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AP_BattMonitor: support I2C INA231 battery monitor

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Andrew Tridgell 2024-07-07 08:27:11 +10:00 committed by Peter Barker
parent 75ebf96adb
commit 60f582a6b2
2 changed files with 45 additions and 2 deletions
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46
libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.cpp
View File

@ -46,6 +46,17 @@ extern const AP_HAL::HAL& hal;
#define REG_238_DIETEMP 0x06 #define REG_238_DIETEMP 0x06
#define INA_238_TEMP_C_LSB 7.8125e-3 // need to mask bottom 4 bits #define INA_238_TEMP_C_LSB 7.8125e-3 // need to mask bottom 4 bits
// INA231 specific registers
#define REG_231_CONFIG 0x00
#define REG_231_SHUNT_VOLTAGE 0x01
#define REG_231_BUS_VOLTAGE 0x02
#define REG_231_POWER 0x03
#define REG_231_CURRENT 0x04
#define REG_231_CALIBRATION 0x05
#define REG_231_MASK 0x06
#define REG_231_ALERT 0x07
#ifndef DEFAULT_BATTMON_INA2XX_MAX_AMPS #ifndef DEFAULT_BATTMON_INA2XX_MAX_AMPS
#define DEFAULT_BATTMON_INA2XX_MAX_AMPS 90.0 #define DEFAULT_BATTMON_INA2XX_MAX_AMPS 90.0
#endif #endif
@ -144,7 +155,7 @@ bool AP_BattMonitor_INA2XX::configure(DevType dtype)
case DevType::INA228: { case DevType::INA228: {
// 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
current_LSB = max_amps / (1<<19); current_LSB = max_amps / (1U<<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) &&
@ -158,7 +169,7 @@ bool AP_BattMonitor_INA2XX::configure(DevType dtype)
case DevType::INA238: { case DevType::INA238: {
// configure for MAX_AMPS // configure for MAX_AMPS
voltage_LSB = 3.125e-3; // 3.125mV/LSB voltage_LSB = 3.125e-3; // 3.125mV/LSB
current_LSB = max_amps / (1<<15); current_LSB = max_amps / (1U<<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) &&
@ -168,6 +179,16 @@ bool AP_BattMonitor_INA2XX::configure(DevType dtype)
} }
break; break;
} }
case DevType::INA231: {
// no configuration needed
voltage_LSB = 1.25e-3;
current_LSB = max_amps / (1U<<15);
const uint16_t cal = 0.00512 / (current_LSB * rShunt);
if (write_word(REG_231_CALIBRATION, cal)) {
return true;
}
}
} }
return false; return false;
@ -281,6 +302,11 @@ bool AP_BattMonitor_INA2XX::detect_device(void)
id == REG_226_CONFIG_DEFAULT) { id == REG_226_CONFIG_DEFAULT) {
return configure(DevType::INA226); return configure(DevType::INA226);
} }
if (read_word16(REG_231_CONFIG, id) && id == 0x4127) {
// no manufacturer ID for 231
return configure(DevType::INA231);
}
return false; return false;
} }
@ -351,6 +377,22 @@ void AP_BattMonitor_INA2XX::timer(void)
temperature = (temp16&0xFFF0) * INA_238_TEMP_C_LSB; temperature = (temp16&0xFFF0) * INA_238_TEMP_C_LSB;
break; break;
} }
case DevType::INA231: {
int16_t bus_voltage16, current16;
if (!read_word16(REG_231_SHUNT_VOLTAGE, bus_voltage16) ||
!read_word16(REG_231_CURRENT, current16)) {
failed_reads++;
if (failed_reads > 10) {
// device has disconnected, we need to reconfigure it
dev_type = DevType::UNKNOWN;
}
return;
}
voltage = bus_voltage16 * voltage_LSB;
current = current16 * current_LSB;
break;
}
} }
failed_reads = 0; failed_reads = 0;

1
libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.h
View File

@ -35,6 +35,7 @@ private:
INA226, INA226,
INA228, INA228,
INA238, INA238,
INA231,
}; };
static const uint8_t i2c_probe_addresses[]; static const uint8_t i2c_probe_addresses[];