Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_BattMonitor_config.h"
       4             : 
       5             : #if AP_BATTERY_INA3221_ENABLED
       6             : 
       7             : /*
       8             :  *
       9             :  * Datasheet: https://www.ti.com/lit/ds/symlink/ina3221.pdf?ts=1597369254046
      10             :  */
      11             : 
      12             : // The INA3221 takes two measurements for each channel: one for shunt voltage
      13             : // and one for bus voltage. Each measurement can be independently or
      14             : // sequentially measured, based on the mode setting (bits 2-0 in the
      15             : // Configuration register). When the INA3221 is in normal operating mode
      16             : // (that is, the MODE bits of the Configuration register are set to 111), the
      17             : // device continuously converts a shunt-voltage reading followed by a
      18             : // bus-voltage reading. This procedure converts one channel, and then continues
      19             : // to the shunt voltage reading of the next enabled channel, followed by the
      20             : // bus-voltage reading for that channel, and so on, until all enabled channels
      21             : // have been measured. The programmed Configuration register mode setting
      22             : // applies to all channels. Any channels that are not enabled are bypassed in
      23             : // the measurement sequence, regardless of mode setting.
      24             : 
      25             : 
      26             : // 8.3.3 Software Reset
      27             : // The INA3221 features a software reset that reinitializes the device and
      28             : // register settings to default power-up values without having to cycle power
      29             : // to the device. Use bit 15 (RST) of the Configuration register to perform a
      30             : // software reset. Setting RST reinitializes all registers and settings to the
      31             : // default power state with the exception of the power-valid output state. If a
      32             : // software reset is issued, the INA3221 holds the output of the PV pin until
      33             : // the power-valid detection sequence completes. The Power-Valid UpperLimit and
      34             : // Power-Valid Lowerlimit registers return to the default state when the
      35             : // software reset has been issued. Therefore, any reprogrammed limit registers
      36             : // are reset, resulting in the original power-valid thresholds validating the
      37             : // power-valid conditions. This architecture prevents interruption to circuitry
      38             : // connected to the powervalid output during a software reset event.
      39             : 
      40             : // The INA3221 has programmable conversion times for both the shunt- and
      41             : // bus-voltage measurements. The selectable conversion times for these
      42             : // measurements range from 140μs to 8.244ms.
      43             : 
      44             : 
      45             : #include "AP_BattMonitor.h"
      46             : #include "AP_BattMonitor_Backend.h"
      47             : 
      48             : #ifndef HAL_BATTMON_INA3221_MAX_DEVICES
      49             : #define HAL_BATTMON_INA3221_MAX_DEVICES 1
      50             : #endif
      51             : 
      52             : class AP_BattMonitor_INA3221 : public AP_BattMonitor_Backend
      53             : {
      54             : public:
      55             :     /// Constructor
      56             :     AP_BattMonitor_INA3221(AP_BattMonitor &mon,
      57             :                            AP_BattMonitor::BattMonitor_State &mon_state,
      58             :                            AP_BattMonitor_Params &params);
      59             : 
      60             :     void init() override;
      61             : 
      62             :     /// Read the battery voltage and current.  Should be called at 10hz
      63             :     void read() override;
      64             : 
      65        1392 :     bool has_current() const override {
      66        1392 :         return true;
      67             :     }
      68             : 
      69             :     static const struct AP_Param::GroupInfo var_info[];
      70             : 
      71             : private:
      72             : 
      73             :     AP_Int8 i2c_bus;
      74             :     AP_Int8 i2c_address;
      75             :     AP_Int8 channel;
      76             : 
      77             :     static struct AddressDriver {
      78             :         bool read_register(uint8_t addr, uint16_t &ret);
      79             :         bool write_register(uint8_t addr, uint16_t val);
      80             :         bool write_config(void);
      81             :         void timer(void);
      82             :         void register_timer();
      83             : 
      84             :         AP_HAL::I2CDevice *dev;
      85             :         uint8_t bus;
      86             :         uint8_t address;
      87             :         uint8_t channel_mask;
      88             :         uint8_t dev_channel_mask;
      89             : 
      90             :         struct StateList {
      91             :             struct StateList *next;
      92             :             HAL_Semaphore sem;
      93             :             uint8_t channel;
      94             : 
      95             :             bool healthy;
      96             :             float voltage;
      97             :             float current_amps;
      98             :             float delta_mah;
      99             :             float delta_wh;
     100             :             uint32_t last_time_micros;
     101             :         };
     102             :         StateList *statelist;
     103             : 
     104             :     } address_driver[HAL_BATTMON_INA3221_MAX_DEVICES];
     105             :     static uint8_t address_driver_count;
     106             : 
     107             :     AddressDriver::StateList *address_driver_state;
     108             : };
     109             : 
     110             : #endif  // AP_BATTERY_INA3221_ENABLED