amiro-lld / source / alld_ina219.c @ ef078306
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| 1 | d6728c5b | Thomas Schöpping | /*
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| 2 | AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | f125ae07 | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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| 4 | d6728c5b | Thomas Schöpping | |
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | f0ca400f | Thomas Schöpping | it under the terms of the GNU Lesser General Public License as published by
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| 7 | d6728c5b | Thomas Schöpping | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | f0ca400f | Thomas Schöpping | GNU Lesser General Public License for more details.
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| 14 | d6728c5b | Thomas Schöpping | |
| 15 | f0ca400f | Thomas Schöpping | You should have received a copy of the GNU Lesser General Public License
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| 16 | d6728c5b | Thomas Schöpping | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | 5e2f673b | Marc Rothmann | /**
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| 20 | * @file alld_ina219.c
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| 21 | * @brief Power Monitor function implementations
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| 22 | *
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| 23 | * @addtogroup lld_power
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| 24 | * @{
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| 25 | */
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| 26 | |||
| 27 | d6728c5b | Thomas Schöpping | #include <alld_ina219.h> |
| 28 | |||
| 29 | #if defined(AMIROLLD_CFG_USE_INA219) || defined(__DOXYGEN__)
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| 30 | |||
| 31 | ef078306 | Thomas Schöpping | /******************************************************************************/
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| 32 | /* LOCAL DEFINITIONS */
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| 33 | /******************************************************************************/
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| 34 | |||
| 35 | /******************************************************************************/
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| 36 | /* EXPORTED VARIABLES */
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| 37 | /******************************************************************************/
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| 38 | |||
| 39 | /******************************************************************************/
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| 40 | /* LOCAL TYPES */
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| 41 | /******************************************************************************/
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| 42 | |||
| 43 | /******************************************************************************/
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| 44 | /* LOCAL VARIABLES */
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| 45 | /******************************************************************************/
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| 46 | |||
| 47 | /******************************************************************************/
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| 48 | /* LOCAL FUNCTIONS */
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| 49 | /******************************************************************************/
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| 50 | |||
| 51 | /******************************************************************************/
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| 52 | /* EXPORTED FUNCTIONS */
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| 53 | /******************************************************************************/
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| 54 | |||
| 55 | d6728c5b | Thomas Schöpping | /**
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| 56 | * @brief Read the value of one or more of the registers.
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| 57 | * @param[in] i2cd i2c driver
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| 58 | * @param[in] inad ina219 driver
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| 59 | * @param[in] addr register address
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| 60 | * @param[out] data register content
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| 61 | * @param[in] num number of subsequent registers to read
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| 62 | * @param[in] timeout timeout
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| 63 | * @return An indicator whether the call was successfull
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| 64 | */
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| 65 | inline apalExitStatus_t
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| 66 | 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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| 67 | {
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| 68 | apalDbgAssert(ina219 != NULL);
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| 69 | apalDbgAssert(ina219->i2cd != NULL);
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| 70 | apalDbgAssert(data != NULL);
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| 71 | |||
| 72 | uint8_t buffer[num*2];
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| 73 | 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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| 74 | for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) { |
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| 75 | data[dataIdx] = (buffer[2*dataIdx] << 8) | buffer[2*dataIdx+1]; |
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| 76 | } |
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| 77 | return status;
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| 78 | } |
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| 79 | |||
| 80 | /**
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| 81 | * @brief Write the value of one or more of the registers.
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| 82 | * @param[in] i2cd i2c driver
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| 83 | * @param[in] inad ina219 driver
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| 84 | * @param[in] addr register address
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| 85 | * @param[in] data data to write
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| 86 | * @param[in] num number of subsequent registers to read
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| 87 | * @param[in] timeout timeout
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| 88 | * @return An indicator whether the call was successfull
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| 89 | */
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| 90 | inline apalExitStatus_t
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| 91 | 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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| 92 | {
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| 93 | apalDbgAssert(ina219 != NULL);
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| 94 | apalDbgAssert(ina219->i2cd != NULL);
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| 95 | apalDbgAssert(data != NULL);
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| 96 | |||
| 97 | uint8_t buffer[1+2*num]; |
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| 98 | buffer[0] = addr;
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| 99 | for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) { |
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| 100 | buffer[dataIdx*2+1] = data[dataIdx] >> 8; |
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| 101 | buffer[dataIdx*2+2] = data[dataIdx] & (0x00FFu); |
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| 102 | } |
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| 103 | return apalI2CMasterTransmit(ina219->i2cd, (INA219_LLD_I2C_ADDR_FIXED | ina219->addr), buffer, 1+2*num, NULL, 0, timeout); |
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| 104 | } |
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| 105 | |||
| 106 | /**
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| 107 | * @brief Calibrate the ina219.
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| 108 | * @param[in] i2cd i2c driver
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| 109 | * @param[in] inad APAL_STATUS_SUCCESS;
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| 110 | * @param[in] calib_in calibration input data
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| 111 | * @param[out] calib_out output of the calibration
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| 112 | * @param[in] timeout timeout
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| 113 | * @return An indicator whether the call was successfull
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| 114 | */
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| 115 | inline apalExitStatus_t
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| 116 | 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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| 117 | {
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| 118 | apalDbgAssert(ina219 != NULL);
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| 119 | apalDbgAssert(calib_in != NULL);
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| 120 | apalDbgAssert(calib_out != NULL);
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| 121 | |||
| 122 | uint16_t current_lsb_uA = calib_in->current_lsb_uA; |
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| 123 | if (current_lsb_uA < calib_in->max_expected_current_A / 0.032768f) { |
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| 124 | current_lsb_uA = calib_in->max_expected_current_A / 0.032768f; |
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| 125 | } else if (current_lsb_uA > calib_in->max_expected_current_A / 0.004096f) { |
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| 126 | current_lsb_uA = calib_in->max_expected_current_A / 0.004096f; |
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| 127 | } |
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| 128 | |||
| 129 | uint16_t calib_value = (uint16_t) (40960 / (current_lsb_uA * calib_in->shunt_resistance_0));
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| 130 | |||
| 131 | float V_shunt_max;
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| 132 | switch (calib_in->cfg_reg.options.gain) {
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| 133 | case INA219_LLD_GAIN_1_40mV:
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| 134 | V_shunt_max = 0.04f; |
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| 135 | break;
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| 136 | case INA219_LLD_GAIN_2_80mV:
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| 137 | V_shunt_max = 0.08f; |
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| 138 | break;
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| 139 | case INA219_LLD_GAIN_4_160mV:
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| 140 | V_shunt_max = 0.16f; |
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| 141 | break;
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| 142 | case INA219_LLD_GAIN_8_320mV:
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| 143 | V_shunt_max = 0.32f; |
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| 144 | break;
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| 145 | } |
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| 146 | |||
| 147 | calib_out->max_current_before_overflow_A = (current_lsb_uA * 0.032767f >= V_shunt_max /calib_in->shunt_resistance_0) ? |
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| 148 | V_shunt_max / calib_in->shunt_resistance_0 : |
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| 149 | current_lsb_uA * 0.032767f; |
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| 150 | calib_out->max_shunt_voltage_before_overflow_V = |
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| 151 | ((calib_out->max_current_before_overflow_A * calib_in->shunt_resistance_0) >= V_shunt_max) ? |
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| 152 | V_shunt_max : |
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| 153 | calib_out->max_current_before_overflow_A * calib_in->shunt_resistance_0; |
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| 154 | |||
| 155 | calib_out->current_lsb_uA = current_lsb_uA; |
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| 156 | calib_out->calibration = calib_value; |
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| 157 | |||
| 158 | ina219->current_lsb_uA = current_lsb_uA; |
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| 159 | |||
| 160 | return APAL_STATUS_SUCCESS;
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| 161 | } |
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| 162 | |||
| 163 | /**
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| 164 | * @brief Read the current configuration.
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| 165 | * @param[in] i2cd i2c driver
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| 166 | * @param[in] inad ina219 driver
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| 167 | * @param[out] cfg current configuration
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| 168 | * @param[in] timeout timeout
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| 169 | * @return An indicator whether the call was successfull
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| 170 | */
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| 171 | inline apalExitStatus_t
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| 172 | ina219_lld_read_config(const INA219Driver* const ina219, ina219_lld_cfg_t* const cfg, const apalTime_t timeout) |
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| 173 | {
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| 174 | apalDbgAssert(ina219 != NULL);
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| 175 | apalDbgAssert(cfg != NULL);
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| 176 | |||
| 177 | return ina219_lld_read_register(ina219, INA219_LLD_REGISTER_CONFIGURATION, &cfg->data, 1, timeout); |
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| 178 | } |
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| 179 | |||
| 180 | /**
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| 181 | * @brief Write a new configuration.
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| 182 | * @param[in] i2cd i2c driver
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| 183 | * @param[in] inad ina219 driver
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| 184 | * @param[in] cfg new configuration
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| 185 | * @param[in] timeout timeout
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| 186 | * @return An indicator whether the call was successfull
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| 187 | */
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| 188 | inline apalExitStatus_t
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| 189 | ina219_lld_write_config(const INA219Driver* const ina219, ina219_lld_cfg_t cfg, const apalTime_t timeout) |
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| 190 | {
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| 191 | apalDbgAssert(ina219 != NULL);
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| 192 | |||
| 193 | return ina219_lld_write_register(ina219, INA219_LLD_REGISTER_CONFIGURATION, &cfg.data, 1, timeout); |
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| 194 | } |
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| 195 | |||
| 196 | /**
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| 197 | * @brief Read the current calibration value.
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| 198 | * @param[in] i2cd i2c driver
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| 199 | * @param[in] inad ina219 driver
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| 200 | * @param[out] calib current calibration value
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| 201 | * @param[in] timeout timeout
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| 202 | * @return An indicator whether the call was successfull
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| 203 | */
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| 204 | inline apalExitStatus_t
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| 205 | ina219_lld_read_calibration(const INA219Driver* const ina219, uint16_t* const calib, const apalTime_t timeout) |
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| 206 | {
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| 207 | apalDbgAssert(ina219 != NULL);
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| 208 | apalDbgAssert(calib != NULL);
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| 209 | |||
| 210 | return ina219_lld_read_register(ina219, INA219_LLD_REGISTER_CALIBRATION, calib, 1, timeout); |
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| 211 | } |
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| 212 | |||
| 213 | /**
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| 214 | * @brief Write a new calibration value.
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| 215 | * @param[in] i2cd i2c driver
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| 216 | * @param[in] inad ina219 driver
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| 217 | * @param[in] calib new calibration value
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| 218 | * @param[in] timeout timeout
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| 219 | * @return An indicator whether the call was successfull
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| 220 | */
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| 221 | inline apalExitStatus_t
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| 222 | ina219_lld_write_calibration(const INA219Driver* const ina219, const uint16_t calib, const apalTime_t timeout) |
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| 223 | {
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| 224 | apalDbgAssert(ina219 != NULL);
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| 225 | |||
| 226 | return ina219_lld_write_register(ina219, INA219_LLD_REGISTER_CALIBRATION, &calib, 1, timeout); |
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| 227 | } |
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| 228 | |||
| 229 | /**
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| 230 | * @brief Reset the ina219.
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| 231 | * @param[in] i2cd i2c driver
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| 232 | * @param[in] inad ina219 driver
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| 233 | * @param[in] timeout timeout
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| 234 | * @return An indicator whether the call was successfull
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| 235 | */
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| 236 | inline apalExitStatus_t
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| 237 | ina219_lld_reset(const INA219Driver* const ina219, const apalTime_t timeout) |
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| 238 | {
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| 239 | apalDbgAssert(ina219 != NULL);
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| 240 | |||
| 241 | uint16_t data = 0x8000;
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| 242 | return ina219_lld_write_register(ina219, INA219_LLD_REGISTER_CONFIGURATION, &data, 1, timeout); |
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| 243 | } |
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| 244 | |||
| 245 | /**
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| 246 | * @brief Read the current shunt voltage (uV).
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| 247 | * @param[in] i2cd i2c driver
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| 248 | * @param[in] inad ina219 driver
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| 249 | * @param[out] data shunt voltage
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| 250 | * @param[in] timeout timeout
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| 251 | * @return An indicator whether the call was successfull
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| 252 | */
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| 253 | inline apalExitStatus_t
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| 254 | ina219_lld_read_shunt_voltage(const INA219Driver* const ina219, int32_t* const data, const apalTime_t timeout) |
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| 255 | {
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| 256 | apalDbgAssert(ina219 != NULL);
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| 257 | apalDbgAssert(data != NULL);
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| 258 | |||
| 259 | uint16_t buffer = 0;
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| 260 | apalExitStatus_t status = ina219_lld_read_register(ina219, INA219_LLD_REGISTER_SHUNT_VOLTAGE, &buffer, 1, timeout);
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| 261 | |||
| 262 | switch (ina219->config->options.gain) {
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| 263 | case INA219_LLD_GAIN_8_320mV:
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| 264 | *data = (int32_t)(buffer & 0x7FFFu) * ((buffer & 0x8000u) ? -10 : 10); |
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| 265 | break;
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| 266 | case INA219_LLD_GAIN_4_160mV:
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| 267 | *data = (int32_t)(buffer & 0x3FFFu) * ((buffer & 0xC000u) ? -10 : 10); |
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| 268 | break;
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| 269 | case INA219_LLD_GAIN_2_80mV:
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| 270 | *data = (int32_t)(buffer & 0x1FFFu) * ((buffer & 0xE000u) ? -10 : 10); |
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| 271 | break;
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| 272 | case INA219_LLD_GAIN_1_40mV:
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| 273 | *data = (int32_t)(buffer & 0x0FFFu) * ((buffer & 0xF000u) ? -10 : 10); |
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| 274 | break;
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| 275 | } |
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| 276 | |||
| 277 | return status;
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| 278 | } |
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| 279 | |||
| 280 | /**
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| 281 | * @brief Read the current bus voltage (uV).
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| 282 | * @param[in] i2cd i2c driver
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| 283 | * @param[in] inad ina219 driver
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| 284 | * @param[out] data bus voltage
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| 285 | * @param[in] timeout timeout
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| 286 | * @return An indicator whether the call was successfull
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| 287 | */
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| 288 | inline apalExitStatus_t
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| 289 | ina219_lld_read_bus_voltage(const INA219Driver* const ina219, uint32_t* const data, const apalTime_t timeout) |
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| 290 | {
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| 291 | apalDbgAssert(ina219 != NULL);
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| 292 | apalDbgAssert(data != NULL);
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| 293 | |||
| 294 | uint16_t buffer = 0;
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| 295 | apalExitStatus_t status = ina219_lld_read_register(ina219, INA219_LLD_REGISTER_BUS_VOLTAGE, &buffer, 1, timeout);
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| 296 | if (buffer & 0x01) { |
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| 297 | status = APAL_STATUS_ERROR; |
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| 298 | } |
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| 299 | *data = (uint32_t)(buffer >> 3) * 4000; |
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| 300 | return status;
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| 301 | } |
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| 302 | |||
| 303 | /**
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| 304 | * @brief Read the power (uW).
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| 305 | * @param[in] i2cd i2c driver
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| 306 | * @param[in] inad ina219 driver
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| 307 | * @param[out] data power
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| 308 | * @param[in] timeout timeout
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| 309 | * @return An indicator whether the call was successfull
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| 310 | */
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| 311 | inline apalExitStatus_t
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| 312 | ina219_lld_read_power(const INA219Driver* const ina219, uint32_t* const data, const apalTime_t timeout) |
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| 313 | {
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| 314 | apalDbgAssert(ina219 != NULL);
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| 315 | apalDbgAssert(data != NULL);
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| 316 | |||
| 317 | uint16_t buffer = 0;
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| 318 | apalExitStatus_t status = ina219_lld_read_register(ina219, INA219_LLD_REGISTER_POWER, &buffer, 1, timeout);
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| 319 | *data = (uint32_t)buffer * 20 * ina219->current_lsb_uA;
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| 320 | return status;
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| 321 | } |
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| 322 | |||
| 323 | /**
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| 324 | * @brief Read the current (uA).
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| 325 | * @param[in] i2cd i2c driver
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| 326 | * @param[in] inad ina219 driver
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| 327 | * @param[out] data current
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| 328 | * @param[in] timeout timeout
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| 329 | * @return An indicator whether the call was successfull
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| 330 | */
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| 331 | inline apalExitStatus_t
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| 332 | ina219_lld_read_current(const INA219Driver* const ina219, int16_t* const data, const apalTime_t timeout) |
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| 333 | {
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| 334 | apalDbgAssert(ina219 != NULL);
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| 335 | apalDbgAssert(data != NULL);
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| 336 | |||
| 337 | uint16_t buffer = 0;
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| 338 | apalExitStatus_t status = ina219_lld_read_register(ina219, INA219_LLD_REGISTER_CURRENT, &buffer, 1, timeout);
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| 339 | *data = ((int16_t) buffer) * ina219->current_lsb_uA; |
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| 340 | return status;
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| 341 | } |
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| 342 | |||
| 343 | /**
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| 344 | * @brief Read the bus conversion ready flag.
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| 345 | * @param[in] i2cd i2c driver
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| 346 | * @param[in] inad ina219 driver
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| 347 | * @param[out] buscnv conversion ready flag
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| 348 | * @param[in] timeout timeout
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| 349 | * @return An indicator whether the call was successfull
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| 350 | */
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| 351 | inline apalExitStatus_t
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| 352 | ina219_lld_bus_conversion_ready(const INA219Driver* const ina219, uint16_t* const buscnv, const apalTime_t timeout) |
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| 353 | {
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| 354 | apalDbgAssert(ina219 != NULL);
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| 355 | apalDbgAssert(buscnv != NULL);
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| 356 | |||
| 357 | apalExitStatus_t status = ina219_lld_read_register(ina219, INA219_LLD_REGISTER_BUS_VOLTAGE, buscnv, 1, timeout);
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| 358 | *buscnv >>= 1;
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| 359 | *buscnv &= 1;
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| 360 | return status;
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| 361 | } |
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| 362 | |||
| 363 | #endif /* defined(AMIROLLD_CFG_USE_INA219) */ |
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| 364 | 5e2f673b | Marc Rothmann | |
| 365 | /** @} */ |