Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_BattMonitor: allow max amps to be configured on INA2XX 

this allows for higer current ranges with lower resolution
This commit is contained in:
Andrew Tridgell 2023-05-09 14:56:22 +10:00 committed by Randy Mackay
parent 67cfbcfc41
commit 250a4ffcef
2 changed files with 16 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.cpp
View File

@ -42,8 +42,9 @@ extern const AP_HAL::HAL& hal;
#define REG_238_MANUFACT_ID 0x3e #define REG_238_MANUFACT_ID 0x3e
#define REG_238_DEVICE_ID 0x3f #define REG_238_DEVICE_ID 0x3f
// this should become a parameter in future #ifndef DEFAULT_BATTMON_INA2XX_MAX_AMPS
#define MAX_AMPS 90.0 #define DEFAULT_BATTMON_INA2XX_MAX_AMPS 90.0
#endif
#ifndef HAL_BATTMON_INA2XX_BUS #ifndef HAL_BATTMON_INA2XX_BUS
#define HAL_BATTMON_INA2XX_BUS 0 #define HAL_BATTMON_INA2XX_BUS 0
@ -73,6 +74,15 @@ const AP_Param::GroupInfo AP_BattMonitor_INA2XX::var_info[] = {
// @RebootRequired: True // @RebootRequired: True
AP_GROUPINFO("I2C_ADDR", 26, AP_BattMonitor_INA2XX, i2c_address, HAL_BATTMON_INA2XX_ADDR), AP_GROUPINFO("I2C_ADDR", 26, AP_BattMonitor_INA2XX, i2c_address, HAL_BATTMON_INA2XX_ADDR),
// @Param: MAX_AMPS
// @DisplayName: Battery monitor max current
// @Description: This controls the maximum current the INS2XX sensor will work with.
// @Range: 1 400
// @Units: A
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("MAX_AMPS", 27, AP_BattMonitor_INA2XX, max_amps, DEFAULT_BATTMON_INA2XX_MAX_AMPS),
AP_GROUPEND AP_GROUPEND
}; };
@ -105,7 +115,7 @@ bool AP_BattMonitor_INA2XX::configure(DevType dtype)
// configure for MAX_AMPS // configure for MAX_AMPS
const uint16_t conf = (0x2<<9) | (0x5<<6) | (0x5<<3) | 0x7; // 2ms conv time, 16x sampling const uint16_t conf = (0x2<<9) | (0x5<<6) | (0x5<<3) | 0x7; // 2ms conv time, 16x sampling
const float rShunt = 0.0005; const float rShunt = 0.0005;
current_LSB = MAX_AMPS / 32768.0; current_LSB = max_amps / 32768.0;
voltage_LSB = 0.00125; // 1.25mV/bit voltage_LSB = 0.00125; // 1.25mV/bit
const uint16_t cal = uint16_t(0.00512 / (current_LSB * rShunt)); const uint16_t cal = uint16_t(0.00512 / (current_LSB * rShunt));
if (write_word(REG_226_CONFIG, REG_226_CONFIG_RESET) && // reset if (write_word(REG_226_CONFIG, REG_226_CONFIG_RESET) && // reset
@ -121,7 +131,7 @@ bool AP_BattMonitor_INA2XX::configure(DevType dtype)
// configure for MAX_AMPS // configure for MAX_AMPS
voltage_LSB = 195.3125e-6; // 195.3125 uV/LSB voltage_LSB = 195.3125e-6; // 195.3125 uV/LSB
const float rShunt = 0.0005; const float rShunt = 0.0005;
current_LSB = MAX_AMPS / (1<<19); current_LSB = max_amps / (1<<19);
const uint16_t shunt_cal = uint16_t(13107.2e6 * current_LSB * rShunt) & 0x7FFF; const uint16_t shunt_cal = uint16_t(13107.2e6 * current_LSB * rShunt) & 0x7FFF;
if (write_word(REG_228_CONFIG, REG_228_CONFIG_RESET) && // reset if (write_word(REG_228_CONFIG, REG_228_CONFIG_RESET) && // reset
write_word(REG_228_CONFIG, 0) && write_word(REG_228_CONFIG, 0) &&
@ -136,7 +146,7 @@ bool AP_BattMonitor_INA2XX::configure(DevType dtype)
// configure for MAX_AMPS // configure for MAX_AMPS
voltage_LSB = 3.125e-3; // 3.125mV/LSB voltage_LSB = 3.125e-3; // 3.125mV/LSB
const float rShunt = 0.0005; const float rShunt = 0.0005;
current_LSB = MAX_AMPS / (1<<15); current_LSB = max_amps / (1<<15);
const uint16_t shunt_cal = uint16_t(819.2e6 * current_LSB * rShunt) & 0x7FFF; const uint16_t shunt_cal = uint16_t(819.2e6 * current_LSB * rShunt) & 0x7FFF;
if (write_word(REG_238_CONFIG, REG_238_CONFIG_RESET) && // reset if (write_word(REG_238_CONFIG, REG_238_CONFIG_RESET) && // reset
write_word(REG_238_CONFIG, 0) && write_word(REG_238_CONFIG, 0) &&

1
libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.h
View File

@ -52,6 +52,7 @@ private:
AP_Int8 i2c_bus; AP_Int8 i2c_bus;
AP_Int8 i2c_address; AP_Int8 i2c_address;
AP_Float max_amps;
bool callback_registered; bool callback_registered;
uint32_t failed_reads; uint32_t failed_reads;