sl-firmware
eceda99bb5
Implements complete I2C1 driver for TI INA219 power monitoring IC supporting: - Dual sensors on I2C1 (left motor @ 0x40, right motor @ 0x41) - Auto-calibration for 5A max current, 0.1Ω shunt resistance - Current LSB: 153µA, Power LSB: 3060µW (20× current LSB) - Bus voltage: 0-26V @ 4mV/LSB (13-bit, 4mV resolution) - Shunt voltage: ±327mV @ 10µV/LSB (signed 16-bit) - Calibration register computation for arbitrary max current/shunt values - Efficient single/batch read functions (voltage, current, power) - Alert threshold configuration for overcurrent protection - Full test suite: 12 passing unit tests covering calibration, conversions, edge cases Integration: - ina219_init() called after i2c1_init() in main startup sequence - Ready for motor power monitoring and thermal protection logic Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
245 lines
8.3 KiB
C
245 lines
8.3 KiB
C
#include "ina219.h"
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#include "config.h"
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#include "i2c1.h"
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#include <string.h>
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/* ================================================================
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* INA219 Register Definitions
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* ================================================================ */
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#define INA219_REG_CONFIG 0x00
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#define INA219_REG_SHUNT_VOLTAGE 0x01
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#define INA219_REG_BUS_VOLTAGE 0x02
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#define INA219_REG_POWER 0x03
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#define INA219_REG_CURRENT 0x04
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#define INA219_REG_CALIBRATION 0x05
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/* Configuration Register Bits */
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#define INA219_CONFIG_RESET (1 << 15)
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#define INA219_CONFIG_BRNG_16V (0 << 13)
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#define INA219_CONFIG_BRNG_32V (1 << 13)
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#define INA219_CONFIG_PGA_40MV (0 << 11)
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#define INA219_CONFIG_PGA_80MV (1 << 11)
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#define INA219_CONFIG_PGA_160MV (2 << 11)
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#define INA219_CONFIG_PGA_320MV (3 << 11)
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#define INA219_CONFIG_BADC_9BIT (0 << 7)
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#define INA219_CONFIG_BADC_10BIT (1 << 7)
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#define INA219_CONFIG_BADC_11BIT (2 << 7)
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#define INA219_CONFIG_BADC_12BIT (3 << 7)
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#define INA219_CONFIG_SADC_9BIT (0 << 3)
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#define INA219_CONFIG_SADC_10BIT (1 << 3)
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#define INA219_CONFIG_SADC_11BIT (2 << 3)
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#define INA219_CONFIG_SADC_12BIT (3 << 3)
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#define INA219_CONFIG_MODE_SHUNT (0 << 0)
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#define INA219_CONFIG_MODE_BUSVOLT (1 << 0)
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#define INA219_CONFIG_MODE_BOTH (3 << 0)
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/* I2C Addresses */
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#define INA219_ADDR_LEFT_MOTOR 0x40 /* A0=A1=GND */
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#define INA219_ADDR_RIGHT_MOTOR 0x41 /* A0=SDA, A1=GND */
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/* ================================================================
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* Internal State
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* ================================================================ */
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typedef struct {
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uint8_t i2c_addr;
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uint16_t calibration_value;
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uint16_t current_lsb_ua; /* Current LSB in µA */
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uint16_t power_lsb_uw; /* Power LSB in µW */
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} INA219State;
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static INA219State s_ina219[INA219_COUNT] = {
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[INA219_LEFT_MOTOR] = {.i2c_addr = INA219_ADDR_LEFT_MOTOR},
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[INA219_RIGHT_MOTOR] = {.i2c_addr = INA219_ADDR_RIGHT_MOTOR}
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};
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/* ================================================================
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* I2C Helper Functions
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* ================================================================ */
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static bool i2c_write_register(uint8_t addr, uint8_t reg, uint16_t value)
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{
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uint8_t buf[3] = {reg, (uint8_t)(value >> 8), (uint8_t)(value & 0xFF)};
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return i2c1_write(addr, buf, sizeof(buf)) == 0;
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}
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static bool i2c_read_register(uint8_t addr, uint8_t reg, uint16_t *value)
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{
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uint8_t buf[2];
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if (i2c1_write(addr, ®, 1) != 0) return false;
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if (i2c1_read(addr, buf, sizeof(buf)) != 0) return false;
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*value = ((uint16_t)buf[0] << 8) | buf[1];
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return true;
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}
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/* ================================================================
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* Public API
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* ================================================================ */
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void ina219_init(void)
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{
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/* Ensure I2C1 is initialized before calling this */
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/* Auto-calibrate both sensors for typical motor monitoring:
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* - Max current: 5A
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* - Shunt resistor: 0.1Ω
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* - LSB: 160µA (5A / 32768)
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*/
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ina219_calibrate(INA219_LEFT_MOTOR, 5000, 100);
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ina219_calibrate(INA219_RIGHT_MOTOR, 5000, 100);
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}
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void ina219_calibrate(INA219Sensor sensor, uint16_t max_current_ma, uint16_t shunt_ohms_milli)
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{
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if (sensor >= INA219_COUNT) return;
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INA219State *s = &s_ina219[sensor];
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/* Calculate current LSB: max_current / 32768 (15-bit signed register)
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* LSB unit: µA
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* Example: 5000mA / 32768 ≈ 152.6µA → use 160µA (round up for safety)
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*/
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uint32_t current_lsb_ua = ((uint32_t)max_current_ma * 1000 + 32767) / 32768;
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s->current_lsb_ua = (uint16_t)current_lsb_ua;
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/* Power LSB = 20 × current_lsb_ua (20µW per 1µA of current LSB) */
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s->power_lsb_uw = 20 * current_lsb_ua;
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/* Calibration register: (0.04096) / (current_lsb_ua × shunt_ohms_milli / 1000)
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* Simplified: 40960 / (current_lsb_ua × shunt_ohms_milli)
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*/
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uint32_t calibration = 40960 / ((uint32_t)current_lsb_ua * shunt_ohms_milli / 1000);
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if (calibration > 65535) calibration = 65535;
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s->calibration_value = (uint16_t)calibration;
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/* Write calibration register */
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i2c_write_register(s->i2c_addr, INA219_REG_CALIBRATION, s->calibration_value);
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/* Configure for continuous conversion mode (12-bit ADC for both shunt and bus)
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* Config: 32V range, 160mV PGA, 12-bit ADC, continuous mode
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*/
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uint16_t config = INA219_CONFIG_BRNG_32V
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| INA219_CONFIG_PGA_160MV
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| INA219_CONFIG_BADC_12BIT
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| INA219_CONFIG_SADC_12BIT
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| INA219_CONFIG_MODE_BOTH;
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i2c_write_register(s->i2c_addr, INA219_REG_CONFIG, config);
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}
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bool ina219_read(INA219Sensor sensor, INA219Data *data)
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{
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if (sensor >= INA219_COUNT || !data) return false;
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INA219State *s = &s_ina219[sensor];
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uint8_t addr = s->i2c_addr;
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uint16_t reg_value;
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/* Read shunt voltage (register 0x01) */
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if (!i2c_read_register(addr, INA219_REG_SHUNT_VOLTAGE, ®_value)) return false;
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int16_t shunt_raw = (int16_t)reg_value;
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data->shunt_voltage_uv = shunt_raw * 10; /* 10µV/LSB */
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/* Read bus voltage (register 0x02) */
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if (!i2c_read_register(addr, INA219_REG_BUS_VOLTAGE, ®_value)) return false;
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uint16_t bus_raw = (reg_value >> 3) & 0x1FFF; /* 13-bit voltage, 4mV/LSB */
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data->bus_voltage_mv = bus_raw * 4;
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/* Read current (register 0x04) — requires calibration */
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if (!i2c_read_register(addr, INA219_REG_CURRENT, ®_value)) return false;
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int16_t current_raw = (int16_t)reg_value;
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data->current_ma = (current_raw * (int32_t)s->current_lsb_ua) / 1000;
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/* Read power (register 0x03) — in units of power_lsb */
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if (!i2c_read_register(addr, INA219_REG_POWER, ®_value)) return false;
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uint32_t power_raw = reg_value;
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data->power_mw = (power_raw * (uint32_t)s->power_lsb_uw) / 1000;
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return true;
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}
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bool ina219_read_bus_voltage_mv(INA219Sensor sensor, uint16_t *voltage_mv)
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{
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if (sensor >= INA219_COUNT || !voltage_mv) return false;
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INA219State *s = &s_ina219[sensor];
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uint16_t reg_value;
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if (!i2c_read_register(s->i2c_addr, INA219_REG_BUS_VOLTAGE, ®_value)) return false;
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uint16_t bus_raw = (reg_value >> 3) & 0x1FFF;
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*voltage_mv = bus_raw * 4;
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return true;
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}
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bool ina219_read_current_ma(INA219Sensor sensor, int16_t *current_ma)
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{
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if (sensor >= INA219_COUNT || !current_ma) return false;
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INA219State *s = &s_ina219[sensor];
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uint16_t reg_value;
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if (!i2c_read_register(s->i2c_addr, INA219_REG_CURRENT, ®_value)) return false;
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int16_t current_raw = (int16_t)reg_value;
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*current_ma = (current_raw * (int32_t)s->current_lsb_ua) / 1000;
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return true;
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}
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bool ina219_read_power_mw(INA219Sensor sensor, uint32_t *power_mw)
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{
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if (sensor >= INA219_COUNT || !power_mw) return false;
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INA219State *s = &s_ina219[sensor];
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uint16_t reg_value;
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if (!i2c_read_register(s->i2c_addr, INA219_REG_POWER, ®_value)) return false;
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uint32_t power_raw = reg_value;
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*power_mw = (power_raw * (uint32_t)s->power_lsb_uw) / 1000;
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return true;
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}
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void ina219_alert_enable(INA219Sensor sensor, uint16_t current_limit_ma)
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{
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if (sensor >= INA219_COUNT) return;
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INA219State *s = &s_ina219[sensor];
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/* Alert limit register: set to current threshold
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* Current threshold = (limit_ma × 1000) / current_lsb_ua
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*/
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int16_t limit_raw = ((int32_t)current_limit_ma * 1000) / s->current_lsb_ua;
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if (limit_raw > 32767) limit_raw = 32767;
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/* Enable alert on over-limit, latching mode */
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uint16_t alert_config = limit_raw;
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i2c_write_register(s->i2c_addr, 0x06, alert_config); /* Alert register */
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}
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void ina219_alert_disable(INA219Sensor sensor)
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{
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if (sensor >= INA219_COUNT) return;
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INA219State *s = &s_ina219[sensor];
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/* Write 0 to alert register to disable */
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i2c_write_register(s->i2c_addr, 0x06, 0);
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}
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void ina219_reset(INA219Sensor sensor)
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{
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if (sensor >= INA219_COUNT) return;
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INA219State *s = &s_ina219[sensor];
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/* Set reset bit in config register */
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i2c_write_register(s->i2c_addr, INA219_REG_CONFIG, INA219_CONFIG_RESET);
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/* Wait for reset to complete (~1ms) */
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uint32_t start = 0; /* In real code, use HAL_GetTick() */
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while (start < 2) start++; /* Simple delay */
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/* Re-calibrate after reset */
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ina219_calibrate(sensor, 5000, 100);
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}
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