Make all battery sensor drivers report their sample interval

To make use of the time abstraction in the leaky integrator.

src/drivers/power_monitor/ina226/ina226.cpp

@@ -49,7 +49,7 @@ INA226::INA226(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int
 	_comms_errors(perf_alloc(PC_COUNT, "ina226_com_err")),
 	_collection_errors(perf_alloc(PC_COUNT, "ina226_collection_err")),
 	_measure_errors(perf_alloc(PC_COUNT, "ina226_measurement_err")),
-	_battery(battery_index, this)
+	_battery(battery_index, this, INA226_SAMPLE_INTERVAL_US)
 {
 	float fvalue = MAX_CURRENT;
 	_max_current = fvalue;

src/drivers/power_monitor/ina226/ina226.h

@@ -13,6 +13,8 @@
 #include <uORB/topics/parameter_update.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 
+using namespace time_literals;
+
 /* Configuration Constants */
 #define INA226_BASEADDR 	                    0x41 /* 7-bit address. 8-bit address is 0x41 */
 // If initialization is forced (with the -f flag on the command line), but it fails, the drive will try again to
@@ -98,7 +100,9 @@
 #define INA226_SUL                           (1 << 14)
 #define INA226_SOL                           (1 << 15)
 
-#define INA226_CONVERSION_INTERVAL 	          (100000-7) /* 100 ms / 10 Hz */
+#define INA226_SAMPLE_FREQUENCY_HZ            10
+#define INA226_SAMPLE_INTERVAL_US             (1_s / INA226_SAMPLE_FREQUENCY_HZ)
+#define INA226_CONVERSION_INTERVAL            (INA226_SAMPLE_INTERVAL_US - 7)
 #define MAX_CURRENT                           164.0f    /* 164 Amps */
 #define DN_MAX                                32768.0f  /* 2^15 */
 #define INA226_CONST                          0.00512f  /* is an internal fixed value used to ensure scaling is maintained properly  */
@@ -139,7 +143,7 @@ protected:
 
 private:
 	bool			        _sensor_ok{false};
-	int				        _measure_interval{0};
+	unsigned                        _measure_interval{0};
 	bool			        _collect_phase{false};
 	bool 					_initialized{false};
 

src/drivers/power_monitor/voxlpm/voxlpm.cpp

@@ -50,7 +50,7 @@ VOXLPM::VOXLPM(I2CSPIBusOption bus_option, const int bus, int bus_frequency, VOX
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
 	_ch_type(ch_type),
-	_battery(1, this)
+	_battery(1, this, _meas_interval_us)
 {
 	if (_ch_type == VOXLPM_CH_TYPE_VBATT) {
 		_rsense = VOXLPM_RSENSE_VBATT;
@@ -100,13 +100,13 @@ VOXLPM::print_status()
 	printf("  - voltage: %9.2f VDC \n", (double)_voltage);
 	printf("  - current: %9.2f ADC \n", (double)_amperage);
 	printf("  - rsense: %9.6f ohm \n", (double)_rsense);
-	printf("  - meas interval:  %u us \n", _meas_interval);
+	printf("  - meas interval:  %u us \n", _meas_interval_us);
 }
 
 void
 VOXLPM::start()
 {
-	ScheduleOnInterval(_meas_interval, 1000);
+	ScheduleOnInterval(_meas_interval_us, 1000);
 }
 
 void

src/drivers/power_monitor/voxlpm/voxlpm.hpp

@@ -73,6 +73,8 @@
 #include <uORB/topics/power_monitor.h>
 #include <uORB/topics/parameter_update.h>
 
+using namespace time_literals;
+
 /*
  * Note that these are unshifted addresses.
  */
@@ -162,7 +164,7 @@ private:
 	void 			start();
 	int 			measure();
 
-	static constexpr unsigned 		_meas_interval{100000}; // 100ms
+	static constexpr unsigned _meas_interval_us{100_ms};
 	perf_counter_t		_sample_perf;
 
 	uORB::PublicationMulti<power_monitor_s>		_pm_pub_topic{ORB_ID(power_monitor)};