amiro-lld / source / alld_ina219.c @ e2db16a4
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/*
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AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2018 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <alld_ina219.h> |
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#if defined(AMIROLLD_CFG_USE_INA219) || defined(__DOXYGEN__)
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/**
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* @brief Read the value of one or more of the registers.
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* @param[in] i2cd i2c driver
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* @param[in] inad ina219 driver
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* @param[in] addr register address
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* @param[out] data register content
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* @param[in] num number of subsequent registers to read
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* @param[in] timeout timeout
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* @return An indicator whether the call was successfull
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*/
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inline apalExitStatus_t
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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) |
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{
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apalDbgAssert(ina219 != NULL);
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apalDbgAssert(ina219->i2cd != NULL);
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apalDbgAssert(data != NULL);
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uint8_t buffer[num*2];
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apalExitStatus_t status = apalI2CMasterTransmit(ina219->i2cd, (INA219_LLD_I2C_ADDR_FIXED | ina219->addr), (uint8_t*)&addr, 1, buffer, 2*num, timeout); |
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for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) { |
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data[dataIdx] = (buffer[2*dataIdx] << 8) | buffer[2*dataIdx+1]; |
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} |
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return status;
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} |
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/**
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* @brief Write the value of one or more of the registers.
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* @param[in] i2cd i2c driver
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* @param[in] inad ina219 driver
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* @param[in] addr register address
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* @param[in] data data to write
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* @param[in] num number of subsequent registers to read
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* @param[in] timeout timeout
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* @return An indicator whether the call was successfull
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*/
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inline apalExitStatus_t
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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) |
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{
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apalDbgAssert(ina219 != NULL);
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apalDbgAssert(ina219->i2cd != NULL);
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apalDbgAssert(data != NULL);
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uint8_t buffer[1+2*num]; |
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buffer[0] = addr;
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for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) { |
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buffer[dataIdx*2+1] = data[dataIdx] >> 8; |
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buffer[dataIdx*2+2] = data[dataIdx] & (0x00FFu); |
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} |
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return apalI2CMasterTransmit(ina219->i2cd, (INA219_LLD_I2C_ADDR_FIXED | ina219->addr), buffer, 1+2*num, NULL, 0, timeout); |
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} |
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/**
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* @brief Calibrate the ina219.
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* @param[in] i2cd i2c driver
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* @param[in] inad APAL_STATUS_SUCCESS;
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* @param[in] calib_in calibration input data
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* @param[out] calib_out output of the calibration
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* @param[in] timeout timeout
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* @return An indicator whether the call was successfull
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*/
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inline apalExitStatus_t
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ina219_lld_calibration(INA219Driver* const ina219, const ina219_lld_calib_input_t* const calib_in, ina219_lld_calib_output_t* const calib_out) |
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{
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apalDbgAssert(ina219 != NULL);
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apalDbgAssert(calib_in != NULL);
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apalDbgAssert(calib_out != NULL);
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uint16_t current_lsb_uA = calib_in->current_lsb_uA; |
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if (current_lsb_uA < calib_in->max_expected_current_A / 0.032768f) { |
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current_lsb_uA = calib_in->max_expected_current_A / 0.032768f; |
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} else if (current_lsb_uA > calib_in->max_expected_current_A / 0.004096f) { |
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current_lsb_uA = calib_in->max_expected_current_A / 0.004096f; |
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} |
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uint16_t calib_value = (uint16_t) (40960 / (current_lsb_uA * calib_in->shunt_resistance_0));
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float V_shunt_max;
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switch (calib_in->cfg_reg.options.gain) {
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case INA219_LLD_GAIN_1_40mV:
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V_shunt_max = 0.04f; |
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break;
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case INA219_LLD_GAIN_2_80mV:
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V_shunt_max = 0.08f; |
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break;
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case INA219_LLD_GAIN_4_160mV:
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V_shunt_max = 0.16f; |
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break;
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case INA219_LLD_GAIN_8_320mV:
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V_shunt_max = 0.32f; |
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break;
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} |
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calib_out->max_current_before_overflow_A = (current_lsb_uA * 0.032767f >= V_shunt_max /calib_in->shunt_resistance_0) ? |
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V_shunt_max / calib_in->shunt_resistance_0 : |
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current_lsb_uA * 0.032767f; |
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calib_out->max_shunt_voltage_before_overflow_V = |
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((calib_out->max_current_before_overflow_A * calib_in->shunt_resistance_0) >= V_shunt_max) ? |
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V_shunt_max : |
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calib_out->max_current_before_overflow_A * calib_in->shunt_resistance_0; |
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calib_out->current_lsb_uA = current_lsb_uA; |
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calib_out->calibration = calib_value; |
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ina219->current_lsb_uA = current_lsb_uA; |
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return APAL_STATUS_SUCCESS;
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} |
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/**
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* @brief Read the current configuration.
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* @param[in] i2cd i2c driver
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* @param[in] inad ina219 driver
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* @param[out] cfg current configuration
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* @param[in] timeout timeout
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* @return An indicator whether the call was successfull
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*/
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inline apalExitStatus_t
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ina219_lld_read_config(const INA219Driver* const ina219, ina219_lld_cfg_t* const cfg, const apalTime_t timeout) |
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{
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apalDbgAssert(ina219 != NULL);
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apalDbgAssert(cfg != NULL);
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return ina219_lld_read_register(ina219, INA219_LLD_REGISTER_CONFIGURATION, &cfg->data, 1, timeout); |
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} |
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/**
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* @brief Write a new configuration.
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* @param[in] i2cd i2c driver
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* @param[in] inad ina219 driver
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* @param[in] cfg new configuration
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* @param[in] timeout timeout
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* @return An indicator whether the call was successfull
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*/
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inline apalExitStatus_t
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ina219_lld_write_config(const INA219Driver* const ina219, ina219_lld_cfg_t cfg, const apalTime_t timeout) |
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{
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apalDbgAssert(ina219 != NULL);
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return ina219_lld_write_register(ina219, INA219_LLD_REGISTER_CONFIGURATION, &cfg.data, 1, timeout); |
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} |
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/**
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* @brief Read the current calibration value.
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* @param[in] i2cd i2c driver
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* @param[in] inad ina219 driver
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* @param[out] calib current calibration value
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* @param[in] timeout timeout
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* @return An indicator whether the call was successfull
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*/
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inline apalExitStatus_t
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ina219_lld_read_calibration(const INA219Driver* const ina219, uint16_t* const calib, const apalTime_t timeout) |
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{
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apalDbgAssert(ina219 != NULL);
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apalDbgAssert(calib != NULL);
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return ina219_lld_read_register(ina219, INA219_LLD_REGISTER_CALIBRATION, calib, 1, timeout); |
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} |
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/**
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* @brief Write a new calibration value.
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* @param[in] i2cd i2c driver
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* @param[in] inad ina219 driver
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* @param[in] calib new calibration value
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* @param[in] timeout timeout
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* @return An indicator whether the call was successfull
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*/
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inline apalExitStatus_t
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ina219_lld_write_calibration(const INA219Driver* const ina219, const uint16_t calib, const apalTime_t timeout) |
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{
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apalDbgAssert(ina219 != NULL);
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return ina219_lld_write_register(ina219, INA219_LLD_REGISTER_CALIBRATION, &calib, 1, timeout); |
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} |
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/**
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* @brief Reset the ina219.
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* @param[in] i2cd i2c driver
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* @param[in] inad ina219 driver
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* @param[in] timeout timeout
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* @return An indicator whether the call was successfull
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*/
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inline apalExitStatus_t
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ina219_lld_reset(const INA219Driver* const ina219, const apalTime_t timeout) |
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{
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apalDbgAssert(ina219 != NULL);
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uint16_t data = 0x8000;
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return ina219_lld_write_register(ina219, INA219_LLD_REGISTER_CONFIGURATION, &data, 1, timeout); |
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} |
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/**
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* @brief Read the current shunt voltage (uV).
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* @param[in] i2cd i2c driver
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* @param[in] inad ina219 driver
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* @param[out] data shunt voltage
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* @param[in] timeout timeout
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* @return An indicator whether the call was successfull
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*/
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inline apalExitStatus_t
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ina219_lld_read_shunt_voltage(const INA219Driver* const ina219, int32_t* const data, const apalTime_t timeout) |
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{
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apalDbgAssert(ina219 != NULL);
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apalDbgAssert(data != NULL);
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uint16_t buffer = 0;
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apalExitStatus_t status = ina219_lld_read_register(ina219, INA219_LLD_REGISTER_SHUNT_VOLTAGE, &buffer, 1, timeout);
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switch (ina219->config->options.gain) {
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case INA219_LLD_GAIN_8_320mV:
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*data = (int32_t)(buffer & 0x7FFFu) * ((buffer & 0x8000u) ? -10 : 10); |
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break;
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case INA219_LLD_GAIN_4_160mV:
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*data = (int32_t)(buffer & 0x3FFFu) * ((buffer & 0xC000u) ? -10 : 10); |
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break;
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case INA219_LLD_GAIN_2_80mV:
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*data = (int32_t)(buffer & 0x1FFFu) * ((buffer & 0xE000u) ? -10 : 10); |
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break;
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case INA219_LLD_GAIN_1_40mV:
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*data = (int32_t)(buffer & 0x0FFFu) * ((buffer & 0xF000u) ? -10 : 10); |
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break;
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} |
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return status;
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} |
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/**
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* @brief Read the current bus voltage (uV).
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* @param[in] i2cd i2c driver
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* @param[in] inad ina219 driver
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* @param[out] data bus voltage
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* @param[in] timeout timeout
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* @return An indicator whether the call was successfull
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*/
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inline apalExitStatus_t
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ina219_lld_read_bus_voltage(const INA219Driver* const ina219, uint32_t* const data, const apalTime_t timeout) |
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{
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apalDbgAssert(ina219 != NULL);
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apalDbgAssert(data != NULL);
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uint16_t buffer = 0;
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apalExitStatus_t status = ina219_lld_read_register(ina219, INA219_LLD_REGISTER_BUS_VOLTAGE, &buffer, 1, timeout);
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if (buffer & 0x01) { |
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status = APAL_STATUS_ERROR; |
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} |
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*data = (uint32_t)(buffer >> 3) * 4000; |
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return status;
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} |
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/**
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* @brief Read the power (uW).
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* @param[in] i2cd i2c driver
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* @param[in] inad ina219 driver
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* @param[out] data power
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* @param[in] timeout timeout
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* @return An indicator whether the call was successfull
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*/
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inline apalExitStatus_t
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ina219_lld_read_power(const INA219Driver* const ina219, uint32_t* const data, const apalTime_t timeout) |
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{
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apalDbgAssert(ina219 != NULL);
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apalDbgAssert(data != NULL);
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uint16_t buffer = 0;
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apalExitStatus_t status = ina219_lld_read_register(ina219, INA219_LLD_REGISTER_POWER, &buffer, 1, timeout);
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*data = (uint32_t)buffer * 20 * ina219->current_lsb_uA;
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return status;
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} |
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/**
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* @brief Read the current (uA).
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* @param[in] i2cd i2c driver
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* @param[in] inad ina219 driver
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* @param[out] data current
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* @param[in] timeout timeout
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* @return An indicator whether the call was successfull
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*/
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inline apalExitStatus_t
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ina219_lld_read_current(const INA219Driver* const ina219, int16_t* const data, const apalTime_t timeout) |
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{
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apalDbgAssert(ina219 != NULL);
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apalDbgAssert(data != NULL);
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uint16_t buffer = 0;
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apalExitStatus_t status = ina219_lld_read_register(ina219, INA219_LLD_REGISTER_CURRENT, &buffer, 1, timeout);
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*data = ((int16_t) buffer) * ina219->current_lsb_uA; |
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return status;
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} |
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/**
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* @brief Read the bus conversion ready flag.
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* @param[in] i2cd i2c driver
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* @param[in] inad ina219 driver
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* @param[out] buscnv conversion ready flag
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* @param[in] timeout timeout
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* @return An indicator whether the call was successfull
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*/
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inline apalExitStatus_t
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ina219_lld_bus_conversion_ready(const INA219Driver* const ina219, uint16_t* const buscnv, const apalTime_t timeout) |
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{
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apalDbgAssert(ina219 != NULL);
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apalDbgAssert(buscnv != NULL);
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apalExitStatus_t status = ina219_lld_read_register(ina219, INA219_LLD_REGISTER_BUS_VOLTAGE, buscnv, 1, timeout);
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*buscnv >>= 1;
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*buscnv &= 1;
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return status;
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} |
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#endif /* defined(AMIROLLD_CFG_USE_INA219) */ |