AP_BattMonitor: NeoDesign battery driver

Adds a driver for the NeoDesign BMS, with variable cell count.

libraries/AP_BattMonitor/AP_BattMonitor.cpp

@@ -4,6 +4,7 @@
 #include "AP_BattMonitor_Bebop.h"
 #include "AP_BattMonitor_BLHeliESC.h"
 #include "AP_BattMonitor_SMBus_SUI.h"
+#include "AP_BattMonitor_SMBus_NeoDesign.h"
 #include "AP_BattMonitor_Sum.h"
 #include "AP_BattMonitor_FuelFlow.h"
 #include "AP_BattMonitor_FuelLevel_PWM.h"
@@ -165,6 +166,12 @@ AP_BattMonitor::init()
                 drivers[instance] = new AP_BattMonitor_FuelLevel_PWM(*this, state[instance], _params[instance]);
                 break;
 #endif // HAL_BATTMON_FUEL_ENABLE
+            case AP_BattMonitor_Params::BattMonitor_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));
+                break;
             case AP_BattMonitor_Params::BattMonitor_TYPE_NONE:
             default:
                 break;

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-Maxell,8:UAVCAN-BatteryInfo,9:BLHeli ESC,10:SumOfFollowing,11:FuelFlow,12:FuelLevelPWM,13:SMBUS-SUI3,14:SMBUS-SUI6
+    // @Values: 0:Disabled,3:Analog Voltage Only,4:Analog Voltage and Current,5:Solo,6:Bebop,7:SMBus-Maxell,8:UAVCAN-BatteryInfo,9:BLHeli ESC,10:SumOfFollowing,11:FuelFlow,12:FuelLevelPWM,13:SMBUS-SUI3,14:SMBUS-SUI6,15:NeoDesign
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO_FLAGS("MONITOR", 1, AP_BattMonitor_Params, _type, BattMonitor_TYPE_NONE, AP_PARAM_FLAG_ENABLE),

libraries/AP_BattMonitor/AP_BattMonitor_Params.h

@@ -27,6 +27,7 @@ public:
         BattMonitor_TYPE_FuelLevel_PWM              = 12,
         BattMonitor_TYPE_SUI3                       = 13,
         BattMonitor_TYPE_SUI6                       = 14,
+        BattMonitor_TYPE_NeoDesign                  = 15,
     };
 
     // low voltage sources (used for BATT_LOW_TYPE parameter)

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_NeoDesign.cpp

@@ -0,0 +1,75 @@
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Common/AP_Common.h>
+#include "AP_BattMonitor.h"
+#include "AP_BattMonitor_SMBus_NeoDesign.h"
+
+#define BATTMONITOR_ND_CELL_COUNT                0x5C    // cell-count register
+#define BATTMONITOR_ND_CELL_START                0x30    // first cell register
+
+// 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))
+{
+    _pec_supported = true;
+}
+
+void AP_BattMonitor_SMBus_NeoDesign::timer()
+{
+    uint16_t data;
+    uint32_t tnow = AP_HAL::micros();
+
+    // Get the cell count once, it's not likely to change in flight
+    if (_cell_count == 0) {
+        if (read_word(BATTMONITOR_ND_CELL_COUNT, data)) {
+            _cell_count = data;
+        } else {
+            return; // something wrong, don't try anything else
+        }
+    }
+
+    bool read_all_cells = true;
+    for(uint8_t i = 0; i < _cell_count; ++i) {
+        if(read_word(BATTMONITOR_ND_CELL_START + i, data)) {
+            _state.cell_voltages.cells[i] = data;
+            _has_cell_voltages = true;
+        } else {
+            read_all_cells = false;
+        }
+    }
+
+    if (read_all_cells && (_cell_count > 0)) {
+        uint32_t summed = 0;
+        for (int i = 0; i < _cell_count; i++) {
+            summed += _state.cell_voltages.cells[i];
+        }
+        _state.voltage = (float)summed * 1e-3f;
+        _state.last_time_micros = tnow;
+        _state.healthy = true;
+    } else if (read_word(BATTMONITOR_SMBUS_VOLTAGE, data)) {
+            // fallback to the voltage register if we didn't manage to poll the cells
+            _state.voltage = (float)data * 1e-3f;
+            _state.last_time_micros = tnow;
+            _state.healthy = true;
+    }
+
+    // timeout after 5 seconds
+    if ((tnow - _state.last_time_micros) > AP_BATTMONITOR_SMBUS_TIMEOUT_MICROS) {
+        _state.healthy = false;
+        // do not attempt to read any more data from battery
+        return;
+    }
+
+    // read current (A)
+    if (read_word(BATTMONITOR_SMBUS_CURRENT, data)) {
+        _state.current_amps = -(float)((int16_t)data) * 1e-3f;
+        _state.last_time_micros = tnow;
+    }
+
+    read_full_charge_capacity();
+    read_remaining_capacity();
+    read_temp();
+}
+

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_NeoDesign.h

@@ -0,0 +1,18 @@
+#pragma once
+
+#include "AP_BattMonitor_SMBus.h"
+
+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);
+
+private:
+
+    void timer(void) override;
+
+    uint8_t _cell_count;
+};