added adc to UavcanNode and uavcan handler FC side. Added custom dsdl message for adc::Report and a uORB topic for analog voltage/current

msg/CMakeLists.txt

@@ -41,6 +41,7 @@ set(msg_files
 	adc_report.msg
 	airspeed.msg
 	airspeed_validated.msg
+	analog_voltage_current.msg
 	battery_status.msg
 	camera_capture.msg
 	camera_trigger.msg

msg/analog_voltage_current.msg

@@ -0,0 +1,4 @@
+uint64 timestamp				# time since system start (microseconds)
+
+uint16[2] voltage
+uint16[2] current

src/drivers/uavcan/CMakeLists.txt

@@ -126,14 +126,15 @@ px4_add_module(
 		actuators/hardpoint.cpp
 
 		# Sensors
-		sensors/sensor_bridge.cpp
-		sensors/differential_pressure.cpp
+		sensors/adc.cpp
+		sensors/airspeed.cpp
 		sensors/baro.cpp
 		sensors/battery.cpp
-		sensors/airspeed.cpp
+		sensors/differential_pressure.cpp
 		sensors/flow.cpp
 		sensors/gnss.cpp
 		sensors/mag.cpp
+		sensors/sensor_bridge.cpp
 
 	DEPENDS
 		px4_uavcan_dsdlc

src/drivers/uavcan/dsdl/com/volansi/equipment/adc/20201.Report.uavcan

@@ -0,0 +1,6 @@
+uint2 UNITS_RAW 	= 0
+uint2 UNITS_MV 	= 1
+uint2 UNITS_MA 	= 2
+uint2[2] unit_type
+
+int16[2] values # TODO: do we want to include all of the ADC measurements or just two for voltage/current on power port?

src/drivers/uavcan/sensors/adc.cpp

@@ -0,0 +1,84 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include <drivers/drv_hrt.h>
+#include "adc.hpp"
+
+const char *const UavcanAdcBridge::NAME = "adc";
+
+UavcanAdcBridge::UavcanAdcBridge(uavcan::INode &node) :
+	UavcanCDevSensorBridgeBase("uavcan_airspeed", "/dev/uavcan/adc", "/dev/adc", ORB_ID(analog_voltage_current)),
+	_sub_adc_data(node)
+{ }
+
+int UavcanAdcBridge::init()
+{
+	int res = device::CDev::init();
+
+	if (res < 0) {
+		return res;
+	}
+
+	res = _sub_adc_data.start(AdcCbBinder(this, &UavcanAdcBridge::adc_sub_cb));
+
+	if (res < 0) {
+		DEVICE_LOG("failed to start uavcan sub: %d", res);
+		return res;
+	}
+
+	return 0;
+}
+
+void
+UavcanAdcBridge::adc_sub_cb(const
+				 uavcan::ReceivedDataStructure<com::volansi::equipment::adc::Report> &msg)
+{
+	analog_voltage_current_s report{};
+
+	static constexpr int numIndices = 2;
+	static constexpr uint16_t mV = com::volansi::equipment::adc::Report::UNITS_MV;
+	static constexpr uint16_t mA = com::volansi::equipment::adc::Report::UNITS_MA;
+
+	for (int i = 0; i < numIndices; i++) {
+
+		// TODO: do we want to publish raw ADC values? What about temperature?
+		if (msg.unit_type[i] == mV) {
+			report.voltage[i] = msg.values[i];
+
+		} else if (msg.unit_type[i] == mA) {
+			report.current[i] = msg.values[i];
+		}
+	}
+
+	publish(msg.getSrcNodeID().get(), &report);
+}

src/drivers/uavcan/sensors/adc.hpp

@@ -0,0 +1,66 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * @author RJ Gritter <rjgritter657@gmail.com>
+ */
+
+#pragma once
+
+#include "sensor_bridge.hpp"
+#include <uORB/topics/analog_voltage_current.h>
+
+#include <com/volansi/equipment/adc/Report.hpp>
+
+class UavcanAdcBridge : public UavcanCDevSensorBridgeBase
+{
+public:
+	static const char *const NAME;
+
+	UavcanAdcBridge(uavcan::INode &node);
+
+	const char *get_name() const override { return NAME; }
+
+	int init() override;
+
+private:
+
+	void adc_sub_cb(const uavcan::ReceivedDataStructure<com::volansi::equipment::adc::Report> &msg);
+
+	typedef uavcan::MethodBinder < UavcanAdcBridge *,
+		void (UavcanAdcBridge::*)
+		(const uavcan::ReceivedDataStructure<com::volansi::equipment::adc::Report> &) >
+		AdcCbBinder;
+
+	uavcan::Subscriber<com::volansi::equipment::adc::Report, AdcCbBinder> _sub_adc_data;
+};

src/drivers/uavcan/sensors/sensor_bridge.cpp

@@ -38,6 +38,7 @@
 #include "sensor_bridge.hpp"
 #include <cassert>
 
+#include "adc.hpp"
 #include "differential_pressure.hpp"
 #include "baro.hpp"
 #include "battery.hpp"
@@ -58,6 +59,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
 	list.add(new UavcanBatteryBridge(node));
 	list.add(new UavcanAirspeedBridge(node));
 	list.add(new UavcanDifferentialPressureBridge(node));
+	list.add(new UavcanAdcBridge(node));
 }
 
 /*

src/drivers/uavcannode/UavcanNode.cpp

@@ -81,6 +81,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
 	_air_data_static_temperature_publisher(_node),
 	_raw_air_data_publisher(_node),
 	_range_sensor_measurement(_node),
+	_adc_report_publisher(_node),
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")),
 	_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")),
 	_reset_timer(_node)
@@ -330,6 +331,7 @@ void UavcanNode::Run()
 		PX4_ERR("node spin error %i", spin_res);
 	}
 
+	send_adc_measurements();
 	send_battery_info();
 	send_raw_air_data();
 	send_static_pressure();
@@ -529,6 +531,35 @@ void UavcanNode::send_gnss_fix2()
 	}
 }
 
+void UavcanNode::send_adc_measurements()
+{
+	// vehicle_gps_position -> uavcan::equipment::gnss::Fix2
+	if (_adc_report_sub.updated()) {
+		adc_report_s adc_report;
+
+		if (_adc_report_sub.copy(&adc_report)) {
+
+			// We could probably convince people an ADC uavcan data type
+			// would be useful to have in tree...
+			com::volansi::equipment::adc::Report report{};
+
+			int32_t adc1_units = 0;
+			int32_t adc2_units = 0;
+			(void)param_get(param_find("ADC1_UNIT_TYPE"), &adc1_units);
+			(void)param_get(param_find("ADC2_UNIT_TYPE"), &adc2_units);
+
+			report.unit_type[0] = (unsigned)adc1_units;
+			report.unit_type[1] = (unsigned)adc2_units;
+
+			// Always indices 0 and 1?
+			report.values[0] = adc_report.raw_data[0];
+			report.values[1] = adc_report.raw_data[1];
+
+			_adc_report_publisher.broadcast(report);
+		}
+	}
+}
+
 void UavcanNode::print_info()
 {
 	pthread_mutex_lock(&_node_mutex);

src/drivers/uavcannode/UavcanNode.hpp

@@ -64,6 +64,7 @@
 #include <uavcan/equipment/gnss/Fix2.hpp>
 #include <uavcan/equipment/power/BatteryInfo.hpp>
 #include <uavcan/equipment/range_sensor/Measurement.hpp>
+#include <com/volansi/equipment/adc/Report.hpp>
 
 
 #include <lib/parameters/param.h>
@@ -71,10 +72,11 @@
 
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/adc_report.h>
 #include <uORB/topics/battery_status.h>
-#include <uORB/topics/parameter_update.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/distance_sensor.h>
+#include <uORB/topics/parameter_update.h>
 #include <uORB/topics/sensor_baro.h>
 #include <uORB/topics/sensor_mag.h>
 #include <uORB/topics/vehicle_gps_position.h>
@@ -152,6 +154,7 @@ private:
 	void send_magnetic_field_strength2();
 	void send_gnss_fix2();
 	void send_range_sensor_measurement();
+	void send_adc_measurements();
 
 	px4::atomic_bool	_task_should_exit{false};	///< flag to indicate to tear down the CAN driver
 
@@ -183,6 +186,8 @@ private:
 	uavcan::Publisher<uavcan::equipment::air_data::StaticTemperature> _air_data_static_temperature_publisher;
 	uavcan::Publisher<uavcan::equipment::air_data::RawAirData> _raw_air_data_publisher;
 	uavcan::Publisher<uavcan::equipment::range_sensor::Measurement> _range_sensor_measurement;
+	uavcan::Publisher<com::volansi::equipment::adc::Report> _adc_report_publisher;
+
 
 	hrt_abstime _last_static_temperature_publish{0};
 
@@ -199,6 +204,8 @@ private:
 	uORB::SubscriptionCallbackWorkItem _sensor_baro_sub{this, ORB_ID(sensor_baro)};
 	uORB::SubscriptionCallbackWorkItem _sensor_mag_sub{this, ORB_ID(sensor_mag)};
 	uORB::SubscriptionCallbackWorkItem _vehicle_gps_position_sub{this, ORB_ID(vehicle_gps_position)};
+	uORB::SubscriptionCallbackWorkItem _adc_report_sub{this, ORB_ID(adc_report)};
+
 
 	perf_counter_t _cycle_perf;
 	perf_counter_t _interval_perf;

src/drivers/uavcannode/dsdl/com/volansi/equipment/adc/20201.Report.uavcan

@@ -0,0 +1,6 @@
+uint2 UNITS_RAW 	= 0
+uint2 UNITS_MV 	= 1
+uint2 UNITS_MA 	= 2
+uint2[2] unit_type
+
+int16[2] values # TODO: do we want to include all of the ADC measurements or just two for voltage/current on power port?

src/drivers/uavcannode/uavcannode_params.c

@@ -50,3 +50,13 @@ PARAM_DEFINE_INT32(CANNODE_NODE_ID, 120);
  * @group UAVCAN
  */
 PARAM_DEFINE_INT32(CANNODE_BITRATE, 1000000);
+
+/**
+ * Units associated with ADC measurement.
+ * 0 - raw
+ * 1 - mV
+ * 2 - mA
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(ADC1_UNIT_TYPE, 1);
+PARAM_DEFINE_INT32(ADC2_UNIT_TYPE, 2);