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drivers/power_monitor: Implement temperature sensor support for INA228 / INA238

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This commit is contained in:
Alexander Lerach
2024-09-05 23:09:01 -04:00
committed by GitHub
parent f98eb067be
commit 3d36c8519d
8 changed files with 71 additions and 51 deletions
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src/drivers/power_monitor/ina228/ina228.cpp
+4
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@@ -88,6 +88,7 @@ INA228::INA228(const I2CSPIDriverConfig &config, int battery_index) :
_battery.setConnected(false);
_battery.updateVoltage(0.f);
_battery.updateCurrent(0.f);
_battery.updateTemperature(0.f);
_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
}
@@ -306,6 +307,7 @@ INA228::collect()
// success = success && (read(INA228_REG_POWER, _power) == PX4_OK);
success = success && (read(INA228_REG_CURRENT, _current) == PX4_OK);
//success = success && (read(INA228_REG_VSHUNT, _shunt) == PX4_OK);
success = success && (read(INA228_REG_DIETEMP, _temperature) == PX4_OK);
if (!success) {
PX4_DEBUG("error reading from sensor");
@@ -315,6 +317,7 @@ INA228::collect()
_battery.setConnected(success);
_battery.updateVoltage(static_cast<float>(_bus_voltage * INA228_VSCALE));
_battery.updateCurrent(static_cast<float>(_current * _current_lsb));
_battery.updateTemperature(static_cast<float>(_temperature * INA228_TSCALE));
_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
perf_end(_sample_perf);
@@ -381,6 +384,7 @@ INA228::RunImpl()
_battery.setConnected(false);
_battery.updateVoltage(0.f);
_battery.updateCurrent(0.f);
_battery.updateTemperature(0.f);
_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
if (init() != PX4_OK) {
src/drivers/power_monitor/ina228/ina228.h
+2
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@@ -291,6 +291,7 @@ using namespace time_literals;
#define INA228_CONST 13107.2e6f /* is an internal fixed value used to ensure scaling is maintained properly */
#define INA228_SHUNT 0.0005f /* Shunt is 500 uOhm */
#define INA228_VSCALE 1.95e-04f /* LSB of voltage is 195.3125 uV/LSB */
#define INA228_TSCALE 7.8125e-03f /* LSB of temperature is 7.8125 mDegC/LSB */
#define swap16(w) __builtin_bswap16((w))
#define swap32(d) __builtin_bswap32((d))
@@ -339,6 +340,7 @@ private:
int32_t _bus_voltage{0};
int64_t _power{0};
int32_t _current{0};
int16_t _temperature{0};
int32_t _shunt{0};
int16_t _cal{0};
int16_t _range{INA228_ADCRANGE_HIGH};
src/drivers/power_monitor/ina238/ina238.cpp
+5
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@@ -80,6 +80,7 @@ INA238::INA238(const I2CSPIDriverConfig &config, int battery_index) :
_battery.setConnected(false);
_battery.updateVoltage(0.f);
_battery.updateCurrent(0.f);
_battery.updateTemperature(0.f);
_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
}
@@ -224,9 +225,11 @@ int INA238::collect()
bool success{true};
int16_t bus_voltage{0};
int16_t current{0};
int16_t temperature{0};
success = (RegisterRead(Register::VS_BUS, (uint16_t &)bus_voltage) == PX4_OK);
success = success && (RegisterRead(Register::CURRENT, (uint16_t &)current) == PX4_OK);
success = success && (RegisterRead(Register::DIETEMP, (uint16_t &)temperature) == PX4_OK);
if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
// check configuration registers periodically or immediately following any failure
@@ -250,6 +253,7 @@ int INA238::collect()
_battery.setConnected(success);
_battery.updateVoltage(static_cast<float>(bus_voltage * INA238_VSCALE));
_battery.updateCurrent(static_cast<float>(current * _current_lsb));
_battery.updateTemperature(static_cast<float>(temperature * INA238_TSCALE));
_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
perf_end(_sample_perf);
@@ -309,6 +313,7 @@ void INA238::RunImpl()
_battery.setConnected(false);
_battery.updateVoltage(0.f);
_battery.updateCurrent(0.f);
_battery.updateTemperature(0.f);
_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
if (init() != PX4_OK) {
src/drivers/power_monitor/ina238/ina238.h
+1
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@@ -73,6 +73,7 @@ using namespace ina238;
#define INA238_DN_MAX 32768.0f /* 2^15 */
#define INA238_CONST 819.2e6f /* is an internal fixed value used to ensure scaling is maintained properly */
#define INA238_VSCALE 3.125e-03f /* LSB of voltage is 3.1255 mV/LSB */
#define INA238_TSCALE 7.8125e-03f /* LSB of temperature is 7.8125 mDegC/LSB */
#define DEFAULT_MAX_CURRENT 327.68f /* Amps */
#define DEFAULT_SHUNT 0.0003f /* Shunt is 300 uOhm */
src/drivers/power_monitor/ina238/ina238_registers.hpp
+1
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@@ -14,6 +14,7 @@ enum class Register : uint8_t {
ADCCONFIG = 0x01, // ADC Configuration Register
SHUNT_CAL = 0x02, // Shunt Calibration Register
VS_BUS = 0x05,
DIETEMP = 0x06,
CURRENT = 0x07,
MANUFACTURER_ID = 0x3e,
DEVICE_ID = 0x3f
src/lib/battery/battery.cpp
+6 -1
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@@ -106,6 +106,11 @@ void Battery::updateCurrent(const float current_a)
_current_a = current_a;
}
void Battery::updateTemperature(const float temperature_c)
{
_temperature_c = temperature_c;
}
void Battery::updateBatteryStatus(const hrt_abstime &timestamp)
{
// Require minimum voltage otherwise override connected status
@@ -149,7 +154,7 @@ battery_status_s Battery::getBatteryStatus()
battery_status.remaining = _state_of_charge;
battery_status.scale = _scale;
battery_status.time_remaining_s = computeRemainingTime(_current_a);
battery_status.temperature = NAN;
battery_status.temperature = _temperature_c;
battery_status.cell_count = _params.n_cells;
battery_status.connected = _connected;
battery_status.source = _source;
src/lib/battery/battery.h
+2
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@@ -91,6 +91,7 @@ public:
void setStateOfCharge(const float soc) { _state_of_charge = soc; _external_state_of_charge = true; }
void updateVoltage(const float voltage_v);
void updateCurrent(const float current_a);
void updateTemperature(const float temperature_c);
/**
* Update state of charge calculations
@@ -168,6 +169,7 @@ private:
float _current_a{-1};
AlphaFilter<float>
_current_average_filter_a; ///< averaging filter for current. For FW, it is the current in level flight.
float _temperature_c{NAN};
float _discharged_mah{0.f};
float _discharged_mah_loop{0.f};
float _state_of_charge_volt_based{-1.f}; // [0,1]