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AP_BattMonitor: added MAX_AMPS and SHUNT parameters for INA239 

allows for a wider range of current
This commit is contained in:
Andrew Tridgell 2024-03-09 13:04:00 +11:00
parent 8a06ee4cf6
commit a444004a8a
2 changed files with 30 additions and 2 deletions
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27
libraries/AP_BattMonitor/AP_BattMonitor_INA239.cpp
View File

@ -30,11 +30,34 @@ extern const AP_HAL::HAL& hal;
#define HAL_BATTMON_INA239_MAX_CURRENT 90 #define HAL_BATTMON_INA239_MAX_CURRENT 90
#endif #endif
const AP_Param::GroupInfo AP_BattMonitor_INA239::var_info[] = {
// @Param: MAX_AMPS
// @DisplayName: Battery monitor max current
// @Description: This controls the maximum current the INA239 sensor will work with.
// @Range: 1 400
// @Units: A
// @User: Advanced
AP_GROUPINFO("MAX_AMPS", 27, AP_BattMonitor_INA239, max_amps, HAL_BATTMON_INA239_MAX_CURRENT),
// @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_INA239, rShunt, HAL_BATTMON_INA239_SHUNT_RESISTANCE),
AP_GROUPEND
};
AP_BattMonitor_INA239::AP_BattMonitor_INA239(AP_BattMonitor &mon, AP_BattMonitor_INA239::AP_BattMonitor_INA239(AP_BattMonitor &mon,
AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor::BattMonitor_State &mon_state,
AP_BattMonitor_Params &params) AP_BattMonitor_Params &params)
: AP_BattMonitor_Backend(mon, mon_state, params) : AP_BattMonitor_Backend(mon, mon_state, params)
{ {
AP_Param::setup_object_defaults(this, var_info);
_state.var_info = var_info;
} }
void AP_BattMonitor_INA239::init(void) void AP_BattMonitor_INA239::init(void)
@ -61,8 +84,8 @@ void AP_BattMonitor_INA239::configure(void)
} }
voltage_LSB = 3.125e-3; voltage_LSB = 3.125e-3;
current_LSB = float(HAL_BATTMON_INA239_MAX_CURRENT) / 0x8000; current_LSB = max_amps.get() / 0x8000;
const int16_t shunt_cal = 819.2 * 1e6 * current_LSB * HAL_BATTMON_INA239_SHUNT_RESISTANCE; const int16_t shunt_cal = 819.2 * 1e6 * current_LSB * rShunt.get();
int16_t shunt_cal2 = 0; int16_t shunt_cal2 = 0;
if (!write_word(REG_SHUNT_CAL, shunt_cal) || if (!write_word(REG_SHUNT_CAL, shunt_cal) ||

5
libraries/AP_BattMonitor/AP_BattMonitor_INA239.h
View File

@ -23,6 +23,8 @@ public:
void init(void) override; void init(void) override;
void read() override; void read() override;
static const struct AP_Param::GroupInfo var_info[];
protected: protected:
AP_HAL::OwnPtr<AP_HAL::Device> dev; AP_HAL::OwnPtr<AP_HAL::Device> dev;
@ -44,6 +46,9 @@ protected:
} accumulate; } accumulate;
float current_LSB; float current_LSB;
float voltage_LSB; float voltage_LSB;
AP_Float max_amps;
AP_Float rShunt;
}; };
#endif // AP_BATTERY_INA239_ENABLED #endif // AP_BATTERY_INA239_ENABLED