Merged, compiling

8 files changed, 520 insertions, 157 deletions

diff --git a/apps/drivers/boards/px4fmu/px4fmu_adc.c b/apps/drivers/boards/px4fmu/px4fmu_adc.c
deleted file mode 100644
index b55af486d..000000000
--- a/apps/drivers/boards/px4fmu/px4fmu_adc.c
+++ /dev/null
@@ -1,139 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 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 px4fmu_adc.c
- *
- * Board-specific ADC functions.
- */
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <errno.h>
-#include <debug.h>
-#include <stdio.h>
-
-#include <nuttx/analog/adc.h>
-#include <arch/board/board.h>
-
-#include "chip.h"
-#include "up_arch.h"
-
-#include "stm32_adc.h"
-#include "px4fmu_internal.h"
-
-#define ADC3_NCHANNELS 4
-
-/************************************************************************************
- * Private Data
- ************************************************************************************/
-/* The PX4FMU board has four ADC channels: ADC323 IN10-13
- */
-
-/* Identifying number of each ADC channel: Variable Resistor. */
-
-#ifdef CONFIG_STM32_ADC3
-static const uint8_t  g_chanlist[ADC3_NCHANNELS] = {10, 11, 12, 13};
-
-/* Configurations of pins used byte each ADC channels */
-static const uint32_t g_pinlist[ADC3_NCHANNELS]  = {GPIO_ADC3_IN10, GPIO_ADC3_IN11, GPIO_ADC3_IN12, GPIO_ADC3_IN13};
-#endif
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Name: adc_devinit
- *
- * Description:
- *   All STM32 architectures must provide the following interface to work with
- *   examples/adc.
- *
- ************************************************************************************/
-
-int adc_devinit(void)
-{
-	static bool initialized = false;
-	struct adc_dev_s *adc[ADC3_NCHANNELS];
-	int ret;
-	int i;
-
-	/* Check if we have already initialized */
-
-	if (!initialized) {
-		char name[11];
-
-		for (i = 0; i < ADC3_NCHANNELS; i++) {
-			stm32_configgpio(g_pinlist[i]);
-		}
-
-		for (i = 0; i < 1; i++) {
-			/* Configure the pins as analog inputs for the selected channels */
-			//stm32_configgpio(g_pinlist[i]);
-
-			/* Call stm32_adcinitialize() to get an instance of the ADC interface */
-			//multiple channels only supported with dma!
-			adc[i] = stm32_adcinitialize(3, (g_chanlist), 4);
-
-			if (adc == NULL) {
-				adbg("ERROR: Failed to get ADC interface\n");
-				return -ENODEV;
-			}
-
-
-			/* Register the ADC driver at "/dev/adc0" */
-			sprintf(name, "/dev/adc%d", i);
-			ret = adc_register(name, adc[i]);
-
-			if (ret < 0) {
-				adbg("adc_register failed for adc %s: %d\n", name, ret);
-				return ret;
-			}
-		}
-
-		/* Now we are initialized */
-
-		initialized = true;
-	}
-
-	return OK;
-}
diff --git a/apps/drivers/boards/px4fmu/px4fmu_init.c b/apps/drivers/boards/px4fmu/px4fmu_init.c
index bc047aa4f..2a7bfe3d7 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_init.c
+++ b/apps/drivers/boards/px4fmu/px4fmu_init.c
@@ -95,8 +95,6 @@
  * Protected Functions
  ****************************************************************************/
 
-extern int adc_devinit(void);
-
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -201,7 +199,7 @@ __EXPORT int nsh_archinitialize(void)
 
 	message("[boot] Successfully initialized SPI port 1\r\n");
 
-	/* Get the SPI port for the microsd slot */
+	/* Get the SPI port for the microSD slot */
 
 	message("[boot] Initializing SPI port 3\n");
 	spi3 = up_spiinitialize(3);
@@ -225,21 +223,10 @@ __EXPORT int nsh_archinitialize(void)
 
 	message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
 
-#ifdef CONFIG_ADC
-	int adc_state = adc_devinit();
-
-	if (adc_state != OK) {
-		/* Try again */
-		adc_state = adc_devinit();
-
-		if (adc_state != OK) {
-			/* Give up */
-			message("[boot] FAILED adc_devinit: %d\n", adc_state);
-			return -ENODEV;
-		}
-	}
-
-#endif
+	stm32_configgpio(GPIO_ADC1_IN10);
+	stm32_configgpio(GPIO_ADC1_IN11);
+	stm32_configgpio(GPIO_ADC1_IN12);
+	//stm32_configgpio(GPIO_ADC1_IN13);	// jumperable to MPU6000 DRDY on some boards
 
 	return OK;
 }
diff --git a/apps/drivers/boards/px4io/px4io_init.c b/apps/drivers/boards/px4io/px4io_init.c
index 33a6707ce..14e8dc13a 100644
--- a/apps/drivers/boards/px4io/px4io_init.c
+++ b/apps/drivers/boards/px4io/px4io_init.c
@@ -92,4 +92,7 @@ __EXPORT void stm32_boardinitialize(void)
 	stm32_configgpio(GPIO_ACC_OC_DETECT);
 	stm32_configgpio(GPIO_SERVO_OC_DETECT);
 	stm32_configgpio(GPIO_BTN_SAFETY);
+
+	stm32_configgpio(GPIO_ADC_VBATT);
+	stm32_configgpio(GPIO_ADC_IN5);
 }
diff --git a/apps/drivers/boards/px4io/px4io_internal.h b/apps/drivers/boards/px4io/px4io_internal.h
index 3ac8a5cfa..f77d237a7 100644
--- a/apps/drivers/boards/px4io/px4io_internal.h
+++ b/apps/drivers/boards/px4io/px4io_internal.h
@@ -76,3 +76,8 @@
 
 #define GPIO_RELAY1_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN13)
 #define GPIO_RELAY2_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN12)
+
+/* Analog inputs ********************************************************************/
+
+#define GPIO_ADC_VBATT	(GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
+#define GPIO_ADC_IN5	(GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
diff --git a/apps/drivers/drv_adc.h b/apps/drivers/drv_adc.h
new file mode 100644
index 000000000..8ec6d1233
--- /dev/null
+++ b/apps/drivers/drv_adc.h
@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 drv_adc.h
+ *
+ * ADC driver interface.
+ *
+ * This defines additional operations over and above the standard NuttX
+ * ADC API.
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+#define ADC_DEVICE_PATH		"/dev/adc0"
+
+/*
+ * ioctl definitions
+ */
diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp
index e6a485de4..0c0b08343 100644
--- a/apps/drivers/px4io/px4io.cpp
+++ b/apps/drivers/px4io/px4io.cpp
@@ -78,6 +78,7 @@
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/rc_channels.h>
+#include <uORB/topics/battery_status.h>
 
 #include <px4io/protocol.h>
 #include "uploader.h"
@@ -127,6 +128,9 @@ private:
 	orb_advert_t 		_to_input_rc;	///< rc inputs from io
 	rc_input_values		_input_rc;	///< rc input values
 
+	orb_advert_t		_to_battery;	///< battery status / voltage
+	battery_status_s	_battery_status;///< battery status data
+
 	orb_advert_t		_t_outputs;	///< mixed outputs topic
 	actuator_outputs_s	_outputs;	///< mixed outputs
 
@@ -379,6 +383,10 @@ PX4IO::task_main()
 	memset(&_input_rc, 0, sizeof(_input_rc));
 	_to_input_rc = orb_advertise(ORB_ID(input_rc), &_input_rc);
 
+	/* do not advertise the battery status until its clear that a battery is connected */
+	memset(&_battery_status, 0, sizeof(_battery_status));
+	_to_battery = -1;
+
 	/* poll descriptor */
 	pollfd fds[4];
 	fds[0].fd = _serial_fd;
@@ -559,6 +567,23 @@ PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received)
 	/* remember the latched arming switch state */
 	_switch_armed = rep->armed;
 
+	/* publish battery information */
+
+	/* only publish if battery has a valid minimum voltage */
+	if (rep->battery_mv > 3300) {
+		_battery_status.timestamp = hrt_absolute_time();
+		_battery_status.voltage_v = rep->battery_mv / 1000.0f;
+		/* current and discharge are unknown */
+		_battery_status.current_a = -1.0f;
+		_battery_status.discharged_mah = -1.0f;
+		/* announce the battery voltage if needed, just publish else */
+		if (_to_battery > 0) {
+			orb_publish(ORB_ID(battery_status), _to_battery, &_battery_status);
+		} else {
+			_to_battery = orb_advertise(ORB_ID(battery_status), &_battery_status);
+		}
+	}
+
 	_send_needed = true;
 
 	/* if monitoring, dump the received info */
diff --git a/apps/drivers/stm32/adc/Makefile b/apps/drivers/stm32/adc/Makefile
new file mode 100644
index 000000000..443bc0623
--- /dev/null
+++ b/apps/drivers/stm32/adc/Makefile
@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (C) 2012 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.
+#
+############################################################################
+
+#
+# STM32 ADC driver
+#
+
+APPNAME		 = adc
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 2048
+INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/stm32/adc/adc.cpp b/apps/drivers/stm32/adc/adc.cpp
new file mode 100644
index 000000000..87dac1ef9
--- /dev/null
+++ b/apps/drivers/stm32/adc/adc.cpp
@@ -0,0 +1,387 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 adc.cpp
+ *
+ * Driver for the STM32 ADC.
+ *
+ * This is a low-rate driver, designed for sampling things like voltages
+ * and so forth. It avoids the gross complexity of the NuttX ADC driver.
+ */
+
+#include <nuttx/config.h>
+#include <drivers/device/device.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <string.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <stdio.h>
+#include <unistd.h>
+
+#include <arch/board/board.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_adc.h>
+
+#include <arch/stm32/chip.h>
+#include <stm32_internal.h>
+#include <stm32_gpio.h>
+
+#include <systemlib/err.h>
+#include <systemlib/perf_counter.h>
+
+/*
+ * Register accessors.
+ * For now, no reason not to just use ADC1.
+ */
+#define REG(_reg)	(*(volatile uint32_t *)(STM32_ADC1_BASE + _reg))
+
+#define rSR		REG(STM32_ADC_SR_OFFSET)
+#define rCR1		REG(STM32_ADC_CR1_OFFSET)
+#define rCR2		REG(STM32_ADC_CR2_OFFSET)
+#define rSMPR1		REG(STM32_ADC_SMPR1_OFFSET)
+#define rSMPR2		REG(STM32_ADC_SMPR2_OFFSET)
+#define rJOFR1		REG(STM32_ADC_JOFR1_OFFSET)
+#define rJOFR2		REG(STM32_ADC_JOFR2_OFFSET)
+#define rJOFR3		REG(STM32_ADC_JOFR3_OFFSET)
+#define rJOFR4		REG(STM32_ADC_JOFR4_OFFSET)
+#define rHTR		REG(STM32_ADC_HTR_OFFSET)
+#define rLTR		REG(STM32_ADC_LTR_OFFSET)
+#define rSQR1		REG(STM32_ADC_SQR1_OFFSET)
+#define rSQR2		REG(STM32_ADC_SQR2_OFFSET)
+#define rSQR3		REG(STM32_ADC_SQR3_OFFSET)
+#define rJSQR		REG(STM32_ADC_JSQR_OFFSET)
+#define rJDR1		REG(STM32_ADC_JDR1_OFFSET)
+#define rJDR2		REG(STM32_ADC_JDR2_OFFSET)
+#define rJDR3		REG(STM32_ADC_JDR3_OFFSET)
+#define rJDR4		REG(STM32_ADC_JDR4_OFFSET)
+#define rDR		REG(STM32_ADC_DR_OFFSET)
+
+#ifdef STM32_ADC_CCR
+# define rCCR		REG(STM32_ADC_CCR_OFFSET)
+#endif
+
+class ADC : public device::CDev
+{
+public:
+	ADC(uint32_t channels);
+	~ADC();
+
+	virtual int		init();
+
+	virtual int		ioctl(file *filp, int cmd, unsigned long arg);
+	virtual ssize_t		read(file *filp, char *buffer, size_t len);
+
+protected:
+	virtual int		open_first(struct file *filp);
+	virtual int		close_last(struct file *filp);
+
+private:
+	static const hrt_abstime _tickrate = 10000;	/**< 100Hz base rate */
+	
+	hrt_call		_call;
+	perf_counter_t		_sample_perf;
+
+	unsigned		_channel_count;
+	adc_msg_s		*_samples;		/**< sample buffer */
+
+	/** work trampoline */
+	static void		_tick_trampoline(void *arg);
+
+	/** worker function */
+	void			_tick();
+
+	/**
+	 * Sample a single channel and return the measured value.
+	 *
+	 * @param channel		The channel to sample.
+	 * @return			The sampled value, or 0xffff if
+	 *				sampling failed.
+	 */
+	uint16_t		_sample(unsigned channel);
+
+};
+
+ADC::ADC(uint32_t channels) :
+	CDev("adc", ADC_DEVICE_PATH),
+	_sample_perf(perf_alloc(PC_ELAPSED, "ADC samples")),
+	_channel_count(0),
+	_samples(nullptr)
+{
+	_debug_enabled = true;
+
+	/* always enable the temperature sensor */
+	channels |= 1 << 16;
+
+	/* allocate the sample array */
+	for (unsigned i = 0; i < 32; i++) {
+		if (channels & (1 << i)) {
+			_channel_count++;
+		}
+	}
+	_samples = new adc_msg_s[_channel_count];
+
+	/* prefill the channel numbers in the sample array */
+	if (_samples != nullptr) {
+		unsigned index = 0;
+		for (unsigned i = 0; i < 32; i++) {
+			if (channels & (1 << i)) {
+				_samples[index].am_channel = i;
+				_samples[index].am_data = 0;
+				index++;
+			}
+		}
+	}
+}
+
+ADC::~ADC()
+{
+	if (_samples != nullptr)
+		delete _samples;
+}
+
+int
+ADC::init()
+{
+	/* do calibration if supported */
+#ifdef ADC_CR2_CAL
+	rCR2 |= ADC_CR2_CAL;
+	usleep(100);
+	if (rCR2 & ADC_CR2_CAL)
+		return -1;
+#endif
+
+	/* arbitrarily configure all channels for 55 cycle sample time */
+	rSMPR1 = 0b00000011011011011011011011011011;
+	rSMPR2 = 0b00011011011011011011011011011011;
+
+	/* XXX for F2/4, might want to select 12-bit mode? */
+	rCR1 = 0;
+
+	/* enable the temperature sensor / Vrefint channel if supported*/
+	rCR2 = 
+#ifdef ADC_CR2_TSVREFE
+		/* enable the temperature sensor in CR2 */
+		ADC_CR2_TSVREFE |
+#endif
+		0;
+
+#ifdef ADC_CCR_TSVREFE
+	/* enable temperature sensor in CCR */
+	rCCR = ADC_CCR_TSVREFE;
+#endif
+
+	/* configure for a single-channel sequence */
+	rSQR1 = 0;
+	rSQR2 = 0;
+	rSQR3 = 0;	/* will be updated with the channel each tick */ 
+
+	/* power-cycle the ADC and turn it on */
+	rCR2 &= ~ADC_CR2_ADON;
+	usleep(10);
+	rCR2 |= ADC_CR2_ADON;
+	usleep(10);
+	rCR2 |= ADC_CR2_ADON;
+	usleep(10);
+
+	/* kick off a sample and wait for it to complete */
+	hrt_abstime now = hrt_absolute_time();
+	rCR2 |= ADC_CR2_SWSTART;
+	while (!(rSR & ADC_SR_EOC)) {
+
+		/* don't wait for more than 500us, since that means something broke - should reset here if we see this */
+		if ((hrt_absolute_time() - now) > 500) {
+			log("sample timeout");
+			return -1;
+			return 0xffff;
+		}
+	}
+
+
+	debug("init done");
+
+	/* create the device node */
+	return CDev::init();
+}
+
+int
+ADC::ioctl(file *filp, int cmd, unsigned long arg)
+{
+	return -ENOTTY;
+}
+
+ssize_t
+ADC::read(file *filp, char *buffer, size_t len)
+{
+	const size_t maxsize = sizeof(adc_msg_s) * _channel_count;
+
+	if (len > maxsize)
+		len = maxsize;
+
+	/* block interrupts while copying samples to avoid racing with an update */
+	irqstate_t flags = irqsave();
+	memcpy(buffer, _samples, len);
+	irqrestore(flags);
+
+	return len;
+}
+
+int
+ADC::open_first(struct file *filp)
+{
+	/* get fresh data */
+	_tick();
+
+	/* and schedule regular updates */
+	hrt_call_every(&_call, _tickrate, _tickrate, _tick_trampoline, this);
+
+	return 0;
+}
+
+int
+ADC::close_last(struct file *filp)
+{
+	hrt_cancel(&_call);
+	return 0;
+}
+
+void
+ADC::_tick_trampoline(void *arg)
+{
+	((ADC *)arg)->_tick();
+}
+
+void
+ADC::_tick()
+{
+	/* scan the channel set and sample each */
+	for (unsigned i = 0; i < _channel_count; i++)
+		_samples[i].am_data = _sample(_samples[i].am_channel);
+}
+
+uint16_t
+ADC::_sample(unsigned channel)
+{
+	perf_begin(_sample_perf);
+
+	/* clear any previous EOC */
+	if (rSR & ADC_SR_EOC)
+		rSR &= ~ADC_SR_EOC;
+
+	/* run a single conversion right now - should take about 60 cycles (a few microseconds) max */
+	rSQR3 = channel;
+	rCR2 |= ADC_CR2_SWSTART;
+
+	/* wait for the conversion to complete */
+	hrt_abstime now = hrt_absolute_time();
+	while (!(rSR & ADC_SR_EOC)) {
+
+		/* don't wait for more than 50us, since that means something broke - should reset here if we see this */
+		if ((hrt_absolute_time() - now) > 50) {
+			log("sample timeout");
+			return 0xffff;
+		}
+	}
+
+	/* read the result and clear EOC */
+	uint16_t result = rDR;
+
+	perf_end(_sample_perf);
+	return result;
+}
+
+/*
+ * Driver 'main' command.
+ */
+extern "C" __EXPORT int adc_main(int argc, char *argv[]);
+
+namespace
+{
+ADC	*g_adc;
+
+void
+test(void)
+{
+
+	int fd = open(ADC_DEVICE_PATH, O_RDONLY);
+	if (fd < 0)
+		err(1, "can't open ADC device");
+
+	for (unsigned i = 0; i < 50; i++) {
+		adc_msg_s data[8];
+		ssize_t count = read(fd, data, sizeof(data));
+
+		if (count < 0)
+			errx(1, "read 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");
+		usleep(500000);
+	}
+
+	exit(0);
+}
+}
+
+int
+adc_main(int argc, char *argv[])
+{
+	if (g_adc == nullptr) {
+		/* XXX this hardcodes the minimum channel set for PX4FMU - should be configurable */
+		g_adc = new ADC((1 << 10) | (1 << 11));
+
+		if (g_adc == nullptr)
+			errx(1, "couldn't allocate the ADC driver");
+
+		if (g_adc->init() != OK) {
+			delete g_adc;
+			errx(1, "ADC init failed");
+		}
+	}
+
+	if (argc > 1) {
+		if (!strcmp(argv[1], "test"))
+			test();
+	}
+
+	exit(0);
+}