Add support for ADS1115 ADC in Periph

magicrub · Mar 14, 2024 · f6b9800 · f6b9800
1 parent b9bc4a5
commit f6b9800
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Showing 8 changed files with 86 additions and 1 deletion.
diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp
@@ -24,6 +24,7 @@
 #include <AP_HAL/AP_HAL_Boards.h>
 #include "AP_Periph.h"
 #include <stdio.h>
+#include <dronecan_msgs.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
 #include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
@@ -180,6 +181,10 @@ void AP_Periph_FW::init()
     rcout_init();
 #endif
 
+#if AP_ADC_ADS1115_ENABLED
+    adc.lib.init();
+#endif
+
 #ifdef HAL_PERIPH_ENABLE_ADSB
     adsb_init();
 #endif
@@ -493,6 +498,46 @@ void AP_Periph_FW::update()
     temperature_sensor.update();
 #endif
 
+#if AP_ADC_ADS1115_ENABLED
+    if (now - adc.last_update_ms >= 10) {
+        adc.last_update_ms = now;
+        IGNORE_RETURN(adc.lib.read(adc.samples, ARRAY_SIZE(adc.samples)));
+    }
+    if (g.adc_send_rate > 0 && now - adc.last_send_ms >= g.adc_send_rate) {
+        adc.last_send_ms = now;
+
+        ardupilot_equipment_power_BatteryCells pkt1 {};
+        pkt1.voltages.len = MIN(ARRAY_SIZE(adc.samples),ARRAY_SIZE(pkt1.voltages.data));
+        for (uint8_t i=0; i<pkt1.voltages.len; i++) {
+            pkt1.voltages.data[i] = adc.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());
+        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(adc.samples),ARRAY_SIZE(pkt2.voltages.data));
+        for (uint8_t i=0; i<pkt2.voltages.len; i++) {
+            pkt2.voltages.data[i] = adc.samples[i].data;
+        }
+
+        uint8_t buffer2[RB_ADC_MAX_SIZE] {};
+        uint16_t total_size2 = rb_ADC_encode(&pkt2, buffer2, !periph.canfdout());
+        canard_broadcast(RB_ADC_SIGNATURE,
+                        RB_ADC_ID,
+                        CANARD_TRANSFER_PRIORITY_LOW,
+                        &buffer2[0],
+                        total_size2);
+    }
+#endif
+
 #ifdef HAL_PERIPH_ENABLE_RPM
     if (now - rpm_last_update_ms >= 100) {
         rpm_last_update_ms = now;

diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
@@ -56,6 +56,8 @@
 #endif
 #endif
 
+#include <AP_ADC/AP_ADC_ADS1115.h>
+
 #if defined(HAL_PERIPH_ENABLE_DEVICE_TEMPERATURE) && !AP_TEMPERATURE_SENSOR_ENABLED
     #error "HAL_PERIPH_ENABLE_DEVICE_TEMPERATURE requires AP_TEMPERATURE_SENSOR_ENABLED"
 #endif
@@ -229,6 +231,15 @@ class AP_Periph_FW {
     uint32_t rpm_last_update_ms;
 #endif
 
+#if AP_ADC_ADS1115_ENABLED
+    struct {
+        AP_ADC_ADS1115 lib;
+        adc_report_s samples[ADS1115_CHANNELS_COUNT];
+        uint32_t last_update_ms;
+        uint32_t last_send_ms;
+    } 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};

diff --git a/Tools/AP_Periph/Parameters.cpp b/Tools/AP_Periph/Parameters.cpp
@@ -510,6 +510,16 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GOBJECT(efi, "EFI", AP_EFI),
 #endif
 
+#if AP_ADC_ADS1115_ENABLED
+    // @Param: ADC_RATE
+    // @DisplayName: ADC Send Rate Interval
+    // @Description: ADC Send Rate Interval
+    // @Range: 0 2000
+    // @Increment: 1
+    // @Units: ms
+    GSCALAR(adc_send_rate, "ADC_RATE", 1),
+#endif
+
 #ifdef HAL_PERIPH_ENABLE_PROXIMITY
     // @Param: PRX_BAUDRATE
     // @DisplayName: Proximity Sensor serial baudrate

diff --git a/Tools/AP_Periph/Parameters.h b/Tools/AP_Periph/Parameters.h
@@ -91,6 +91,7 @@ class Parameters {
         k_param_serial_options,
         k_param_relay,
         k_param_temperature_msg_rate,
+        k_param_adc_send_rate,
     };
 
     AP_Int16 format_version;
@@ -201,6 +202,10 @@ class Parameters {
     AP_Int8 efi_port;
 #endif
 
+#if AP_ADC_ADS1115_ENABLED
+    AP_Int32 adc_send_rate;
+#endif
+
 #if HAL_PERIPH_CAN_MIRROR
     AP_Int8 can_mirror_ports;
 #endif // HAL_PERIPH_CAN_MIRROR

diff --git a/libraries/AP_ADC/AP_ADC_ADS1115.cpp b/libraries/AP_ADC/AP_ADC_ADS1115.cpp
@@ -2,6 +2,7 @@
 #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)
@@ -227,3 +228,4 @@ void AP_ADC_ADS1115::_update()
     _channel_to_read = (_channel_to_read + 1) % _channels_number;
     _start_conversion(_channel_to_read);
 }
+#endif // AP_ADC_ADS1115_ENABLED
diff --git a/libraries/AP_ADC/AP_ADC_ADS1115.h b/libraries/AP_ADC/AP_ADC_ADS1115.h
@@ -4,8 +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;
@@ -40,3 +45,4 @@ class AP_ADC_ADS1115
 
     float _convert_register_data_to_mv(int16_t word) const;
 };
+#endif // AP_ADC_ADS1115_ENABLED
diff --git a/libraries/AP_DroneCAN/dsdl/rb/31000.uavcan b/libraries/AP_DroneCAN/dsdl/rb/31000.uavcan
@@ -0,0 +1,6 @@
+#
+# ADC voltages
+#
+
+float32[<=10] voltages            # [Volt]
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat
@@ -61,4 +61,4 @@ define HAL_CAN_DRIVER_DEFAULT 1
 # undefine to disable. Use -1 to allow on all ports, otherwise serial number index defined in SERIAL_ORDER starting at 0
 define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
 
-
+define AP_ADC_ADS1115_ENABLED 1
Original file line number	Diff line number	Diff line change
Expand Up		@@ -61,4 +61,4 @@ define HAL_CAN_DRIVER_DEFAULT 1
		# undefine to disable. Use -1 to allow on all ports, otherwise serial number index defined in SERIAL_ORDER starting at 0
		define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0


		define AP_ADC_ADS1115_ENABLED 1