Add drivers DAC_DACx050 and ADC_ADS1115

Tools/AP_Periph/AP_Periph.cpp

@@ -180,6 +180,10 @@ void AP_Periph_FW::init()
     rcout_init();
 #endif
 
+#ifdef HAL_PERIPH_ENABLE_ADC
+    adc.init();
+#endif
+
 #ifdef HAL_PERIPH_ENABLE_ADSB
     adsb_init();
 #endif
@@ -195,6 +199,10 @@ void AP_Periph_FW::init()
     }
 #endif
 
+#if AP_DAC_DACx0501_ENABLED
+    dac.init();
+#endif
+
 #if AP_KDECAN_ENABLED
     kdecan.init();
 #endif
@@ -493,6 +501,10 @@ void AP_Periph_FW::update()
     temperature_sensor.update();
 #endif
 
+#ifdef HAL_PERIPH_ENABLE_ADC
+    adc.update();
+#endif
+
 #ifdef HAL_PERIPH_ENABLE_RPM
     if (now - rpm_last_update_ms >= 100) {
         rpm_last_update_ms = now;

Tools/AP_Periph/AP_Periph.h

@@ -14,6 +14,7 @@
 #include <AP_RangeFinder/AP_RangeFinder.h>
 #include <AP_Proximity/AP_Proximity.h>
 #include <AP_EFI/AP_EFI.h>
+#include <AP_DAC/AP_DAC_DACx0501.h>
 #include <AP_KDECAN/AP_KDECAN.h>
 #include <AP_MSP/AP_MSP.h>
 #include <AP_MSP/msp.h>
@@ -65,6 +66,10 @@
     #error "AP_NMEA_Output requires Serial/GCS and either AHRS or GPS. Needs HAL_GCS_ENABLED and HAL_PERIPH_ENABLE_GPS"
 #endif
 
+#ifdef HAL_PERIPH_ENABLE_ADC
+#include "adc.h"
+#endif
+
 #if HAL_GCS_ENABLED
 #include "GCS_MAVLink.h"
 #endif
@@ -228,6 +233,10 @@ class AP_Periph_FW {
     uint32_t rpm_last_update_ms;
 #endif
 
+#ifdef HAL_PERIPH_ENABLE_ADC
+    Periph_ADC adc;
+#endif
+
 #ifdef HAL_PERIPH_ENABLE_BATTERY
     void handle_battery_failsafe(const char* type_str, const int8_t action) { }
     AP_BattMonitor battery_lib{0, FUNCTOR_BIND_MEMBER(&AP_Periph_FW::handle_battery_failsafe, void, const char*, const int8_t), nullptr};
@@ -309,6 +318,10 @@ class AP_Periph_FW {
     uint32_t efi_update_ms;
 #endif
 
+#if AP_DAC_DACx0501_ENABLED
+    AP_DAC_DACx0501 dac;
+#endif
+
 #if AP_KDECAN_ENABLED
     AP_KDECAN kdecan;
 #endif

Tools/AP_Periph/Parameters.cpp

@@ -550,6 +550,18 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GOBJECT(nmea, "NMEA_",   AP_NMEA_Output),
 #endif
 
+#if AP_DAC_DACx0501_ENABLED
+    // @Group: DAC_
+    // @Path: ../libraries/AP_DAC/AP_DAC_DACx0501.cpp
+    GOBJECT(dac, "DAC_",   AP_DAC_DACx0501),
+#endif
+
+#ifdef HAL_PERIPH_ENABLE_ADC
+    // @Group: ADC
+    // @Path: adc.cpp
+    GOBJECT(adc, "ADC_",  Periph_ADC),
+#endif
+
 #if AP_KDECAN_ENABLED
     // @Group: KDE_
     // @Path: ../libraries/AP_KDECAN/AP_KDECAN.cpp

Tools/AP_Periph/Parameters.h

@@ -91,6 +91,8 @@ class Parameters {
         k_param_serial_options,
         k_param_relay,
         k_param_temperature_msg_rate,
+        k_param_adc,
+        k_param_dac,
     };
 
     AP_Int16 format_version;

Tools/AP_Periph/adc.cpp

@@ -0,0 +1,108 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+
+#include "AP_Periph.h"
+
+#ifdef HAL_PERIPH_ENABLE_ADC
+
+#include <dronecan_msgs.h>
+
+extern const AP_HAL::HAL &hal;
+
+const AP_Param::GroupInfo Periph_ADC::var_info[] {
+
+    // @Param: ADC_RATE
+    // @DisplayName: ADC Send Rate Interval
+    // @Description: ADC Send Rate Interval
+    // @Range: -1 2000
+    // @Increment: 1
+    // @Units: ms
+    AP_GROUPINFO("ADC_RATE", 1, Periph_ADC, params.send_rate, 1000),
+
+    AP_GROUPEND
+};
+
+void Periph_ADC::init()
+{
+    lib.init();
+}
+
+void Periph_ADC::update()
+{
+    const uint32_t now_ms = AP_HAL::millis();
+    if (now_ms - _last_update_ms >= 10) {
+        _last_update_ms = now_ms;
+        IGNORE_RETURN(lib.read(_samples, ARRAY_SIZE(_samples)));
+    }
+
+    if (params.send_rate >= 1 || params.send_rate == -1) {
+        const uint32_t last_sample_timestamp_ms = lib.get_last_sample_timestamp_ms();
+        const bool new_sample_available = (last_sample_timestamp_ms != 0) && (last_sample_timestamp_ms != _last_sample_timestamp_ms);
+
+        if (params.send_rate == -1) {
+            if (now_ms - _last_debug_ms >= 1000) {
+                _last_debug_ms = now_ms;
+                _last_sample_timestamp_ms = last_sample_timestamp_ms;
+
+                can_printf("ADC%s %.2f, %.2f, %.2f, %.2f, %.2f, %.2f",
+                    new_sample_available ? "" : " STALE",
+                    _samples[0].data,
+                    _samples[1].data,
+                    _samples[2].data,
+                    _samples[3].data,
+                    _samples[4].data,
+                    _samples[5].data);
+            }
+
+        } else if (new_sample_available && now_ms - _last_send_ms >= params.send_rate) {
+            _last_sample_timestamp_ms = last_sample_timestamp_ms;
+            _last_send_ms = now_ms;
+
+            ardupilot_equipment_power_BatteryCells pkt1 {};
+            pkt1.voltages.len = MIN(ARRAY_SIZE(_samples),ARRAY_SIZE(pkt1.voltages.data));
+            for (uint8_t i=0; i<pkt1.voltages.len; i++) {
+                pkt1.voltages.data[i] = _samples[i].data;
+            }
+
+            uint8_t buffer1[ARDUPILOT_EQUIPMENT_POWER_BATTERYCELLS_MAX_SIZE] {};
+            uint16_t total_size1 = ardupilot_equipment_power_BatteryCells_encode(&pkt1, buffer1, !periph.canfdout());
+            periph.canard_broadcast(ARDUPILOT_EQUIPMENT_POWER_BATTERYCELLS_SIGNATURE,
+                            ARDUPILOT_EQUIPMENT_POWER_BATTERYCELLS_ID,
+                            CANARD_TRANSFER_PRIORITY_LOW,
+                            &buffer1[0],
+                            total_size1);
+
+
+
+            rb_ADC pkt2 {};
+            pkt2.voltages.len = MIN(ARRAY_SIZE(_samples),ARRAY_SIZE(pkt2.voltages.data));
+            for (uint8_t i=0; i<pkt2.voltages.len; i++) {
+                pkt2.voltages.data[i] = _samples[i].data;
+            }
+
+            uint8_t buffer2[RB_ADC_MAX_SIZE] {};
+            uint16_t total_size2 = rb_ADC_encode(&pkt2, buffer2, !periph.canfdout());
+            periph.canard_broadcast(RB_ADC_SIGNATURE,
+                            RB_ADC_ID,
+                            CANARD_TRANSFER_PRIORITY_LOW,
+                            &buffer2[0],
+                            total_size2);
+        }
+    }
+}
+
+#endif  // HAL_PERIPH_ENABLE_ADC
+

Tools/AP_Periph/adc.h

@@ -0,0 +1,36 @@
+#pragma once
+
+#ifdef HAL_PERIPH_ENABLE_ADC
+
+#include <AP_ADC/AP_ADC_ADS1115.h>
+
+class Periph_ADC {
+public:
+    friend class AP_Periph_FW;
+
+    Periph_ADC() {
+        AP_Param::setup_object_defaults(this, var_info);
+    }
+
+    void init();
+    void update();
+
+    static const struct AP_Param::GroupInfo var_info[];
+
+private:
+
+    struct {
+        AP_Int32 send_rate;
+    } params;
+
+    AP_ADC_ADS1115 lib;
+    adc_report_s _samples[ADS1115_CHANNELS_COUNT];
+    uint32_t _last_update_ms;
+    uint32_t _last_send_ms;
+    uint32_t _last_sample_timestamp_ms;
+    uint32_t _last_debug_ms;
+
+};
+
+#endif // HAL_PERIPH_ENABLE_ADC
+

Tools/AP_Periph/wscript

@@ -66,6 +66,8 @@ def build(bld):
                      'AP_Logger',
                      'AC_PID',
                      'AP_BLHeli',
+                     'AP_ADC',
+                     'AP_DAC',
                      'AP_ESC_Telem',
                      'AP_Stats',
                      'AP_EFI',

libraries/AP_ADC/AP_ADC_ADS1115.cpp

@@ -2,14 +2,20 @@
 #include <AP_HAL/utility/sparse-endian.h>
 
 #include "AP_ADC_ADS1115.h"
+#if AP_ADC_ADS1115_ENABLED
 
 #define ADS1115_ADDRESS_ADDR_GND    0x48 // address pin low (GND)
 #define ADS1115_ADDRESS_ADDR_VDD    0x49 // address pin high (VCC)
 #define ADS1115_ADDRESS_ADDR_SDA    0x4A // address pin tied to SDA pin
 #define ADS1115_ADDRESS_ADDR_SCL    0x4B // address pin tied to SCL pin
 
+#ifndef ADS1115_I2C_ADDR
 #define ADS1115_I2C_ADDR            ADS1115_ADDRESS_ADDR_GND
+#endif
+
+#ifndef ADS1115_I2C_BUS
 #define ADS1115_I2C_BUS             1
+#endif
 
 #define ADS1115_RA_CONVERSION       0x00
 #define ADS1115_RA_CONFIG           0x01
@@ -93,7 +99,6 @@
 
 extern const AP_HAL::HAL &hal;
 
-#define ADS1115_CHANNELS_COUNT           6
 
 const uint8_t AP_ADC_ADS1115::_channels_number  = ADS1115_CHANNELS_COUNT;
 
@@ -130,6 +135,8 @@ bool AP_ADC_ADS1115::init()
 
     _gain = ADS1115_PGA_4P096;
 
+    _dev->set_retries(3);
+
     _dev->register_periodic_callback(100000, FUNCTOR_BIND_MEMBER(&AP_ADC_ADS1115::_update, void));
 
     return true;
@@ -205,7 +212,7 @@ void AP_ADC_ADS1115::_update()
     uint8_t config[2];
     be16_t val;
 
-    if (!_dev->read_registers(ADS1115_RA_CONFIG, config, sizeof(config))) {
+    if (!_dev->read_registers(ADS1115_RA_CONFIG, config, ARRAY_SIZE(config))) {
         error("_dev->read_registers failed in ADS1115");
         return;
     }
@@ -227,4 +234,7 @@ void AP_ADC_ADS1115::_update()
     /* select next channel */
     _channel_to_read = (_channel_to_read + 1) % _channels_number;
     _start_conversion(_channel_to_read);
+
+    _last_sample_timestamp_ms = AP_HAL::millis();
 }
+#endif // AP_ADC_ADS1115_ENABLED

libraries/AP_ADC/AP_ADC_ADS1115.h

@@ -4,6 +4,13 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/I2CDevice.h>
 
+#ifndef AP_ADC_ADS1115_ENABLED
+#define AP_ADC_ADS1115_ENABLED 0
+#endif
+
+#define ADS1115_CHANNELS_COUNT           6
+
+#if AP_ADC_ADS1115_ENABLED
 struct adc_report_s
 {
     uint8_t id;
@@ -18,6 +25,7 @@ class AP_ADC_ADS1115
 
     bool init();
     size_t read(adc_report_s *report, size_t length) const;
+    uint32_t get_last_sample_timestamp_ms() const { return _last_sample_timestamp_ms;}
 
     uint8_t get_channels_number() const
     {
@@ -32,9 +40,11 @@ class AP_ADC_ADS1115
     uint16_t            _gain;
     int                 _channel_to_read;
     adc_report_s        *_samples;
+    uint32_t            _last_sample_timestamp_ms;
 
     void _update();
     bool _start_conversion(uint8_t channel);
 
     float _convert_register_data_to_mv(int16_t word) const;
 };
+#endif // AP_ADC_ADS1115_ENABLED