ADC.hpp
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/****************************************************************************
*
* Copyright (C) 2012-2020 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 adc.cpp
*
* Driver for an ADC.
*
*/
#include <stdint.h>
#include <drivers/drv_adc.h>
#include <drivers/drv_hrt.h>
#include <lib/cdev/CDev.hpp>
#include <lib/perf/perf_counter.h>
#include <px4_arch/adc.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/adc_report.h>
#include <uORB/topics/system_power.h>
using namespace time_literals;
#ifndef ADC_CHANNELS
#error "board needs to define ADC_CHANNELS to use this driver"
#endif
#define ADC_TOTAL_CHANNELS 32
class ADC : public ModuleBase<ADC>, public px4::ScheduledWorkItem
{
public:
ADC(uint32_t base_address = SYSTEM_ADC_BASE, uint32_t channels = ADC_CHANNELS);
~ADC() override;
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
int init();
int test();
private:
void Run() override;
/**
* Sample a single channel and return the measured value.
*
* @param channel The channel to sample.
* @return The sampled value, or UINT32_MAX if sampling failed.
*/
uint32_t sample(unsigned channel);
void update_adc_report(hrt_abstime now);
void update_system_power(hrt_abstime now);
void open_gpio_devices();
void close_gpio_devices();
uint8_t read_gpio_value(int fd);
static const hrt_abstime kINTERVAL{10_ms}; /**< 100Hz base rate */
perf_counter_t _sample_perf;
unsigned _channel_count{0};
const uint32_t _base_address;
px4_adc_msg_t *_samples{nullptr}; /**< sample buffer */
uORB::Publication<adc_report_s> _to_adc_report{ORB_ID(adc_report)};
uORB::Publication<system_power_s> _to_system_power{ORB_ID(system_power)};
#ifdef BOARD_GPIO_VDD_5V_COMP_VALID
int _5v_comp_valid_fd {-1};
#endif
#ifdef BOARD_GPIO_VDD_5V_CAN1_GPS1_VALID
int _5v_can1_gps1_valid_fd {-1};
#endif
bool _first_run {true};
};