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AP_BattMonitor: added SHUNT parameter to INS2xx driver 

some vendors want different shunt resistors
This commit is contained in:
Andrew Tridgell 2023-10-08 11:05:49 +11:00 committed by Peter Barker
parent 429e7d2fc9
commit 5d7e7c0477
2 changed files with 14 additions and 6 deletions
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18
libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.cpp
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@ -46,6 +46,10 @@ extern const AP_HAL::HAL& hal;
#define DEFAULT_BATTMON_INA2XX_MAX_AMPS 90.0
#endif
#ifndef DEFAULT_BATTMON_INA2XX_SHUNT
#define DEFAULT_BATTMON_INA2XX_SHUNT 0.0005
#endif
#ifndef HAL_BATTMON_INA2XX_BUS
#define HAL_BATTMON_INA2XX_BUS 0
#endif
@ -80,9 +84,16 @@ const AP_Param::GroupInfo AP_BattMonitor_INA2XX::var_info[] = {
// @Range: 1 400
// @Units: A
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("MAX_AMPS", 27, AP_BattMonitor_INA2XX, max_amps, DEFAULT_BATTMON_INA2XX_MAX_AMPS),
// @Param: SHUNT
// @DisplayName: Battery monitor shunt resistor
// @Description: This sets the shunt resistor used in the device
// @Range: 0.0001 0.01
// @Units: Ohm
// @User: Advanced
AP_GROUPINFO("SHUNT", 28, AP_BattMonitor_INA2XX, rShunt, DEFAULT_BATTMON_INA2XX_SHUNT),
AP_GROUPEND
};
@ -114,7 +125,6 @@ bool AP_BattMonitor_INA2XX::configure(DevType dtype)
case DevType::INA226: {
// 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));
@ -130,7 +140,6 @@ bool AP_BattMonitor_INA2XX::configure(DevType dtype)
case DevType::INA228: {
// configure for MAX_AMPS
voltage_LSB = 195.3125e-6; // 195.3125 uV/LSB
const float rShunt = 0.0005;
current_LSB = max_amps / (1<<19);
const uint16_t shunt_cal = uint16_t(13107.2e6 * current_LSB * rShunt) & 0x7FFF;
if (write_word(REG_228_CONFIG, REG_228_CONFIG_RESET) && // reset
@ -145,7 +154,6 @@ bool AP_BattMonitor_INA2XX::configure(DevType dtype)
case DevType::INA238: {
// configure for MAX_AMPS
voltage_LSB = 3.125e-3; // 3.125mV/LSB
const float rShunt = 0.0005;
current_LSB = max_amps / (1<<15);
const uint16_t shunt_cal = uint16_t(819.2e6 * current_LSB * rShunt) & 0x7FFF;
if (write_word(REG_238_CONFIG, REG_238_CONFIG_RESET) && // reset

2
libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.h
View File

@ -53,7 +53,7 @@ private:
AP_Int8 i2c_bus;
AP_Int8 i2c_address;
AP_Float max_amps;
bool callback_registered;
AP_Float rShunt;
uint32_t failed_reads;
struct {