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auterion autostarter: Added autostart for PWM_EXPANDER, generalized c… (#25925)

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* auterion autostarter: Added autostart for PWM_EXPANDER, generalized code, renamed module

* auterion autostarter: Enable on v6s, robustify error handling

* review comments
This commit is contained in:
Alexander Lerach 2026-01-21 19:05:09 +01:00 committed by GitHub
parent 06db25c078
commit 4ac7853479
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
20 changed files with 205 additions and 110 deletions
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1
boards/accton-godwit/ga1/default.px4board
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@ -34,7 +34,6 @@ CONFIG_DRIVERS_OSD_MSP_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

1
boards/auterion/fmu-v6s/default.px4board
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@ -22,6 +22,7 @@ CONFIG_COMMON_MAGNETOMETER=y
CONFIG_DATAMAN_PERSISTENT_STORAGE=n
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_COMMON_RC=y
CONFIG_DRIVERS_AUTERION_AUTOSTARTER=y
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
CONFIG_DRIVERS_POWER_MONITOR_INA228=y

3
boards/auterion/fmu-v6s/init/rc.board_sensors
View File

@ -60,6 +60,9 @@ then
set INA_CONFIGURED yes
fi
# Auterion auto starter
auterion_autostarter start
if param compare BAT1_V_CHANNEL -2
then
if [ "$INA_CONFIGURED" != "yes" ]

2
boards/auterion/fmu-v6x/default.px4board
View File

@ -26,10 +26,10 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
CONFIG_COMMON_LIGHT=y
CONFIG_COMMON_MAGNETOMETER=y
CONFIG_DRIVERS_AUTERION_AUTOSTARTER=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_INPUT=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_DRIVERS_PX4IO=y

4
boards/auterion/fmu-v6x/init/rc.board_sensors
View File

@ -55,8 +55,8 @@ then
set INA_CONFIGURED yes
fi
#Start Auterion Power Module selector for Skynode boards
pm_selector_auterion start
# Auterion auto starter
auterion_autostarter start
# Auterion's INA238 uses a shunt value of 0.0003 instead of 0.0005.
param set-default INA238_SHUNT 0.0003

1
boards/cuav/fmu-v6x/default.px4board
View File

@ -30,7 +30,6 @@ CONFIG_DRIVERS_OSD_MSP_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

1
boards/cuav/x25-evo/default.px4board
View File

@ -28,7 +28,6 @@ CONFIG_DRIVERS_OSD_MSP_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_RC_INPUT=y
CONFIG_DRIVERS_SAFETY_BUTTON=y

1
boards/micoair/h743-aio/default.px4board
View File

@ -31,7 +31,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA220=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_POWER_MONITOR_VOXLPM=y
CONFIG_DRIVERS_PPS_CAPTURE=y
CONFIG_DRIVERS_PWM_OUT=y

1
boards/micoair/h743-lite/default.px4board
View File

@ -28,7 +28,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA220=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_POWER_MONITOR_VOXLPM=y
CONFIG_DRIVERS_PPS_CAPTURE=y
CONFIG_DRIVERS_PWM_OUT=y

1
boards/micoair/h743-v2/default.px4board
View File

@ -30,7 +30,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA220=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_POWER_MONITOR_VOXLPM=y
CONFIG_DRIVERS_PPS_CAPTURE=y
CONFIG_DRIVERS_PWM_OUT=y

1
boards/micoair/h743/default.px4board
View File

@ -32,7 +32,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA220=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_POWER_MONITOR_VOXLPM=y
CONFIG_DRIVERS_PPS_CAPTURE=y
CONFIG_DRIVERS_PWM_OUT=y

2
boards/px4/fmu-v5x/default.px4board
View File

@ -34,11 +34,11 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
CONFIG_DRIVERS_IRLOCK=y
CONFIG_COMMON_LIGHT=y
CONFIG_COMMON_MAGNETOMETER=y
CONFIG_DRIVERS_AUTERION_AUTOSTARTER=y
CONFIG_DRIVERS_OSD_MSP_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_INPUT=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_DRIVERS_PX4IO=y

4
boards/px4/fmu-v5x/init/rc.board_sensors
View File

@ -72,8 +72,8 @@ then
# Internal magnetometer on I2c
bmm150 -I -R 6 start
# Auto start power monitors
pm_selector_auterion start
# Auterion auto starter
auterion_autostarter start
# Auterion's INA238 uses a shunt value of 0.0003 instead of 0.0005.
param set-default INA238_SHUNT 0.0003

1
boards/svehicle/e2/default.px4board
View File

@ -31,7 +31,6 @@ CONFIG_DRIVERS_OSD_MSP_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

1
boards/zeroone/x6/default.px4board
View File

@ -29,7 +29,6 @@ CONFIG_DRIVERS_OSD_MSP_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

205
src/drivers/power_monitor/pm_selector_auterion/PowerMonitorSelectorAuterion.cpp → src/drivers/auterion_autostarter/AuterionAutostarter.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2026 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
@ -35,26 +35,26 @@
* Automatic handling power monitors
*/
#include "PowerMonitorSelectorAuterion.h"
#include "../ina226/ina226.h"
#include "AuterionAutostarter.h"
#include "../power_monitor/ina226/ina226.h"
#include <builtin/builtin.h>
#include <sys/wait.h>
PowerMonitorSelectorAuterion::PowerMonitorSelectorAuterion() :
AuterionAutostarter::AuterionAutostarter() :
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
{
}
PowerMonitorSelectorAuterion::~PowerMonitorSelectorAuterion() = default;
AuterionAutostarter::~AuterionAutostarter() = default;
bool PowerMonitorSelectorAuterion::init()
bool AuterionAutostarter::init()
{
ScheduleNow();
return true;
}
void PowerMonitorSelectorAuterion::Run()
void AuterionAutostarter::Run()
{
if (should_exit()) {
exit_and_cleanup();
@ -83,22 +83,38 @@ void PowerMonitorSelectorAuterion::Run()
ScheduleDelayed(RUN_INTERVAL);
}
void PowerMonitorSelectorAuterion::try_eeprom_start()
void AuterionAutostarter::try_eeprom_start()
{
static_assert(sizeof(_buses) / sizeof(Buses) == BUSES_NUMBERS, "Unexpected number of buses");
static_assert(sizeof(_eeprom_blocks_pm) / sizeof(EepromBlockPm) == EEPROM_MAX_BLOCKS,
static_assert(sizeof(_eeprom_decoded_blocks) / sizeof(DecodedBlock) == EEPROM_MAX_BLOCKS,
"Unexpected number of EEPROM PM blocks");
for (uint32_t i = 0U; i < BUSES_NUMBERS; i++) {
if (!_buses[i].started) {
if (eeprom_read(i) == PX4_OK) {
for (int ii = 0U; ii < _eeprom_valid_blocks_pm && ii < EEPROM_MAX_BLOCKS; ii++) {
EepromBlockPm eeprom_block_pm = _eeprom_blocks_pm[ii];
int ret_val = PX4_OK;
uint16_t dev_type = eeprom_block_pm.dev_type;
set_max_current(dev_type, eeprom_block_pm.max_current);
set_shunt_value(dev_type, eeprom_block_pm.shunt_value);
int ret_val = start_pm(_buses[i].bus_number, dev_type, eeprom_block_pm.i2c_addr, _buses[i].id);
for (uint32_t ii = 0U; ii < _eeprom_num_decoded_blocks && ii < EEPROM_MAX_BLOCKS; ii++) {
DecodedBlock decoded_block = _eeprom_decoded_blocks[ii];
switch (decoded_block.block_type) {
case TYPE_PM: {
EepromBlockPm block_pm = decoded_block.block_pm;
uint16_t dev_type = block_pm.dev_type;
set_max_current(dev_type, block_pm.max_current);
set_shunt_value(dev_type, block_pm.shunt_value);
ret_val |= start_pm(_buses[i].bus_number, dev_type, block_pm.i2c_addr, _buses[i].id);
break;
}
case TYPE_PWM_EXPANDER: {
EepromBlockPwmExpander block_pwm_expader = decoded_block.block_pwm_expander;
uint16_t dev_type = block_pwm_expader.dev_type;
ret_val |= start_i2c_driver(_buses[i].bus_number, dev_type, block_pwm_expader.i2c_addr);
break;
}
}
}
if (ret_val == PX4_OK) {
_buses[i].started = true;
@ -107,9 +123,8 @@ void PowerMonitorSelectorAuterion::try_eeprom_start()
}
}
}
}
void PowerMonitorSelectorAuterion::try_probe_start()
void AuterionAutostarter::try_probe_start()
{
static_assert(sizeof(_sensors) / sizeof(Sensor) == SENSORS_NUMBER, "Unexpected number of sensors");
@ -133,7 +148,7 @@ void PowerMonitorSelectorAuterion::try_probe_start()
}
}
int PowerMonitorSelectorAuterion::ina226_probe(const uint32_t instance) const
int AuterionAutostarter::ina226_probe(const uint32_t instance) const
{
I2CWrapper i2c{_sensors[instance].bus_number};
int ret = PX4_ERROR;
@ -177,10 +192,10 @@ int PowerMonitorSelectorAuterion::ina226_probe(const uint32_t instance) const
return ret;
}
int PowerMonitorSelectorAuterion::eeprom_read(const uint32_t instance)
int AuterionAutostarter::eeprom_read(const uint32_t instance)
{
I2CWrapper i2c{_buses[instance].bus_number};
_eeprom_valid_blocks_pm = 0;
_eeprom_num_decoded_blocks = 0;
EepromHeader eeprom_header;
if (i2c.is_valid()) {
@ -228,7 +243,7 @@ int PowerMonitorSelectorAuterion::eeprom_read(const uint32_t instance)
return PX4_ERROR;
}
_eeprom_valid_blocks_pm = transferred_blocks;
_eeprom_num_decoded_blocks = transferred_blocks;
return PX4_OK;
} else {
@ -236,7 +251,7 @@ int PowerMonitorSelectorAuterion::eeprom_read(const uint32_t instance)
}
}
bool PowerMonitorSelectorAuterion::is_eeprom_header_valid(EepromHeader *eeprom_header) const
bool AuterionAutostarter::is_eeprom_header_valid(EepromHeader *eeprom_header) const
{
if (eeprom_header->magic != EEPROM_MAGIC
|| eeprom_header->version != EEPROM_VERSION
@ -247,8 +262,8 @@ bool PowerMonitorSelectorAuterion::is_eeprom_header_valid(EepromHeader *eeprom_h
return true;
}
int PowerMonitorSelectorAuterion::eeprom_read_block(struct i2c_master_s *i2c, const uint32_t instance,
const uint16_t transferred_blocks, uint16_t &crc)
int AuterionAutostarter::eeprom_read_block(struct i2c_master_s *i2c, const uint32_t instance, const uint16_t transferred_blocks,
uint16_t &crc)
{
int ret = PX4_ERROR;
EepromBlockHeader eeprom_block_header;
@ -263,43 +278,75 @@ int PowerMonitorSelectorAuterion::eeprom_read_block(struct i2c_master_s *i2c, co
ret = I2C_TRANSFER(i2c, &msg, 1);
if (ret == PX4_OK && is_eeprom_block_header_valid(&eeprom_block_header)) {
EepromBlockPm &eeprom_block_pm = _eeprom_blocks_pm[transferred_blocks];
eeprom_block_pm.block_header = eeprom_block_header;
/* Already read the header, so just need to read the block itself now */
uint8_t *data_ptr = reinterpret_cast<uint8_t *>(&eeprom_block_pm) + offsetof(EepromBlockPm, dev_type);
size_t data_size = sizeof(EepromBlockPm) - offsetof(EepromBlockPm, dev_type);
/* Read the actual block data from the EEPROM */
msg.buffer = data_ptr;
msg.length = data_size;
ret = I2C_TRANSFER(i2c, &msg, 1);
if (ret == PX4_OK) {
crc = crc16_update(crc, reinterpret_cast<uint8_t *>(&eeprom_block_pm), sizeof(EepromBlockPm));
DecodedBlock &block = _eeprom_decoded_blocks[transferred_blocks];
switch (eeprom_block_header.block_type) {
case TYPE_PM: {
if (!is_eeprom_block_header_valid<TYPE_PM, EepromBlockPm>(&eeprom_block_header)) { return PX4_ERROR; }
EepromBlockPm *block_pm = &block.block_pm;
block.block_type = TYPE_PM;
block_pm->block_header = eeprom_block_header;
ret |= eeprom_read_block_data<EepromBlockPm>(i2c, instance, crc, block_pm);
break;
}
} else {
ret = PX4_ERROR;
case TYPE_PWM_EXPANDER: {
if (!is_eeprom_block_header_valid<TYPE_PWM_EXPANDER, EepromBlockPwmExpander>(&eeprom_block_header)) { return PX4_ERROR; }
EepromBlockPwmExpander *block_pwm_expander = &block.block_pwm_expander;
block.block_type = TYPE_PWM_EXPANDER;
block_pwm_expander->block_header = eeprom_block_header;
ret |= eeprom_read_block_data<EepromBlockPwmExpander>(i2c, instance, crc, block_pwm_expander);
break;
}
default:
return PX4_ERROR;
}
}
return ret;
}
bool PowerMonitorSelectorAuterion::is_eeprom_block_header_valid(EepromBlockHeader *eeprom_block_header) const
template <typename T>
int AuterionAutostarter::eeprom_read_block_data(struct i2c_master_s *i2c, const uint32_t instance, uint16_t &crc, T *block)
{
if (eeprom_block_header->block_type != BlockType::TYPE_PM
/* Already read the header, so just need to read the block itself now */
uint8_t *data_ptr = reinterpret_cast<uint8_t *>(block) + offsetof(T, dev_type);
size_t data_size = sizeof(T) - offsetof(T, dev_type);
/* Read the actual block data from the EEPROM */
struct i2c_msg_s msg;
msg.frequency = I2C_SPEED_STANDARD;
msg.addr = _buses[instance].eeprom_i2c_addr;
msg.flags = I2C_M_READ;
msg.buffer = data_ptr;
msg.length = data_size;
int ret = I2C_TRANSFER(i2c, &msg, 1);
if (ret == PX4_OK) {
crc = crc16_update(crc, reinterpret_cast<uint8_t *>(block), sizeof(T));
}
return ret;
}
template <AuterionAutostarter::BlockType ExpectedBlockType, typename T>
bool AuterionAutostarter::is_eeprom_block_header_valid(EepromBlockHeader *eeprom_block_header) const
{
if (eeprom_block_header->block_type != ExpectedBlockType
|| eeprom_block_header->block_type_version != EEPROM_BLOCK_TYPE_VERSION
|| eeprom_block_header->block_length != sizeof(EepromBlockPm)) {
|| eeprom_block_header->block_length != sizeof(T)) {
return false;
}
return true;
}
int PowerMonitorSelectorAuterion::start_pm(const uint8_t bus_number, const uint16_t dev_type,
int AuterionAutostarter::start_pm(const uint8_t bus_number, const uint16_t dev_type,
const uint16_t i2c_addr, const uint16_t id) const
{
char bus_number_str[BUS_MAX_LEN];
@ -312,33 +359,51 @@ int PowerMonitorSelectorAuterion::start_pm(const uint8_t bus_number, const uint1
snprintf(id_str, sizeof(id_str), "%u", id);
const char *start_command = get_start_command(dev_type);
if (start_command == nullptr) {
return PX4_ERROR;
}
const char *start_argv[] {
start_command,
"-X", "-b", bus_number_str, "-a", i2c_addr_str,
"-t", id_str, "-q", "start", NULL
};
return start(start_command, start_argv);
}
int AuterionAutostarter::start_i2c_driver(const uint8_t bus_number, const uint16_t dev_type, const uint16_t i2c_addr) const
{
char bus_number_str[BUS_MAX_LEN];
snprintf(bus_number_str, sizeof(bus_number_str), "%u", bus_number);
char i2c_addr_str[I2C_ADDR_MAX_LEN];
snprintf(i2c_addr_str, sizeof(i2c_addr_str), "%u", i2c_addr);
const char *start_command = get_start_command(dev_type);
const char *start_argv[] {
start_command,
"-X", "-b", bus_number_str, "-a", i2c_addr_str,
"-q", "start", NULL
};
return start(start_command, start_argv);
}
int AuterionAutostarter::start(const char *start_command, const char **start_argv) const
{
int status = PX4_ERROR;
if (start_command != nullptr) {
int pid = exec_builtin(start_command, (char **)start_argv, NULL, 0);
if (pid != -1) {
waitpid(pid, &status, WUNTRACED);
}
}
return status;
}
const char *PowerMonitorSelectorAuterion::get_start_command(const uint16_t dev_type) const
const char *AuterionAutostarter::get_start_command(const uint16_t dev_type) const
{
switch (dev_type) {
case DRV_POWER_DEVTYPE_INA220:
return "ina220";
case DRV_POWER_DEVTYPE_INA226:
return "ina226";
@ -348,12 +413,15 @@ const char *PowerMonitorSelectorAuterion::get_start_command(const uint16_t dev_t
case DRV_POWER_DEVTYPE_INA238:
return "ina238";
case DRV_PWM_DEVTYPE_PCA9685:
return "pca9685_pwm_out";
default:
return nullptr;
}
}
bool PowerMonitorSelectorAuterion::is_user_configured(const uint16_t dev_type) const
bool AuterionAutostarter::is_user_configured(const uint16_t dev_type) const
{
const char *ina_type = get_ina_type(dev_type);
@ -369,7 +437,7 @@ bool PowerMonitorSelectorAuterion::is_user_configured(const uint16_t dev_type) c
return sens_en != 0;
}
void PowerMonitorSelectorAuterion::set_max_current(const uint16_t dev_type, const float max_current) const
void AuterionAutostarter::set_max_current(const uint16_t dev_type, const float max_current) const
{
const char *ina_type = get_ina_type(dev_type);
@ -382,7 +450,7 @@ void PowerMonitorSelectorAuterion::set_max_current(const uint16_t dev_type, cons
set_float_param(param_name, max_current);
}
void PowerMonitorSelectorAuterion::set_shunt_value(const uint16_t dev_type, const float shunt_value) const
void AuterionAutostarter::set_shunt_value(const uint16_t dev_type, const float shunt_value) const
{
const char *ina_type = get_ina_type(dev_type);
@ -395,7 +463,7 @@ void PowerMonitorSelectorAuterion::set_shunt_value(const uint16_t dev_type, cons
set_float_param(param_name, shunt_value);
}
void PowerMonitorSelectorAuterion::set_float_param(const char *param_name, const float param_val) const
void AuterionAutostarter::set_float_param(const char *param_name, const float param_val) const
{
float current_param_value = 0;
param_get(param_find(param_name), &current_param_value);
@ -405,12 +473,9 @@ void PowerMonitorSelectorAuterion::set_float_param(const char *param_name, const
}
}
const char *PowerMonitorSelectorAuterion::get_ina_type(const uint16_t dev_type) const
const char *AuterionAutostarter::get_ina_type(const uint16_t dev_type) const
{
switch (dev_type) {
case DRV_POWER_DEVTYPE_INA220:
return "220";
case DRV_POWER_DEVTYPE_INA226:
return "226";
@ -425,7 +490,7 @@ const char *PowerMonitorSelectorAuterion::get_ina_type(const uint16_t dev_type)
}
}
uint16_t PowerMonitorSelectorAuterion::crc16_update(const uint16_t current_crc, const uint8_t *data_p,
uint16_t AuterionAutostarter::crc16_update(const uint16_t current_crc, const uint8_t *data_p,
size_t length) const
{
uint8_t x;
@ -440,9 +505,9 @@ uint16_t PowerMonitorSelectorAuterion::crc16_update(const uint16_t current_crc,
return crc;
}
int PowerMonitorSelectorAuterion::task_spawn(int argc, char *argv[])
int AuterionAutostarter::task_spawn(int argc, char *argv[])
{
PowerMonitorSelectorAuterion *instance = new PowerMonitorSelectorAuterion();
AuterionAutostarter *instance = new AuterionAutostarter();
if (instance) {
_object.store(instance);
@ -463,12 +528,12 @@ int PowerMonitorSelectorAuterion::task_spawn(int argc, char *argv[])
return PX4_ERROR;
}
int PowerMonitorSelectorAuterion::custom_command(int argc, char *argv[])
int AuterionAutostarter::custom_command(int argc, char *argv[])
{
return print_usage("unknown command");
}
int PowerMonitorSelectorAuterion::print_usage(const char *reason)
int AuterionAutostarter::print_usage(const char *reason)
{
if (reason) {
PX4_WARN("%s\n", reason);
@ -481,14 +546,14 @@ Driver for starting and auto-detecting different power monitors.
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("pm_selector_auterion", "driver");
PRINT_MODULE_USAGE_NAME("auterion_autostarter", "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[])
extern "C" __EXPORT int auterion_autostarter_main(int argc, char *argv[])
{
return PowerMonitorSelectorAuterion::main(argc, argv);
return AuterionAutostarter::main(argc, argv);
}

61
src/drivers/power_monitor/pm_selector_auterion/PowerMonitorSelectorAuterion.h → src/drivers/auterion_autostarter/AuterionAutostarter.h
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
* Copyright (C) 2026 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
@ -71,12 +71,12 @@ private:
struct i2c_master_s *_i2c {nullptr};
};
class PowerMonitorSelectorAuterion : public ModuleBase<PowerMonitorSelectorAuterion>, public px4::ScheduledWorkItem
class AuterionAutostarter : public ModuleBase<AuterionAutostarter>, public px4::ScheduledWorkItem
{
public:
PowerMonitorSelectorAuterion();
virtual ~PowerMonitorSelectorAuterion();
AuterionAutostarter();
virtual ~AuterionAutostarter();
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
@ -89,7 +89,14 @@ public:
private:
enum BlockType : uint8_t {
TYPE_PM = 0
TYPE_PM = 0,
TYPE_PWM_EXPANDER = 1,
};
enum ClockType : uint8_t {
CLOCK_NONE = 0,
CLOCK_INTERNAL = 1,
CLOCK_EXTERNAL_GENERIC = 2,
};
struct Buses {
@ -117,7 +124,7 @@ private:
uint16_t flags; /**< offset 6 */
uint16_t num_blocks; /**< offset 8 */
uint8_t _reserved1[2]; /**< offset 10 */
};
} __attribute__((aligned(4)));
#pragma pack(pop)
#pragma pack(push, 1)
@ -125,11 +132,11 @@ private:
uint8_t block_type; /**< offset 0 */
uint8_t block_type_version; /**< offset 1 */
uint16_t block_length; /**< offset 2 */
};
} __attribute__((aligned(4)));
#pragma pack(pop)
#pragma pack(push, 1)
/* Block n starts at 12 + (n * 20) */
/* Block n starts at 12 + (n * 20), each block needs to contain a block_header and dev_type! */
struct EepromBlockPm {
EepromBlockHeader block_header; /**< offset 0 */
uint16_t dev_type; /**< offset 4 */
@ -138,9 +145,33 @@ private:
uint8_t _padding1[2]; /**< offset 10 */
float max_current; /**< offset 12 */
float shunt_value; /**< offset 16 */
};
} __attribute__((aligned(4)));
#pragma pack(pop)
#pragma pack(push, 1)
/* Block n starts at 12 + (n * 20), each block needs to contain a block_header and dev_type! */
struct EepromBlockPwmExpander {
EepromBlockHeader block_header; /**< offset 0 */
uint16_t dev_type; /**< offset 4 */
uint16_t sensor_type; /**< offset 6 */
uint16_t i2c_addr; /**< offset 8 */
uint16_t num_channels; /**< offset 10 */
uint16_t offset_channels; /**< offset 12 */
ClockType clock_type; /**< offset 14 */
uint8_t _padding1; /**< offset 15 */
float signal_level; /**< offset 16 */
} __attribute__((aligned(4)));
#pragma pack(pop)
struct DecodedBlock {
BlockType block_type;
union {
EepromBlockPm block_pm;
EepromBlockPwmExpander block_pwm_expander;
};
};
void Run() override;
bool init();
@ -152,12 +183,16 @@ private:
int eeprom_read(const uint32_t instance);
bool is_eeprom_header_valid(EepromHeader *eeprom_header) const;
int eeprom_read_block(struct i2c_master_s *i2c, const uint32_t instance, const uint16_t transferred_blocks,
uint16_t &crc);
int eeprom_read_block(struct i2c_master_s *i2c, const uint32_t instance, const uint16_t transferred_blocks, uint16_t &crc);
template <typename T>
int eeprom_read_block_data(struct i2c_master_s *i2c, const uint32_t instance, uint16_t &crc, T *block);
template <AuterionAutostarter::BlockType ExpectedBlockType, typename T>
bool is_eeprom_block_header_valid(EepromBlockHeader *eeprom_block_header) const;
int start_pm(const uint8_t bus_number, const uint16_t dev_type, const uint16_t i2c_addr, const uint16_t id) const;
int start_i2c_driver(const uint8_t bus_number, const uint16_t dev_type, const uint16_t i2c_addr) const;
const char *get_start_command(const uint16_t dev_type) const;
int start(const char *start_command, const char **start_argv) const;
bool is_user_configured(const uint16_t dev_type) const;
void set_max_current(const uint16_t dev_type, const float max_current) const;
@ -234,6 +269,6 @@ private:
}
};
EepromBlockPm _eeprom_blocks_pm[EEPROM_MAX_BLOCKS] = { 0 };
uint16_t _eeprom_valid_blocks_pm = 0;
DecodedBlock _eeprom_decoded_blocks[EEPROM_MAX_BLOCKS];
uint16_t _eeprom_num_decoded_blocks = 0;
};

6
src/drivers/power_monitor/pm_selector_auterion/CMakeLists.txt → src/drivers/auterion_autostarter/CMakeLists.txt
View File

@ -31,10 +31,10 @@
#
############################################################################
px4_add_module(
MODULE drivers__power_monitor_pm_selector_auterion
MAIN pm_selector_auterion
MODULE drivers__auterion_autostarter
MAIN auterion_autostarter
SRCS
PowerMonitorSelectorAuterion.cpp
AuterionAutostarter.cpp
DEPENDS
px4_work_queue
)

5
src/drivers/auterion_autostarter/Kconfig Normal file
View File

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

5
src/drivers/power_monitor/pm_selector_auterion/Kconfig
View File

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