ADS122U04 ADC ROS Driver

This repository contains a simple ROS driver for the ADS122U04 ADC, derived from this repository.

Configuration

The driver can be configured through the config/adc.yaml file, which contains the following parameters:

• portname:
  Default: /dev/adc
  The serial device representing the ADC.

• baudrate:
  Default: 115200
  The serial baud rate for communication with the ADC.

• reference_voltage:
  Default: 5.0
  The actual voltage of the ADC's external voltage reference. This should be measured using a trusted precision voltmeter.

Running the Node

To launch the driver, use the provided adc.launch file. The driver will output the measured data at 20Hz on the following topics:

• /UAV_NAME/adc/voltage:
  Type: Float64
  Description: The measured voltage in volts.

• /UAV_NAME/adc/raw_measurement:
  Type: Uint32
  Description: The raw ADC measured value.

Over-voltage Handling

If the ADC experiences an over-voltage condition (when the measured voltage exceeds the reference voltage), it may continue outputting the maximum possible value even after the over-voltage condition is cleared.

To address this, a reset routine has been implemented. When an over-voltage condition is detected (i.e., the ADC measures the maximum possible value), the ADC will continuously reset until the over-voltage condition is cleared.

Advanced tuning

To select a different ADC channel, or configure different data rates or other ADC parameters (gain, Turbo mode, PGA etc.), you have to modify the source code of the node.