Simplify ADC driver

src/drivers/stm32/adc/adc.cpp

@@ -314,7 +314,9 @@ ADC::_tick()
 void
 ADC::update_system_power(void)
 {
-#if defined (CONFIG_ARCH_BOARD_PX4FMU_V2) || defined (CONFIG_ARCH_BOARD_MINDPX_V2)
+#if defined (CONFIG_ARCH_BOARD_PX4FMU_V2) || \
+    defined (CONFIG_ARCH_BOARD_MINDPX_V2) || \
+    defined (CONFIG_ARCH_BOARD_PX4FMU_V4)
 	system_power_s system_power = {};
 	system_power.timestamp = hrt_absolute_time();
 
@@ -339,6 +341,14 @@ ADC::update_system_power(void)
 	// OC pins are active low
 	system_power.periph_5V_OC  = 1;
 	system_power.hipower_5V_OC = 1;
+#elif defined (CONFIG_ARCH_BOARD_PX4FMU_V4)
+	// note that the valid pins are active high
+	system_power.brick_valid   = stm32_gpioread(GPIO_VDD_BRICK_VALID);
+	system_power.servo_valid   = 1;
+
+	// OC pins are not supported
+	system_power.periph_5V_OC  = 0;
+	system_power.hipower_5V_OC = 0;
 #else
 	// note that the valid pins are active low
 	system_power.brick_valid   = !stm32_gpioread(GPIO_VDD_BRICK_VALID);
@@ -358,40 +368,6 @@ ADC::update_system_power(void)
 	}
 
 #endif // CONFIG_ARCH_BOARD_PX4FMU_V2
-#ifdef CONFIG_ARCH_BOARD_PX4FMU_V4
-	system_power_s system_power = {};
-	system_power.timestamp = hrt_absolute_time();
-
-	system_power.voltage5V_v = 0;
-
-	for (unsigned i = 0; i < _channel_count; i++) {
-		if (_samples[i].am_channel == ADC_5V_RAIL_SENSE) {
-			// it is 2:1 scaled
-			system_power.voltage5V_v = _samples[i].am_data * (6.6f / 4096);
-		}
-	}
-
-	// these are not ADC related, but it is convenient to
-	// publish these to the same topic
-	system_power.usb_connected = stm32_gpioread(GPIO_OTGFS_VBUS);
-
-	// note that the valid pins are active High
-	system_power.brick_valid   = stm32_gpioread(GPIO_VDD_BRICK_VALID);
-	system_power.servo_valid   = 1;
-
-	// OC pins are not supported
-	system_power.periph_5V_OC  = 0;
-	system_power.hipower_5V_OC = 0;
-
-	/* lazily publish */
-	if (_to_system_power != nullptr) {
-		orb_publish(ORB_ID(system_power), _to_system_power, &system_power);
-
-	} else {
-		_to_system_power = orb_advertise(ORB_ID(system_power), &system_power);
-	}
-
-#endif // CONFIG_ARCH_BOARD_PX4FMU_V4
 }
 
 uint16_t