* HEATER */
 #define GPIO_HEATER_OUTPUT   /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+#define HEATER_OUTPUT_EN(on_true)      px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS   14
--- a/boards/cuav/x7pro/src/board_config.h
+++ b/boards/cuav/x7pro/src/board_config.h
@ -105,6 +105,7 @@
				@@ -105,6 +105,7 @@

 /* HEATER */
 #define GPIO_HEATER_OUTPUT   /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+#define HEATER_OUTPUT_EN(on_true)      px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS   14
--- a/boards/holybro/durandal-v1/src/board_config.h
+++ b/boards/holybro/durandal-v1/src/board_config.h
@ -174,6 +174,7 @@
				@@ -174,6 +174,7 @@
 * PWM in future
 */
 #define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define HEATER_OUTPUT_EN(on_true)              px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM Capture
 *
--- a/boards/holybro/pix32v5/src/board_config.h
+++ b/boards/holybro/pix32v5/src/board_config.h
@ -209,6 +209,7 @@
				@@ -209,6 +209,7 @@
 * PWM in future
 */
 #define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define HEATER_OUTPUT_EN(on_true)              px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM Capture
 *
--- a/boards/nxp/fmurt1062-v1/src/board_config.h
+++ b/boards/nxp/fmurt1062-v1/src/board_config.h
@ -215,6 +215,7 @@
				@@ -215,6 +215,7 @@
 */
 #define HEATER_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
 #define GPIO_HEATER_OUTPUT   /* GPIO_B1_09 QTIMER2_TIMER3 GPIO2_IO25 */ (GPIO_QTIMER2_TIMER3_1 | HEATER_IOMUX)
+#define HEATER_OUTPUT_EN(on_true)	px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM Capture
 *
--- a/boards/px4/fmu-v4/src/board_config.h
+++ b/boards/px4/fmu-v4/src/board_config.h
@ -147,6 +147,7 @@
				@@ -147,6 +147,7 @@
 /* Heater pins */
 #define GPIO_HEATER_INPUT            (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN6)
 #define GPIO_HEATER_OUTPUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
+#define HEATER_OUTPUT_EN(on_true)    px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* Power switch controls */

--- a/boards/px4/fmu-v5/src/board_config.h
+++ b/boards/px4/fmu-v5/src/board_config.h
@ -209,6 +209,8 @@
				@@ -209,6 +209,8 @@
 * PWM in future
 */
 #define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define HEATER_OUTPUT_EN(on_true)              px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+

 /* PWM Capture
 *
--- a/boards/px4/fmu-v5x/src/board_config.h
+++ b/boards/px4/fmu-v5x/src/board_config.h
@ -202,6 +202,7 @@
				@@ -202,6 +202,7 @@
 * PWM in future
 */
 #define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM Capture
 *
--- a/boards/px4/fmu-v6u/src/board_config.h
+++ b/boards/px4/fmu-v6u/src/board_config.h
@ -189,6 +189,7 @@
				@@ -189,6 +189,7 @@
 * PWM in future
 */
 #define GPIO_HEATER_OUTPUT   /* PA2  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
+#define HEATER_OUTPUT_EN(on_true)	      px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM Capture
 *
--- a/boards/px4/fmu-v6x/src/board_config.h
+++ b/boards/px4/fmu-v6x/src/board_config.h
@ -227,6 +227,7 @@
				@@ -227,6 +227,7 @@
 * PWM in future
 */
 #define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* PWM Capture
 *
--- a/boards/uvify/core/src/board_config.h
+++ b/boards/uvify/core/src/board_config.h
@ -145,6 +145,7 @@
				@@ -145,6 +145,7 @@
 /* Heater pins (reserved) */
 #define GPIO_HEATER_INPUT            (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN6)
 #define GPIO_HEATER_OUTPUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
+#define HEATER_OUTPUT_EN(on_true)    px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))

 /* Power switch controls */

--- a/src/drivers/heater/heater.cpp
+++ b/src/drivers/heater/heater.cpp
@ -136,7 +136,7 @@ void Heater::heater_off()
				@@ -136,7 +136,7 @@ void Heater::heater_off()
 #endif

 #ifdef HEATER_GPIO
-	px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 0);
+	HEATER_OUTPUT_EN(false);
 #endif
 }

@ -151,7 +151,7 @@ void Heater::heater_on()
				@@ -151,7 +151,7 @@ void Heater::heater_on()
 #endif

 #ifdef HEATER_GPIO
-	px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 1);
+	HEATER_OUTPUT_EN(true);
 #endif
 }