Thomas Debrunner
3 years ago
committed by
Beat Küng
12 changed files with 986 additions and 1 deletions
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|
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############################################################################ |
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# |
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# Copyright (c) 2021 PX4 Development Team. All rights reserved. |
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# |
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# Redistribution and use in source and binary forms, with or without |
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# modification, are permitted provided that the following conditions |
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# are met: |
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# |
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# 1. Redistributions of source code must retain the above copyright |
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# notice, this list of conditions and the following disclaimer. |
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# 2. Redistributions in binary form must reproduce the above copyright |
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# notice, this list of conditions and the following disclaimer in |
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# the documentation and/or other materials provided with the |
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# distribution. |
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# 3. Neither the name PX4 nor the names of its contributors may be |
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# used to endorse or promote products derived from this software |
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# without specific prior written permission. |
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# |
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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# POSSIBILITY OF SUCH DAMAGE. |
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# |
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############################################################################ |
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px4_add_module( |
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MODULE drivers__ina23X |
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MAIN ina23X |
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COMPILE_FLAGS |
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-Wno-cast-align # TODO: fix and enable |
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SRCS |
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ina23X_main.cpp |
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ina23X.cpp |
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DEPENDS |
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battery |
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px4_work_queue |
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) |
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/****************************************************************************
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* |
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* Copyright (c) 2021 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* Driver for the I2C attached INA23X |
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*/ |
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#include "ina23X.h" |
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INA23X::INA23X(const I2CSPIDriverConfig &config, int battery_index) : |
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I2C(config), |
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ModuleParams(nullptr), |
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I2CSPIDriver(config), |
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_sample_perf(perf_alloc(PC_ELAPSED, "ina23X_read")), |
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_comms_errors(perf_alloc(PC_COUNT, "ina23X_com_err")), |
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_collection_errors(perf_alloc(PC_COUNT, "ina23X_collection_err")), |
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_measure_errors(perf_alloc(PC_COUNT, "ina23X_measurement_err")), |
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_config(INA23X_ADCCONFIG), |
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_battery(battery_index, this, INA23X_SAMPLE_INTERVAL_US) |
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{ |
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float fvalue = DEFAULT_MAX_CURRENT; |
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_max_current = fvalue; |
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param_t ph = param_find("INA23X_CURRENT"); |
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if (ph != PARAM_INVALID && param_get(ph, &fvalue) == PX4_OK) { |
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_max_current = fvalue; |
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} |
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_range = _max_current > (DEFAULT_MAX_CURRENT - 1.0f) ? INA23X_ADCRANGE_HIGH : INA23X_ADCRANGE_LOW; |
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fvalue = DEFAULT_SHUNT; |
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_rshunt = fvalue; |
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ph = param_find("INA23X_SHUNT"); |
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if (ph != PARAM_INVALID && param_get(ph, &fvalue) == PX4_OK) { |
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_rshunt = fvalue; |
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} |
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ph = param_find("INA23X_CONFIG"); |
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int32_t value = INA23X_ADCCONFIG; |
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_config = (uint16_t)value; |
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if (ph != PARAM_INVALID && param_get(ph, &value) == PX4_OK) { |
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_config = (uint16_t)value; |
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} |
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_mode_triggered = ((_config & INA23X_MODE_MASK) >> INA23X_MODE_SHIFTS) <= |
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((INA23X_MODE_TEMP_SHUNT_BUS_TRIG & INA23X_MODE_MASK) >> |
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INA23X_MODE_SHIFTS); |
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_current_lsb = _max_current / INA23X_DN_MAX; |
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// We need to publish immediately, to guarantee that the first instance of the driver publishes to uORB instance 0
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_battery.updateBatteryStatus( |
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hrt_absolute_time(), |
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0.0, |
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0.0, |
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false, |
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battery_status_s::BATTERY_SOURCE_POWER_MODULE, |
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0, |
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0.0 |
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); |
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} |
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INA23X::~INA23X() |
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{ |
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/* free perf counters */ |
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perf_free(_sample_perf); |
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perf_free(_comms_errors); |
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perf_free(_collection_errors); |
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perf_free(_measure_errors); |
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} |
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int INA23X::read(uint8_t address, uint16_t &data) |
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{ |
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// read desired little-endian value via I2C
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uint16_t received_bytes; |
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const int ret = transfer(&address, 1, (uint8_t *)&received_bytes, sizeof(received_bytes)); |
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if (ret == PX4_OK) { |
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data = swap16(received_bytes); |
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} else { |
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perf_count(_comms_errors); |
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PX4_DEBUG("i2c::transfer returned %d", ret); |
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} |
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return ret; |
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} |
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int INA23X::write(uint8_t address, uint16_t value) |
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{ |
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uint8_t data[3] = {address, ((uint8_t)((value & 0xff00) >> 8)), (uint8_t)(value & 0xff)}; |
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return transfer(data, sizeof(data), nullptr, 0); |
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} |
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int INA23X::init() |
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{ |
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int ret = PX4_ERROR; |
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/* do I2C init (and probe) first */ |
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if (I2C::init() != PX4_OK) { |
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return ret; |
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} |
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write(INA23X_REG_CONFIG, (uint16_t)(INA23X_RST_RESET | _range)); |
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uint16_t shunt_calibration = static_cast<uint16_t>(INA23X_CONST * _current_lsb * _rshunt); |
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if (_range == INA23X_ADCRANGE_LOW) { |
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shunt_calibration *= 4; |
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} |
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if (write(INA23X_REG_SHUNTCAL, shunt_calibration) < 0) { |
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return -3; |
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} |
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// Set the CONFIG for max I
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write(INA23X_REG_CONFIG, (uint16_t) _range); |
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// If we run in continuous mode then start it here
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if (!_mode_triggered) { |
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ret = write(INA23X_REG_ADCCONFIG, _config); |
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} else { |
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ret = PX4_OK; |
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} |
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start(); |
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_sensor_ok = true; |
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_initialized = ret == PX4_OK; |
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return ret; |
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} |
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int INA23X::force_init() |
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{ |
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int ret = init(); |
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start(); |
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return ret; |
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} |
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int INA23X::probe() |
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{ |
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uint16_t value{0}; |
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if (read(INA23X_MANUFACTURER_ID, value) != PX4_OK || value != INA23X_MFG_ID_TI) { |
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PX4_DEBUG("probe mfgid %d", value); |
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return -1; |
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} |
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if (read(INA23X_DEVICE_ID, value) != PX4_OK || ( |
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INA23X_DEVICEID(value) != INA238_MFG_DIE && |
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INA23X_DEVICEID(value) != INA239_MFG_DIE |
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)) { |
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PX4_DEBUG("probe die id %d", value); |
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return -1; |
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} |
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return PX4_OK; |
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} |
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int INA23X::measure() |
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{ |
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int ret = PX4_OK; |
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if (_mode_triggered) { |
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ret = write(INA23X_REG_ADCCONFIG, _config); |
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if (ret < 0) { |
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perf_count(_comms_errors); |
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PX4_DEBUG("i2c::transfer returned %d", ret); |
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} |
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} |
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return ret; |
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} |
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int INA23X::collect() |
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{ |
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perf_begin(_sample_perf); |
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if (_parameter_update_sub.updated()) { |
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// Read from topic to clear updated flag
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parameter_update_s parameter_update; |
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_parameter_update_sub.copy(¶meter_update); |
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updateParams(); |
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} |
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// read from the sensor
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// Note: If the power module is connected backwards, then the values of _current will be negative but otherwise valid.
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bool success{true}; |
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int16_t bus_voltage{0}; |
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int16_t current{0}; |
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success = success && (read(INA23X_REG_VSBUS, bus_voltage) == PX4_OK); |
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success = success && (read(INA23X_REG_CURRENT, current) == PX4_OK); |
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if (!success) { |
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PX4_DEBUG("error reading from sensor"); |
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bus_voltage = current = 0; |
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} |
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_actuators_sub.copy(&_actuator_controls); |
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_battery.updateBatteryStatus( |
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hrt_absolute_time(), |
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(float) bus_voltage * INA23X_VSCALE, |
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(float) current * _current_lsb, |
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success, |
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battery_status_s::BATTERY_SOURCE_POWER_MODULE, |
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0, |
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_actuator_controls.control[actuator_controls_s::INDEX_THROTTLE] |
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); |
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perf_end(_sample_perf); |
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if (success) { |
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return PX4_OK; |
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} else { |
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return PX4_ERROR; |
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} |
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} |
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void INA23X::start() |
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{ |
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ScheduleClear(); |
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/* reset the report ring and state machine */ |
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_collect_phase = false; |
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_measure_interval = INA23X_CONVERSION_INTERVAL; |
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/* schedule a cycle to start things */ |
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ScheduleDelayed(5); |
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} |
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void INA23X::RunImpl() |
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{ |
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if (_initialized) { |
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if (_collect_phase) { |
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/* perform collection */ |
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if (collect() != PX4_OK) { |
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perf_count(_collection_errors); |
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/* if error restart the measurement state machine */ |
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start(); |
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return; |
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} |
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/* next phase is measurement */ |
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_collect_phase = !_mode_triggered; |
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if (_measure_interval > INA23X_CONVERSION_INTERVAL) { |
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/* schedule a fresh cycle call when we are ready to measure again */ |
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ScheduleDelayed(_measure_interval - INA23X_CONVERSION_INTERVAL); |
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return; |
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} |
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} |
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/* Measurement phase */ |
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/* Perform measurement */ |
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if (measure() != PX4_OK) { |
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perf_count(_measure_errors); |
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} |
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/* next phase is collection */ |
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_collect_phase = true; |
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/* schedule a fresh cycle call when the measurement is done */ |
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ScheduleDelayed(INA23X_CONVERSION_INTERVAL); |
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} else { |
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_battery.updateBatteryStatus( |
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hrt_absolute_time(), |
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0.0f, |
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0.0f, |
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false, |
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battery_status_s::BATTERY_SOURCE_POWER_MODULE, |
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0, |
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0.0f |
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); |
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if (init() != PX4_OK) { |
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ScheduleDelayed(INA23X_INIT_RETRY_INTERVAL_US); |
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} |
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} |
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} |
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void INA23X::print_status() |
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{ |
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I2CSPIDriverBase::print_status(); |
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if (_initialized) { |
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perf_print_counter(_sample_perf); |
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perf_print_counter(_comms_errors); |
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printf("poll interval: %u \n", _measure_interval); |
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} else { |
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PX4_INFO("Device not initialized. Retrying every %d ms until battery is plugged in.", |
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INA23X_INIT_RETRY_INTERVAL_US / 1000); |
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} |
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} |
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@ -0,0 +1,375 @@
@@ -0,0 +1,375 @@
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/****************************************************************************
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* |
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* Copyright (C) 2021 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
||||
* |
||||
* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
||||
* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
||||
* the documentation and/or other materials provided with the |
||||
* distribution. |
||||
* 3. Neither the name PX4 nor the names of its contributors may be |
||||
* used to endorse or promote products derived from this software |
||||
* without specific prior written permission. |
||||
* |
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||||
* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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#pragma once |
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#include <px4_platform_common/px4_config.h> |
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#include <px4_platform_common/getopt.h> |
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#include <drivers/device/i2c.h> |
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#include <lib/perf/perf_counter.h> |
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#include <battery/battery.h> |
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#include <drivers/drv_hrt.h> |
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#include <uORB/Subscription.hpp> |
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#include <uORB/SubscriptionInterval.hpp> |
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#include <uORB/topics/actuator_controls.h> |
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#include <uORB/topics/parameter_update.h> |
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#include <px4_platform_common/i2c_spi_buses.h> |
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|
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using namespace time_literals; |
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/* Configuration Constants */ |
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#define INA23X_BASEADDR 0x45 /* 7-bit address. 8-bit address is 0x45 */ |
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// If initialization is forced (with the -f flag on the command line), but it fails, the drive will try again to
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// connect to the INA23X every this many microseconds
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#define INA23X_INIT_RETRY_INTERVAL_US 500000 |
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/* INA23X Registers addresses */ |
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#define INA23X_REG_CONFIG (0x00) |
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#define INA23X_REG_ADCCONFIG (0x01) |
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#define INA23X_REG_SHUNTCAL (0x02) |
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#define INA23X_REG_SHUNTTEMPCO (0x03) |
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#define INA23X_REG_VSHUNT (0x04) |
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#define INA23X_REG_VSBUS (0x05) |
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#define INA23X_REG_DIETEMP (0x06) |
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#define INA23X_REG_CURRENT (0x07) |
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#define INA23X_REG_POWER (0x08) |
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#define INA23X_REG_ENERGY (0x09) |
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#define INA23X_REG_CHARGE (0x0a) |
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#define INA23X_REG_DIAG_ALRT (0x0b) |
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#define INA23X_REG_SOVL (0x0c) |
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#define INA23X_REG_SUVL (0x0d) |
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#define INA23X_REG_BOVL (0x0e) |
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#define INA23X_REG_BUVL (0x0f) |
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#define INA23X_REG_TEMP_LIMIT (0x10) |
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#define INA23X_REG_TPWR_LIMIT (0x11) |
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#define INA23X_MANUFACTURER_ID (0x3e) |
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#define INA23X_DEVICE_ID (0x3f) |
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#define INA23X_MFG_ID_TI (0x5449) // TI
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#define INA238_MFG_DIE (0x238) // INA237, INA238
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#define INA239_MFG_DIE (0x239) // INA239
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/* INA23X Configuration (CONFIG) 16-bit Register (Address = 0h) [reset = 0h] */ |
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#define INA23X_ADCRANGE_SHIFTS (4) |
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#define INA23X_ADCRANGE_MASK (1 << INA23X_ADCRANGE_SHIFTS) |
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#define INA23X_ADCRANGE_LOW (1 << INA23X_ADCRANGE_SHIFTS) // ± 40.96 mV
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#define INA23X_ADCRANGE_HIGH (0 << INA23X_ADCRANGE_SHIFTS) // ±163.84 mV
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#define INA23X_TEMPCOMP_SHIFTS (5) |
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#define INA23X_TEMPCOMP_MASK (1 << INA23X_TEMPCOMP_SHIFTS) |
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#define INA23X_TEMPCOMP_ENABLE (1 << INA23X_TEMPCOMP_SHIFTS) |
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#define INA23X_TEMPCOMP_DISABLE (0 << INA23X_TEMPCOMP_SHIFTS) |
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#define INA23X_CONVDLY_SHIFTS (6) |
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#define INA23X_CONVDLY_MASK (0xff << INA23X_CONVDLY_SHIFTS) |
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#define INA23X_CONVDLY2MS(n) ((n) << INA23X_CONVDLY_SHIFTS) |
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#define INA23X_RSTACC_SHIFTS (14) |
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#define INA23X_RSTACC_MASK (1 << INA23X_RSTACC_SHIFTS) |
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#define INA23X_RSTACC_CLEAR (1 << INA23X_RSTACC_SHIFTS) |
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#define INA23X_RSTACC_NORMAL (0 << INA23X_RSTACC_SHIFTS) |
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|
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#define INA23X_RST_SHIFTS (15) |
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#define INA23X_RST_MASK (1 << INA23X_RST_SHIFTS) |
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#define INA23X_RST_RESET (1 << INA23X_RST_SHIFTS) |
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#define INA23X_RST_NORMAL (0 << INA23X_RST_SHIFTS) |
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|
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/* INA23X ADC Configuration (ADC_CONFIG) 16-bit Register (Address = 1h) [reset = FB68h] */ |
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#define INA23X_MODE_SHIFTS (12) |
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#define INA23X_MODE_MASK (0xf << INA23X_MODE_SHIFTS) |
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#define INA23X_MODE_SHUTDOWN_TRIG (0 << INA23X_MODE_SHIFTS) |
||||
#define INA23X_MODE_BUS_TRIG (1 << INA23X_MODE_SHIFTS) |
||||
#define INA23X_MODE_SHUNT_TRIG (2 << INA23X_MODE_SHIFTS) |
||||
#define INA23X_MODE_SHUNT_BUS_TRIG (3 << INA23X_MODE_SHIFTS) |
||||
#define INA23X_MODE_TEMP_TRIG (4 << INA23X_MODE_SHIFTS) |
||||
#define INA23X_MODE_TEMP_BUS_TRIG (5 << INA23X_MODE_SHIFTS) |
||||
#define INA23X_MODE_TEMP_SHUNT_TRIG (6 << INA23X_MODE_SHIFTS) |
||||
#define INA23X_MODE_TEMP_SHUNT_BUS_TRIG (7 << INA23X_MODE_SHIFTS) |
||||
|
||||
#define INA23X_MODE_SHUTDOWN_CONT (8 << INA23X_MODE_SHIFTS) |
||||
#define INA23X_MODE_BUS_CONT (9 << INA23X_MODE_SHIFTS) |
||||
#define INA23X_MODE_SHUNT_CONT (10 << INA23X_MODE_SHIFTS) |
||||
#define INA23X_MODE_SHUNT_BUS_CONT (11 << INA23X_MODE_SHIFTS) |
||||
#define INA23X_MODE_TEMP_CONT (12 << INA23X_MODE_SHIFTS) |
||||
#define INA23X_MODE_TEMP_BUS_CONT (13 << INA23X_MODE_SHIFTS) |
||||
#define INA23X_MODE_TEMP_SHUNT_CONT (14 << INA23X_MODE_SHIFTS) |
||||
#define INA23X_MODE_TEMP_SHUNT_BUS_CONT (15 << INA23X_MODE_SHIFTS) |
||||
|
||||
#define INA23X_VBUSCT_SHIFTS (9) |
||||
#define INA23X_VBUSCT_MASK (7 << INA23X_VBUSCT_SHIFTS) |
||||
#define INA23X_VBUSCT_50US (0 << INA23X_VBUSCT_SHIFTS) |
||||
#define INA23X_VBUSCT_84US (1 << INA23X_VBUSCT_SHIFTS) |
||||
#define INA23X_VBUSCT_150US (2 << INA23X_VBUSCT_SHIFTS) |
||||
#define INA23X_VBUSCT_280US (3 << INA23X_VBUSCT_SHIFTS) |
||||
#define INA23X_VBUSCT_540US (4 << INA23X_VBUSCT_SHIFTS) |
||||
#define INA23X_VBUSCT_1052US (5 << INA23X_VBUSCT_SHIFTS) |
||||
#define INA23X_VBUSCT_2074US (6 << INA23X_VBUSCT_SHIFTS) |
||||
#define INA23X_VBUSCT_4170US (7 << INA23X_VBUSCT_SHIFTS) |
||||
|
||||
#define INA23X_VSHCT_SHIFTS (6) |
||||
#define INA23X_VSHCT_MASK (7 << INA23X_VSHCT_SHIFTS) |
||||
#define INA23X_VSHCT_50US (0 << INA23X_VSHCT_SHIFTS) |
||||
#define INA23X_VSHCT_84US (1 << INA23X_VSHCT_SHIFTS) |
||||
#define INA23X_VSHCT_150US (2 << INA23X_VSHCT_SHIFTS) |
||||
#define INA23X_VSHCT_280US (3 << INA23X_VSHCT_SHIFTS) |
||||
#define INA23X_VSHCT_540US (4 << INA23X_VSHCT_SHIFTS) |
||||
#define INA23X_VSHCT_1052US (5 << INA23X_VSHCT_SHIFTS) |
||||
#define INA23X_VSHCT_2074US (6 << INA23X_VSHCT_SHIFTS) |
||||
#define INA23X_VSHCT_4170US (7 << INA23X_VSHCT_SHIFTS) |
||||
|
||||
#define INA23X_VTCT_SHIFTS (3) |
||||
#define INA23X_VTCT_MASK (7 << INA23X_VTCT_SHIFTS) |
||||
#define INA23X_VTCT_50US (0 << INA23X_VTCT_SHIFTS) |
||||
#define INA23X_VTCT_84US (1 << INA23X_VTCT_SHIFTS) |
||||
#define INA23X_VTCT_150US (2 << INA23X_VTCT_SHIFTS) |
||||
#define INA23X_VTCT_280US (3 << INA23X_VTCT_SHIFTS) |
||||
#define INA23X_VTCT_540US (4 << INA23X_VTCT_SHIFTS) |
||||
#define INA23X_VTCT_1052US (5 << INA23X_VTCT_SHIFTS) |
||||
#define INA23X_VTCT_2074US (6 << INA23X_VTCT_SHIFTS) |
||||
#define INA23X_VTCT_4170US (7 << INA23X_VTCT_SHIFTS) |
||||
|
||||
#define INA23X_AVERAGES_SHIFTS (0) |
||||
#define INA23X_AVERAGES_MASK (7 << INA23X_AVERAGES_SHIFTS) |
||||
#define INA23X_AVERAGES_1 (0 << INA23X_AVERAGES_SHIFTS) |
||||
#define INA23X_AVERAGES_4 (1 << INA23X_AVERAGES_SHIFTS) |
||||
#define INA23X_AVERAGES_16 (2 << INA23X_AVERAGES_SHIFTS) |
||||
#define INA23X_AVERAGES_64 (3 << INA23X_AVERAGES_SHIFTS) |
||||
#define INA23X_AVERAGES_128 (4 << INA23X_AVERAGES_SHIFTS) |
||||
#define INA23X_AVERAGES_256 (5 << INA23X_AVERAGES_SHIFTS) |
||||
#define INA23X_AVERAGES_512 (6 << INA23X_AVERAGES_SHIFTS) |
||||
#define INA23X_AVERAGES_1024 (7 << INA23X_AVERAGES_SHIFTS) |
||||
|
||||
#define INA23X_ADCCONFIG (INA23X_MODE_TEMP_SHUNT_BUS_CONT | INA23X_VBUSCT_540US | INA23X_VSHCT_540US | INA23X_VTCT_540US |INA23X_AVERAGES_64) |
||||
|
||||
/* INA23X Shunt Calibration (SHUNT_CAL) 16-bit Register (Address = 2h) [reset = 1000h] */ |
||||
|
||||
#define INA23X_CURRLSB_SHIFTS (0) |
||||
#define INA23X_CURRLSB_MASK (0x7fff << INA23X_CURRLSB_SHIFTS) |
||||
|
||||
/* INA23X Shunt Temperature Coefficient (SHUNT_TEMPCO) 16-bit Register (Address = 3h) [reset = 0h] */ |
||||
|
||||
#define INA23X_TEMPCO_SHIFTS (0) |
||||
#define INA23X_TEMPCO_MASK (0x1fff << INA23X_TEMPCO_SHIFTS) |
||||
|
||||
/* INA23X Shunt Voltage Measurement (VSHUNT) 24-bit Register (Address = 4h) [reset = 0h] */ |
||||
|
||||
#define INA23X_VSHUNT_SHIFTS (4) |
||||
#define INA23X_VSHUNT_MASK (UINT32_C(0xffffff) << INA23X_VSHUNT_SHIFTS) |
||||
|
||||
/* INA23X Bus Voltage Measurement (VBUS) 24-bit Register (Address = 5h) [reset = 0h] */ |
||||
|
||||
#define INA23X_VBUS_SHIFTS (4) |
||||
#define INA23X_VBUS_MASK (UINT32_C(0xffffff) << INA23X_VBUS_SHIFTS) |
||||
|
||||
/* INA23X Temperature Measurement (DIETEMP) 16-bit Register (Address = 6h) [reset = 0h] */ |
||||
|
||||
#define INA23X_DIETEMP_SHIFTS (0) |
||||
#define INA23X_DIETEMP_MASK (0xffff << INA23X_DIETEMP_SHIFTS) |
||||
|
||||
/* INA23X Current Result (CURRENT) 24-bit Register (Address = 7h) [reset = 0h] */ |
||||
|
||||
#define INA23X_CURRENT_SHIFTS (4) |
||||
#define INA23X_CURRENT_MASK (UINT32_C(0xffffff) << INA23X_CURRENT_SHIFTS) |
||||
|
||||
/* INA23X Power Result (POWER) 24-bit Register (Address = 8h) [reset = 0h] */ |
||||
|
||||
#define INA23X_POWER_SHIFTS (0) |
||||
#define INA23X_POWER_MASK (UINT32_C(0xffffff) << INA23X_POWER_SHIFTS) |
||||
|
||||
/* INA23X Energy Result (ENERGY) 40-bit Register (Address = 9h) [reset = 0h] */ |
||||
|
||||
#define INA23X_ENERGY_SHIFTS (0) |
||||
#define INA23X_ENERGY_MASK (UINT64_C(0xffffffffff) << INA23X_ENERGY_SHIFTS) |
||||
|
||||
/* INA23X Energy Result (CHARGE) 40-bit Register (Address = Ah) [reset = 0h] */ |
||||
|
||||
#define INA23X_CHARGE_SHIFTS (0) |
||||
#define INA23X_CHARGE_MASK (UINT64_C(0xffffffffff) << INA23X_CHARGE_SHIFTS) |
||||
|
||||
|
||||
/* INA23X Diagnostic Flags and Alert (DIAG_ALRT) 16-bit Register (Address = Bh) [reset = 0001h] */ |
||||
|
||||
#define INA23X_MEMSTAT (1 << 0) // This bit is set to 0 if a checksum error is detected in the device trim memory space
|
||||
#define INA23X_CNVRF (1 << 1) // This bit is set to 1 if the conversion is completed. When ALATCH =1 this bit is cleared by reading the register or starting a new triggered conversion.
|
||||
#define INA23X_POL (1 << 2) // This bit is set to 1 if the power measurement exceeds the threshold limit in the power limit register.
|
||||
#define INA23X_BUSUL (1 << 3) // This bit is set to 1 if the bus voltage measurement falls below the threshold limit in the bus under-limit register.
|
||||
#define INA23X_BUSOL (1 << 4) // This bit is set to 1 if the bus voltage measurement exceeds the threshold limit in the bus over-limit register.
|
||||
#define INA23X_SHNTUL (1 << 5) // This bit is set to 1 if the shunt voltage measurement falls below the threshold limit in the shunt under-limit register
|
||||
#define INA23X_SHNTOL (1 << 6) // This bit is set to 1 if the shunt voltage measurement exceeds the threshold limit in the shunt over-limit register.
|
||||
#define INA23X_TMPOL (1 << 7) // This bit is set to 1 if the temperature measurement exceeds the threshold limit in the temperature over-limit register.
|
||||
#define INA23X_MATHOF (1 << 9) // This bit is set to 1 if an arithmetic operation resulted in an overflow error.
|
||||
#define INA23X_CHARGEOF (1 << 10) // This bit indicates the health of the CHARGE register. If the 40 bit CHARGE register has overflowed this bit is set to 1.
|
||||
#define INA23X_ENERGYOF (1 << 11) // This bit indicates the health of the ENERGY register. If the 40 bit ENERGY register has overflowed this bit is set to 1.
|
||||
#define INA23X_APOL (1 << 12) // Alert Polarity bit sets the Alert pin polarity.
|
||||
#define INA23X_SLOWALER (1 << 13) // ALERT function is asserted on the completed averaged value. This gives the flexibility to delay the ALERT after the averaged value.
|
||||
#define INA23X_CNVR (1 << 14) // Setting this bit high configures the Alert pin to be asserted when the Conversion Ready Flag (bit 1) is asserted, indicating that a conversion cycle has completed
|
||||
#define INA23X_ALATCH (1 << 15) // When the Alert Latch Enable bit is set to Transparent mode, the Alert pin and Flag bit reset to the idle state when the fault has been
|
||||
// cleared. When the Alert Latch Enable bit is set to Latch mode, the Alert pin and Alert Flag bit remain active following a fault until
|
||||
// the DIAG_ALRT Register has been read.
|
||||
|
||||
/* Shunt Overvoltage Threshold (SOVL) 16-bit Register (Address = Ch) [reset = 7FFFh] */ |
||||
|
||||
#define INA23X_SOVL_SHIFTS (0) |
||||
#define INA23X_SOVL_MASK (0xffff << INA23X_SOVL_SHIFTS) |
||||
|
||||
/* Shunt Undervoltage Threshold (SUVL) 16-bit Register (Address = Dh) [reset = 8000h] */ |
||||
|
||||
#define INA23X_SUVL_SHIFTS (0) |
||||
#define INA23X_SUVL_MASK (0xffff << INA23X_SUVL_SHIFTS) |
||||
|
||||
/* Bus Overvoltage Threshold (BOVL) 16-bit Register (Address = Eh) [reset = 7FFFh] */ |
||||
|
||||
#define INA23X_BOVL_SHIFTS (0) |
||||
#define INA23X_BOVL_MASK (0xffff << INA23X_BOVL_SHIFTS) |
||||
|
||||
/* Bus Undervoltage Threshold (BUVL) 16-bit Register (Address = Fh) [reset = 0h] */ |
||||
|
||||
#define INA23X_BUVL_SHIFTS (0) |
||||
#define INA23X_BUVL_MASK (0xffff << INA23X_BUVL_SHIFTS) |
||||
|
||||
/* Temperature Over-Limit Threshold (TEMP_LIMIT) 16-bit Register (Address = 10h) [reset = 7FFFh */ |
||||
|
||||
#define INA23X_TEMP_LIMIT_SHIFTS (0) |
||||
#define INA23X_TEMP_LIMIT_MASK (0xffff << INA23X_TEMP_LIMIT_SHIFTS) |
||||
|
||||
/* Power Over-Limit Threshold (PWR_LIMIT) 16-bit Register (Address = 11h) [reset = FFFFh] */ |
||||
|
||||
#define INA23X_POWER_LIMIT_SHIFTS (0) |
||||
#define INA23X_POWER_LIMIT_MASK (0xffff << INA23X_POWER_LIMIT_SHIFTS) |
||||
|
||||
/* Manufacturer ID (MANUFACTURER_ID) 16-bit Register (Address = 3Eh) [reset = 5449h] */ |
||||
|
||||
/* Device ID (DEVICE_ID) 16-bit Register (Address = 3Fh) [reset = 23X0h] */ |
||||
|
||||
#define INA23X_DEVICE_REV_ID_SHIFTS (0) |
||||
#define INA23X_DEVICE_REV_ID_MASK (0xf << INA23X_DEVICE_REV_ID_SHIFTS) |
||||
#define INA23X_DEVICEREV_ID(v) (((v) & INA23X_DEVICE_REV_ID_MASK) >> INA23X_DEVICE_REV_ID_SHIFTS) |
||||
#define INA23X_DEVICE_ID_SHIFTS (4) |
||||
#define INA23X_DEVICE_ID_MASK (0xfff << INA23X_DEVICE_ID_SHIFTS) |
||||
#define INA23X_DEVICEID(v) (((v) & INA23X_DEVICE_ID_MASK) >> INA23X_DEVICE_ID_SHIFTS) |
||||
|
||||
#define INA23X_SAMPLE_FREQUENCY_HZ 10 |
||||
#define INA23X_SAMPLE_INTERVAL_US (1_s / INA23X_SAMPLE_FREQUENCY_HZ) |
||||
#define INA23X_CONVERSION_INTERVAL (INA23X_SAMPLE_INTERVAL_US - 7) |
||||
#define INA23X_DN_MAX 32768.0f /* 2^15 */ |
||||
#define INA23X_CONST 819.2e6f /* is an internal fixed value used to ensure scaling is maintained properly */ |
||||
#define INA23X_VSCALE 3.125e-03f /* LSB of voltage is 3.1255 mV/LSB */ |
||||
|
||||
|
||||
#define DEFAULT_MAX_CURRENT 327.68f /* Amps */ |
||||
#define DEFAULT_SHUNT 0.0003f /* Shunt is 300 uOhm */ |
||||
|
||||
#define swap16(w) __builtin_bswap16((w)) |
||||
#define swap32(d) __builtin_bswap32((d)) |
||||
#define swap64(q) __builtin_bswap64((q)) |
||||
|
||||
class INA23X : public device::I2C, public ModuleParams, public I2CSPIDriver<INA23X> |
||||
{ |
||||
public: |
||||
INA23X(const I2CSPIDriverConfig &config, int battery_index); |
||||
virtual ~INA23X(); |
||||
|
||||
static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance); |
||||
static void print_usage(); |
||||
|
||||
void RunImpl(); |
||||
|
||||
int init() override; |
||||
|
||||
/**
|
||||
* Tries to call the init() function. If it fails, then it will schedule to retry again in |
||||
* INA23X_INIT_RETRY_INTERVAL_US microseconds. It will keep retrying at this interval until initialization succeeds. |
||||
* |
||||
* @return PX4_OK if initialization succeeded on the first try. Negative value otherwise. |
||||
*/ |
||||
int force_init(); |
||||
|
||||
/**
|
||||
* Diagnostics - print some basic information about the driver. |
||||
*/ |
||||
void print_status() override; |
||||
|
||||
protected: |
||||
int probe() override; |
||||
|
||||
private: |
||||
bool _sensor_ok{false}; |
||||
unsigned int _measure_interval{0}; |
||||
bool _collect_phase{false}; |
||||
bool _initialized{false}; |
||||
|
||||
perf_counter_t _sample_perf; |
||||
perf_counter_t _comms_errors; |
||||
perf_counter_t _collection_errors; |
||||
perf_counter_t _measure_errors; |
||||
|
||||
// Configuration state, computed from params
|
||||
float _max_current; |
||||
float _rshunt; |
||||
float _current_lsb; |
||||
uint16_t _config; |
||||
int16_t _range; |
||||
bool _mode_triggered; |
||||
|
||||
actuator_controls_s _actuator_controls{}; |
||||
|
||||
Battery _battery; |
||||
uORB::Subscription _actuators_sub{ORB_ID(actuator_controls_0)}; |
||||
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; |
||||
|
||||
int read(uint8_t address, uint16_t &data); |
||||
int write(uint8_t address, uint16_t data); |
||||
|
||||
int read(uint8_t address, int16_t &data) |
||||
{ |
||||
return read(address, (uint16_t &)data); |
||||
} |
||||
|
||||
int write(uint8_t address, int16_t data) |
||||
{ |
||||
return write(address, (uint16_t)data); |
||||
} |
||||
|
||||
/**
|
||||
* Initialise the automatic measurement state machine and start it. |
||||
* |
||||
* @note This function is called at open and error time. It might make sense |
||||
* to make it more aggressive about resetting the bus in case of errors. |
||||
*/ |
||||
void start(); |
||||
|
||||
int measure(); |
||||
int collect(); |
||||
|
||||
}; |
||||
@ -0,0 +1,130 @@
@@ -0,0 +1,130 @@
|
||||
/****************************************************************************
|
||||
* |
||||
* Copyright (C) 2021 PX4 Development Team. All rights reserved. |
||||
* |
||||
* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
||||
* |
||||
* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
||||
* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
||||
* the documentation and/or other materials provided with the |
||||
* distribution. |
||||
* 3. Neither the name PX4 nor the names of its contributors may be |
||||
* used to endorse or promote products derived from this software |
||||
* without specific prior written permission. |
||||
* |
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||||
* POSSIBILITY OF SUCH DAMAGE. |
||||
* |
||||
****************************************************************************/ |
||||
#include <px4_platform_common/getopt.h> |
||||
#include <px4_platform_common/module.h> |
||||
|
||||
#include "ina23X.h" |
||||
|
||||
I2CSPIDriverBase *INA23X::instantiate(const I2CSPIDriverConfig &config, int runtime_instance) |
||||
{ |
||||
INA23X *instance = new INA23X(config, config.custom1); |
||||
|
||||
if (instance == nullptr) { |
||||
PX4_ERR("alloc failed"); |
||||
return nullptr; |
||||
} |
||||
|
||||
if (config.keep_running) { |
||||
if (instance->force_init() != PX4_OK) { |
||||
PX4_INFO("Failed to init INA23X on bus %d, but will try again periodically.", config.bus); |
||||
} |
||||
|
||||
} else if (instance->init() != PX4_OK) { |
||||
delete instance; |
||||
return nullptr; |
||||
} |
||||
|
||||
return instance; |
||||
} |
||||
|
||||
void |
||||
INA23X::print_usage() |
||||
{ |
||||
PRINT_MODULE_DESCRIPTION( |
||||
R"DESCR_STR( |
||||
### Description |
||||
Driver for the INA23X power monitor. |
||||
|
||||
Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address. |
||||
|
||||
For example, one instance can run on Bus 2, address 0x45, and one can run on Bus 2, address 0x45. |
||||
|
||||
If the INA23X module is not powered, then by default, initialization of the driver will fail. To change this, use |
||||
the -f flag. If this flag is set, then if initialization fails, the driver will keep trying to initialize again |
||||
every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without |
||||
this flag set, the battery must be plugged in before starting the driver. |
||||
|
||||
)DESCR_STR"); |
||||
|
||||
PRINT_MODULE_USAGE_NAME("ina23X", "driver"); |
||||
|
||||
PRINT_MODULE_USAGE_COMMAND("start"); |
||||
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false); |
||||
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x45); |
||||
PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG(); |
||||
PRINT_MODULE_USAGE_PARAM_INT('t', 1, 1, 2, "battery index for calibration values (1 or 2)", true); |
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); |
||||
} |
||||
|
||||
extern "C" int |
||||
ina23X_main(int argc, char *argv[]) |
||||
{ |
||||
int ch; |
||||
using ThisDriver = INA23X; |
||||
BusCLIArguments cli{true, false}; |
||||
cli.i2c_address = INA23X_BASEADDR; |
||||
cli.default_i2c_frequency = 100000; |
||||
cli.support_keep_running = true; |
||||
cli.custom1 = 1; |
||||
|
||||
while ((ch = cli.getOpt(argc, argv, "t:")) != EOF) { |
||||
switch (ch) { |
||||
case 't': // battery index
|
||||
cli.custom1 = (int)strtol(cli.optArg(), NULL, 0); |
||||
break; |
||||
} |
||||
} |
||||
|
||||
const char *verb = cli.optArg(); |
||||
if (!verb) { |
||||
ThisDriver::print_usage(); |
||||
return -1; |
||||
} |
||||
|
||||
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_POWER_DEVTYPE_INA23X); |
||||
|
||||
if (!strcmp(verb, "start")) { |
||||
return ThisDriver::module_start(cli, iterator); |
||||
} |
||||
|
||||
if (!strcmp(verb, "stop")) { |
||||
return ThisDriver::module_stop(iterator); |
||||
} |
||||
|
||||
if (!strcmp(verb, "status")) { |
||||
return ThisDriver::module_status(iterator); |
||||
} |
||||
|
||||
ThisDriver::print_usage(); |
||||
return -1; |
||||
} |
||||
@ -0,0 +1,76 @@
@@ -0,0 +1,76 @@
|
||||
/****************************************************************************
|
||||
* |
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved. |
||||
* |
||||
* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
||||
* |
||||
* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
||||
* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
||||
* the documentation and/or other materials provided with the |
||||
* distribution. |
||||
* 3. Neither the name PX4 nor the names of its contributors may be |
||||
* used to endorse or promote products derived from this software |
||||
* without specific prior written permission. |
||||
* |
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||||
* POSSIBILITY OF SUCH DAMAGE. |
||||
* |
||||
****************************************************************************/ |
||||
|
||||
/**
|
||||
* Enable INA23X Power Monitor |
||||
* |
||||
* For systems a INA23X Power Monitor, this should be set to true |
||||
* |
||||
* @group Sensors |
||||
* @boolean |
||||
* @reboot_required true |
||||
*/ |
||||
PARAM_DEFINE_INT32(SENS_EN_INA23X, 0); |
||||
|
||||
/**
|
||||
* INA23X Power Monitor Config |
||||
* |
||||
* @group Sensors |
||||
* @min 0 |
||||
* @max 65535 |
||||
* @decimal 1 |
||||
* @increment 1 |
||||
*/ |
||||
PARAM_DEFINE_INT32(INA23X_CONFIG, 63779); |
||||
|
||||
/**
|
||||
* INA23X Power Monitor Max Current |
||||
* |
||||
* @group Sensors |
||||
* @min 0.1 |
||||
* @max 327.68 |
||||
* @decimal 2 |
||||
* @increment 0.1 |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(INA23X_CURRENT, 327.68f); |
||||
|
||||
/**
|
||||
* INA23X Power Monitor Shunt |
||||
* |
||||
* @group Sensors |
||||
* @min 0.000000001 |
||||
* @max 0.1 |
||||
* @decimal 10 |
||||
* @increment .000000001 |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(INA23X_SHUNT, 0.0003f); |
||||
Loading…
Reference in new issue