SMbus battery driver - a lot of updates and optimizations

- added support for BQ40Z80 based battery
- added performance counter for interface errors
- added SMART_BATTERY_INFO mavlink message
- general code cleanups and optimization
- fixed: void flooding the log in case of interface error
- fixed: using _batt_startup_capacity instead of _batt_capacity for discharged_mah
- update: read manufacture_date
- update: get _cell_count from parameter and not const 4
- update: avoid re-reading data that has already been read and stored on class already
- currently the battery type defined by BAT_SMBUS_MODEL parameter and not by auto detection

src/lib/drivers/smbus/SMBus.cpp

@@ -36,6 +36,7 @@
  * SMBus v2.0 protocol implementation.
  *
  * @author Jacob Dahl <dahl.jakejacob@gmail.com>
+ * @author Bazooka Joe <BazookaJoe1900@gmail.com>
  *
  * TODO
  *  - Enable SMBus mode at the NuttX level. This may be tricky sharing the bus with i2c.
@@ -50,6 +51,11 @@ SMBus::SMBus(int bus_num, uint16_t address) :
 {
 }
 
+SMBus::~SMBus()
+{
+	perf_free(_interface_errors);
+}
+
 int SMBus::read_word(const uint8_t cmd_code, uint16_t &data)
 {
 	uint8_t buf[6];
@@ -68,7 +74,11 @@ int SMBus::read_word(const uint8_t cmd_code, uint16_t &data)
 
 		if (pec != buf[sizeof(buf) - 1]) {
 			result = -EINVAL;
+			perf_count(_interface_errors);
 		}
+
+	} else {
+		perf_count(_interface_errors);
 	}
 
 	return result;
@@ -87,10 +97,14 @@ int SMBus::write_word(const uint8_t cmd_code, uint16_t data)
 
 	int result = transfer(&buf[1], 4, nullptr, 0);
 
+	if (result != PX4_OK) {
+		perf_count(_interface_errors);
+	}
+
 	return result;
 }
 
-int SMBus::block_read(const uint8_t cmd_code, void *data, const uint8_t length, bool use_pec)
+int SMBus::block_read(const uint8_t cmd_code, void *data, const uint8_t length, const bool use_pec)
 {
 	unsigned byte_count = 0;
 	// addr(wr), cmd_code, addr(r), byte_count, data (32 bytes max), pec
@@ -99,6 +113,7 @@ int SMBus::block_read(const uint8_t cmd_code, void *data, const uint8_t length,
 	int result = transfer(&cmd_code, 1, (uint8_t *)&rx_data[3], length + 2);
 
 	if (result != PX4_OK) {
+		perf_count(_interface_errors);
 		return result;
 	}
 
@@ -115,13 +130,14 @@ int SMBus::block_read(const uint8_t cmd_code, void *data, const uint8_t length,
 
 		if (pec != rx_data[byte_count + 4]) {
 			result = -EINVAL;
+			perf_count(_interface_errors);
 		}
 	}
 
 	return result;
 }
 
-int SMBus::block_write(const uint8_t cmd_code, void *data, uint8_t byte_count, bool use_pec)
+int SMBus::block_write(const uint8_t cmd_code, const void *data, uint8_t byte_count, const bool use_pec)
 {
 	// cmd code[1], byte count[1], data[byte_count] (32max), pec[1] (optional)
 	uint8_t buf[32 + 2];
@@ -141,11 +157,11 @@ int SMBus::block_write(const uint8_t cmd_code, void *data, uint8_t byte_count, b
 
 	// If block_write fails, try up to 10 times.
 	while (i < 10 && ((result = transfer((uint8_t *)buf, byte_count + 2, nullptr, 0)) != PX4_OK)) {
+		perf_count(_interface_errors);
 		i++;
 	}
 
 	if (i == 10 || result) {
-		PX4_WARN("Block_write failed %d times", i);
 		result = -EINVAL;
 	}
 
@@ -154,6 +170,8 @@ int SMBus::block_write(const uint8_t cmd_code, void *data, uint8_t byte_count, b
 
 uint8_t SMBus::get_pec(uint8_t *buff, const uint8_t len)
 {
+	// TODO: use "return crc8ccitt(buff, len);"
+
 	// Initialise CRC to zero.
 	uint8_t crc = 0;
 	uint8_t shift_register = 0;

src/lib/drivers/smbus/SMBus.hpp

@@ -36,10 +36,11 @@
  * SMBus v2.0 protocol implementation.
  *
  * @author Jacob Dahl <dahl.jakejacob@gmail.com>
+ * @author Bazooka Joe <BazookaJoe1900@gmail.com>
  */
 
 #include <drivers/device/i2c.h>
-
+#include <perf/perf_counter.h>
 #include <string.h>
 
 #define SMBUS_PEC_POLYNOMIAL	0x07	///< Polynomial for calculating PEC
@@ -48,7 +49,7 @@ class SMBus : public device::I2C
 {
 public:
 	SMBus(int bus_num, uint16_t address);
-	~SMBus() override = default;
+	~SMBus() override;
 
 	/**
 	 * @brief Sends a block write command.
@@ -57,7 +58,7 @@ public:
 	 * @param length The number of bytes being written.
 	 * @return Returns PX4_OK on success, -errno on failure.
 	 */
-	int block_write(const uint8_t cmd_code, void *data, uint8_t byte_count, bool use_pec);
+	int block_write(const uint8_t cmd_code, const void *data, uint8_t byte_count, const bool use_pec);
 
 	/**
 	 * @brief Sends a block read command.
@@ -66,7 +67,7 @@ public:
 	 * @param length The number of bytes being read.
 	 * @return Returns PX4_OK on success, -errno on failure.
 	 */
-	int block_read(const uint8_t cmd_code, void *data, const uint8_t length, bool use_pec);
+	int block_read(const uint8_t cmd_code, void *data, const uint8_t length, const bool use_pec);
 
 	/**
 	 * @brief Sends a read word command.
@@ -92,4 +93,6 @@ public:
 	 */
 	uint8_t get_pec(uint8_t *buffer, uint8_t length);
 
+	perf_counter_t _interface_errors{perf_alloc(PC_COUNT, MODULE_NAME": errors")};
+
 };