AP_BattMonitor: support other INA2xx battery monitors

added parameters for I2C bus and address. Tested on INA231 and INA226

This allows any 2M flash board to use an INA2xx battery monitor

libraries/AP_BattMonitor/AP_BattMonitor.cpp

@@ -14,7 +14,7 @@
 #include "AP_BattMonitor_FuelLevel_PWM.h"
 #include "AP_BattMonitor_Generator.h"
 #include "AP_BattMonitor_MPPT_PacketDigital.h"
-#include "AP_BattMonitor_INA231.h"
+#include "AP_BattMonitor_INA2xx.h"
 #include "AP_BattMonitor_LTC2946.h"
 #include "AP_BattMonitor_Torqeedo.h"
 
@@ -276,9 +276,9 @@ AP_BattMonitor::init()
                 drivers[instance] = new AP_BattMonitor_MPPT_PacketDigital(*this, state[instance], _params[instance]);
                 break;
 #endif // HAL_MPPT_PACKETDIGITAL_CAN_ENABLE
-#if HAL_BATTMON_INA231_ENABLED
-            case Type::INA231:
-                drivers[instance] = new AP_BattMonitor_INA231(*this, state[instance], _params[instance]);
+#if HAL_BATTMON_INA2XX_ENABLED
+            case Type::INA2XX:
+                drivers[instance] = new AP_BattMonitor_INA2XX(*this, state[instance], _params[instance]);
                 break;
 #endif
 #if HAL_BATTMON_LTC2946_ENABLED

libraries/AP_BattMonitor/AP_BattMonitor.h

@@ -46,7 +46,7 @@ class AP_BattMonitor_SMBus_Rotoye;
 class AP_BattMonitor_UAVCAN;
 class AP_BattMonitor_Generator;
 class AP_BattMonitor_MPPT_PacketDigital;
-class AP_BattMonitor_INA231;
+class AP_BattMonitor_INA2XX;
 class AP_BattMonitor_LTC2946;
 class AP_BattMonitor_Torqeedo;
 
@@ -65,7 +65,7 @@ class AP_BattMonitor
     friend class AP_BattMonitor_FuelLevel_PWM;
     friend class AP_BattMonitor_Generator;
     friend class AP_BattMonitor_MPPT_PacketDigital;
-    friend class AP_BattMonitor_INA231;
+    friend class AP_BattMonitor_INA2XX;
     friend class AP_BattMonitor_LTC2946;
 
     friend class AP_BattMonitor_Torqeedo;
@@ -100,7 +100,7 @@ public:
         GENERATOR_FUEL             = 18,
         Rotoye                     = 19,
         MPPT_PacketDigital         = 20,
-        INA231                     = 21,
+        INA2XX                     = 21,
         LTC2946                    = 22,
         Torqeedo                   = 23,
     };

libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.cpp

@@ -1,8 +1,8 @@
-#include "AP_BattMonitor_INA231.h"
+#include "AP_BattMonitor_INA2xx.h"
 #include <GCS_MAVLink/GCS.h>
 #include <AP_HAL/utility/sparse-endian.h>
 
-#if HAL_BATTMON_INA231_ENABLED
+#if HAL_BATTMON_INA2XX_ENABLED
 
 extern const AP_HAL::HAL& hal;
 
@@ -18,9 +18,46 @@ extern const AP_HAL::HAL& hal;
 // this should become a parameter in future
 #define MAX_AMPS 90.0
 
-void AP_BattMonitor_INA231::init(void)
+#ifndef HAL_BATTMON_INA2XX_BUS
+#define HAL_BATTMON_INA2XX_BUS 0
+#endif
+#ifndef HAL_BATTMON_INA2XX_ADDR
+#define HAL_BATTMON_INA2XX_ADDR 0
+#endif
+
+const AP_Param::GroupInfo AP_BattMonitor_INA2XX::var_info[] = {
+
+    // @Param: I2C_BUS
+    // @DisplayName: Battery monitor I2C bus number
+    // @Description: Battery monitor I2C bus number
+    // @Range: 0 3
+    // @User: Advanced
+    // @RebootRequired: True
+    AP_GROUPINFO("I2C_BUS", 25, AP_BattMonitor_INA2XX, i2c_bus, HAL_BATTMON_INA2XX_BUS),
+
+    // @Param: I2C_ADDR
+    // @DisplayName: Battery monitor I2C address
+    // @Description: Battery monitor I2C address
+    // @Range: 0 127
+    // @User: Advanced
+    // @RebootRequired: True
+    AP_GROUPINFO("I2C_ADDR", 26, AP_BattMonitor_INA2XX, i2c_address, HAL_BATTMON_INA2XX_ADDR),
+
+    AP_GROUPEND
+};
+
+AP_BattMonitor_INA2XX::AP_BattMonitor_INA2XX(AP_BattMonitor &mon,
+                                             AP_BattMonitor::BattMonitor_State &mon_state,
+                                             AP_BattMonitor_Params &params)
+        : AP_BattMonitor_Backend(mon, mon_state, params)
 {
-    dev = hal.i2c_mgr->get_device(HAL_BATTMON_INA231_BUS, HAL_BATTMON_INA231_ADDR, 100000, false, 20);
+    AP_Param::setup_object_defaults(this, var_info);
+    _state.var_info = var_info;
+}
+
+void AP_BattMonitor_INA2XX::init(void)
+{
+    dev = hal.i2c_mgr->get_device(i2c_bus, i2c_address, 100000, false, 20);
     if (!dev) {
         return;
     }
@@ -31,7 +68,7 @@ void AP_BattMonitor_INA231::init(void)
         !write_word(REG_CONFIG, REG_CONFIG_DEFAULT) ||
         !read_word(REG_CONFIG, config) ||
         config != REG_CONFIG_DEFAULT) {
-        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "INA231: Failed to find device 0x%04x", unsigned(config));
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "INA2XX: Failed to find device 0x%04x", unsigned(config));
         return;
     }
 
@@ -44,20 +81,20 @@ void AP_BattMonitor_INA231::init(void)
     if (!write_word(REG_CONFIG, REG_CONFIG_RESET) || // reset
         !write_word(REG_CONFIG, conf) ||
         !write_word(REG_CALIBRATION, cal)) {
-        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "INA231: Failed to configure device");
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "INA2XX: Failed to configure device");
         return;
     }
 
 
-    GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "INA231: found monitor on bus %u", HAL_BATTMON_INA231_BUS);
+    GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "INA2XX: found monitor on I2C:%u:%02x", unsigned(i2c_bus), unsigned(i2c_address));
 
     if (dev) {
-        dev->register_periodic_callback(25000, FUNCTOR_BIND_MEMBER(&AP_BattMonitor_INA231::timer, void));
+        dev->register_periodic_callback(25000, FUNCTOR_BIND_MEMBER(&AP_BattMonitor_INA2XX::timer, void));
     }
 }
 
 /// read the battery_voltage and current, should be called at 10hz
-void AP_BattMonitor_INA231::read(void)
+void AP_BattMonitor_INA2XX::read(void)
 {
     WITH_SEMAPHORE(accumulate.sem);
     _state.healthy = accumulate.count > 0;
@@ -88,7 +125,7 @@ void AP_BattMonitor_INA231::read(void)
  read word from register
  returns true if read was successful, false if failed
 */
-bool AP_BattMonitor_INA231::read_word(const uint8_t reg, int16_t& data) const
+bool AP_BattMonitor_INA2XX::read_word(const uint8_t reg, int16_t& data) const
 {
     // read the appropriate register from the device
     if (!dev->read_registers(reg, (uint8_t *)&data, sizeof(data))) {
@@ -105,13 +142,13 @@ bool AP_BattMonitor_INA231::read_word(const uint8_t reg, int16_t& data) const
   write word to a register, byte swapped
   returns true if write was successful, false if failed
 */
-bool AP_BattMonitor_INA231::write_word(const uint8_t reg, const uint16_t data) const
+bool AP_BattMonitor_INA2XX::write_word(const uint8_t reg, const uint16_t data) const
 {
     const uint8_t b[3] { reg, uint8_t(data >> 8), uint8_t(data&0xff) };
     return dev->transfer(b, sizeof(b), nullptr, 0);
 }
 
-void AP_BattMonitor_INA231::timer(void)
+void AP_BattMonitor_INA2XX::timer(void)
 {
     int16_t bus_voltage, current;
     if (!read_word(REG_BUS_VOLTAGE, bus_voltage) ||
@@ -124,4 +161,4 @@ void AP_BattMonitor_INA231::timer(void)
     accumulate.count++;
 }
 
-#endif // HAL_BATTMON_INA231_ENABLED
+#endif // HAL_BATTMON_INA2XX_ENABLED

libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.h

@@ -3,17 +3,22 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/I2CDevice.h>
 #include "AP_BattMonitor_Backend.h"
+#include <AP_Param/AP_Param.h>
 #include <utility>
 
-#define HAL_BATTMON_INA231_ENABLED defined(HAL_BATTMON_INA231_BUS) && defined(HAL_BATTMON_INA231_ADDR)
+#ifndef HAL_BATTMON_INA2XX_ENABLED
+#define HAL_BATTMON_INA2XX_ENABLED (BOARD_FLASH_SIZE > 1024)
+#endif
 
-#if HAL_BATTMON_INA231_ENABLED
+#if HAL_BATTMON_INA2XX_ENABLED
 
-class AP_BattMonitor_INA231 : public AP_BattMonitor_Backend
+class AP_BattMonitor_INA2XX : public AP_BattMonitor_Backend
 {
 public:
-    // inherit constructor
-    using AP_BattMonitor_Backend::AP_BattMonitor_Backend;
+    /// Constructor
+    AP_BattMonitor_INA2XX(AP_BattMonitor &mon,
+                          AP_BattMonitor::BattMonitor_State &mon_state,
+                          AP_BattMonitor_Params &params);
 
     bool has_cell_voltages() const override { return false; }
     bool has_temperature() const override { return false; }
@@ -23,7 +28,9 @@ public:
 
     virtual void init(void) override;
     virtual void read() override;
-    
+
+    static const struct AP_Param::GroupInfo var_info[];
+
 private:
     AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;
 
@@ -31,6 +38,9 @@ private:
     bool write_word(const uint8_t reg, const uint16_t data) const;
     void timer(void);
 
+    AP_Int8 i2c_bus;
+    AP_Int8 i2c_address;
+
     struct {
         uint16_t count;
         float volt_sum;
@@ -41,4 +51,4 @@ private:
     float voltage_LSB;
 };
 
-#endif // HAL_BATTMON_INA231_ENABLED
+#endif // HAL_BATTMON_INA2XX_ENABLED

libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp

@@ -13,7 +13,7 @@ const AP_Param::GroupInfo AP_BattMonitor_Params::var_info[] = {
     // @Param: MONITOR
     // @DisplayName: Battery monitoring
     // @Description: Controls enabling monitoring of the battery's voltage and current
-    // @Values: 0:Disabled,3:Analog Voltage Only,4:Analog Voltage and Current,5:Solo,6:Bebop,7:SMBus-Generic,8:UAVCAN-BatteryInfo,9:ESC,10:SumOfFollowing,11:FuelFlow,12:FuelLevelPWM,13:SMBUS-SUI3,14:SMBUS-SUI6,15:NeoDesign,16:SMBus-Maxell,17:Generator-Elec,18:Generator-Fuel,19:Rotoye,20:MPPT,21:INA231,22:LTC2946,23:Torqeedo
+    // @Values: 0:Disabled,3:Analog Voltage Only,4:Analog Voltage and Current,5:Solo,6:Bebop,7:SMBus-Generic,8:UAVCAN-BatteryInfo,9:ESC,10:SumOfFollowing,11:FuelFlow,12:FuelLevelPWM,13:SMBUS-SUI3,14:SMBUS-SUI6,15:NeoDesign,16:SMBus-Maxell,17:Generator-Elec,18:Generator-Fuel,19:Rotoye,20:MPPT,21:INA2XX,22:LTC2946,23:Torqeedo
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO_FLAGS("MONITOR", 1, AP_BattMonitor_Params, _type, int8_t(AP_BattMonitor::Type::NONE), AP_PARAM_FLAG_ENABLE),