added analog_measurement module

boards/px4/fmu-v4/cannode.cmake

@@ -56,6 +56,7 @@ px4_add_board(
 		#tone_alarm
 		uavcannode
 	MODULES
+		analog_measurement
 		#ekf2
 		#load_mon
 		sensors

src/drivers/uavcannode/UavcanNode.cpp

@@ -541,7 +541,7 @@ void UavcanNode::send_analog_measurements()
 
 			com::volansi::equipment::adc::AnalogMeasurement report{};
 
-			for (size_t i = 0; i < sizeof(measurement.values)/sizeof(values[0])) {
+			for (size_t i = 0; i < sizeof(measurement.values)/sizeof(measurement.values[0]); i++) {
 				if (measurement.unit_type[i]) {
 					report.unit_type[i] = measurement.unit_type[i];
 					report.values[i] = measurement.values[i];

src/drivers/uavcannode/UavcanNode.hpp

@@ -64,7 +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 <com/volansi/equipment/adc/AnalogMeasurement.hpp>
 
 
 #include <lib/parameters/param.h>

src/modules/analog_measurement/CMakeLists.txt

@@ -0,0 +1,11 @@
+
+px4_add_module(
+	MODULE modules__analog_measurement
+	MAIN analog_measurement
+	COMPILE_FLAGS
+	SRCS
+		analog_measurement.cpp
+		analog_measurement.hpp
+	DEPENDS
+		px4_work_queue
+	)

src/modules/analog_measurement/analog_measurement.cpp

@@ -0,0 +1,151 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2018 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 "analog_measurement.hpp"
+
+AnalogMeasurement::AnalogMeasurement() :
+	ModuleParams(nullptr),
+	WorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
+{
+}
+
+bool
+AnalogMeasurement::init()
+{
+	if (!_adc_report_sub.registerCallback()) {
+		PX4_ERR("adc_report callback registration failed!");
+		return false;
+	}
+
+	return true;
+}
+
+void
+AnalogMeasurement::Run()
+{
+	if (should_exit()) {
+		_adc_report_sub.unregisterCallback();
+		exit_and_cleanup();
+		return;
+	}
+
+	adc_report_s report{};
+
+	if (_adc_report_sub.update(&report)) {
+
+		analog_measurement_s measurement{};
+
+		int adc1_unit = _adc1_unit.get();
+		int adc2_unit = _adc2_unit.get();
+		int adc3_unit = _adc3_unit.get();
+		int adc4_unit = _adc4_unit.get();
+
+		// TODO: determine size. Only read first 4 ADCs for now.
+		if (adc1_unit) {
+			measurement.values[0] = report.raw_data[0] *_adc1_scale.get();
+			measurement.unit_type[0] = adc1_unit;
+		}
+
+		if (adc2_unit) {
+			measurement.values[1] = report.raw_data[1] *_adc2_scale.get();
+			measurement.unit_type[1] = adc2_unit;
+		}
+
+		if (adc3_unit) {
+			measurement.values[2] = report.raw_data[2] *_adc3_scale.get();
+			measurement.unit_type[2] = adc3_unit;
+		}
+
+		if (adc4_unit) {
+			measurement.values[3] = report.raw_data[3] *_adc4_scale.get();
+			measurement.unit_type[3] = adc4_unit;
+		}
+
+		_analog_measurement_pub.publish(measurement);
+	}
+}
+
+int AnalogMeasurement::task_spawn(int argc, char *argv[])
+{
+	AnalogMeasurement *instance = new AnalogMeasurement();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int AnalogMeasurement::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int AnalogMeasurement::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+This module reads the adc_report and converts the raw adc values into voltage,
+current, or temperature depending on the parameter ADC[N]_UNIT and applies the
+scale factor ADC[N]_SCALE.
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("analog_measurement", "driver");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+int analog_measurement_main(int argc, char *argv[])
+{
+	return AnalogMeasurement::main(argc, argv);
+}

src/modules/analog_measurement/analog_measurement.hpp

@@ -0,0 +1,92 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2019 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <matrix/matrix/math.hpp>
+
+#include <perf/perf_counter.h>
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
+
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/adc_report.h>
+#include <uORB/topics/analog_measurement.h>
+
+extern "C" __EXPORT int analog_measurement_main(int argc, char *argv[]);
+
+class AnalogMeasurement : public ModuleBase<AnalogMeasurement>, public ModuleParams,
+	public px4::WorkItem
+{
+public:
+	AnalogMeasurement();
+
+	/** @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);
+
+	bool init();
+
+private:
+	void Run() override;
+
+
+	uORB::SubscriptionCallbackWorkItem _adc_report_sub{this, ORB_ID(adc_report)};
+
+	uORB::Publication<analog_measurement_s>	_analog_measurement_pub{ORB_ID(analog_measurement)};
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::ADC1_SCALE>) _adc1_scale,
+		(ParamFloat<px4::params::ADC2_SCALE>) _adc2_scale,
+		(ParamFloat<px4::params::ADC3_SCALE>) _adc3_scale,
+		(ParamFloat<px4::params::ADC4_SCALE>) _adc4_scale,
+
+		(ParamInt<px4::params::ADC1_UNIT>) _adc1_unit,
+		(ParamInt<px4::params::ADC2_UNIT>) _adc2_unit,
+		(ParamInt<px4::params::ADC3_UNIT>) _adc3_unit,
+		(ParamInt<px4::params::ADC4_UNIT>) _adc4_unit
+	)
+};
+

src/modules/analog_measurement/analog_measurement_params.c

@@ -0,0 +1,25 @@
+/**
+ * Scale factor for ADC to convert raw to units
+ */
+PARAM_DEFINE_FLOAT(ADC1_SCALE, 1.0);
+PARAM_DEFINE_FLOAT(ADC2_SCALE, 1.0);
+PARAM_DEFINE_FLOAT(ADC3_SCALE, 1.0);
+PARAM_DEFINE_FLOAT(ADC4_SCALE, 1.0);
+
+/**
+ * Unit type:
+ * 0: none
+ * 1: mV
+ * 2: mA
+ * 3: cK
+ *
+ * @min 0
+ * @max 3
+ * @group Analog Measurement
+ */
+PARAM_DEFINE_INT32(ADC1_UNIT, 0);
+PARAM_DEFINE_INT32(ADC2_UNIT, 0);
+PARAM_DEFINE_INT32(ADC3_UNIT, 0);
+PARAM_DEFINE_INT32(ADC4_UNIT, 0);
+
+