Added TI ina226 I2C power monitor (#11755)

boards/px4/fmu-v5/default.cmake

@@ -44,6 +44,7 @@ px4_add_board(
 		mkblctrl
 		pca9685
 		pmw3901
+		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
 		pwm_out_sim

msg/CMakeLists.txt

@@ -88,6 +88,7 @@ set(msg_files
 	position_setpoint.msg
 	position_setpoint_triplet.msg
 	power_button_state.msg
+	power_monitor.msg
 	pwm_input.msg
 	qshell_req.msg
 	qshell_retval.msg

msg/power_monitor.msg

+# power monitor message
+
+uint64 timestamp			# Time since system start (microseconds)
+
+float32 voltage_v			# Voltage in volts, 0 if unknown
+float32 current_a		    # Current in amperes, -1 if unknown
+float32 power_w		        # power in watts, -1 if unknown
+int16 rconf
+int16 rsv
+int16 rbv
+int16 rp
+int16 rc
+int16 rcal
+int16 me
+int16 al

src/drivers/power_monitor/ina226/CMakeLists.txt

+############################################################################
+#
+#   Copyright (c) 2019 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__ina226
+	MAIN ina226
+	COMPILE_FLAGS
+		-Wno-cast-align # TODO: fix and enable
+	SRCS
+		ina226.cpp
+	)

src/drivers/power_monitor/ina226/ina226_params.c

+/****************************************************************************
+ *
+ *   Copyright (c) 2019 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.
+ *
+ ****************************************************************************/
+
+
+/**
+ * INA226 Power Monitor Config
+ *
+ * @group Sensors
+ * @unit u
+ * @min 0
+ * @max 65535
+ * @decimal 1
+ * @increment 1
+*/
+PARAM_DEFINE_INT32(INA226_CONFIG, 18139);
+
+/**
+ * INA226 Power Monitor Max Current
+ *
+ * @group Sensors
+ * @min 0.1
+ * @max 200.0
+ * @decimal 2
+ * @increment 0.1
+ */
+PARAM_DEFINE_FLOAT(INA226_CURRENT, 164.0f);
+
+/**
+ * INA226 Power Monitor Shunt
+ *
+ * @group Sensors
+ * @min 0.000000001
+ * @max 0.1
+ * @decimal 10
+ * @increment .000000001
+ */
+PARAM_DEFINE_FLOAT(INA226_SHUNT, 0.0005f);