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Merged
merged 2 commits into from
Aug 5, 2025
Merged

auterion pm: add eeprom-based pm selection #25136

merged 2 commits into from
Aug 5, 2025

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alexcekay
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Solved Problem

  • The Auterion PM starter does some probing that will not scale well in the future with more power modules and especially different shunts on each of them

Solution

  • Auterion PMs have an EEPROM that describe the sensor and shunt of the PM

Changelog Entry

For release notes:

Feature: Auterion PM supports automatic shunt detection via EEPROM

Test coverage

  • Still testing

@alexcekay alexcekay force-pushed the pr-auterion-pm-eeprom branch from 9eff71a to 5bfafea Compare June 30, 2025 16:44
@alexcekay alexcekay requested a review from niklaut June 30, 2025 16:47
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github-actions bot commented Jun 30, 2025 •
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🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 864 byte (0.04 %)] 
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--------------  -------------- 
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  [NEW]    +168  [NEW]    +168    PowerMonitorSelectorAuterion::start_pm()
  [NEW]    +152  [NEW]    +152    PowerMonitorSelectorAuterion::eeprom_read_block()
  [NEW]    +152  [NEW]    +152    PowerMonitorSelectorAuterion::try_eeprom_start()
  [NEW]    +108  [NEW]    +108    PowerMonitorSelectorAuterion::try_probe_start()
  [NEW]     +76  [NEW]     +76    PowerMonitorSelectorAuterion::set_float_param()
   +52%     +56   +52%     +56    PowerMonitorSelectorAuterion::PowerMonitorSelectorAuterion()
  [NEW]     +56  [NEW]     +56    PowerMonitorSelectorAuterion::is_user_configured()
  [NEW]     +56  [NEW]     +56    PowerMonitorSelectorAuterion::set_max_current()
  [NEW]     +56  [NEW]     +56    PowerMonitorSelectorAuterion::set_shunt_value()
  [NEW]     +40  [NEW]     +40    PowerMonitorSelectorAuterion::crc16_update()
  [NEW]     +32  [NEW]     +32    PowerMonitorSelectorAuterion::is_eeprom_header_valid()
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  [NEW]     +57  [ = ]       0    PowerMonitorSelectorAuterion::is_user_configured()
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  [NEW]     +55  [ = ]       0    PowerMonitorSelectorAuterion::set_max_current()
  [NEW]     +55  [ = ]       0    PowerMonitorSelectorAuterion::set_shunt_value()
  [NEW]     +49  [ = ]       0    PowerMonitorSelectorAuterion::start_pm()
  [NEW]     +54  [ = ]       0    PowerMonitorSelectorAuterion::try_eeprom_start()
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  [NEW]     +64  [ = ]       0    PowerMonitorSelectorAuterion::eeprom_read()
  [NEW]     +48  [ = ]       0    PowerMonitorSelectorAuterion::eeprom_read_block()
  [NEW]     +48  [ = ]       0    PowerMonitorSelectorAuterion::get_ina_type()
  [NEW]     +48  [ = ]       0    PowerMonitorSelectorAuterion::get_start_command()
  [DEL]     -48  [ = ]       0    PowerMonitorSelectorAuterion::init()
  [NEW]     +16  [ = ]       0    PowerMonitorSelectorAuterion::is_eeprom_block_header_valid()
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  [NEW]     +48  [ = ]       0    PowerMonitorSelectorAuterion::is_user_configured()
  [NEW]     +48  [ = ]       0    PowerMonitorSelectorAuterion::set_float_param()
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px4_fmu-v6x [Total VM Diff: 864 byte (0.04 %)] 
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--------------  -------------- 
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  [NEW]    +220  [NEW]    +220    PowerMonitorSelectorAuterion::eeprom_read()
  [NEW]    +168  [NEW]    +168    PowerMonitorSelectorAuterion::start_pm()
  [NEW]    +152  [NEW]    +152    PowerMonitorSelectorAuterion::eeprom_read_block()
  [NEW]    +152  [NEW]    +152    PowerMonitorSelectorAuterion::try_eeprom_start()
  [NEW]    +108  [NEW]    +108    PowerMonitorSelectorAuterion::try_probe_start()
  [NEW]     +76  [NEW]     +76    PowerMonitorSelectorAuterion::set_float_param()
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  [NEW]     +56  [NEW]     +56    PowerMonitorSelectorAuterion::set_max_current()
  [NEW]     +56  [NEW]     +56    PowerMonitorSelectorAuterion::set_shunt_value()
  [NEW]     +40  [NEW]     +40    PowerMonitorSelectorAuterion::crc16_update()
  [NEW]     +32  [NEW]     +32    PowerMonitorSelectorAuterion::is_eeprom_header_valid()
  [NEW]     +28  [NEW]     +28    PowerMonitorSelectorAuterion::is_eeprom_block_header_valid()
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  [NEW]     +49  [ = ]       0    PowerMonitorSelectorAuterion::eeprom_read()
  [NEW]     +73  [ = ]       0    PowerMonitorSelectorAuterion::eeprom_read_block()
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  [NEW]     +79  [ = ]       0    PowerMonitorSelectorAuterion::is_eeprom_header_valid()
  [NEW]     +57  [ = ]       0    PowerMonitorSelectorAuterion::is_user_configured()
  [NEW]     +57  [ = ]       0    PowerMonitorSelectorAuterion::set_float_param()
  [NEW]     +55  [ = ]       0    PowerMonitorSelectorAuterion::set_max_current()
  [NEW]     +55  [ = ]       0    PowerMonitorSelectorAuterion::set_shunt_value()
  [NEW]     +49  [ = ]       0    PowerMonitorSelectorAuterion::start_pm()
  [NEW]     +54  [ = ]       0    PowerMonitorSelectorAuterion::try_eeprom_start()
  [NEW]     +53  [ = ]       0    PowerMonitorSelectorAuterion::try_probe_start()
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  [NEW]     +64  [ = ]       0    PowerMonitorSelectorAuterion::eeprom_read()
  [NEW]     +48  [ = ]       0    PowerMonitorSelectorAuterion::eeprom_read_block()
  [NEW]     +48  [ = ]       0    PowerMonitorSelectorAuterion::get_ina_type()
  [NEW]     +48  [ = ]       0    PowerMonitorSelectorAuterion::get_start_command()
  [DEL]     -48  [ = ]       0    PowerMonitorSelectorAuterion::init()
  [NEW]     +16  [ = ]       0    PowerMonitorSelectorAuterion::is_eeprom_block_header_valid()
  [NEW]     +48  [ = ]       0    PowerMonitorSelectorAuterion::is_eeprom_header_valid()
  [NEW]     +48  [ = ]       0    PowerMonitorSelectorAuterion::is_user_configured()
  [NEW]     +48  [ = ]       0    PowerMonitorSelectorAuterion::set_float_param()
  [NEW]     +48  [ = ]       0    PowerMonitorSelectorAuterion::set_max_current()
  [NEW]     +48  [ = ]       0    PowerMonitorSelectorAuterion::set_shunt_value()
  [NEW]     +48  [ = ]       0    PowerMonitorSelectorAuterion::start_pm()
  [NEW]     +16  [ = ]       0    PowerMonitorSelectorAuterion::try_eeprom_start()
  [NEW]     +48  [ = ]       0    PowerMonitorSelectorAuterion::try_probe_start()
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Updated: 2025-08-05T09:29:20

@mrpollo mrpollo force-pushed the pr-auterion-pm-eeprom branch from 5bfafea to 01923a0 Compare June 30, 2025 19:13
@mrpollo
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mrpollo commented Jun 30, 2025

Rebased to load recent fixes to the SITL tests

@dirksavage88
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@alexcekay what is the specific eeprom used? I am working on incorporating eeprom at the px4 platform common layer and then also incorporating a "device discovery" module in src/modules that handles the character device conversion using Cdev. If that works you can technically just call "px4_open("/dev/eeprom0", xx)" and abstract a lot of the low level i2c calls away.

This is only targeting i2c eeproms for now as I am using this nuttx eeprom i2c driver, and you can use this in combination with Cdev to handle the struct file pointers. I guess this is in contrast to manually doing the i2c transfers, but if it works it works.

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alexcekay commented Jul 2, 2025 •
edited
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Hi @dirksavage88,
we use different I2C EEPROMs, they basically all use the same simple protocol. Only diff between them is if 1 or 2 byte are used for addressing, but in our case we only use ones with 2 byte addressing. If you need one example: CAT24C512.

I think in general abstraction is a really good idea, just note that we already have the MTD abstraction px4_24xxxx_mtd.c that allows to abstract I2C EEPROMs.

In this particular case I did not use this abstraction due to the requirement of dynamically detecting EEPROMs that may or may not be present on the Power Module. The MTD abstraction sort of expects that the EEPROM is actually there.

@alexcekay alexcekay force-pushed the pr-auterion-pm-eeprom branch from 01923a0 to e17f272 Compare July 4, 2025 15:56
@alexcekay alexcekay marked this pull request as ready for review July 4, 2025 15:57
@mrpollo mrpollo force-pushed the pr-auterion-pm-eeprom branch from e17f272 to e2e8b12 Compare July 18, 2025 18:16
@alexcekay alexcekay force-pushed the pr-auterion-pm-eeprom branch 2 times, most recently from 79ea004 to 2212448 Compare August 5, 2025 09:23
@mrpollo mrpollo merged commit 38c7767 into main Aug 5, 2025
139 of 142 checks passed
@mrpollo mrpollo deleted the pr-auterion-pm-eeprom branch August 5, 2025 15:30
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@mrpollo mrpollo mrpollo approved these changes

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@alexcekay @mrpollo @dirksavage88