ADC: replace ioctl with uorb message (#14087)

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -130,8 +130,6 @@ then
 	# Power Parameters
 	param set BAT_N_CELLS 4
 	param set BAT_A_PER_V 36.3675
-	param set BAT_CNT_V_CURR 0.0008
-	param set BAT_CNT_V_VOLT 0.0008
 	param set BAT_V_DIV 18.40697289
 
 	# Circuit breakers

boards/intel/aerofc-v1/aerofc_adc/AEROFC_ADC.cpp

@@ -36,12 +36,11 @@
 using namespace time_literals;
 
 AEROFC_ADC::AEROFC_ADC(uint8_t bus) :
-	I2C("AEROFC_ADC", ADC0_DEVICE_PATH, bus, SLAVE_ADDR, 400000),
+	I2C("AEROFC_ADC", AEROFC_ADC_DEVICE_PATH, bus, SLAVE_ADDR, 400000),
 	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample"))
 {
-	_sample.am_channel = 1;
+
-	pthread_mutex_init(&_sample_mutex, nullptr);
 }
 
 AEROFC_ADC::~AEROFC_ADC()
@@ -95,26 +94,16 @@ error:
 	return -EIO;
 }
 
-ssize_t AEROFC_ADC::read(file *filp, char *buffer, size_t len)
-{
-	if (len < sizeof(_sample)) {
-		return -ENOSPC;
-	}
-
-	if (len > sizeof(_sample)) {
-		len = sizeof(_sample);
-	}
-
-	pthread_mutex_lock(&_sample_mutex);
-	memcpy(buffer, &_sample, len);
-	pthread_mutex_unlock(&_sample_mutex);
-
-	return len;
-}
-
 void AEROFC_ADC::Run()
 {
-	uint8_t buffer[2] {};
+	/*
+	 * https://github.com/intel-aero/intel-aero-fpga/blob/master/aero_sample/adc/adc.html
+	 * https://github.com/intel-aero/meta-intel-aero/wiki/95-(References)-FPGA
+	 * https://github.com/intel-aero/intel-aero-fpga/blob/master/aero_rtf_kit/RTL/adc.v
+	 */
+	perf_begin(_sample_perf);
+
+	uint8_t buffer[10] {};
 	buffer[0] = ADC_CHANNEL_REG;
 	int ret = transfer(buffer, 1, buffer, sizeof(buffer));
 
@@ -123,12 +112,24 @@ void AEROFC_ADC::Run()
 		return;
 	}
 
-	pthread_mutex_lock(&_sample_mutex);
+	adc_report_s adc_report;
-	_sample.am_data = (buffer[0] | (buffer[1] << 8));
+	adc_report.device_id = this->get_device_id();
-	pthread_mutex_unlock(&_sample_mutex);
+	adc_report.timestamp = hrt_absolute_time();
-}
+	adc_report.v_ref = 3.0f;
+	adc_report.resolution = 1 << 12;
 
-uint32_t px4_arch_adc_dn_fullcount()
+	unsigned i;
-{
+
-	return 1 << 12; // 12 bit ADC
+	for (i = 0; i < MAX_CHANNEL; ++i) {
-}
+		adc_report.channel_id[i] = i;
+		adc_report.raw_data[i] = (buffer[i * 2] | (buffer[i * 2 + 1] << 8));
+	}
+
+	for (; i < PX4_MAX_ADC_CHANNELS; ++i) {	// set unused channel id to -1
+		adc_report.channel_id[i] = -1;
+	}
+
+	_to_adc_report.publish(adc_report);
+
+	perf_end(_sample_perf);
+}

boards/intel/aerofc-v1/aerofc_adc/AEROFC_ADC.hpp

@@ -37,18 +37,20 @@
 #include <drivers/drv_hrt.h>
 #include <lib/cdev/CDev.hpp>
 #include <lib/perf/perf_counter.h>
-#include <px4_arch/adc.h>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/defines.h>
 #include <px4_platform_common/log.h>
 #include <drivers/device/i2c.h>
 #include <drivers/drv_adc.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/topics/adc_report.h>
 
 #define SLAVE_ADDR 0x50
 #define ADC_ENABLE_REG 0x00
-#define ADC_CHANNEL_REG 0x05
+#define ADC_CHANNEL_REG 0x03
 #define MAX_CHANNEL 5
+#define AEROFC_ADC_DEVICE_PATH "/dev/aerofc_adc"
 
 class AEROFC_ADC : public device::I2C, public px4::ScheduledWorkItem
 {
@@ -57,14 +59,12 @@ public:
 	~AEROFC_ADC() override;
 
 	int init() override;
-	ssize_t read(file *filp, char *buffer, size_t len) override;
 
 private:
 	int probe() override;;
 	void Run() override;
 
-	px4_adc_msg_t _sample{};
+	uORB::Publication<adc_report_s>		_to_adc_report{ORB_ID(adc_report)};
-	pthread_mutex_t _sample_mutex;
 
 	perf_counter_t _sample_perf;
 };

boards/intel/aerofc-v1/aerofc_adc/aerofc_adc_main.cpp

@@ -63,30 +63,7 @@ static AEROFC_ADC *instance = nullptr;
 
 static int test()
 {
-	int fd = px4_open(ADC0_DEVICE_PATH, O_RDONLY);
+	PX4_INFO("test is currently unavailable");
-
-	if (fd < 0) {
-		PX4_ERR("can't open ADC device");
-		return PX4_ERROR;
-	}
-
-	px4_adc_msg_t data[MAX_CHANNEL];
-	ssize_t count = px4_read(fd, data, sizeof(data));
-
-	if (count < 0) {
-		PX4_ERR("read error");
-		px4_close(fd);
-		return PX4_ERROR;
-	}
-
-	unsigned channels = count / sizeof(data[0]);
-
-	for (unsigned j = 0; j < channels; j++) {
-		printf("%d: %u  ", data[j].am_channel, data[j].am_data);
-	}
-
-	printf("\n");
-	px4_close(fd);
 
 	return 0;
 }

boards/px4/raspberrypi/default.cmake

@@ -32,7 +32,7 @@ px4_add_board(
 	MODULES
 		airspeed_selector
 		attitude_estimator_q
-		#battery_status
+		battery_status
 		camera_feedback
 		commander
 		dataman

boards/px4/raspberrypi/src/board_config.h

@@ -57,5 +57,11 @@
 #define PX4_SPI_BUS_SENSORS    0
 #define PX4_SPIDEV_MPU         PX4_MK_SPI_SEL(0, 0) // spidev0.0
 
+#define ADC_BATTERY_VOLTAGE_CHANNEL	0
+#define ADC_BATTERY_CURRENT_CHANNEL	-1
+#define ADC_AIRSPEED_VOLTAGE_CHANNEL 2
+
+#define ADC_DP_V_DIV 1.0f
+
 #include <system_config.h>
 #include <px4_platform_common/board_common.h>

msg/adc_report.msg

@@ -1,3 +1,6 @@
 uint64 timestamp		# time since system start (microseconds)
-int16[12] channel_id		# ADC channel IDs, negative for non-existent
+uint32 device_id		# unique device ID for the sensor that does not change between power cycles
-float32[12] channel_value	# ADC channel value in volt, valid if channel ID is positive
+int16[12] channel_id		# ADC channel IDs, negative for non-existent, TODO: should be kept same as array index
+int32[12] raw_data		# ADC channel raw value, accept negative value, valid if channel ID is positive
+uint32 resolution		# ADC channel resolution
+float32 v_ref			# ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution)

platforms/common/include/px4_platform_common/board_common.h

@@ -157,12 +157,8 @@
 #define BOARD_ADC_POS_REF_V              (3.3f) // Default reference voltage for every channels
 #endif
 
-#ifndef BOARD_ADC_POS_REF_V_FOR_CURRENT_CHAN
+#if !defined(ADC_DP_V_DIV)						// Analog differential pressure (analog airspeed sensor)
-#define BOARD_ADC_POS_REF_V_FOR_CURRENT_CHAN (3.3f) // Reference voltage for reading out the current channel
+#define ADC_DP_V_DIV                    (2.0f)	// The scale factor defined by HW's resistive divider (Rt+Rb)/ Rb
-#endif
-
-#ifndef BOARD_ADC_POS_REF_V_FOR_VOLTAGE_CHAN
-#define BOARD_ADC_POS_REF_V_FOR_VOLTAGE_CHAN (3.3f) // Reference voltage for reading out the voltage channel
 #endif
 
 /* Provide define for Bricks and Battery */

posix-configs/bbblue/px4.config

@@ -38,10 +38,7 @@ param set MAV_TYPE 2
 # 2. onboard 9-18V DC Jack, which is connect to ADC channel 5. This is the board default.
 # 3. other power source (e.g., LiPo battery more than 4S/18V).
 #    Scale the voltage to below 1.8V and connect it to ADC channel # 0, 1, 2 or 3.
-param set BAT_ADC_CHANNEL 	5
+param set BAT1_V_CHANNEL 	5
-
-# 12-bit 1.8V ADC, 1.8V / 2^12 = 0.000439453125 V/CNT
-param set BAT_CNT_V_VOLT 	 0.0004394531
 
 # Battery voltage scale factor, from BBBlue schematics: (4.7K + 47K) / 4.7K = 11
 param set BAT_V_DIV 		11.0

posix-configs/bbblue/px4_fw.config

@@ -38,10 +38,7 @@ param set MAV_TYPE 2
 # 2. onboard 9-18V DC Jack, which is connect to ADC channel 5. This is the board default.
 # 3. other power source (e.g., LiPo battery more than 4S/18V).
 #    Scale the voltage to below 1.8V and connect it to ADC channel # 0, 1, 2 or 3.
-param set BAT_ADC_CHANNEL 	5
+param set BAT1_V_CHANNEL 	5
-
-# 12-bit 1.8V ADC, 1.8V / 2^12 = 0.000439453125 V/CNT
-param set BAT_CNT_V_VOLT 	 0.0004394531
 
 # Battery voltage scale factor, from BBBlue schematics: (4.7K + 47K) / 4.7K = 11
 param set BAT_V_DIV 		11.0

posix-configs/rpi/px4.config

@@ -14,8 +14,6 @@ fi
 param set SYS_AUTOSTART 4001
 param set MAV_BROADCAST 1
 param set MAV_TYPE 2
-param set BAT_CNT_V_VOLT 0.001
-param set BAT_CNT_V_CURR 0.001
 
 dataman start
 

posix-configs/rpi/px4_fw.config

@@ -14,8 +14,6 @@ fi
 param set MAV_BROADCAST 1
 param set SYS_AUTOSTART 2100
 param set MAV_TYPE 1
-param set BAT_CNT_V_VOLT 0.001
-param set BAT_CNT_V_CURR 0.001
 
 dataman start
 

posix-configs/rpi/px4_test.config

@@ -14,8 +14,6 @@ fi
 param set SYS_AUTOSTART 4001
 param set MAV_BROADCAST 1
 param set MAV_TYPE 2
-param set BAT_CNT_V_VOLT 0.001
-param set BAT_CNT_V_CURR 0.001
 
 dataman start
 

src/drivers/adc/ADC.cpp

@@ -31,10 +31,11 @@
  *
  ****************************************************************************/
 
+#include <uORB/Subscription.hpp>
+
 #include "ADC.hpp"
 
 ADC::ADC(uint32_t base_address, uint32_t channels) :
-	CDev(ADC0_DEVICE_PATH),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
 	_base_address(base_address)
@@ -90,39 +91,14 @@ int ADC::init()
 		return ret_init;
 	}
 
-	/* create the device node */
-	int ret_cdev = CDev::init();
-
-	if (ret_cdev != PX4_OK) {
-		PX4_ERR("CDev init failed");
-		return ret_cdev;
-	}
-
 	// schedule regular updates
 	ScheduleOnInterval(kINTERVAL, kINTERVAL);
 
 	return PX4_OK;
 }
 
-ssize_t ADC::read(cdev::file_t *filp, char *buffer, size_t len)
-{
-	const size_t maxsize = sizeof(px4_adc_msg_t) * _channel_count;
-
-	if (len > maxsize) {
-		len = maxsize;
-	}
-
-	/* block interrupts while copying samples to avoid racing with an update */
-	lock();
-	memcpy(buffer, _samples, len);
-	unlock();
-
-	return len;
-}
-
 void ADC::Run()
 {
-	lock();
 	hrt_abstime now = hrt_absolute_time();
 
 	/* scan the channel set and sample each */
@@ -132,13 +108,13 @@ void ADC::Run()
 
 	update_adc_report(now);
 	update_system_power(now);
-	unlock();
 }
 
 void ADC::update_adc_report(hrt_abstime now)
 {
 	adc_report_s adc = {};
 	adc.timestamp = now;
+	adc.device_id = BUILTIN_ADC_DEVID;
 
 	unsigned max_num = _channel_count;
 
@@ -146,11 +122,20 @@ void ADC::update_adc_report(hrt_abstime now)
 		max_num = (sizeof(adc.channel_id) / sizeof(adc.channel_id[0]));
 	}
 
-	for (unsigned i = 0; i < max_num; i++) {
+	unsigned i;
+
+	for (i = 0; i < max_num; i++) {
 		adc.channel_id[i] = _samples[i].am_channel;
-		adc.channel_value[i] = _samples[i].am_data * 3.3f / px4_arch_adc_dn_fullcount();
+		adc.raw_data[i] = _samples[i].am_data;
 	}
 
+	for (; i < PX4_MAX_ADC_CHANNELS; ++i) {	// set unused channel id to -1
+		adc.channel_id[i] = -1;
+	}
+
+	adc.v_ref = px4_arch_adc_reference_v();
+	adc.resolution = px4_arch_adc_dn_fullcount();
+
 	_to_adc_report.publish(adc);
 }
 
@@ -252,35 +237,29 @@ uint32_t ADC::sample(unsigned channel)
 
 int ADC::test()
 {
-	int fd = px4_open(ADC0_DEVICE_PATH, O_RDONLY);
+	uORB::Subscription	adc_sub_test{ORB_ID(adc_report)};
+	adc_report_s adc;
 
-	if (fd < 0) {
+	px4_usleep(20000);	// sleep 20ms and wait for adc report
-		PX4_ERR("can't open ADC device %d", errno);
-		return 1;
-	}
 
-	for (unsigned i = 0; i < 20; i++) {
+	if (adc_sub_test.update(&adc)) {
-		px4_adc_msg_t data[ADC_TOTAL_CHANNELS];
+		PX4_INFO_RAW("DeviceID: %d\n", adc.device_id);
-		ssize_t count = px4_read(fd, data, sizeof(data));
+		PX4_INFO_RAW("Resolution: %d\n", adc.resolution);
+		PX4_INFO_RAW("Voltage Reference: %f\n", (double)adc.v_ref);
 
-		if (count < 0) {
+		for (unsigned i = 0; i < PX4_MAX_ADC_CHANNELS; ++i) {
-			PX4_ERR("read error");
+			PX4_INFO_RAW("%d: %d  ", adc.channel_id[i], adc.raw_data[i]);
-			return 1;
 		}
 
-		unsigned channels = count / sizeof(data[0]);
+		PX4_INFO_RAW("\n");
-
-		for (unsigned j = 0; j < channels; j++) {
-			printf("%d: %u  ", data[j].am_channel, data[j].am_data);
-		}
 
-		printf("\n");
+		PX4_INFO_RAW("\t ADC test successful.\n");
-		px4_usleep(100000);
-	}
 
-	px4_close(fd);
+		return 0;
 
-	return 0;
+	} else {
+		return 1;
+	}
 }
 
 int ADC::custom_command(int argc, char *argv[])

src/drivers/adc/ADC.hpp

@@ -60,7 +60,7 @@ using namespace time_literals;
 
 #define ADC_TOTAL_CHANNELS 		32
 
-class ADC : public ModuleBase<ADC>, public cdev::CDev, public px4::ScheduledWorkItem
+class ADC : public ModuleBase<ADC>, public px4::ScheduledWorkItem
 {
 public:
 	ADC(uint32_t base_address = SYSTEM_ADC_BASE, uint32_t channels = ADC_CHANNELS);
@@ -76,7 +76,7 @@ public:
 	/** @see ModuleBase */
 	static int print_usage(const char *reason = nullptr);
 
-	int init() override;
+	int init();
 
 	int test();
 
@@ -84,8 +84,6 @@ private:
 
 	void		Run() override;
 
-	ssize_t		read(cdev::file_t *filp, char *buffer, size_t len) override;
-
 	/**
 	 * Sample a single channel and return the measured value.
 	 *

src/drivers/drv_adc.h

@@ -42,6 +42,8 @@
 
 #include <stdint.h>
 #include <sys/ioctl.h>
+#include <systemlib/px4_macros.h>
+#include <uORB/topics/adc_report.h>
 
 /* Define the PX4 low level format ADC and the maximum
  * number of channels that can be returned by a lowlevel
@@ -49,14 +51,14 @@
  * but no more than PX4_MAX_ADC_CHANNELS.
  *
  */
-#define PX4_MAX_ADC_CHANNELS 12
+#define PX4_MAX_ADC_CHANNELS arraySize(adc_report_s::channel_id)
 typedef struct __attribute__((packed)) px4_adc_msg_t {
 	uint8_t      am_channel;               /* The 8-bit ADC Channel */
 	int32_t      am_data;                  /* ADC convert result (4 bytes) */
 } px4_adc_msg_t;
 
 
-#define ADC0_DEVICE_PATH	"/dev/adc0"
+#define BUILTIN_ADC_DEVID	0xffffffff	// TODO: integrate into existing ID management
 
 
 __BEGIN_DECLS

src/drivers/rc_input/RCInput.cpp

@@ -308,16 +308,17 @@ void RCInput::Run()
 		adc_report_s adc;
 
 		if (_adc_sub.update(&adc)) {
-			const unsigned adc_chans = sizeof(adc.channel_id) / sizeof(adc.channel_id[0]);
+			for (unsigned i = 0; i < PX4_MAX_ADC_CHANNELS; ++i) {
-
-			for (unsigned i = 0; i < adc_chans; i++) {
 				if (adc.channel_id[i] == ADC_RC_RSSI_CHANNEL) {
+					float adc_volt = adc.raw_data[i] *
+							 adc.v_ref /
+							 adc.resolution;
 
 					if (_analog_rc_rssi_volt < 0.0f) {
-						_analog_rc_rssi_volt = adc.channel_value[i];
+						_analog_rc_rssi_volt = adc_volt;
 					}
 
-					_analog_rc_rssi_volt = _analog_rc_rssi_volt * 0.995f + adc.channel_value[i] * 0.005f;
+					_analog_rc_rssi_volt = _analog_rc_rssi_volt * 0.995f + adc_volt * 0.005f;
 
 					/* only allow this to be used if we see a high RSSI once */
 					if (_analog_rc_rssi_volt > 2.5f) {

src/drivers/rc_input/RCInput.hpp

@@ -36,6 +36,7 @@
 #include <float.h>
 
 #include <board_config.h>
+#include <drivers/drv_adc.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_rc_input.h>
 #include <lib/perf/perf_counter.h>

src/modules/battery_status/CMakeLists.txt

@@ -40,7 +40,6 @@ px4_add_module(
 	MODULE_CONFIG
 		module.yaml
 	DEPENDS
-		arch_adc
 		battery
 		conversion
 		drivers__device

src/modules/battery_status/analog_battery.cpp

@@ -15,17 +15,11 @@ static constexpr int DEFAULT_V_CHANNEL[1] = {0};
 static constexpr int DEFAULT_I_CHANNEL[1] = {0};
 #endif
 
-static constexpr float DEFAULT_VOLTS_PER_COUNT = 3.3f / 4096.0f;
-
 AnalogBattery::AnalogBattery(int index, ModuleParams *parent) :
 	Battery(index, parent)
 {
 	char param_name[17];
 
-	_analog_param_handles.cnt_v_volt = param_find("BAT_CNT_V_VOLT");
-
-	_analog_param_handles.cnt_v_curr = param_find("BAT_CNT_V_CURR");
-
 	_analog_param_handles.v_offs_cur = param_find("BAT_V_OFFS_CURR");
 
 	snprintf(param_name, sizeof(param_name), "BAT%d_V_DIV", index);
@@ -34,8 +28,11 @@ AnalogBattery::AnalogBattery(int index, ModuleParams *parent) :
 	snprintf(param_name, sizeof(param_name), "BAT%d_A_PER_V", index);
 	_analog_param_handles.a_per_v = param_find(param_name);
 
-	snprintf(param_name, sizeof(param_name), "BAT%d_ADC_CHANNEL", index);
+	snprintf(param_name, sizeof(param_name), "BAT%d_V_CHANNEL", index);
-	_analog_param_handles.adc_channel = param_find(param_name);
+	_analog_param_handles.v_channel = param_find(param_name);
+
+	snprintf(param_name, sizeof(param_name), "BAT%d_I_CHANNEL", index);
+	_analog_param_handles.i_channel = param_find(param_name);
 
 	_analog_param_handles.v_div_old = param_find("BAT_V_DIV");
 	_analog_param_handles.a_per_v_old = param_find("BAT_A_PER_V");
@@ -43,11 +40,11 @@ AnalogBattery::AnalogBattery(int index, ModuleParams *parent) :
 }
 
 void
-AnalogBattery::updateBatteryStatusRawADC(hrt_abstime timestamp, int32_t voltage_raw, int32_t current_raw,
+AnalogBattery::updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw, float current_raw,
-		bool selected_source, int priority, float throttle_normalized)
+				      bool selected_source, int priority, float throttle_normalized)
 {
-	float voltage_v = (voltage_raw * _analog_params.cnt_v_volt) * _analog_params.v_div;
+	float voltage_v = voltage_raw * _analog_params.v_div;
-	float current_a = ((current_raw * _analog_params.cnt_v_curr) - _analog_params.v_offs_cur) * _analog_params.a_per_v;
+	float current_a = (current_raw - _analog_params.v_offs_cur) * _analog_params.a_per_v;
 
 	bool connected = voltage_v > BOARD_ADC_OPEN_CIRCUIT_V &&
 			 (BOARD_ADC_OPEN_CIRCUIT_V <= BOARD_VALID_UV || is_valid());
@@ -70,8 +67,8 @@ bool AnalogBattery::is_valid()
 
 int AnalogBattery::get_voltage_channel()
 {
-	if (_analog_params.adc_channel >= 0) {
+	if (_analog_params.v_channel >= 0) {
-		return _analog_params.adc_channel;
+		return _analog_params.v_channel;
 
 	} else {
 		return DEFAULT_V_CHANNEL[_index - 1];
@@ -80,8 +77,12 @@ int AnalogBattery::get_voltage_channel()
 
 int AnalogBattery::get_current_channel()
 {
-	// TODO: Possibly implement parameter for current sense channel
+	if (_analog_params.i_channel >= 0) {
-	return DEFAULT_I_CHANNEL[_index - 1];
+		return _analog_params.i_channel;
+
+	} else {
+		return DEFAULT_I_CHANNEL[_index - 1];
+	}
 }
 
 void
@@ -92,33 +93,18 @@ AnalogBattery::updateParams()
 				    &_analog_params.v_div, _first_parameter_update);
 		migrateParam<float>(_analog_param_handles.a_per_v_old, _analog_param_handles.a_per_v, &_analog_params.a_per_v_old,
 				    &_analog_params.a_per_v, _first_parameter_update);
-		migrateParam<int>(_analog_param_handles.adc_channel_old, _analog_param_handles.adc_channel,
+		migrateParam<int>(_analog_param_handles.adc_channel_old, _analog_param_handles.v_channel,
-				  &_analog_params.adc_channel_old, &_analog_params.adc_channel, _first_parameter_update);
+				  &_analog_params.adc_channel_old, &_analog_params.v_channel, _first_parameter_update);
 
 	} else {
 		param_get(_analog_param_handles.v_div, &_analog_params.v_div);
 		param_get(_analog_param_handles.a_per_v, &_analog_params.a_per_v);
-		param_get(_analog_param_handles.adc_channel, &_analog_params.adc_channel);
+		param_get(_analog_param_handles.v_channel, &_analog_params.v_channel);
 	}
 
-	param_get(_analog_param_handles.cnt_v_volt, &_analog_params.cnt_v_volt);
+	param_get(_analog_param_handles.i_channel, &_analog_params.i_channel);
-	param_get(_analog_param_handles.cnt_v_curr, &_analog_params.cnt_v_curr);
 	param_get(_analog_param_handles.v_offs_cur, &_analog_params.v_offs_cur);
 
-	/* scaling of ADC ticks to battery voltage */
-	if (_analog_params.cnt_v_volt < 0.0f) {
-		/* apply scaling according to defaults if set to default */
-		_analog_params.cnt_v_volt = (BOARD_ADC_POS_REF_V_FOR_VOLTAGE_CHAN / px4_arch_adc_dn_fullcount());
-		param_set_no_notification(_analog_param_handles.cnt_v_volt, &_analog_params.cnt_v_volt);
-	}
-
-	/* scaling of ADC ticks to battery current */
-	if (_analog_params.cnt_v_curr < 0.0f) {
-		/* apply scaling according to defaults if set to default */
-		_analog_params.cnt_v_curr = (BOARD_ADC_POS_REF_V_FOR_CURRENT_CHAN / px4_arch_adc_dn_fullcount());
-		param_set_no_notification(_analog_param_handles.cnt_v_curr, &_analog_params.cnt_v_curr);
-	}
-
 	if (_analog_params.v_div <= 0.0f) {
 		/* apply scaling according to defaults if set to default */
 		_analog_params.v_div = BOARD_BATTERY1_V_DIV;

src/modules/battery_status/analog_battery.h

@@ -44,15 +44,15 @@ public:
 	/**
 	 * Update current battery status message.
 	 *
-	 * @param voltage_raw Battery voltage read from ADC, in raw ADC counts
+	 * @param voltage_raw Battery voltage read from ADC, volts
-	 * @param current_raw Voltage of current sense resistor, in raw ADC counts
+	 * @param current_raw Voltage of current sense resistor, volts
 	 * @param timestamp Time at which the ADC was read (use hrt_absolute_time())
 	 * @param selected_source This battery is on the brick that the selected source for selected_source
 	 * @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
 	 * @param throttle_normalized Throttle of the vehicle, between 0 and 1
 	 */
-	void updateBatteryStatusRawADC(hrt_abstime timestamp, int32_t voltage_raw, int32_t current_raw,
+	void updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw, float current_raw,
-				       bool selected_source, int priority, float throttle_normalized);
+				    bool selected_source, int priority, float throttle_normalized);
 
 	/**
 	 * Whether the ADC channel for the voltage of this battery is valid.
@@ -73,12 +73,11 @@ public:
 protected:
 
 	struct {
-		param_t cnt_v_volt;
-		param_t cnt_v_curr;
 		param_t v_offs_cur;
 		param_t v_div;
 		param_t a_per_v;
-		param_t adc_channel;
+		param_t v_channel;
+		param_t i_channel;
 
 		param_t v_div_old;
 		param_t a_per_v_old;
@@ -86,12 +85,11 @@ protected:
 	} _analog_param_handles;
 
 	struct {
-		float cnt_v_volt;
-		float cnt_v_curr;
 		float v_offs_cur;
 		float v_div;
 		float a_per_v;
-		int adc_channel;
+		int v_channel;
+		int i_channel;
 
 		float v_div_old;
 		float a_per_v_old;

src/modules/battery_status/analog_battery_params_common.c

@@ -31,30 +31,6 @@
  *
  ****************************************************************************/
 
-/**
- * Scaling from ADC counts to volt on the ADC input (battery voltage)
- *
- * This is not the battery voltage, but the intermediate ADC voltage.
- * A value of -1 signifies that the board defaults are used, which is
- * highly recommended.
- *
- * @group Battery Calibration
- * @decimal 8
- */
-PARAM_DEFINE_FLOAT(BAT_CNT_V_VOLT, -1.0f);
-
-/**
- * Scaling from ADC counts to volt on the ADC input (battery current)
- *
- * This is not the battery current, but the intermediate ADC voltage.
- * A value of -1 signifies that the board defaults are used, which is
- * highly recommended.
- *
- * @group Battery Calibration
- * @decimal 8
- */
-PARAM_DEFINE_FLOAT(BAT_CNT_V_CURR, -1.0);
-
 /**
  * Offset in volt as seen by the ADC input of the current sensor.
  *

src/modules/battery_status/battery_status.cpp

@@ -60,7 +60,7 @@
 #include <uORB/Publication.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/parameter_update.h>
-#include <uORB/topics/battery_status.h>
+#include <uORB/topics/adc_report.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 #include "analog_battery.h"
@@ -99,10 +99,9 @@ public:
 private:
 	void Run() override;
 
-	int  _adc_fd{-1};			/**< ADC file handle */
-
 	uORB::Subscription	_actuator_ctrl_0_sub{ORB_ID(actuator_controls_0)};		/**< attitude controls sub */
 	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};				/**< notification of parameter updates */
+	uORB::Subscription	_adc_report_sub{ORB_ID(adc_report)};
 
 	AnalogBattery _battery1;
 
@@ -167,21 +166,15 @@ BatteryStatus::parameter_update_poll(bool forced)
 void
 BatteryStatus::adc_poll()
 {
-	/* make space for a maximum of twelve channels (to ensure reading all channels at once) */
-	px4_adc_msg_t buf_adc[PX4_MAX_ADC_CHANNELS];
-
-	/* read all channels available */
-	int ret = px4_read(_adc_fd, &buf_adc, sizeof(buf_adc));
-
 	/* For legacy support we publish the battery_status for the Battery that is
-	 * associated with the Brick that is the selected source for VDD_5V_IN
+	* associated with the Brick that is the selected source for VDD_5V_IN
-	 * Selection is done in HW ala a LTC4417 or similar, or may be hard coded
+	* Selection is done in HW ala a LTC4417 or similar, or may be hard coded
-	 * Like in the FMUv4
+	* Like in the FMUv4
-	 */
+	*/
 
 	/* Per Brick readings with default unread channels at 0 */
-	int32_t bat_current_adc_readings[BOARD_NUMBER_BRICKS] {};
+	float bat_current_adc_readings[BOARD_NUMBER_BRICKS] {};
-	int32_t bat_voltage_adc_readings[BOARD_NUMBER_BRICKS] {};
+	float bat_voltage_adc_readings[BOARD_NUMBER_BRICKS] {};
 
 	/* Based on the valid_chan, used to indicate the selected the lowest index
 	 * (highest priority) supply that is the source for the VDD_5V_IN
@@ -190,34 +183,40 @@ BatteryStatus::adc_poll()
 
 	int selected_source = -1;
 
-	if (ret >= (int)sizeof(buf_adc[0])) {
+	adc_report_s adc_report;
 
-		/* Read add channels we got */
+	if (_adc_report_sub.update(&adc_report)) {
-		for (unsigned i = 0; i < ret / sizeof(buf_adc[0]); i++) {
-			{
-				for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
 
-					/* Once we have subscriptions, Do this once for the lowest (highest priority
+		/* Read add channels we got */
-					 * supply on power controller) that is valid.
+		for (unsigned i = 0; i < PX4_MAX_ADC_CHANNELS; ++i) {
+			for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
+
+				/* Once we have subscriptions, Do this once for the lowest (highest priority
+				 * supply on power controller) that is valid.
+				 */
+				if (selected_source < 0 && _analogBatteries[b]->is_valid()) {
+					/* Indicate the lowest brick (highest priority supply on power controller)
+					 * that is valid as the one that is the selected source for the
+					 * VDD_5V_IN
 					 */
-					if (selected_source < 0 && _analogBatteries[b]->is_valid()) {
+					selected_source = b;
-						/* Indicate the lowest brick (highest priority supply on power controller)
+
-						 * that is valid as the one that is the selected source for the
+				}
-						 * VDD_5V_IN
+
-						 */
+				/* look for specific channels and process the raw voltage to measurement data */
-						selected_source = b;
+
-
+				if (adc_report.channel_id[i] == _analogBatteries[b]->get_voltage_channel()) {
-					}
+					/* Voltage in volts */
-
+					bat_voltage_adc_readings[b] = adc_report.raw_data[i] *
-					/* look for specific channels and process the raw voltage to measurement data */
+								      adc_report.v_ref /
-					if (_analogBatteries[b]->get_voltage_channel() == buf_adc[i].am_channel) {
+								      adc_report.resolution;
-						/* Voltage in volts */
+
-						bat_voltage_adc_readings[b] = buf_adc[i].am_data;
+				} else if (adc_report.channel_id[i] == _analogBatteries[b]->get_current_channel()) {
-
+					bat_current_adc_readings[b] = adc_report.raw_data[i] *
-					} else if (_analogBatteries[b]->get_current_channel() == buf_adc[i].am_channel) {
+								      adc_report.v_ref /
-						bat_current_adc_readings[b] = buf_adc[i].am_data;
+								      adc_report.resolution;
-					}
 				}
+
 			}
 		}
 
@@ -226,7 +225,7 @@ BatteryStatus::adc_poll()
 				actuator_controls_s ctrl{};
 				_actuator_ctrl_0_sub.copy(&ctrl);
 
-				_analogBatteries[b]->updateBatteryStatusRawADC(
+				_analogBatteries[b]->updateBatteryStatusADC(
 					hrt_absolute_time(),
 					bat_voltage_adc_readings[b],
 					bat_current_adc_readings[b],
@@ -249,15 +248,6 @@ BatteryStatus::Run()
 
 	perf_begin(_loop_perf);
 
-	if (_adc_fd < 0) {
-		_adc_fd = px4_open(ADC0_DEVICE_PATH, O_RDONLY);
-
-		if (_adc_fd < 0) {
-			PX4_ERR("unable to open ADC: %s", ADC0_DEVICE_PATH);
-			return;
-		}
-	}
-
 	/* check parameters for updates */
 	parameter_update_poll();
 

src/modules/battery_status/module.yaml

@@ -9,7 +9,7 @@ parameters:
             description:
                 short: Battery ${i} voltage divider (V divider)
                 long: |
-                    This is the divider from battery ${i} voltage to 3.3V ADC voltage.
+                    This is the divider from battery ${i} voltage to ADC voltage.
                     If using e.g. Mauch power modules the value from the datasheet
                     can be applied straight here. A value of -1 means to use
                     the board default.
@@ -25,7 +25,7 @@ parameters:
             description:
                 short: Battery ${i} current per volt (A/V)
                 long: |
-                    The voltage seen by the 3.3V ADC multiplied by this factor
+                    The voltage seen by the ADC multiplied by this factor
                     will determine the battery current. A value of -1 means to use
                     the board default.
 
@@ -36,9 +36,9 @@ parameters:
             instance_start: 1
             default: [-1.0, -1.0]
 
-        BAT${i}_ADC_CHANNEL:
+        BAT${i}_V_CHANNEL:
             description:
-                short: Battery ${i} ADC Channel
+                short: Battery ${i} Voltage ADC Channel
                 long: |
                     This parameter specifies the ADC channel used to monitor voltage of main power battery.
                     A value of -1 means to use the board default.
@@ -48,3 +48,16 @@ parameters:
             num_instances: *max_num_config_instances
             instance_start: 1
             default: [-1, -1]
+
+        BAT${i}_I_CHANNEL:
+            description:
+                short: Battery ${i} Current ADC Channel
+                long: |
+                    This parameter specifies the ADC channel used to monitor current of main power battery.
+                    A value of -1 means to use the board default.
+
+            type: int32
+            reboot_required: true
+            num_instances: *max_num_config_instances
+            instance_start: 1
+            default: [-1, -1]

src/modules/sensors/sensors.cpp

@@ -144,10 +144,10 @@ private:
 	DataValidator	_airspeed_validator;		/**< data validator to monitor airspeed */
 
 #ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
-	int	_adc_fd {-1};				/**< ADC driver handle */
 
 	hrt_abstime	_last_adc{0};			/**< last time we took input from the ADC */
 
+	uORB::Subscription	_adc_report_sub{ORB_ID(adc_report)};		/**< adc_report sub */
 	differential_pressure_s	_diff_pres {};
 	uORB::PublicationMulti<differential_pressure_s>	_diff_pres_pub{ORB_ID(differential_pressure)};		/**< differential_pressure */
 #endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
@@ -183,11 +183,6 @@ private:
 	 */
 	void 		parameter_update_poll(bool forced = false);
 
-	/**
-	 * Do adc-related initialisation.
-	 */
-	int		adc_init();
-
 	/**
 	 * Poll the ADC and update readings to suit.
 	 *
@@ -254,23 +249,6 @@ int Sensors::parameters_update()
 	return PX4_OK;
 }
 
-int Sensors::adc_init()
-{
-	if (!_hil_enabled) {
-#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
-		_adc_fd = px4_open(ADC0_DEVICE_PATH, O_RDONLY);
-
-		if (_adc_fd == -1) {
-			PX4_ERR("no ADC found: %s", ADC0_DEVICE_PATH);
-			return PX4_ERROR;
-		}
-
-#endif // ADC_AIRSPEED_VOLTAGE_CHANNEL
-	}
-
-	return OK;
-}
-
 void Sensors::diff_pres_poll()
 {
 	differential_pressure_s diff_pres{};
@@ -365,37 +343,40 @@ Sensors::parameter_update_poll(bool forced)
 
 void Sensors::adc_poll()
 {
-#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
-
 	/* only read if not in HIL mode */
 	if (_hil_enabled) {
 		return;
 	}
 
+#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
+
 	if (_parameters.diff_pres_analog_scale > 0.0f) {
 
 		hrt_abstime t = hrt_absolute_time();
 
 		/* rate limit to 100 Hz */
 		if (t - _last_adc >= 10000) {
-			/* make space for a maximum of twelve channels (to ensure reading all channels at once) */
+			adc_report_s adc;
-			px4_adc_msg_t buf_adc[PX4_MAX_ADC_CHANNELS];
-			/* read all channels available */
-			int ret = px4_read(_adc_fd, &buf_adc, sizeof(buf_adc));
-
-			if (ret >= (int)sizeof(buf_adc[0])) {
 
+			if (_adc_report_sub.update(&adc)) {
 				/* Read add channels we got */
-				for (unsigned i = 0; i < ret / sizeof(buf_adc[0]); i++) {
+				for (unsigned i = 0; i < PX4_MAX_ADC_CHANNELS; i++) {
-					if (ADC_AIRSPEED_VOLTAGE_CHANNEL == buf_adc[i].am_channel) {
+					if (adc.channel_id[i] == -1) {
+						continue;	// skip non-exist channels
+					}
+
+					if (ADC_AIRSPEED_VOLTAGE_CHANNEL == adc.channel_id[i]) {
 
 						/* calculate airspeed, raw is the difference from */
-						const float voltage = (float)(buf_adc[i].am_data) * 3.3f / 4096.0f * 2.0f;  // V_ref/4096 * (voltage divider factor)
+						const float voltage = (float)(adc.raw_data[i]) * adc.v_ref / adc.resolution * ADC_DP_V_DIV;
 
 						/**
 						 * The voltage divider pulls the signal down, only act on
 						 * a valid voltage from a connected sensor. Also assume a non-
 						 * zero offset from the sensor if its connected.
+						 *
+						 * Notice: This won't work on devices which have PGA controlled
+						 * vref. Those devices require no divider at all.
 						 */
 						if (voltage > 0.4f) {
 							const float diff_pres_pa_raw = voltage * _parameters.diff_pres_analog_scale - _parameters.diff_pres_offset_pa;
@@ -410,9 +391,9 @@ void Sensors::adc_poll()
 						}
 					}
 				}
-
-				_last_adc = t;
 			}
+
+			_last_adc = t;
 		}
 	}
 
@@ -465,7 +446,6 @@ void Sensors::Run()
 
 	// run once
 	if (_last_config_update == 0) {
-		adc_init();
 		_voted_sensors_update.init(_sensor_combined);
 		parameter_update_poll(true);
 	}

src/systemcmds/tests/CMakeLists.txt

@@ -32,7 +32,7 @@
 ############################################################################
 
 set(srcs
-	test_adc.c
+	test_adc.cpp
 	test_atomic_bitset.cpp
 	test_autodeclination.cpp
 	test_bezierQuad.cpp
@@ -48,7 +48,7 @@ set(srcs
 	test_int.cpp
 	test_i2c_spi_cli.cpp
 	test_IntrusiveQueue.cpp
-	test_jig_voltages.c
+	test_jig_voltages.cpp
 	test_led.c
 	test_List.cpp
 	test_mathlib.cpp

src/systemcmds/tests/test_adc.cpp

@@ -37,56 +37,36 @@
  */
 
 #include <px4_platform_common/time.h>
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/posix.h>
 #include <px4_platform_common/log.h>
-
-#include <sys/types.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-
 #include "tests_main.h"
-
 #include <drivers/drv_adc.h>
 
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/adc_report.h>
+
 int test_adc(int argc, char *argv[])
 {
-	int fd = px4_open(ADC0_DEVICE_PATH, O_RDONLY);
+	uORB::Subscription	_adc_sub{ORB_ID(adc_report)};
-
+	adc_report_s adc;
-	if (fd < 0) {
-		PX4_ERR("ERROR: can't open ADC device");
-		return 1;
-	}
-
-	for (unsigned i = 0; i < 5; i++) {
-		/* make space for a maximum number of channels */
-		px4_adc_msg_t data[PX4_MAX_ADC_CHANNELS];
-		/* read all channels available */
-		ssize_t count = px4_read(fd, data, sizeof(data));
 
-		if (count < 0) {
+	px4_usleep(50000);	// sleep 50ms and wait for adc report
-			goto errout_with_dev;
-		}
 
-		unsigned channels = count / sizeof(data[0]);
+	if (_adc_sub.update(&adc)) {
+		PX4_INFO_RAW("DeviceID: %d\n", adc.device_id);
+		PX4_INFO_RAW("Resolution: %d\n", adc.resolution);
+		PX4_INFO_RAW("Voltage Reference: %f\n", adc.v_ref);
 
-		for (unsigned j = 0; j < channels; j++) {
+		for (int i = 0; i < PX4_MAX_ADC_CHANNELS; ++i) {
-			printf("%d: %u  ", data[j].am_channel, data[j].am_data);
+			PX4_INFO_RAW("%d: %d  ", adc.channel_id[i], adc.raw_data[i]);
 		}
 
-		printf("\n");
+		PX4_INFO_RAW("\n");
-		px4_usleep(150000);
-	}
 
-	printf("\t ADC test successful.\n");
+		PX4_INFO_RAW("\t ADC test successful.\n");
 
-errout_with_dev:
+		return OK;
 
-	if (fd != 0) { px4_close(fd); }
+	} else {
-
+		return 1;
-	return OK;
+	}
 }

src/systemcmds/tests/test_jig_voltages.c

@@ -1,133 +0,0 @@
-/****************************************************************************
- *
- *  Copyright (C) 2012-2019 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.
- *
- ****************************************************************************/
-
-/**
- * @file test_jig_voltages.c
- * Tests for jig voltages.
- */
-
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/defines.h>
-
-#include <sys/types.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-
-#include "tests_main.h"
-
-#include <drivers/drv_adc.h>
-#include <systemlib/err.h>
-
-int test_jig_voltages(int argc, char *argv[])
-{
-	int fd = open(ADC0_DEVICE_PATH, O_RDONLY);
-	int ret = OK;
-
-	if (fd < 0) {
-		PX4_ERR("can't open ADC device");
-		return 1;
-	}
-
-	/* make space for the  maximum channels */
-	px4_adc_msg_t data[PX4_MAX_ADC_CHANNELS];
-
-	/* read all channels available */
-	ssize_t count = read(fd, data, sizeof(data));
-
-	if (count < 0) {
-		close(fd);
-		PX4_ERR("can't read from ADC driver. Forgot 'adc start' command?");
-		return 1;
-	}
-
-	unsigned channels = count / sizeof(data[0]);
-
-	for (unsigned j = 0; j < channels; j++) {
-		printf("%d: %u  ", data[j].am_channel, data[j].am_data);
-	}
-
-	printf("\n");
-
-	PX4_INFO("\t ADC operational.\n");
-
-	/* Expected values */
-	int16_t expected_min[] = {2800, 2800, 1800,  800};
-	int16_t expected_max[] = {3100, 3100, 2100, 1100};
-	char *check_res[channels];
-
-	if (channels < 4) {
-		close(fd);
-		PX4_ERR("not all four test channels available, aborting.");
-		return 1;
-
-	} else {
-		/* Check values */
-		check_res[0] = (expected_min[0] < data[0].am_data && expected_max[0] > data[0].am_data) ? "OK" : "FAIL";
-		check_res[1] = (expected_min[1] < data[1].am_data && expected_max[1] > data[1].am_data) ? "OK" : "FAIL";
-		check_res[2] = (expected_min[2] < data[2].am_data && expected_max[2] > data[2].am_data) ? "OK" : "FAIL";
-		check_res[3] = (expected_min[3] < data[3].am_data && expected_max[3] > data[3].am_data) ? "OK" : "FAIL";
-
-		/* Accumulate result */
-		ret += (expected_min[0] > data[0].am_data || expected_max[0] < data[0].am_data) ? 1 : 0;
-		ret += (expected_min[1] > data[1].am_data || expected_max[1] < data[1].am_data) ? 1 : 0;
-		ret += (expected_min[2] > data[2].am_data || expected_max[2] < data[2].am_data) ? 1 : 0;
-		ret += (expected_min[3] > data[3].am_data || expected_max[3] < data[3].am_data) ? 1 : 0;
-
-		PX4_INFO("Sample:");
-		PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
-			 data[0].am_channel, (int)(data[0].am_data), expected_min[0], expected_max[0], check_res[0]);
-		PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
-			 data[1].am_channel, (int)(data[1].am_data), expected_min[1], expected_max[1], check_res[1]);
-		PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
-			 data[2].am_channel, (int)(data[2].am_data), expected_min[2], expected_max[2], check_res[2]);
-		PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
-			 data[3].am_channel, (int)(data[3].am_data), expected_min[3], expected_max[3], check_res[3]);
-
-		if (ret != OK) {
-			PX4_ERR("\t JIG voltages test FAILED. Some channels where out of allowed range. Check supply voltages.");
-			goto errout_with_dev;
-		}
-	}
-
-	PX4_INFO("JIG voltages test successful.");
-
-errout_with_dev:
-
-	if (fd != 0) { close(fd); }
-
-	return ret;
-}

src/systemcmds/tests/test_jig_voltages.cpp

@@ -0,0 +1,120 @@
+/****************************************************************************
+ *
+ *  Copyright (C) 2012-2019 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file test_jig_voltages.c
+ * Tests for jig voltages.
+ */
+
+#include <px4_platform_common/defines.h>
+#include <unistd.h>
+#include "tests_main.h"
+#include <drivers/drv_adc.h>
+
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/adc_report.h>
+
+int test_jig_voltages(int argc, char *argv[])
+{
+	uORB::Subscription	_adc_sub{ORB_ID(adc_report)};
+	adc_report_s adc;
+
+	px4_usleep(50000);	// sleep 50ms and wait for adc report
+
+	if (_adc_sub.update(&adc)) {
+		PX4_INFO_RAW("DeviceID: %d\n", adc.device_id);
+		PX4_INFO_RAW("Resolution: %d\n", adc.resolution);
+		PX4_INFO_RAW("Voltage Reference: %f\n", adc.v_ref);
+
+		unsigned channels = 0;
+
+		for (int i = 0; i < PX4_MAX_ADC_CHANNELS; ++i) {
+			PX4_INFO_RAW("%d: %d  ", adc.channel_id[i], adc.raw_data[i]);
+
+			if (adc.channel_id[i] != -1) {
+				++channels;
+			}
+		}
+
+		PX4_INFO_RAW("\n");
+
+		PX4_INFO("\t ADC operational.\n");
+
+		/* Expected values */
+		int16_t expected_min[] = {2800, 2800, 1800,  800};
+		int16_t expected_max[] = {3100, 3100, 2100, 1100};
+		const char *check_res[channels];
+
+		if (channels < 4) {
+			PX4_ERR("not all four test channels available, aborting.");
+			return 1;
+
+		} else {
+			int ret = OK;
+
+			/* Check values */
+			check_res[0] = (expected_min[0] < adc.raw_data[0] && expected_max[0] > adc.raw_data[0]) ? "OK" : "FAIL";
+			check_res[1] = (expected_min[1] < adc.raw_data[1] && expected_max[1] > adc.raw_data[1]) ? "OK" : "FAIL";
+			check_res[2] = (expected_min[2] < adc.raw_data[2] && expected_max[2] > adc.raw_data[2]) ? "OK" : "FAIL";
+			check_res[3] = (expected_min[3] < adc.raw_data[3] && expected_max[3] > adc.raw_data[3]) ? "OK" : "FAIL";
+
+			/* Accumulate result */
+			ret += (expected_min[0] > adc.raw_data[0] || expected_max[0] < adc.raw_data[0]) ? 1 : 0;
+			ret += (expected_min[1] > adc.raw_data[1] || expected_max[1] < adc.raw_data[1]) ? 1 : 0;
+			ret += (expected_min[2] > adc.raw_data[2] || expected_max[2] < adc.raw_data[2]) ? 1 : 0;
+			ret += (expected_min[3] > adc.raw_data[3] || expected_max[3] < adc.raw_data[3]) ? 1 : 0;
+
+			PX4_INFO("Sample:");
+			PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
+				 adc.channel_id[0], (int)(adc.raw_data[0]), expected_min[0], expected_max[0], check_res[0]);
+			PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
+				 adc.channel_id[1], (int)(adc.raw_data[1]), expected_min[1], expected_max[1], check_res[1]);
+			PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
+				 adc.channel_id[2], (int)(adc.raw_data[2]), expected_min[2], expected_max[2], check_res[2]);
+			PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
+				 adc.channel_id[3], (int)(adc.raw_data[3]), expected_min[3], expected_max[3], check_res[3]);
+
+			if (ret != OK) {
+				PX4_ERR("\t JIG voltages test FAILED. Some channels where out of allowed range. Check supply voltages.");
+				return ret;
+			}
+		}
+
+		PX4_INFO("JIG voltages test successful.");
+
+		return OK;
+
+	} else {
+		return 1;
+	}
+}

src/systemcmds/tests/tests_main.c

@@ -67,7 +67,6 @@ const struct {
 	{"jig",			test_jig,		OPT_NOJIGTEST | OPT_NOALLTEST},
 
 #ifdef __PX4_NUTTX
-	{"adc",			test_adc,		OPT_NOJIGTEST},
 	{"file",		test_file,		OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"led",			test_led,		0},
 	{"time",		test_time,		OPT_NOJIGTEST},
@@ -78,6 +77,7 @@ const struct {
 	{"rc",			rc_tests_main,		0},
 #endif /* __PX4_NUTTX */
 
+	{"adc",			test_adc,		OPT_NOJIGTEST},
 	{"atomic_bitset",	test_atomic_bitset,	0},
 	{"autodeclination",	test_autodeclination,	0},
 	{"bezier",		test_bezierQuad,	0},