AP_BattMonitor: create table of used backend paramater indices

Hopefully makes it less likely for conflicts to happen and makes it
easier to find free indices.

libraries/AP_BattMonitor/AP_BattMonitor_AD7091R5.cpp

@@ -84,7 +84,7 @@ const AP_Param::GroupInfo AP_BattMonitor_AD7091R5::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("VLT_OFFSET", 61, AP_BattMonitor_AD7091R5, _volt_offset, 0),
 
-    // Param indexes must be 56 to 61 to avoid conflict with other battery monitor param tables loaded by pointer
+    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS
 
     AP_GROUPEND
 };

libraries/AP_BattMonitor/AP_BattMonitor_Analog.cpp

@@ -55,7 +55,7 @@ const AP_Param::GroupInfo AP_BattMonitor_Analog::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("VLT_OFFSET", 6, AP_BattMonitor_Analog, _volt_offset, 0),
 
-    // Param indexes must be less than 10 to avoid conflict with other battery monitor param tables loaded by pointer
+    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS
 
     AP_GROUPEND
 };

libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp

@@ -26,6 +26,27 @@
 #include "AP_ESC_Telem/AP_ESC_Telem.h"
 #endif
 
+/*
+  All backends use the same parameter table and set of indices. Therefore, two
+  backends must not use the same index. The list of used indices and
+  corresponding backends is below.
+
+    1-6:    AP_BattMonitor_Analog.cpp
+    10-11:  AP_BattMonitor_SMBus.cpp
+    20:     AP_BattMonitor_Sum.cpp
+    25-26:  AP_BattMonitor_INA2xx.cpp
+    27-28:  AP_BattMonitor_INA2xx.cpp, AP_BattMonitor_INA239.cpp (legacy duplication)
+    30:     AP_BattMonitor_DroneCAN.cpp
+    36:     AP_BattMonitor_ESC.cpp
+    40-43:  AP_BattMonitor_FuelLevel_Analog.cpp
+    45-48:  AP_BattMonitor_FuelLevel_Analog.cpp
+    50-51:  AP_BattMonitor_Synthetic_Current.cpp
+    56-58:  AP_BattMonitor_INA3221.cpp
+    56-61:  AP_BattMonitor_AD7091R5.cpp
+
+  Usage does not need to be contiguous. The maximum possible index is 63.
+*/
+
 /*
   base class constructor.
   This incorporates initialisation as well.

libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp

@@ -26,7 +26,7 @@ const AP_Param::GroupInfo AP_BattMonitor_DroneCAN::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("CURR_MULT", 30, AP_BattMonitor_DroneCAN, _curr_mult, 1.0),
 
-    // Param indexes must be between 30 and 35 to avoid conflict with other battery monitor param tables loaded by pointer
+    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS
 
     AP_GROUPEND
 };

libraries/AP_BattMonitor/AP_BattMonitor_ESC.cpp

@@ -22,16 +22,14 @@
 
 const AP_Param::GroupInfo AP_BattMonitor_ESC::var_info[] = {
 
-    // Param indexes must be between 36 and 39 to avoid conflict with other battery monitor param tables loaded by pointer
-
     // @Param: ESC_MASK
     // @DisplayName: ESC mask
     // @Description: If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
     // @Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32
     // @User: Standard
     AP_GROUPINFO("ESC_MASK", 36, AP_BattMonitor_ESC, _mask, 0),
 
-    // Param indexes must be between 36 and 39 to avoid conflict with other battery monitor param tables loaded by pointer
+    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS
 
     AP_GROUPEND
 };

libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_Analog.cpp

@@ -58,8 +58,6 @@ const AP_Param::GroupInfo AP_BattMonitor_FuelLevel_Analog::var_info[] = {
      // @Values: -1:Disabled, 2:Pixhawk/Pixracer/Navio2/Pixhawk2_PM1, 5:Navigator, 13:Pixhawk2_PM2/CubeOrange_PM2, 14:CubeOrange, 16:Durandal, 100:PX4-v1
     AP_GROUPINFO("FL_PIN", 43, AP_BattMonitor_FuelLevel_Analog, _pin, -1),
 
- // index 44 unused and available
-
     // @Param: FL_FF
     // @DisplayName: First order term
     // @Description: First order polynomial fit term
@@ -88,7 +86,7 @@ const AP_Param::GroupInfo AP_BattMonitor_FuelLevel_Analog::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("FL_OFF", 48, AP_BattMonitor_FuelLevel_Analog, _fuel_fit_offset, 0),    
 
-    // Param indexes must be between 40 and 49 to avoid conflict with other battery monitor param tables loaded by pointer
+    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS
 
     AP_GROUPEND
 };

libraries/AP_BattMonitor/AP_BattMonitor_INA239.cpp

@@ -47,7 +47,9 @@ const AP_Param::GroupInfo AP_BattMonitor_INA239::var_info[] = {
     // @Units: Ohm
     // @User: Advanced
     AP_GROUPINFO("SHUNT", 28, AP_BattMonitor_INA239, rShunt, HAL_BATTMON_INA239_SHUNT_RESISTANCE),
-
+
+    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS
+
     AP_GROUPEND
 };
 

libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.cpp

@@ -108,7 +108,9 @@ const AP_Param::GroupInfo AP_BattMonitor_INA2XX::var_info[] = {
     // @Units: Ohm
     // @User: Advanced
     AP_GROUPINFO("SHUNT", 28, AP_BattMonitor_INA2XX, rShunt, DEFAULT_BATTMON_INA2XX_SHUNT),
-
+
+    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS
+
     AP_GROUPEND
 };
 

libraries/AP_BattMonitor/AP_BattMonitor_INA3221.cpp

@@ -67,8 +67,6 @@ uint8_t AP_BattMonitor_INA3221::address_driver_count;
 
 const AP_Param::GroupInfo AP_BattMonitor_INA3221::var_info[] = {
 
-    // Param indexes must be between 56 and 61 to avoid conflict with other battery monitor param tables loaded by pointer
-
     // @Param: I2C_BUS
     // @DisplayName: Battery monitor I2C bus number
     // @Description: Battery monitor I2C bus number
@@ -93,6 +91,8 @@ const AP_Param::GroupInfo AP_BattMonitor_INA3221::var_info[] = {
     // @RebootRequired: True
     AP_GROUPINFO("CHANNEL", 58, AP_BattMonitor_INA3221, channel, 1),
 
+    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS
+
     AP_GROUPEND
 };
 

libraries/AP_BattMonitor/AP_BattMonitor_SMBus.cpp

@@ -10,8 +10,6 @@ extern const AP_HAL::HAL& hal;
 
 const AP_Param::GroupInfo AP_BattMonitor_SMBus::var_info[] = {
 
-    // Param indexes must be between 10 and 19 to avoid conflict with other battery monitor param tables loaded by pointer
-
     // @Param: I2C_BUS
     // @DisplayName: Battery monitor I2C bus number
     // @Description: Battery monitor I2C bus number
@@ -28,7 +26,7 @@ const AP_Param::GroupInfo AP_BattMonitor_SMBus::var_info[] = {
     // @RebootRequired: True
     AP_GROUPINFO("I2C_ADDR", 11, AP_BattMonitor_SMBus, _address, AP_BATTMONITOR_SMBUS_I2C_ADDR),
 
-    // Param indexes must be between 10 and 19 to avoid conflict with other battery monitor param tables loaded by pointer
+    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS
 
     AP_GROUPEND
 };

libraries/AP_BattMonitor/AP_BattMonitor_Sum.cpp

@@ -19,16 +19,14 @@ extern const AP_HAL::HAL& hal;
 
 const AP_Param::GroupInfo AP_BattMonitor_Sum::var_info[] = {
 
-    // Param indexes must be between 20 and 29 to avoid conflict with other battery monitor param tables loaded by pointer
-
     // @Param: SUM_MASK
     // @DisplayName: Battery Sum mask
     // @Description: 0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
     // @Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9
     // @User: Standard
     AP_GROUPINFO("SUM_MASK", 20, AP_BattMonitor_Sum, _sum_mask, 0),
 
-    // Param indexes must be between 20 and 29 to avoid conflict with other battery monitor param tables loaded by pointer
+    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS
 
     AP_GROUPEND
 };

libraries/AP_BattMonitor/AP_BattMonitor_Synthetic_Current.cpp

@@ -27,7 +27,7 @@ const AP_Param::GroupInfo AP_BattMonitor_Synthetic_Current::var_info[] = {
     // also inherit analog backend parameters
     AP_SUBGROUPEXTENSION("", 51, AP_BattMonitor_Synthetic_Current, AP_BattMonitor_Analog::var_info),
 
-    // Param indexes must be between 50 and 55 to avoid conflict with other battery monitor param tables loaded by pointer
+    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS
 
     AP_GROUPEND
 };