px4/fmu-v5/6x: Upstream power manager for FMU

Detects and configures it correctly for the Auterion INA226-based power
modules.

boards/px4/fmu-v5x/default.px4board

@@ -37,6 +37,7 @@ CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_RC=y

boards/px4/fmu-v5x/init/rc.board_sensors

@@ -94,6 +94,9 @@ else
 	# Internal magnetometer on I2c
 	bmm150 -I -R 6 start
 
+	# Auto start power monitors
+	pm_selector_auterion start
+
 fi
 
 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)

boards/px4/fmu-v6x/default.px4board

@@ -35,6 +35,7 @@ CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y

boards/px4/fmu-v6x/init/rc.board_sensors

@@ -47,6 +47,11 @@ then
 	fi
 fi
 
+#Start Auterion Power Module selector for Skynode boards
+if ver hwtypecmp V6X009010 V6X010010
+then
+	pm_selector_auterion start
+fi
 
 if ver hwtypecmp V6X000006 V6X004006 V6X005006
 then

src/drivers/power_monitor/pm_selector_auterion/CMakeLists.txt

@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__power_monitor_pm_selector_auterion
+	MAIN pm_selector_auterion
+	SRCS
+		PowerMonitorSelectorAuterion.cpp
+	DEPENDS
+		px4_work_queue
+	)

src/drivers/power_monitor/pm_selector_auterion/Kconfig

@@ -0,0 +1,5 @@
+menuconfig DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION
+	bool "pm_selector_auterion"
+	default n
+	---help---
+		Enable support for pm_selector_auterion

src/drivers/power_monitor/pm_selector_auterion/PowerMonitorSelectorAuterion.cpp

@@ -0,0 +1,223 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Automatic handling power monitors
+ */
+
+#include "PowerMonitorSelectorAuterion.h"
+#include "../ina226/ina226.h"
+
+#include <builtin/builtin.h>
+#include <sys/wait.h>
+
+PowerMonitorSelectorAuterion::PowerMonitorSelectorAuterion() :
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
+{
+}
+
+PowerMonitorSelectorAuterion::~PowerMonitorSelectorAuterion() = default;
+
+bool PowerMonitorSelectorAuterion::init()
+{
+	int32_t sens_en = 0;
+	param_get(param_find("SENS_EN_INA226"), &sens_en);
+
+	if (sens_en == 1) {
+
+		sens_en = 0;
+		param_set(param_find("SENS_EN_INA226"), &sens_en);
+		const char *stop_argv[] {"ina226", "stop", NULL};
+		exec_builtin("ina226", (char **)stop_argv, NULL, 0);
+	}
+
+	ScheduleNow();
+	return true;
+}
+
+void PowerMonitorSelectorAuterion::Run()
+{
+	if (should_exit()) {
+		exit_and_cleanup();
+		return;
+	}
+
+	actuator_armed_s actuator_armed{};
+	_actuator_armed_sub.copy(&actuator_armed);
+
+	if (actuator_armed.armed) {
+		exit_and_cleanup();
+		return;
+	}
+
+	for (uint32_t i = 0U; i <  SENSORS_NUMBER; ++i) {
+
+		if (!_sensors[i].started) {
+
+			int ret_val = ina226_probe(i);
+
+			if (ret_val == PX4_OK) {
+
+				float current_shunt_value = 0.0f;
+				param_get(param_find("INA226_SHUNT"), &current_shunt_value);
+
+				if (fabsf(current_shunt_value - _sensors[i].shunt_value) > FLT_EPSILON) {
+					param_set(param_find("INA226_SHUNT"), &(_sensors[i].shunt_value));
+				}
+
+				char bus_number[4] = {0};
+				itoa(_sensors[i].bus_number, bus_number, 10);
+				const char *start_argv[] {
+					_sensors[i].name,
+					"-X", "-b", bus_number, "-a", _sensors[i].i2c_addr,
+					"-t", _sensors[i].id, "-q", "start", NULL
+				};
+
+				int status = PX4_ERROR;
+				int pid =  exec_builtin(_sensors[i].name, (char **)start_argv, NULL, 0);
+
+				if (pid != -1) {
+					waitpid(pid, &status, WUNTRACED);
+				}
+
+				if (status == PX4_OK) {
+					_sensors[i].started = true;
+				}
+			}
+		}
+	}
+
+	ScheduleDelayed(RUN_INTERVAL);
+}
+
+int PowerMonitorSelectorAuterion::ina226_probe(uint32_t instance)
+{
+	struct i2c_master_s *i2c = px4_i2cbus_initialize(_sensors[instance].bus_number);
+	int ret = PX4_ERROR;
+
+	if (i2c != nullptr) {
+
+		struct i2c_msg_s msgv[2];
+
+		uint8_t txdata[1] = {0};
+		uint8_t rxdata[2] = {0};
+
+		msgv[0].frequency = I2C_SPEED_STANDARD;
+		msgv[0].addr = static_cast<uint16_t>(strtol(_sensors[instance].i2c_addr, NULL, 0));
+		msgv[0].flags = 0;
+		msgv[0].buffer = txdata;
+		msgv[0].length = sizeof(txdata);
+
+		msgv[1].frequency = I2C_SPEED_STANDARD;
+		msgv[1].addr = static_cast<uint16_t>(strtol(_sensors[instance].i2c_addr, NULL, 0));
+		msgv[1].flags = I2C_M_READ;
+		msgv[1].buffer = rxdata;
+		msgv[1].length = sizeof(rxdata);
+
+		txdata[0] = {INA226_MFG_ID};
+		ret = I2C_TRANSFER(i2c, msgv, 2);
+		uint16_t value = static_cast<uint16_t>(rxdata[1] | rxdata[0] << 8);
+
+		if (ret != PX4_OK || value != INA226_MFG_ID_TI) {
+
+			ret = PX4_ERROR;
+
+		} else {
+
+			txdata[0] = {INA226_MFG_DIEID};
+			ret = I2C_TRANSFER(i2c, msgv, 2);
+			value = static_cast<uint16_t>(rxdata[1] | rxdata[0] << 8);
+
+			if (ret != PX4_OK || value != INA226_MFG_DIE) {
+				ret = PX4_ERROR;
+			}
+		}
+
+		px4_i2cbus_uninitialize(i2c);
+	}
+
+	return ret;
+}
+
+int PowerMonitorSelectorAuterion::task_spawn(int argc, char *argv[])
+{
+	PowerMonitorSelectorAuterion *instance = new PowerMonitorSelectorAuterion();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int PowerMonitorSelectorAuterion::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int PowerMonitorSelectorAuterion::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Driver for starting and auto-detecting different power monitors.
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("pm_selector_auterion", "driver");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int pm_selector_auterion_main(int argc, char *argv[])
+{
+	return PowerMonitorSelectorAuterion::main(argc, argv);
+}

src/drivers/power_monitor/pm_selector_auterion/PowerMonitorSelectorAuterion.h

@@ -0,0 +1,118 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <stdarg.h>
+#include <drivers/drv_hrt.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/actuator_armed.h>
+
+using namespace time_literals;
+
+class PowerMonitorSelectorAuterion : public ModuleBase<PowerMonitorSelectorAuterion>, public px4::ScheduledWorkItem
+{
+
+public:
+	PowerMonitorSelectorAuterion();
+	virtual ~PowerMonitorSelectorAuterion();
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+private:
+
+	void Run() override;
+
+	bool init();
+
+	int ina226_probe(uint32_t instance);
+
+	uORB::Subscription	_actuator_armed_sub{ORB_ID(actuator_armed)};		///< system armed control topic
+
+	struct Sensor {
+		const char *name;
+		const char *i2c_addr;
+		const uint8_t bus_number;
+		float shunt_value;
+		bool started;
+		const char *id;
+	};
+
+	static constexpr int RUN_INTERVAL{500_ms};
+	static constexpr int SENSORS_NUMBER{4};
+
+	Sensor _sensors[SENSORS_NUMBER] = {
+		{
+			.name = "ina226",
+			.i2c_addr = "0x41",
+			.bus_number = 1,
+			.shunt_value = 0.0008f,
+			.started = false,
+			.id = "1"
+		},
+		{
+			.name = "ina226",
+			.i2c_addr = "0x40",
+			.bus_number = 1,
+			.shunt_value = 0.0005f,
+			.started = false,
+			.id = "1"
+		},
+		{
+			.name = "ina226",
+			.i2c_addr = "0x41",
+			.bus_number = 2,
+			.shunt_value = 0.0008f,
+			.started = false,
+			.id = "2"
+		},
+		{
+			.name = "ina226",
+			.i2c_addr = "0x40",
+			.bus_number = 2,
+			.shunt_value = 0.0005f,
+			.started = false,
+			.id = "2"
+		}
+	};
+};