amiro-lld / drivers / INA219 / v1 / alld_INA219.c @ 15f74f80
History | View | Annotate | Download (13.098 KB)
| 1 | d6728c5b | Thomas Schöpping | /*
|
|---|---|---|---|
| 2 | AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
|
||
| 3 | f125ae07 | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 4 | d6728c5b | Thomas Schöpping | |
| 5 | This program is free software: you can redistribute it and/or modify
|
||
| 6 | f0ca400f | Thomas Schöpping | it under the terms of the GNU Lesser General Public License as published by
|
| 7 | d6728c5b | Thomas Schöpping | the Free Software Foundation, either version 3 of the License, or
|
| 8 | (at your option) any later version.
|
||
| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
|
||
| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
| 13 | f0ca400f | Thomas Schöpping | GNU Lesser General Public License for more details.
|
| 14 | d6728c5b | Thomas Schöpping | |
| 15 | f0ca400f | Thomas Schöpping | You should have received a copy of the GNU Lesser General Public License
|
| 16 | d6728c5b | Thomas Schöpping | along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 | */
|
||
| 18 | |||
| 19 | 5e2f673b | Marc Rothmann | /**
|
| 20 | 9466e34d | Thomas Schöpping | * @file alld_INA219.c
|
| 21 | 5e2f673b | Marc Rothmann | * @brief Power Monitor function implementations
|
| 22 | *
|
||
| 23 | * @addtogroup lld_power
|
||
| 24 | * @{
|
||
| 25 | */
|
||
| 26 | |||
| 27 | 1d5bcc82 | Thomas Schöpping | #include <alld_INA219.h> |
| 28 | d6728c5b | Thomas Schöpping | |
| 29 | ef078306 | Thomas Schöpping | /******************************************************************************/
|
| 30 | /* LOCAL DEFINITIONS */
|
||
| 31 | /******************************************************************************/
|
||
| 32 | |||
| 33 | /******************************************************************************/
|
||
| 34 | /* EXPORTED VARIABLES */
|
||
| 35 | /******************************************************************************/
|
||
| 36 | |||
| 37 | /******************************************************************************/
|
||
| 38 | /* LOCAL TYPES */
|
||
| 39 | /******************************************************************************/
|
||
| 40 | |||
| 41 | /******************************************************************************/
|
||
| 42 | /* LOCAL VARIABLES */
|
||
| 43 | /******************************************************************************/
|
||
| 44 | |||
| 45 | /******************************************************************************/
|
||
| 46 | /* LOCAL FUNCTIONS */
|
||
| 47 | /******************************************************************************/
|
||
| 48 | |||
| 49 | /******************************************************************************/
|
||
| 50 | /* EXPORTED FUNCTIONS */
|
||
| 51 | /******************************************************************************/
|
||
| 52 | |||
| 53 | d6728c5b | Thomas Schöpping | /**
|
| 54 | * @brief Read the value of one or more of the registers.
|
||
| 55 | * @param[in] i2cd i2c driver
|
||
| 56 | * @param[in] inad ina219 driver
|
||
| 57 | * @param[in] addr register address
|
||
| 58 | * @param[out] data register content
|
||
| 59 | * @param[in] num number of subsequent registers to read
|
||
| 60 | * @param[in] timeout timeout
|
||
| 61 | * @return An indicator whether the call was successfull
|
||
| 62 | */
|
||
| 63 | 21076167 | Thomas Schöpping | apalExitStatus_t ina219_lld_read_register(const INA219Driver* const ina219, const ina219_lld_register_t addr, uint16_t* const data, const uint8_t num, const apalTime_t timeout) |
| 64 | d6728c5b | Thomas Schöpping | {
|
| 65 | apalDbgAssert(ina219 != NULL);
|
||
| 66 | apalDbgAssert(ina219->i2cd != NULL);
|
||
| 67 | apalDbgAssert(data != NULL);
|
||
| 68 | |||
| 69 | uint8_t buffer[num*2];
|
||
| 70 | apalExitStatus_t status = apalI2CMasterTransmit(ina219->i2cd, (INA219_LLD_I2C_ADDR_FIXED | ina219->addr), (uint8_t*)&addr, 1, buffer, 2*num, timeout); |
||
| 71 | for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) { |
||
| 72 | data[dataIdx] = (buffer[2*dataIdx] << 8) | buffer[2*dataIdx+1]; |
||
| 73 | } |
||
| 74 | return status;
|
||
| 75 | } |
||
| 76 | |||
| 77 | /**
|
||
| 78 | * @brief Write the value of one or more of the registers.
|
||
| 79 | * @param[in] i2cd i2c driver
|
||
| 80 | * @param[in] inad ina219 driver
|
||
| 81 | * @param[in] addr register address
|
||
| 82 | * @param[in] data data to write
|
||
| 83 | * @param[in] num number of subsequent registers to read
|
||
| 84 | * @param[in] timeout timeout
|
||
| 85 | * @return An indicator whether the call was successfull
|
||
| 86 | */
|
||
| 87 | 21076167 | Thomas Schöpping | apalExitStatus_t ina219_lld_write_register(const INA219Driver* const ina219, const ina219_lld_register_t addr, const uint16_t* const data, const uint8_t num, const apalTime_t timeout) |
| 88 | d6728c5b | Thomas Schöpping | {
|
| 89 | apalDbgAssert(ina219 != NULL);
|
||
| 90 | apalDbgAssert(ina219->i2cd != NULL);
|
||
| 91 | apalDbgAssert(data != NULL);
|
||
| 92 | |||
| 93 | uint8_t buffer[1+2*num]; |
||
| 94 | buffer[0] = addr;
|
||
| 95 | for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) { |
||
| 96 | buffer[dataIdx*2+1] = data[dataIdx] >> 8; |
||
| 97 | buffer[dataIdx*2+2] = data[dataIdx] & (0x00FFu); |
||
| 98 | } |
||
| 99 | return apalI2CMasterTransmit(ina219->i2cd, (INA219_LLD_I2C_ADDR_FIXED | ina219->addr), buffer, 1+2*num, NULL, 0, timeout); |
||
| 100 | } |
||
| 101 | |||
| 102 | /**
|
||
| 103 | * @brief Calibrate the ina219.
|
||
| 104 | * @param[in] i2cd i2c driver
|
||
| 105 | * @param[in] inad APAL_STATUS_SUCCESS;
|
||
| 106 | * @param[in] calib_in calibration input data
|
||
| 107 | * @param[out] calib_out output of the calibration
|
||
| 108 | * @param[in] timeout timeout
|
||
| 109 | * @return An indicator whether the call was successfull
|
||
| 110 | */
|
||
| 111 | 21076167 | Thomas Schöpping | apalExitStatus_t ina219_lld_calibration(INA219Driver* const ina219, const ina219_lld_calib_input_t* const calib_in, ina219_lld_calib_output_t* const calib_out) |
| 112 | d6728c5b | Thomas Schöpping | {
|
| 113 | apalDbgAssert(ina219 != NULL);
|
||
| 114 | apalDbgAssert(calib_in != NULL);
|
||
| 115 | apalDbgAssert(calib_out != NULL);
|
||
| 116 | |||
| 117 | uint16_t current_lsb_uA = calib_in->current_lsb_uA; |
||
| 118 | if (current_lsb_uA < calib_in->max_expected_current_A / 0.032768f) { |
||
| 119 | current_lsb_uA = calib_in->max_expected_current_A / 0.032768f; |
||
| 120 | } else if (current_lsb_uA > calib_in->max_expected_current_A / 0.004096f) { |
||
| 121 | current_lsb_uA = calib_in->max_expected_current_A / 0.004096f; |
||
| 122 | } |
||
| 123 | |||
| 124 | uint16_t calib_value = (uint16_t) (40960 / (current_lsb_uA * calib_in->shunt_resistance_0));
|
||
| 125 | |||
| 126 | float V_shunt_max;
|
||
| 127 | switch (calib_in->cfg_reg.options.gain) {
|
||
| 128 | case INA219_LLD_GAIN_1_40mV:
|
||
| 129 | V_shunt_max = 0.04f; |
||
| 130 | break;
|
||
| 131 | case INA219_LLD_GAIN_2_80mV:
|
||
| 132 | V_shunt_max = 0.08f; |
||
| 133 | break;
|
||
| 134 | case INA219_LLD_GAIN_4_160mV:
|
||
| 135 | V_shunt_max = 0.16f; |
||
| 136 | break;
|
||
| 137 | case INA219_LLD_GAIN_8_320mV:
|
||
| 138 | V_shunt_max = 0.32f; |
||
| 139 | break;
|
||
| 140 | } |
||
| 141 | |||
| 142 | calib_out->max_current_before_overflow_A = (current_lsb_uA * 0.032767f >= V_shunt_max /calib_in->shunt_resistance_0) ? |
||
| 143 | V_shunt_max / calib_in->shunt_resistance_0 : |
||
| 144 | current_lsb_uA * 0.032767f; |
||
| 145 | calib_out->max_shunt_voltage_before_overflow_V = |
||
| 146 | ((calib_out->max_current_before_overflow_A * calib_in->shunt_resistance_0) >= V_shunt_max) ? |
||
| 147 | V_shunt_max : |
||
| 148 | calib_out->max_current_before_overflow_A * calib_in->shunt_resistance_0; |
||
| 149 | |||
| 150 | calib_out->current_lsb_uA = current_lsb_uA; |
||
| 151 | calib_out->calibration = calib_value; |
||
| 152 | |||
| 153 | ina219->current_lsb_uA = current_lsb_uA; |
||
| 154 | |||
| 155 | return APAL_STATUS_SUCCESS;
|
||
| 156 | } |
||
| 157 | |||
| 158 | /**
|
||
| 159 | * @brief Read the current configuration.
|
||
| 160 | * @param[in] i2cd i2c driver
|
||
| 161 | * @param[in] inad ina219 driver
|
||
| 162 | * @param[out] cfg current configuration
|
||
| 163 | * @param[in] timeout timeout
|
||
| 164 | * @return An indicator whether the call was successfull
|
||
| 165 | */
|
||
| 166 | 21076167 | Thomas Schöpping | apalExitStatus_t ina219_lld_read_config(const INA219Driver* const ina219, ina219_lld_cfg_t* const cfg, const apalTime_t timeout) |
| 167 | d6728c5b | Thomas Schöpping | {
|
| 168 | apalDbgAssert(ina219 != NULL);
|
||
| 169 | apalDbgAssert(cfg != NULL);
|
||
| 170 | |||
| 171 | return ina219_lld_read_register(ina219, INA219_LLD_REGISTER_CONFIGURATION, &cfg->data, 1, timeout); |
||
| 172 | } |
||
| 173 | |||
| 174 | /**
|
||
| 175 | * @brief Write a new configuration.
|
||
| 176 | * @param[in] i2cd i2c driver
|
||
| 177 | * @param[in] inad ina219 driver
|
||
| 178 | * @param[in] cfg new configuration
|
||
| 179 | * @param[in] timeout timeout
|
||
| 180 | * @return An indicator whether the call was successfull
|
||
| 181 | */
|
||
| 182 | 21076167 | Thomas Schöpping | apalExitStatus_t ina219_lld_write_config(const INA219Driver* const ina219, ina219_lld_cfg_t cfg, const apalTime_t timeout) |
| 183 | d6728c5b | Thomas Schöpping | {
|
| 184 | apalDbgAssert(ina219 != NULL);
|
||
| 185 | |||
| 186 | return ina219_lld_write_register(ina219, INA219_LLD_REGISTER_CONFIGURATION, &cfg.data, 1, timeout); |
||
| 187 | } |
||
| 188 | |||
| 189 | /**
|
||
| 190 | * @brief Read the current calibration value.
|
||
| 191 | * @param[in] i2cd i2c driver
|
||
| 192 | * @param[in] inad ina219 driver
|
||
| 193 | * @param[out] calib current calibration value
|
||
| 194 | * @param[in] timeout timeout
|
||
| 195 | * @return An indicator whether the call was successfull
|
||
| 196 | */
|
||
| 197 | 21076167 | Thomas Schöpping | apalExitStatus_t ina219_lld_read_calibration(const INA219Driver* const ina219, uint16_t* const calib, const apalTime_t timeout) |
| 198 | d6728c5b | Thomas Schöpping | {
|
| 199 | apalDbgAssert(ina219 != NULL);
|
||
| 200 | apalDbgAssert(calib != NULL);
|
||
| 201 | |||
| 202 | return ina219_lld_read_register(ina219, INA219_LLD_REGISTER_CALIBRATION, calib, 1, timeout); |
||
| 203 | } |
||
| 204 | |||
| 205 | /**
|
||
| 206 | * @brief Write a new calibration value.
|
||
| 207 | * @param[in] i2cd i2c driver
|
||
| 208 | * @param[in] inad ina219 driver
|
||
| 209 | * @param[in] calib new calibration value
|
||
| 210 | * @param[in] timeout timeout
|
||
| 211 | * @return An indicator whether the call was successfull
|
||
| 212 | */
|
||
| 213 | 21076167 | Thomas Schöpping | apalExitStatus_t ina219_lld_write_calibration(const INA219Driver* const ina219, const uint16_t calib, const apalTime_t timeout) |
| 214 | d6728c5b | Thomas Schöpping | {
|
| 215 | apalDbgAssert(ina219 != NULL);
|
||
| 216 | |||
| 217 | return ina219_lld_write_register(ina219, INA219_LLD_REGISTER_CALIBRATION, &calib, 1, timeout); |
||
| 218 | } |
||
| 219 | |||
| 220 | /**
|
||
| 221 | * @brief Reset the ina219.
|
||
| 222 | * @param[in] i2cd i2c driver
|
||
| 223 | * @param[in] inad ina219 driver
|
||
| 224 | * @param[in] timeout timeout
|
||
| 225 | * @return An indicator whether the call was successfull
|
||
| 226 | */
|
||
| 227 | 21076167 | Thomas Schöpping | apalExitStatus_t ina219_lld_reset(const INA219Driver* const ina219, const apalTime_t timeout) |
| 228 | d6728c5b | Thomas Schöpping | {
|
| 229 | apalDbgAssert(ina219 != NULL);
|
||
| 230 | |||
| 231 | uint16_t data = 0x8000;
|
||
| 232 | return ina219_lld_write_register(ina219, INA219_LLD_REGISTER_CONFIGURATION, &data, 1, timeout); |
||
| 233 | } |
||
| 234 | |||
| 235 | /**
|
||
| 236 | * @brief Read the current shunt voltage (uV).
|
||
| 237 | * @param[in] i2cd i2c driver
|
||
| 238 | * @param[in] inad ina219 driver
|
||
| 239 | * @param[out] data shunt voltage
|
||
| 240 | * @param[in] timeout timeout
|
||
| 241 | * @return An indicator whether the call was successfull
|
||
| 242 | */
|
||
| 243 | 21076167 | Thomas Schöpping | apalExitStatus_t ina219_lld_read_shunt_voltage(const INA219Driver* const ina219, int32_t* const data, const apalTime_t timeout) |
| 244 | d6728c5b | Thomas Schöpping | {
|
| 245 | apalDbgAssert(ina219 != NULL);
|
||
| 246 | apalDbgAssert(data != NULL);
|
||
| 247 | |||
| 248 | uint16_t buffer = 0;
|
||
| 249 | apalExitStatus_t status = ina219_lld_read_register(ina219, INA219_LLD_REGISTER_SHUNT_VOLTAGE, &buffer, 1, timeout);
|
||
| 250 | |||
| 251 | switch (ina219->config->options.gain) {
|
||
| 252 | case INA219_LLD_GAIN_8_320mV:
|
||
| 253 | *data = (int32_t)(buffer & 0x7FFFu) * ((buffer & 0x8000u) ? -10 : 10); |
||
| 254 | break;
|
||
| 255 | case INA219_LLD_GAIN_4_160mV:
|
||
| 256 | *data = (int32_t)(buffer & 0x3FFFu) * ((buffer & 0xC000u) ? -10 : 10); |
||
| 257 | break;
|
||
| 258 | case INA219_LLD_GAIN_2_80mV:
|
||
| 259 | *data = (int32_t)(buffer & 0x1FFFu) * ((buffer & 0xE000u) ? -10 : 10); |
||
| 260 | break;
|
||
| 261 | case INA219_LLD_GAIN_1_40mV:
|
||
| 262 | *data = (int32_t)(buffer & 0x0FFFu) * ((buffer & 0xF000u) ? -10 : 10); |
||
| 263 | break;
|
||
| 264 | } |
||
| 265 | |||
| 266 | return status;
|
||
| 267 | } |
||
| 268 | |||
| 269 | /**
|
||
| 270 | * @brief Read the current bus voltage (uV).
|
||
| 271 | * @param[in] i2cd i2c driver
|
||
| 272 | * @param[in] inad ina219 driver
|
||
| 273 | * @param[out] data bus voltage
|
||
| 274 | * @param[in] timeout timeout
|
||
| 275 | * @return An indicator whether the call was successfull
|
||
| 276 | */
|
||
| 277 | 21076167 | Thomas Schöpping | apalExitStatus_t ina219_lld_read_bus_voltage(const INA219Driver* const ina219, uint32_t* const data, const apalTime_t timeout) |
| 278 | d6728c5b | Thomas Schöpping | {
|
| 279 | apalDbgAssert(ina219 != NULL);
|
||
| 280 | apalDbgAssert(data != NULL);
|
||
| 281 | |||
| 282 | uint16_t buffer = 0;
|
||
| 283 | apalExitStatus_t status = ina219_lld_read_register(ina219, INA219_LLD_REGISTER_BUS_VOLTAGE, &buffer, 1, timeout);
|
||
| 284 | if (buffer & 0x01) { |
||
| 285 | status = APAL_STATUS_ERROR; |
||
| 286 | } |
||
| 287 | *data = (uint32_t)(buffer >> 3) * 4000; |
||
| 288 | return status;
|
||
| 289 | } |
||
| 290 | |||
| 291 | /**
|
||
| 292 | * @brief Read the power (uW).
|
||
| 293 | * @param[in] i2cd i2c driver
|
||
| 294 | * @param[in] inad ina219 driver
|
||
| 295 | * @param[out] data power
|
||
| 296 | * @param[in] timeout timeout
|
||
| 297 | * @return An indicator whether the call was successfull
|
||
| 298 | */
|
||
| 299 | 21076167 | Thomas Schöpping | apalExitStatus_t ina219_lld_read_power(const INA219Driver* const ina219, uint32_t* const data, const apalTime_t timeout) |
| 300 | d6728c5b | Thomas Schöpping | {
|
| 301 | apalDbgAssert(ina219 != NULL);
|
||
| 302 | apalDbgAssert(data != NULL);
|
||
| 303 | |||
| 304 | uint16_t buffer = 0;
|
||
| 305 | apalExitStatus_t status = ina219_lld_read_register(ina219, INA219_LLD_REGISTER_POWER, &buffer, 1, timeout);
|
||
| 306 | *data = (uint32_t)buffer * 20 * ina219->current_lsb_uA;
|
||
| 307 | return status;
|
||
| 308 | } |
||
| 309 | |||
| 310 | /**
|
||
| 311 | * @brief Read the current (uA).
|
||
| 312 | * @param[in] i2cd i2c driver
|
||
| 313 | * @param[in] inad ina219 driver
|
||
| 314 | * @param[out] data current
|
||
| 315 | * @param[in] timeout timeout
|
||
| 316 | * @return An indicator whether the call was successfull
|
||
| 317 | */
|
||
| 318 | 21076167 | Thomas Schöpping | apalExitStatus_t ina219_lld_read_current(const INA219Driver* const ina219, int16_t* const data, const apalTime_t timeout) |
| 319 | d6728c5b | Thomas Schöpping | {
|
| 320 | apalDbgAssert(ina219 != NULL);
|
||
| 321 | apalDbgAssert(data != NULL);
|
||
| 322 | |||
| 323 | uint16_t buffer = 0;
|
||
| 324 | apalExitStatus_t status = ina219_lld_read_register(ina219, INA219_LLD_REGISTER_CURRENT, &buffer, 1, timeout);
|
||
| 325 | *data = ((int16_t) buffer) * ina219->current_lsb_uA; |
||
| 326 | return status;
|
||
| 327 | } |
||
| 328 | |||
| 329 | /**
|
||
| 330 | * @brief Read the bus conversion ready flag.
|
||
| 331 | * @param[in] i2cd i2c driver
|
||
| 332 | * @param[in] inad ina219 driver
|
||
| 333 | * @param[out] buscnv conversion ready flag
|
||
| 334 | * @param[in] timeout timeout
|
||
| 335 | * @return An indicator whether the call was successfull
|
||
| 336 | */
|
||
| 337 | 21076167 | Thomas Schöpping | apalExitStatus_t ina219_lld_bus_conversion_ready(const INA219Driver* const ina219, uint16_t* const buscnv, const apalTime_t timeout) |
| 338 | d6728c5b | Thomas Schöpping | {
|
| 339 | apalDbgAssert(ina219 != NULL);
|
||
| 340 | apalDbgAssert(buscnv != NULL);
|
||
| 341 | |||
| 342 | apalExitStatus_t status = ina219_lld_read_register(ina219, INA219_LLD_REGISTER_BUS_VOLTAGE, buscnv, 1, timeout);
|
||
| 343 | *buscnv >>= 1;
|
||
| 344 | *buscnv &= 1;
|
||
| 345 | return status;
|
||
| 346 | } |
||
| 347 | |||
| 348 | 5e2f673b | Marc Rothmann | /** @} */
|