AP_HAL_ChibiOS:active VM-L431-SRV-Hub-4CHP for servo VCC current monitor

Author: Huibean

libraries/AP_HAL_ChibiOS/hwdef/VM-L431-SRV-Hub-4CHP/defaults.parm

@@ -0,0 +1,6 @@
+ACT_TELEM_RATE 10
+ACT_NUM_CHANS 4
+ACT_CURR_PIN1 9
+ACT_AMP_OFFSET 0
+ACT_AMP_PERVLT 10
+ACT_CURR_MAX 2.5

libraries/AP_HAL_ChibiOS/hwdef/VM-L431-SRV-Hub-4CHP/hwdef.dat

@@ -8,14 +8,15 @@ PB7 USART1_RX USART1 NODMA
 STDOUT_SERIAL SD1
 STDOUT_BAUDRATE 57600
 
-define HAL_USE_ADC FALSE 
+define HAL_USE_ADC TRUE
 
-#Servo VCC Current Sampling, for future development
-# define STM32_ADC_USE_ADC1 TRUE
-# PA4 SPARE1_ADC1 ADC1 SCALE(1) # Current Sampling on PWM(1)
-# PA5 SPARE2_ADC1 ADC1 SCALE(1) # Current Sampling on PWM(2)
-# PA6 SPARE3_ADC1 ADC1 SCALE(1) # Current Sampling on PWM(3)
-# PA7 SPARE4_ADC1 ADC1 SCALE(1) # Current Sampling on PWM(4)
+#Servo VCC Current Sampling
+define AP_PERIPH_ACTUATOR_TELEM_ENABLED 1
+define STM32_ADC_USE_ADC1 TRUE
+PA4 ACT1_CURRENT_SENS ADC1 SCALE(1) # Current Sampling on PWM(1)
+PA5 ACT2_CURRENT_SENS ADC1 SCALE(1) # Current Sampling on PWM(2)
+PA6 ACT3_CURRENT_SENS ADC1 SCALE(1) # Current Sampling on PWM(3)
+PA7 ACT4_CURRENT_SENS ADC1 SCALE(1) # Current Sampling on PWM(4)
 
 define AP_PERIPH_RC_OUT_ENABLED 1
 

libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h

@@ -370,6 +370,9 @@
 #ifndef AP_PERIPH_BUZZER_WITHOUT_NOTIFY_ENABLED
 #define AP_PERIPH_BUZZER_WITHOUT_NOTIFY_ENABLED 0
 #endif
+#ifndef AP_PERIPH_ACTUATOR_TELEM_ENABLED
+#define AP_PERIPH_ACTUATOR_TELEM_ENABLED 0
+#endif
 
 /*
  * turning on of ArduPilot features based on which AP_Periph features