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This is an ADC extender based on I2C which is used to read the current and voltage. Enable AD7091R5 in config.h which was reserved previously
237 lines
7.9 KiB
C++
237 lines
7.9 KiB
C++
#include "AP_BattMonitor_AD7091R5.h"
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/**
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* @brief You can use it to Read Current and voltage of 1-3 batteries from a ADC extender IC over I2C.
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* AD7091R5 is a ADC extender and we are using it to read current and voltage of multiple batteries.
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* Examples of Pin combination:
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* 1)Pin 50 = Voltage 51,52,53 = Current. For 3 battery combination Voltage will be same accross.
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* 2)Pin 50,51 = Voltage and Current Battery 1 - Pin 52,53 = Voltage and Current Battery 2
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* Only the First instance of Battery Monitor will be reading the values from IC over I2C.
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* Make sure you understand the method of calculation used in this driver before using it.
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* e.g. using pin 1 on IC to read voltage of 2 batteries and pin 2 and 3 to read current from individual battery.
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* Pin number represents 50 = pin 1, 51 = pin 2 and so on 52, 53
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* BATT2_Monitor = 24 , BATT3_Monitor = 24
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* BATT2_VOLT_PIN = 50 , BATT3_VOLT_PIN = 50
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* BATT2_CURR_PIN = 51 , BATT3_CURR_PIN = 52
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*
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*
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*/
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#if AP_BATTERY_AD7091R5_ENABLED
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_Math/AP_Math.h>
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//macro defines
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#define AD7091R5_I2C_ADDR 0x2F // A0 and A1 tied to GND
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#define AD7091R5_I2C_BUS 0
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#define AD7091R5_RESET 0x02
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#define AD7091R5_RESULT_ADDR 0x00
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#define AD7091R5_CHAN_ADDR 0x01
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#define AD7091R5_CONF_ADDR 0x02
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#define AD7091R5_CH_ID(x) ((x >> 5) & 0x03)
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#define AD7091R5_RES_MASK 0x0F
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#define AD7091R5_REF 3.3f
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#define AD7091R5_RESOLUTION (float)4096
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#define AD7091R5_PERIOD_USEC 100000
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#define AD7091R5_BASE_PIN 50
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extern const AP_HAL::HAL& hal;
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const AP_Param::GroupInfo AP_BattMonitor_AD7091R5::var_info[] = {
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// @Param: VOLT_PIN
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// @DisplayName: Battery Voltage sensing pin on the AD7091R5 Ic
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// @Description: Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
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// @Values: -1:Disabled
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("VOLT_PIN", 56, AP_BattMonitor_AD7091R5, _volt_pin, 0),
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// @Param: CURR_PIN
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// @DisplayName: Battery Current sensing pin
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// @Description: Sets the analog input pin that should be used for Current monitoring on AD7091R5.
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// @Values: -1:Disabled
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("CURR_PIN", 57, AP_BattMonitor_AD7091R5, _curr_pin, 0),
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// @Param: VOLT_MULT
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// @DisplayName: Voltage Multiplier
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// @Description: Used to convert the voltage of the voltage sensing pin (@PREFIX@VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
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// @User: Advanced
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AP_GROUPINFO("VOLT_MULT", 58, AP_BattMonitor_AD7091R5, _volt_multiplier, 0),
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// @Param: AMP_PERVLT
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// @DisplayName: Amps per volt
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// @Description: Number of amps that a 1V reading on the current sensor corresponds to.
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// @Units: A/V
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// @User: Standard
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AP_GROUPINFO("AMP_PERVLT", 59, AP_BattMonitor_AD7091R5, _curr_amp_per_volt, 0),
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// @Param: AMP_OFFSET
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// @DisplayName: AMP offset
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// @Description: Voltage offset at zero current on current sensor
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// @Units: V
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// @User: Standard
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AP_GROUPINFO("AMP_OFFSET", 60, AP_BattMonitor_AD7091R5, _curr_amp_offset, 0),
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// @Param: VLT_OFFSET
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// @DisplayName: Volage offset
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// @Description: Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
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// @Units: V
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// @User: Advanced
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AP_GROUPINFO("VLT_OFFSET", 61, AP_BattMonitor_AD7091R5, _volt_offset, 0),
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// Param indexes must be 56 to 61 to avoid conflict with other battery monitor param tables loaded by pointer
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AP_GROUPEND
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};
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//Variable initialised to read from first instance.
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AP_BattMonitor_AD7091R5::AnalogData AP_BattMonitor_AD7091R5::_analog_data[AD7091R5_NO_OF_CHANNELS];
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bool AP_BattMonitor_AD7091R5::_first = true;
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bool AP_BattMonitor_AD7091R5::_health = false;
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/**
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* @brief Construct a new ap battmonitor ad7091r5::ap battmonitor ad7091r5 object
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*
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* @param mon
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* @param mon_state
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* @param params
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*/
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AP_BattMonitor_AD7091R5::AP_BattMonitor_AD7091R5(AP_BattMonitor &mon,
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AP_BattMonitor::BattMonitor_State &mon_state,
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AP_BattMonitor_Params ¶ms) :
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AP_BattMonitor_Backend(mon, mon_state, params)
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{
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AP_Param::setup_object_defaults(this, var_info);
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_state.var_info = var_info;
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}
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/**
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* @brief probe and initialize the sensor and register call back
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*
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*/
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void AP_BattMonitor_AD7091R5::init()
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{
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// voltage and current pins from params and check if there are in range
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if (_volt_pin.get() >= AD7091R5_BASE_PIN && _volt_pin.get() <= AD7091R5_BASE_PIN + AD7091R5_NO_OF_CHANNELS &&
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_curr_pin.get() >= AD7091R5_BASE_PIN && _curr_pin.get() <= AD7091R5_BASE_PIN + AD7091R5_NO_OF_CHANNELS) {
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volt_buff_pt = _volt_pin.get() - AD7091R5_BASE_PIN;
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curr_buff_pt = _curr_pin.get() - AD7091R5_BASE_PIN;
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}
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else{
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return; //pin values are out of range
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}
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// only the first instance read the i2c device
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if (_first) {
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_first = false;
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// probe i2c device
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_dev = hal.i2c_mgr->get_device(AD7091R5_I2C_BUS, AD7091R5_I2C_ADDR);
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if (_dev) {
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WITH_SEMAPHORE(_dev->get_semaphore());
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_dev->set_retries(10); // lots of retries during probe
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//Reset and config device
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if (_initialize()) {
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_dev->set_retries(2); // drop to 2 retries for runtime
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_dev->register_periodic_callback(AD7091R5_PERIOD_USEC, FUNCTOR_BIND_MEMBER(&AP_BattMonitor_AD7091R5::_read_adc, void));
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}
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}
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}
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}
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/**
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* @brief read - read the voltage and curren
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*
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*/
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void AP_BattMonitor_AD7091R5::read()
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{
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WITH_SEMAPHORE(sem);
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//copy global health status to all instances
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_state.healthy = _health;
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//return if system not healthy
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if (!_state.healthy) {
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return;
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}
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//voltage conversion
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_state.voltage = (_data_to_volt(_analog_data[volt_buff_pt].data) - _volt_offset) * _volt_multiplier;
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//current amps conversion
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_state.current_amps = (_data_to_volt(_analog_data[curr_buff_pt].data) - _curr_amp_offset) * _curr_amp_per_volt;
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// calculate time since last current read
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uint32_t tnow = AP_HAL::micros();
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uint32_t dt_us = tnow - _state.last_time_micros;
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// update total current drawn since startup
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update_consumed(_state, dt_us);
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// record time
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_state.last_time_micros = tnow;
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}
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/**
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* @brief read all four channels and store the results
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*
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*/
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void AP_BattMonitor_AD7091R5::_read_adc()
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{
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uint8_t data[AD7091R5_NO_OF_CHANNELS*2];
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//reset and reconfigure IC if health status is not good.
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if (!_state.healthy) {
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_initialize();
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}
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//read value
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bool ret = _dev->transfer(nullptr, 0, data, sizeof(data));
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WITH_SEMAPHORE(sem);
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if (ret) {
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for (int i=0; i<AD7091R5_NO_OF_CHANNELS; i++) {
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uint8_t chan = AD7091R5_CH_ID(data[2*i]);
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_analog_data[chan].data = ((uint16_t)(data[2*i]&AD7091R5_RES_MASK)<<8) | data[2*i+1];
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}
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_health = true;
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} else {
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_health = false;
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}
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}
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/**
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* @brief config the adc
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*
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* @return true
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* @return false
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*/
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bool AP_BattMonitor_AD7091R5::_initialize()
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{
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//reset the device
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uint8_t data[3] = {AD7091R5_CONF_ADDR, AD7091R5_CONF_CMD | AD7091R5_RESET, AD7091R5_CONF_PDOWN0};
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if(_dev->transfer(data, sizeof(data), nullptr, 0)){
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//command mode, use external 3.3 reference, all channels enabled, set address pointer register to read the adc results
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uint8_t data_2[6] = {AD7091R5_CONF_ADDR, AD7091R5_CONF_CMD, AD7091R5_CONF_PDOWN0, AD7091R5_CHAN_ADDR, AD7091R5_CHAN_ALL, AD7091R5_RESULT_ADDR};
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return _dev->transfer(data_2, sizeof(data_2), nullptr, 0);
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}
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return false;
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}
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/**
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* @brief convert binary reading to volts
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*
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* @param data
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* @return float
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*/
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float AP_BattMonitor_AD7091R5::_data_to_volt(uint32_t data)
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{
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return (AD7091R5_REF/AD7091R5_RESOLUTION)*data;
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}
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#endif // AP_BATTERY_AD7091R5_ENABLED
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