If you over allocate the number of analog channels this results in a
crash. It's easy to trigger this if you have voltage only monitors as we
still eat up a current input channel, regarless of if we use it. There
are only 16 channels at this time on ChibiOS, so if you have 9 voltage
only battery monitors you are out.
This PR improves that situation by only allocating channels when needed,
and in the case where we run out we now set a ConfigError, which on a
flight controller is much more friendly then a instant segfault the
moment we read a battery monitor. NOTE: on AP_Periph this takes the
node off the bus, rather then just sitting in the bootloader. This was
consideted acceptable as the current behaviour was to segfault and then
sit in the bootloader, unless you made new firmware that limited the
number of channels allocated it wasn't possible to recover in this
situation anyways.
* correctly validate channel parameter and improve other parameter
access
* dynamically enable channels to avoid spending time converting unused
channels
* implement tracking of reading health
* correct reading scaling by using datasheet values
* accumulate measured current to track used mAh and Wh
* make configurable using #defines (and hwdef) for integrators
* correctly separate and lock frontend and backend state. Note that
_state of frontend can only be accessed in `read()` method.
Enable battx_options for periphs if useful.
Enable the options parameter for the battery monitor on AP_Periph devices if they could be useful - ie, battery summing is enabled and in use on a node with more than one source for battery inputs.
Only define options in a single place
Single definition for non periph builds or if AP_BATTERY_SUM_ENABLED
* remove unnecessary nullptr check, these are always called from an
initialized AP_DroneCAN so if it's nullptr something has gone
horrifically wrong
* pass in driver index instead of repeatedly calling function to get it
* simplify error handling; knowing exactly which allocation failed is not
super helpful and one failing likely means subsequent ones will too,
as it can only fail due to being out of memory
- split get_type into allocated_type and configured_type
- check allocated type rather than configured type when looking at backends
Prevents overwrite of random memory when backends are changed at runtime.
when we have aux battery information we had assumed the CAN device
would provide the battery remaining percentage. We should obey the "do
not use CAN SoC" with or without an AUX message
This fixes CAN battery monitors with a cell monitor
