amiro-lld / drivers / INA219 / v1 / alld_INA219.c @ 4dba9195
History | View | Annotate | Download (13.098 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 4 |
|
| 5 |
This program is free software: you can redistribute it and/or modify
|
| 6 |
it under the terms of the GNU Lesser General Public License as published by
|
| 7 |
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 |
GNU Lesser General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU Lesser General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
/**
|
| 20 |
* @file alld_INA219.c
|
| 21 |
* @brief Power Monitor function implementations
|
| 22 |
*
|
| 23 |
* @addtogroup lld_power
|
| 24 |
* @{
|
| 25 |
*/
|
| 26 |
|
| 27 |
#include <alld_INA219.h> |
| 28 |
|
| 29 |
/******************************************************************************/
|
| 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 |
/**
|
| 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 |
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 |
{
|
| 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 |
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 |
{
|
| 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 |
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 |
{
|
| 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 |
apalExitStatus_t ina219_lld_read_config(const INA219Driver* const ina219, ina219_lld_cfg_t* const cfg, const apalTime_t timeout) |
| 167 |
{
|
| 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 |
apalExitStatus_t ina219_lld_write_config(const INA219Driver* const ina219, ina219_lld_cfg_t cfg, const apalTime_t timeout) |
| 183 |
{
|
| 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 |
apalExitStatus_t ina219_lld_read_calibration(const INA219Driver* const ina219, uint16_t* const calib, const apalTime_t timeout) |
| 198 |
{
|
| 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 |
apalExitStatus_t ina219_lld_write_calibration(const INA219Driver* const ina219, const uint16_t calib, const apalTime_t timeout) |
| 214 |
{
|
| 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 |
apalExitStatus_t ina219_lld_reset(const INA219Driver* const ina219, const apalTime_t timeout) |
| 228 |
{
|
| 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 |
apalExitStatus_t ina219_lld_read_shunt_voltage(const INA219Driver* const ina219, int32_t* const data, const apalTime_t timeout) |
| 244 |
{
|
| 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 |
apalExitStatus_t ina219_lld_read_bus_voltage(const INA219Driver* const ina219, uint32_t* const data, const apalTime_t timeout) |
| 278 |
{
|
| 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 |
apalExitStatus_t ina219_lld_read_power(const INA219Driver* const ina219, uint32_t* const data, const apalTime_t timeout) |
| 300 |
{
|
| 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 |
apalExitStatus_t ina219_lld_read_current(const INA219Driver* const ina219, int16_t* const data, const apalTime_t timeout) |
| 319 |
{
|
| 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 |
apalExitStatus_t ina219_lld_bus_conversion_ready(const INA219Driver* const ina219, uint16_t* const buscnv, const apalTime_t timeout) |
| 338 |
{
|
| 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 |
/** @} */
|
| 349 |
|