AP_BattMonitor: add SMBus address param and create SMBus subtree

libraries/AP_BattMonitor/AP_BattMonitor.cpp

@@ -69,9 +69,51 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
     // @Path: AP_BattMonitor_Params.cpp
     AP_SUBGROUPINFO(_params[8], "9_", 31, AP_BattMonitor, AP_BattMonitor_Params),
 
+    #if HAL_BATTMON_SMBUS_ENABLE
+    // @Group: _
+    // @Path: AP_BattMonitor_SMBus.cpp
+    AP_SUBGROUPVARPTR(drivers[0], "_", 32, AP_BattMonitor, backend_smbus_var_info[0]),
+
+    // @Group: 2_
+    // @Path: AP_BattMonitor_SMBus.cpp
+    AP_SUBGROUPVARPTR(drivers[1], "2_", 33, AP_BattMonitor, backend_smbus_var_info[1]),
+
+    // @Group: 3_
+    // @Path: AP_BattMonitor_SMBus.cpp
+    AP_SUBGROUPVARPTR(drivers[2], "3_", 34, AP_BattMonitor, backend_smbus_var_info[2]),
+
+    // @Group: 4_
+    // @Path: AP_BattMonitor_SMBus.cpp
+    AP_SUBGROUPVARPTR(drivers[3], "4_", 35, AP_BattMonitor, backend_smbus_var_info[3]),
+
+    // @Group: 5_
+    // @Path: AP_BattMonitor_SMBus.cpp
+    AP_SUBGROUPVARPTR(drivers[4], "5_", 36, AP_BattMonitor, backend_smbus_var_info[4]),
+
+    // @Group: 6_
+    // @Path: AP_BattMonitor_SMBus.cpp
+    AP_SUBGROUPVARPTR(drivers[5], "6_", 37, AP_BattMonitor, backend_smbus_var_info[5]),
+
+    // @Group: 7_
+    // @Path: AP_BattMonitor_SMBus.cpp
+    AP_SUBGROUPVARPTR(drivers[6], "7_", 38, AP_BattMonitor, backend_smbus_var_info[6]),
+
+    // @Group: 8_
+    // @Path: AP_BattMonitor_SMBus.cpp
+    AP_SUBGROUPVARPTR(drivers[7], "8_", 39, AP_BattMonitor, backend_smbus_var_info[7]),
+
+    // @Group: 9_
+    // @Path: AP_BattMonitor_SMBus.cpp
+    AP_SUBGROUPVARPTR(drivers[8], "9_", 40, AP_BattMonitor, backend_smbus_var_info[8]),
+#endif // HAL_BATTMON_SMBUS_ENABLE
+
     AP_GROUPEND
 };
 
+#if HAL_BATTMON_SMBUS_ENABLE
+const AP_Param::GroupInfo *AP_BattMonitor::backend_smbus_var_info[AP_BATT_MONITOR_MAX_INSTANCES];
+#endif
+
 // Default constructor.
 // Note that the Vector/Matrix constructors already implicitly zero
 // their values.
@@ -121,45 +163,25 @@ AP_BattMonitor::init()
                 break;
 #if HAL_BATTMON_SMBUS_ENABLE
             case Type::SOLO:
-                _params[instance]._i2c_bus.set_default(AP_BATTMONITOR_SMBUS_BUS_INTERNAL);
-                drivers[instance] = new AP_BattMonitor_SMBus_Solo(*this, state[instance], _params[instance],
-                                                                  hal.i2c_mgr->get_device(_params[instance]._i2c_bus, AP_BATTMONITOR_SMBUS_I2C_ADDR,
-                                                                                          100000, true, 20));
+                drivers[instance] = new AP_BattMonitor_SMBus_Solo(*this, state[instance], _params[instance]);
                 break;
             case Type::SMBus_Generic:
-                _params[instance]._i2c_bus.set_default(AP_BATTMONITOR_SMBUS_BUS_EXTERNAL);
-                drivers[instance] = new AP_BattMonitor_SMBus_Generic(*this, state[instance], _params[instance],
-                                                                     hal.i2c_mgr->get_device(_params[instance]._i2c_bus, AP_BATTMONITOR_SMBUS_I2C_ADDR,
-                                                                                             100000, true, 20));
+                drivers[instance] = new AP_BattMonitor_SMBus_Generic(*this, state[instance], _params[instance]);
                 break;
             case Type::SUI3:
-                _params[instance]._i2c_bus.set_default(AP_BATTMONITOR_SMBUS_BUS_INTERNAL),
-                drivers[instance] = new AP_BattMonitor_SMBus_SUI(*this, state[instance], _params[instance],
-                                                                 hal.i2c_mgr->get_device(_params[instance]._i2c_bus, AP_BATTMONITOR_SMBUS_I2C_ADDR,
-                                                                                          100000, true, 20), 3);
+                drivers[instance] = new AP_BattMonitor_SMBus_SUI(*this, state[instance], _params[instance], 3);
                 break;
             case Type::SUI6:
-                _params[instance]._i2c_bus.set_default(AP_BATTMONITOR_SMBUS_BUS_INTERNAL),
-                drivers[instance] = new AP_BattMonitor_SMBus_SUI(*this, state[instance], _params[instance],
-                                                                 hal.i2c_mgr->get_device(_params[instance]._i2c_bus, AP_BATTMONITOR_SMBUS_I2C_ADDR,
-                                                                                         100000, true, 20), 6);
+                drivers[instance] = new AP_BattMonitor_SMBus_SUI(*this, state[instance], _params[instance], 6);
                 break;
             case Type::MAXELL:
-                _params[instance]._i2c_bus.set_default(AP_BATTMONITOR_SMBUS_BUS_EXTERNAL);
-                drivers[instance] = new AP_BattMonitor_SMBus_Maxell(*this, state[instance], _params[instance],
-                                                                    hal.i2c_mgr->get_device(_params[instance]._i2c_bus, AP_BATTMONITOR_SMBUS_I2C_ADDR,
-                                                                                            100000, true, 20));
+                drivers[instance] = new AP_BattMonitor_SMBus_Maxell(*this, state[instance], _params[instance]);
                 break;
             case Type::Rotoye:
-                drivers[instance] = new AP_BattMonitor_SMBus_Rotoye(*this, state[instance], _params[instance],
-                                                                    hal.i2c_mgr->get_device(_params[instance]._i2c_bus, AP_BATTMONITOR_SMBUS_I2C_ADDR,
-                                                                                            100000, true, 20));
+                drivers[instance] = new AP_BattMonitor_SMBus_Rotoye(*this, state[instance], _params[instance]);
                 break;
             case Type::NeoDesign:
-                _params[instance]._i2c_bus.set_default(AP_BATTMONITOR_SMBUS_BUS_INTERNAL),
-                drivers[instance] = new AP_BattMonitor_SMBus_NeoDesign(*this, state[instance], _params[instance],
-                                                                 hal.i2c_mgr->get_device(_params[instance]._i2c_bus, AP_BATTMONITOR_SMBUS_I2C_ADDR,
-                                                                                         100000, true, 20));
+                drivers[instance] = new AP_BattMonitor_SMBus_NeoDesign(*this, state[instance], _params[instance]);
                 break;
 #endif // HAL_BATTMON_SMBUS_ENABLE
             case Type::BEBOP:
@@ -188,7 +210,6 @@ AP_BattMonitor::init()
                 drivers[instance] = new AP_BattMonitor_FuelLevel_PWM(*this, state[instance], _params[instance]);
                 break;
 #endif // HAL_BATTMON_FUEL_ENABLE
-
 #if GENERATOR_ENABLED
             case Type::GENERATOR_ELEC:
                 drivers[instance] = new AP_BattMonitor_Generator_Elec(*this, state[instance], _params[instance]);
@@ -207,6 +228,20 @@ AP_BattMonitor::init()
                 break;
         }
 
+#if HAL_BATTMON_SMBUS_ENABLE
+    // if the backend has some local parameters then make those available in the tree
+    if (drivers[instance] && state[instance].var_info) {
+        Type type = get_type(instance);
+        if ((type == Type::MAXELL) || (type == Type::NeoDesign) || (type == Type::Rotoye) || (type == Type::SMBus_Generic) ||
+            (type == Type::SOLO)   || (type == Type::SUI3)      || (type == Type::SUI6)) {
+            backend_smbus_var_info[instance] = state[instance].var_info;
+            AP_Param::load_object_from_eeprom(drivers[instance], backend_smbus_var_info[instance]);
+        }
+        // param count could have changed
+        AP_Param::invalidate_count();
+    }
+#endif
+
         // call init function for each backend
         if (drivers[instance] != nullptr) {
             drivers[instance]->init();
@@ -215,10 +250,63 @@ AP_BattMonitor::init()
             // there will be a gap, but as we always check for drivers[instances] being nullptr
             // this is safe
             _num_instances = instance + 1;
+
+            // Convert the old analog & Bus parameters to the new dynamic parameter groups
+            convert_dynamic_param_groups(instance);
         }
     }
 }
 
+void AP_BattMonitor::convert_dynamic_param_groups(uint8_t instance)
+{
+    AP_Param::ConversionInfo info;
+    if (!AP_Param::find_top_level_key_by_pointer(this, info.old_key)) {
+        return;
+    }
+
+    char param_prefix[6] {};
+    char param_name[17] {};
+    info.new_name = param_name;
+
+    const uint8_t param_instance = instance + 1;
+    // first battmonitor does not have '1' in the param name
+    if(param_instance == 1) {
+        hal.util->snprintf(param_prefix, sizeof(param_prefix), "BATT");
+    } else {
+        hal.util->snprintf(param_prefix, sizeof(param_prefix), "BATT%X", param_instance);
+    }
+    param_prefix[sizeof(param_prefix)-1] = '\0';
+
+    hal.util->snprintf(param_name, sizeof(param_name), "%s_%s", param_prefix, "MONITOR");
+    param_name[sizeof(param_name)-1] = '\0';
+
+    // Find the index of the BATTn_MONITOR which is not moving to index the moving parameters off from
+    AP_Param::ParamToken token = AP_Param::ParamToken {};
+    ap_var_type type;
+    AP_Param* param = AP_Param::find_by_name(param_name, &type, &token);
+    const uint8_t battmonitor_index = 1;
+    if( param == nullptr) {
+        // BATTn_MONITOR not found
+        return;
+    }
+
+    const struct convert_table {
+        uint32_t old_group_element;
+        ap_var_type type;
+        const char* new_name;
+    }  conversion_table[] = {
+            { 20, AP_PARAM_INT8,  "I2C_BUS"   },
+        };
+
+    for (const auto & elem : conversion_table) {
+        info.old_group_element = token.group_element + ((elem.old_group_element - battmonitor_index) * 64);;
+        info.type = elem.type;
+
+        hal.util->snprintf(param_name, sizeof(param_name), "%s_%s", param_prefix, elem.new_name);
+        AP_Param::convert_old_parameter(&info, 1.0f, 0);
+    }
+}
+
 void AP_BattMonitor::convert_params(void) {
     if (_params[0]._type.configured_in_storage()) {
         // _params[0]._type will always be configured in storage after conversion is done the first time

libraries/AP_BattMonitor/AP_BattMonitor.h

@@ -128,8 +128,11 @@ public:
         bool        healthy;                   // battery monitor is communicating correctly
         bool        is_powering_off;           // true when power button commands power off
         bool        powerOffNotified;          // only send powering off notification once
+        const struct AP_Param::GroupInfo *var_info;
     };
 
+    static const struct AP_Param::GroupInfo *backend_smbus_var_info[AP_BATT_MONITOR_MAX_INSTANCES];
+
     // Return the number of battery monitor instances
     uint8_t num_instances(void) const { return _num_instances; }
 
@@ -237,6 +240,7 @@ private:
     uint8_t     _num_instances;                                     /// number of monitors
 
     void convert_params(void);
+    void convert_dynamic_param_groups(uint8_t instance);
 
     /// returns the failsafe state of the battery
     Failsafe check_failsafe(const uint8_t instance);

libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp

@@ -164,12 +164,7 @@ const AP_Param::GroupInfo AP_BattMonitor_Params::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("ARM_MAH", 19, AP_BattMonitor_Params, _arming_minimum_capacity, 0),
 
-    // @Param: BUS
-    // @DisplayName: Battery monitor I2C bus number
-    // @Description: Battery monitor I2C bus number
-    // @Range: 0 3
-    // @User: Standard
-    AP_GROUPINFO("BUS", 20, AP_BattMonitor_Params, _i2c_bus, 0),
+    // 20 was BUS
 
     // @Param: OPTIONS
     // @DisplayName: Battery monitor options

libraries/AP_BattMonitor/AP_BattMonitor_Params.h

@@ -40,7 +40,6 @@ public:
     AP_Int8  _volt_pin;                 /// board pin used to measure battery voltage
     AP_Int8  _curr_pin;                 /// board pin used to measure battery current
     AP_Int8  _low_voltage_timeout;      /// timeout in seconds before a low voltage event will be triggered
-    AP_Int8  _i2c_bus;                  /// I2C bus number
     AP_Int8  _failsafe_voltage_source;  /// voltage type used for detection of low voltage event
     AP_Int8  _failsafe_low_action;      /// action to preform on a low battery failsafe
     AP_Int8  _failsafe_critical_action; /// action to preform on a critical battery failsafe

libraries/AP_BattMonitor/AP_BattMonitor_SMBus.cpp

@@ -2,19 +2,47 @@
 
 #define AP_BATTMONITOR_SMBUS_PEC_POLYNOME 0x07 // Polynome for CRC generation
 
+extern const AP_HAL::HAL& hal;
+
+const AP_Param::GroupInfo AP_BattMonitor_SMBus::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", 1, AP_BattMonitor_SMBus, _bus, 0),
+
+    // @Param: I2C_ADDR
+    // @DisplayName: Battery monitor I2C address
+    // @Description: Battery monitor I2C address
+    // @Range: 0 127
+    // @User: Advanced
+    // @RebootRequired: True
+    AP_GROUPINFO("I2C_ADDR", 2, AP_BattMonitor_SMBus, _address, AP_BATTMONITOR_SMBUS_I2C_ADDR),
+
+    AP_GROUPEND
+};
+
 AP_BattMonitor_SMBus::AP_BattMonitor_SMBus(AP_BattMonitor &mon,
                                            AP_BattMonitor::BattMonitor_State &mon_state,
                                            AP_BattMonitor_Params &params,
-                                           AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
-        : AP_BattMonitor_Backend(mon, mon_state, params),
-        _dev(std::move(dev))
+                                           uint8_t i2c_bus)
+        : AP_BattMonitor_Backend(mon, mon_state, params)
 {
+    AP_Param::setup_object_defaults(this, var_info);
+    _state.var_info = var_info;
+
+    _bus.set_default(i2c_bus);
     _params._serial_number = AP_BATT_SERIAL_NUMBER_DEFAULT;
     _params._pack_capacity = 0;
 }
 
 void AP_BattMonitor_SMBus::init(void)
 {
+    _dev = hal.i2c_mgr->get_device(_bus, _address, 100000, true, 20);
+    
     if (_dev) {
         timer_handle = _dev->register_periodic_callback(100000, FUNCTOR_BIND_MEMBER(&AP_BattMonitor_SMBus::timer, void));
     }
@@ -128,7 +156,7 @@ bool AP_BattMonitor_SMBus::read_word(uint8_t reg, uint16_t& data) const
 
     // check PEC
     if (_pec_supported) {
-        const uint8_t pec = get_PEC(AP_BATTMONITOR_SMBUS_I2C_ADDR, reg, true, buff, 2);
+        const uint8_t pec = get_PEC(_address, reg, true, buff, 2);
         if (pec != buff[2]) {
             return false;
         }

libraries/AP_BattMonitor/AP_BattMonitor_SMBus.h

@@ -34,7 +34,7 @@ public:
     AP_BattMonitor_SMBus(AP_BattMonitor &mon,
                     AP_BattMonitor::BattMonitor_State &mon_state,
                     AP_BattMonitor_Params &params,
-                    AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
+                    uint8_t i2c_bus);
 
     // virtual destructor to reduce compiler warnings
     virtual ~AP_BattMonitor_SMBus() {}
@@ -54,6 +54,8 @@ public:
 
     virtual void init(void) override;
 
+    static const struct AP_Param::GroupInfo var_info[];
+
 protected:
 
     void read(void) override;
@@ -99,4 +101,9 @@ protected:
     virtual void timer(void) = 0;   // timer function to read from the battery
 
     AP_HAL::Device::PeriodicHandle timer_handle;
+
+    // Parameters
+    AP_Int8  _bus;          // I2C bus number
+    AP_Int8  _address;      // I2C address
+
 };

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Generic.cpp

@@ -44,9 +44,8 @@ uint8_t smbus_cell_ids[] = { 0x3f,  // cell 1
 // Constructor
 AP_BattMonitor_SMBus_Generic::AP_BattMonitor_SMBus_Generic(AP_BattMonitor &mon,
                                                    AP_BattMonitor::BattMonitor_State &mon_state,
-                                                   AP_BattMonitor_Params &params,
-                                                   AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
-    : AP_BattMonitor_SMBus(mon, mon_state, params, std::move(dev))
+                                                   AP_BattMonitor_Params &params)
+    : AP_BattMonitor_SMBus(mon, mon_state, params, AP_BATTMONITOR_SMBUS_BUS_EXTERNAL)
 {}
 
 void AP_BattMonitor_SMBus_Generic::timer()

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Generic.h

@@ -15,8 +15,7 @@ public:
     // Constructor
     AP_BattMonitor_SMBus_Generic(AP_BattMonitor &mon,
                              AP_BattMonitor::BattMonitor_State &mon_state,
-                             AP_BattMonitor_Params &params,
-                             AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
+                             AP_BattMonitor_Params &params);
 
 private:
 

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_NeoDesign.cpp

@@ -9,9 +9,8 @@
 // Constructor
 AP_BattMonitor_SMBus_NeoDesign::AP_BattMonitor_SMBus_NeoDesign(AP_BattMonitor &mon,
                                                    AP_BattMonitor::BattMonitor_State &mon_state,
-                                                   AP_BattMonitor_Params &params,
-                                                   AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
-    : AP_BattMonitor_SMBus(mon, mon_state, params, std::move(dev))
+                                                   AP_BattMonitor_Params &params)
+    : AP_BattMonitor_SMBus(mon, mon_state, params, AP_BATTMONITOR_SMBUS_BUS_INTERNAL)
 {
     _pec_supported = true;
 }
@@ -76,4 +75,3 @@ void AP_BattMonitor_SMBus_NeoDesign::timer()
     read_remaining_capacity();
     read_temp();
 }
-

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_NeoDesign.h

@@ -7,8 +7,7 @@ class AP_BattMonitor_SMBus_NeoDesign : public AP_BattMonitor_SMBus
 public:
     AP_BattMonitor_SMBus_NeoDesign(AP_BattMonitor &mon,
                              AP_BattMonitor::BattMonitor_State &mon_state,
-                             AP_BattMonitor_Params &params,
-                             AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
+                             AP_BattMonitor_Params &params);
 
 private:
 

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_SUI.cpp

@@ -17,9 +17,8 @@ extern const AP_HAL::HAL& hal;
 AP_BattMonitor_SMBus_SUI::AP_BattMonitor_SMBus_SUI(AP_BattMonitor &mon,
         AP_BattMonitor::BattMonitor_State &mon_state,
         AP_BattMonitor_Params &params,
-        AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
         uint8_t _cell_count)
-    : AP_BattMonitor_SMBus(mon, mon_state, params, std::move(dev)),
+    : AP_BattMonitor_SMBus(mon, mon_state, params, AP_BATTMONITOR_SMBUS_BUS_INTERNAL),
       cell_count(_cell_count)
 {
     _pec_supported = false;
@@ -84,7 +83,7 @@ bool AP_BattMonitor_SMBus_SUI::read_block(uint8_t reg, uint8_t* data, uint8_t le
     }
 
     // check PEC
-    uint8_t pec = get_PEC(AP_BATTMONITOR_SMBUS_I2C_ADDR, reg, true, buff, bufflen+1);
+    uint8_t pec = get_PEC(_address, reg, true, buff, bufflen+1);
     if (pec != buff[bufflen+1]) {
         return false;
     }

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_SUI.h

@@ -11,7 +11,6 @@ public:
     AP_BattMonitor_SMBus_SUI(AP_BattMonitor &mon,
                              AP_BattMonitor::BattMonitor_State &mon_state,
                              AP_BattMonitor_Params &params,
-                             AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
                              uint8_t cell_count
                             );
 

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Solo.cpp

@@ -26,9 +26,8 @@
 // Constructor
 AP_BattMonitor_SMBus_Solo::AP_BattMonitor_SMBus_Solo(AP_BattMonitor &mon,
                                                    AP_BattMonitor::BattMonitor_State &mon_state,
-                                                   AP_BattMonitor_Params &params,
-                                                   AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
-    : AP_BattMonitor_SMBus(mon, mon_state, params, std::move(dev))
+                                                   AP_BattMonitor_Params &params)
+    : AP_BattMonitor_SMBus(mon, mon_state, params, AP_BATTMONITOR_SMBUS_BUS_INTERNAL)
 {
     _pec_supported = true;
 }
@@ -116,7 +115,7 @@ uint8_t AP_BattMonitor_SMBus_Solo::read_block(uint8_t reg, uint8_t* data, uint8_
     }
 
     // check PEC
-    uint8_t pec = get_PEC(AP_BATTMONITOR_SMBUS_I2C_ADDR, reg, true, buff, bufflen+1);
+    uint8_t pec = get_PEC(_address, reg, true, buff, bufflen+1);
     if (pec != buff[bufflen+1]) {
         return 0;
     }

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Solo.h

@@ -9,8 +9,7 @@ public:
     // Constructor
     AP_BattMonitor_SMBus_Solo(AP_BattMonitor &mon,
                              AP_BattMonitor::BattMonitor_State &mon_state,
-                             AP_BattMonitor_Params &params,
-                             AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
+                             AP_BattMonitor_Params &params);
 
 private: