ardupilot/libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.cpp

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#include "AP_BattMonitor_INA2xx.h"
#include <GCS_MAVLink/GCS.h>
#include <AP_HAL/utility/sparse-endian.h>
#if HAL_BATTMON_INA2XX_ENABLED
extern const AP_HAL::HAL& hal;
#define REG_CONFIG 0x00
#define REG_SHUNT_VOLTAGE 0x01
#define REG_BUS_VOLTAGE 0x02
#define REG_CURRENT 0x04
#define REG_CALIBRATION 0x05
#define REG_CONFIG_DEFAULT 0x4127
#define REG_CONFIG_RESET 0x8000
// this should become a parameter in future
#define MAX_AMPS 90.0
#ifndef HAL_BATTMON_INA2XX_BUS
#define HAL_BATTMON_INA2XX_BUS 0
#endif
#ifndef HAL_BATTMON_INA2XX_ADDR
#define HAL_BATTMON_INA2XX_ADDR 0
#endif
const AP_Param::GroupInfo AP_BattMonitor_INA2XX::var_info[] = {
// @Param: I2C_BUS
// @DisplayName: Battery monitor I2C bus number
// @Description: Battery monitor I2C bus number
// @Range: 0 3
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("I2C_BUS", 25, AP_BattMonitor_INA2XX, i2c_bus, HAL_BATTMON_INA2XX_BUS),
// @Param: I2C_ADDR
// @DisplayName: Battery monitor I2C address
// @Description: Battery monitor I2C address
// @Range: 0 127
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("I2C_ADDR", 26, AP_BattMonitor_INA2XX, i2c_address, HAL_BATTMON_INA2XX_ADDR),
AP_GROUPEND
};
AP_BattMonitor_INA2XX::AP_BattMonitor_INA2XX(AP_BattMonitor &mon,
AP_BattMonitor::BattMonitor_State &mon_state,
AP_BattMonitor_Params &params)
: AP_BattMonitor_Backend(mon, mon_state, params)
{
AP_Param::setup_object_defaults(this, var_info);
_state.var_info = var_info;
}
void AP_BattMonitor_INA2XX::init(void)
{
dev = hal.i2c_mgr->get_device(i2c_bus, i2c_address, 100000, false, 20);
if (!dev) {
return;
}
int16_t config = 0;
WITH_SEMAPHORE(dev->get_semaphore());
if (!write_word(REG_CONFIG, REG_CONFIG_RESET) ||
!write_word(REG_CONFIG, REG_CONFIG_DEFAULT) ||
!read_word(REG_CONFIG, config) ||
config != REG_CONFIG_DEFAULT) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "INA2XX: Failed to find device 0x%04x", unsigned(config));
return;
}
// configure for MAX_AMPS
const uint16_t conf = (0x2<<9) | (0x5<<6) | (0x5<<3) | 0x7; // 2ms conv time, 16x sampling
const float rShunt = 0.0005;
current_LSB = MAX_AMPS / 32768.0;
voltage_LSB = 0.00125; // 1.25mV/bit
const uint16_t cal = uint16_t(0.00512 / (current_LSB * rShunt));
if (!write_word(REG_CONFIG, REG_CONFIG_RESET) || // reset
!write_word(REG_CONFIG, conf) ||
!write_word(REG_CALIBRATION, cal)) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "INA2XX: Failed to configure device");
return;
}
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "INA2XX: found monitor on I2C:%u:%02x", unsigned(i2c_bus), unsigned(i2c_address));
if (dev) {
dev->register_periodic_callback(25000, FUNCTOR_BIND_MEMBER(&AP_BattMonitor_INA2XX::timer, void));
}
}
/// read the battery_voltage and current, should be called at 10hz
void AP_BattMonitor_INA2XX::read(void)
{
WITH_SEMAPHORE(accumulate.sem);
_state.healthy = accumulate.count > 0;
if (!_state.healthy) {
return;
}
_state.voltage = accumulate.volt_sum / accumulate.count;
_state.current_amps = accumulate.current_sum / accumulate.count;
accumulate.volt_sum = 0;
accumulate.current_sum = 0;
accumulate.count = 0;
const uint32_t tnow = AP_HAL::micros();
const uint32_t dt_us = tnow - _state.last_time_micros;
// update total current drawn since startup
update_consumed(_state, dt_us);
_state.last_time_micros = tnow;
}
/*
read word from register
returns true if read was successful, false if failed
*/
bool AP_BattMonitor_INA2XX::read_word(const uint8_t reg, int16_t& data) const
{
// read the appropriate register from the device
if (!dev->read_registers(reg, (uint8_t *)&data, sizeof(data))) {
return false;
}
// convert byte order
data = int16_t(be16toh(uint16_t(data)));
return true;
}
/*
write word to a register, byte swapped
returns true if write was successful, false if failed
*/
bool AP_BattMonitor_INA2XX::write_word(const uint8_t reg, const uint16_t data) const
{
const uint8_t b[3] { reg, uint8_t(data >> 8), uint8_t(data&0xff) };
return dev->transfer(b, sizeof(b), nullptr, 0);
}
void AP_BattMonitor_INA2XX::timer(void)
{
int16_t bus_voltage, current;
if (!read_word(REG_BUS_VOLTAGE, bus_voltage) ||
!read_word(REG_CURRENT, current)) {
return;
}
WITH_SEMAPHORE(accumulate.sem);
accumulate.volt_sum += bus_voltage * voltage_LSB;
accumulate.current_sum += current * current_LSB;
accumulate.count++;
}
#endif // HAL_BATTMON_INA2XX_ENABLED