mirror of https://github.com/ArduPilot/ardupilot
128 lines
3.8 KiB
C++
128 lines
3.8 KiB
C++
#include "AP_BattMonitor_INA231.h"
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#include <GCS_MAVLink/GCS.h>
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#include <AP_HAL/utility/sparse-endian.h>
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#if HAL_BATTMON_INA231_ENABLED
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extern const AP_HAL::HAL& hal;
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#define REG_CONFIG 0x00
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#define REG_SHUNT_VOLTAGE 0x01
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#define REG_BUS_VOLTAGE 0x02
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#define REG_CURRENT 0x04
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#define REG_CALIBRATION 0x05
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#define REG_CONFIG_DEFAULT 0x4127
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#define REG_CONFIG_RESET 0x8000
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// this should become a parameter in future
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#define MAX_AMPS 90.0
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void AP_BattMonitor_INA231::init(void)
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{
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dev = hal.i2c_mgr->get_device(HAL_BATTMON_INA231_BUS, HAL_BATTMON_INA231_ADDR, 100000, false, 20);
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if (!dev) {
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return;
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}
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int16_t config = 0;
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WITH_SEMAPHORE(dev->get_semaphore());
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if (!write_word(REG_CONFIG, REG_CONFIG_RESET) ||
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!write_word(REG_CONFIG, REG_CONFIG_DEFAULT) ||
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!read_word(REG_CONFIG, config) ||
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config != REG_CONFIG_DEFAULT) {
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GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "INA231: Failed to find device 0x%04x", unsigned(config));
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return;
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}
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// configure for MAX_AMPS
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const uint16_t conf = (0x2<<9) | (0x5<<6) | (0x5<<3) | 0x7; // 2ms conv time, 16x sampling
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const float rShunt = 0.0005;
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current_LSB = MAX_AMPS / 32768.0;
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voltage_LSB = 0.00125; // 1.25mV/bit
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const uint16_t cal = uint16_t(0.00512 / (current_LSB * rShunt));
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if (!write_word(REG_CONFIG, REG_CONFIG_RESET) || // reset
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!write_word(REG_CONFIG, conf) ||
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!write_word(REG_CALIBRATION, cal)) {
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GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "INA231: Failed to configure device");
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return;
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}
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GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "INA231: found monitor on bus %u", HAL_BATTMON_INA231_BUS);
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if (dev) {
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dev->register_periodic_callback(25000, FUNCTOR_BIND_MEMBER(&AP_BattMonitor_INA231::timer, void));
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}
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}
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/// read the battery_voltage and current, should be called at 10hz
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void AP_BattMonitor_INA231::read(void)
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{
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WITH_SEMAPHORE(accumulate.sem);
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_state.healthy = accumulate.count > 0;
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if (!_state.healthy) {
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return;
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}
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_state.voltage = accumulate.volt_sum / accumulate.count;
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_state.current_amps = accumulate.current_sum / accumulate.count;
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accumulate.volt_sum = 0;
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accumulate.current_sum = 0;
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accumulate.count = 0;
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const uint32_t tnow = AP_HAL::micros();
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const float dt = tnow - _state.last_time_micros;
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// update total current drawn since startup
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if (_state.last_time_micros != 0 && dt < 2000000.0) {
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// .0002778 is 1/3600 (conversion to hours)
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const float mah = _state.current_amps * dt * 0.0000002778;
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_state.consumed_mah += mah;
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_state.consumed_wh += 0.001 * mah * _state.voltage;
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}
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_state.last_time_micros = tnow;
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}
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/*
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read word from register
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returns true if read was successful, false if failed
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*/
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bool AP_BattMonitor_INA231::read_word(const uint8_t reg, int16_t& data) const
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{
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// read the appropriate register from the device
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if (!dev->read_registers(reg, (uint8_t *)&data, sizeof(data))) {
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return false;
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}
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// convert byte order
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data = int16_t(be16toh(uint16_t(data)));
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return true;
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}
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/*
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write word to a register, byte swapped
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returns true if write was successful, false if failed
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*/
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bool AP_BattMonitor_INA231::write_word(const uint8_t reg, const uint16_t data) const
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{
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const uint8_t b[3] { reg, uint8_t(data >> 8), uint8_t(data&0xff) };
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return dev->transfer(b, sizeof(b), nullptr, 0);
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}
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void AP_BattMonitor_INA231::timer(void)
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{
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int16_t bus_voltage, current;
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if (!read_word(REG_BUS_VOLTAGE, bus_voltage) ||
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!read_word(REG_CURRENT, current)) {
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return;
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}
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WITH_SEMAPHORE(accumulate.sem);
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accumulate.volt_sum += bus_voltage * voltage_LSB;
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accumulate.current_sum += current * current_LSB;
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accumulate.count++;
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}
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#endif // HAL_BATTMON_INA231_ENABLED
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