AP_BattMonitor: Adding driver for Rotoye Batmon equipped smart batteries

libraries/AP_BattMonitor/AP_BattMonitor.cpp

@@ -4,6 +4,7 @@
 #include "AP_BattMonitor_SMBus_Solo.h"
 #include "AP_BattMonitor_SMBus_Generic.h"
 #include "AP_BattMonitor_SMBus_Maxell.h"
+#include "AP_BattMonitor_SMBus_Rotoye.h"
 #include "AP_BattMonitor_Bebop.h"
 #include "AP_BattMonitor_BLHeliESC.h"
 #include "AP_BattMonitor_SMBus_SUI.h"
@@ -149,6 +150,11 @@ AP_BattMonitor::init()
                                                                     hal.i2c_mgr->get_device(_params[instance]._i2c_bus, AP_BATTMONITOR_SMBUS_I2C_ADDR,
                                                                                             100000, true, 20));
                 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));
+                break;
 #endif // HAL_BATTMON_SMBUS_ENABLE
             case Type::BEBOP:
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO

libraries/AP_BattMonitor/AP_BattMonitor.h

@@ -36,6 +36,7 @@ class AP_BattMonitor_SMBus;
 class AP_BattMonitor_SMBus_Solo;
 class AP_BattMonitor_SMBus_Generic;
 class AP_BattMonitor_SMBus_Maxell;
+class AP_BattMonitor_SMBus_Rotoye;
 class AP_BattMonitor_UAVCAN;
 class AP_BattMonitor_Generator;
 
@@ -47,6 +48,7 @@ class AP_BattMonitor
     friend class AP_BattMonitor_SMBus_Solo;
     friend class AP_BattMonitor_SMBus_Generic;
     friend class AP_BattMonitor_SMBus_Maxell;
+    friend class AP_BattMonitor_SMBus_Rotoye;
     friend class AP_BattMonitor_UAVCAN;
     friend class AP_BattMonitor_Sum;
     friend class AP_BattMonitor_FuelFlow;
@@ -80,6 +82,7 @@ public:
         NeoDesign                  = 15,
         MAXELL                     = 16,
         Generator                  = 17,
+        Rotoye                     = 19,
     };
 
     FUNCTOR_TYPEDEF(battery_failsafe_handler_fn_t, void, const char *, const int8_t);

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:BLHeli ESC,10:SumOfFollowing,11:FuelFlow,12:FuelLevelPWM,13:SMBUS-SUI3,14:SMBUS-SUI6,15:NeoDesign,16:SMBus-Maxell
+    // @Values: 0:Disabled,3:Analog Voltage Only,4:Analog Voltage and Current,5:Solo,6:Bebop,7:SMBus-Generic,8:UAVCAN-BatteryInfo,9:BLHeli ESC,10:SumOfFollowing,11:FuelFlow,12:FuelLevelPWM,13:SMBUS-SUI3,14:SMBUS-SUI6,15:NeoDesign,16:SMBus-Maxell,17:Generator,19:Rotoye
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO_FLAGS("MONITOR", 1, AP_BattMonitor_Params, _type, int8_t(AP_BattMonitor::Type::NONE), AP_PARAM_FLAG_ENABLE),

libraries/AP_BattMonitor/AP_BattMonitor_SMBus.h

@@ -70,7 +70,7 @@ protected:
 
     // reads the temperature word from the battery
     // returns true if the read was successful
-    bool read_temp(void);
+    virtual bool read_temp(void);
 
     // reads the serial number if it's not already known
     // returns true if the read was successful, or the number was already known

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Rotoye.cpp

@@ -0,0 +1,25 @@
+#include "AP_BattMonitor_SMBus_Rotoye.h"
+
+#include <AP_HAL/AP_HAL.h>
+
+// Specific to Rotoye Batmon
+#define BATTMONITOR_SMBUS_TEMP_EXT 0x07
+
+// return the maximum of the internal and external temperature sensors
+bool AP_BattMonitor_SMBus_Rotoye::read_temp(void) {
+    
+    uint16_t t_int, t_ext;
+    
+    /*  Both internal and external values will always be sent by Batmon. 
+        If no external thermistor is used, a zero-value is sent. */
+    if (read_word(BATTMONITOR_SMBUS_TEMP, t_int) && 
+        read_word(BATTMONITOR_SMBUS_TEMP_EXT, t_ext)) {
+        uint16_t t;
+        _state.temperature_time = AP_HAL::millis();
+        t = ((t_ext > t_int) ? t_ext : t_int);
+        _state.temperature = 0.1f * (float)t - C_TO_KELVIN;
+        return true;
+    }
+
+    return false;
+}

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Rotoye.h

@@ -0,0 +1,14 @@
+#pragma once
+
+#include "AP_BattMonitor_SMBus_Generic.h"
+
+class AP_BattMonitor_SMBus_Rotoye : public AP_BattMonitor_SMBus_Generic
+{
+    using AP_BattMonitor_SMBus_Generic::AP_BattMonitor_SMBus_Generic;
+
+private:
+
+    // Rotoye Batmon has two temperature readings
+    bool read_temp(void) override;
+
+};