diff --git a/drivers/sensors/Kconfig b/drivers/sensors/Kconfig index d3b6181e1a..285116ff79 100644 --- a/drivers/sensors/Kconfig +++ b/drivers/sensors/Kconfig @@ -206,6 +206,18 @@ config LTC4151_I2C_FREQUENCY default 400000 depends on SENSORS_LTC4151 +config SENSORS_INA219 + bool "INA219 current and voltage monitor" + default n + select I2C + ---help--- + Enable driver support for the Texas Instruments INA219 current and voltage monitor. + +config INA219_I2C_FREQUENCY + int "INA219 I2C frequency" + default 400000 + depends on SENSORS_INA219 + config SENSORS_MB7040 bool "MaxBotix MB7040 Sonar support" default n diff --git a/drivers/sensors/Make.defs b/drivers/sensors/Make.defs index a783e11c96..22c7703fb7 100644 --- a/drivers/sensors/Make.defs +++ b/drivers/sensors/Make.defs @@ -121,6 +121,10 @@ ifeq ($(CONFIG_SENSORS_LTC4151),y) CSRCS += ltc4151.c endif +ifeq ($(CONFIG_SENSORS_INA219),y) + CSRCS += ina219.c +endif + endif # CONFIG_I2C # These drivers depend on SPI support diff --git a/drivers/sensors/ina219.c b/drivers/sensors/ina219.c new file mode 100644 index 0000000000..6c322dce79 --- /dev/null +++ b/drivers/sensors/ina219.c @@ -0,0 +1,438 @@ +/**************************************************************************** + * drivers/sensors/ina219.c + * Character driver for the INA219 Power Sensor + * + * Copyright (C) 2017 Sebastien Lorquet. All rights reserved. + * Author: Sebastien Lorquet + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include +#include + +#include +#include +#include +#include + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#if !defined(CONFIG_I2C) +# error i2c support required +#endif + +#define INA219_REG_CONFIG 0 /* See below */ +#define INA219_REG_SHUNT_VOLTAGE 1 /* Shunt voltage in 10 uV units */ +#define INA219_REG_BUS_VOLTAGE 2 /* Bus votlage in 4 mV units */ +#define INA219_REG_POWER 3 /* Requires prior calibration */ +#define INA219_REG_CURRENT 4 /* Requires prior calibration */ +#define INA219_REG_CALIBRATION 5 /* Calibration value to compute current */ + +/* Operating modes - not controllable by user */ + +#define INA219_CONFIG_OPMODE_SHIFT 0 +#define INA219_CONFIG_OPMODE_MASK (7 << INA219_CONFIG_OPMODE_SHIFT) +#define INA219_CONFIG_OPMODE_PWRDOWN (0 << INA219_CONFIG_OPMODE_SHIFT) +#define INA219_CONFIG_OPMODE_STRIG (1 << INA219_CONFIG_OPMODE_SHIFT) +#define INA219_CONFIG_OPMODE_BTRIG (2 << INA219_CONFIG_OPMODE_SHIFT) +#define INA219_CONFIG_OPMODE_SBTRIG (3 << INA219_CONFIG_OPMODE_SHIFT) +#define INA219_CONFIG_OPMODE_OFF (4 << INA219_CONFIG_OPMODE_SHIFT) +#define INA219_CONFIG_OPMODE_SCONT (5 << INA219_CONFIG_OPMODE_SHIFT) +#define INA219_CONFIG_OPMODE_BCONT (6 << INA219_CONFIG_OPMODE_SHIFT) +#define INA219_CONFIG_OPMODE_SBCONT (7 << INA219_CONFIG_OPMODE_SHIFT) + +#ifndef CONFIG_INA219_I2C_FREQUENCY +# define CONFIG_INA219_I2C_FREQUENCY 400000 +#endif + +#define I2C_NOSTARTSTOP_MSGS 2 +#define I2C_NOSTARTSTOP_ADDRESS_MSG_INDEX 0 +#define I2C_NOSTARTSTOP_DATA_MSG_INDEX 1 + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +struct ina219_dev_s +{ + FAR struct i2c_master_s *i2c; /* I2C interface */ + uint8_t addr; /* I2C address */ + uint16_t config; /* INA 219 config shadow */ + int32_t shunt_resistor_value; /* micro-ohms, max 2.15 kohms */ +}; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/* I2C Helpers */ + +static int ina219_write16(FAR struct ina219_dev_s *priv, uint8_t regaddr, + FAR uint16_t regvalue); +static int ina219_read16(FAR struct ina219_dev_s *priv, uint8_t regaddr, + FAR uint16_t *regvalue); +static int ina219_readpower(FAR struct ina219_dev_s *priv, + FAR struct ina219_s *buffer); + +/* Character driver methods */ + +static int ina219_open(FAR struct file *filep); +static int ina219_close(FAR struct file *filep); +static ssize_t ina219_read(FAR struct file *filep, FAR char *buffer, + size_t buflen); +static ssize_t ina219_write(FAR struct file *filep, FAR const char *buffer, + size_t buflen); +static int ina219_ioctl(FAR struct file *filep, int cmd, + unsigned long arg); + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static const struct file_operations g_ina219fops = +{ + ina219_open, + ina219_close, + ina219_read, + ina219_write, + NULL, + ina219_ioctl +#ifndef CONFIG_DISABLE_POLL + , NULL +#endif +#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS + , NULL +#endif +}; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int ina219_access(FAR struct ina219_dev_s *priv, + uint8_t start_register_address, bool reading, + FAR uint8_t* register_value, uint8_t data_length) +{ + struct i2c_msg_s msg[I2C_NOSTARTSTOP_MSGS]; + int ret; + + msg[I2C_NOSTARTSTOP_ADDRESS_MSG_INDEX].frequency = CONFIG_INA219_I2C_FREQUENCY; + + msg[I2C_NOSTARTSTOP_ADDRESS_MSG_INDEX].addr = priv->addr; + msg[I2C_NOSTARTSTOP_ADDRESS_MSG_INDEX].flags = 0; + msg[I2C_NOSTARTSTOP_ADDRESS_MSG_INDEX].buffer = &start_register_address; + msg[I2C_NOSTARTSTOP_ADDRESS_MSG_INDEX].length = 1; + + msg[I2C_NOSTARTSTOP_DATA_MSG_INDEX].addr = msg[I2C_NOSTARTSTOP_ADDRESS_MSG_INDEX].addr; + msg[I2C_NOSTARTSTOP_DATA_MSG_INDEX].flags = reading ? I2C_M_READ : 0; + msg[I2C_NOSTARTSTOP_DATA_MSG_INDEX].buffer = register_value; + msg[I2C_NOSTARTSTOP_DATA_MSG_INDEX].length = data_length; + + ret = I2C_TRANSFER(priv->i2c, msg, I2C_NOSTARTSTOP_MSGS); + + sninfo("start_register_address: " + "0x%02X data_length: %d register_value: 0x%02x (0x%04x) ret: %d\n", + start_register_address, data_length, *register_value, + *((uint16_t*)register_value), ret); + + return ret; +} + +static int ina219_read16(FAR struct ina219_dev_s *priv, uint8_t regaddr, + FAR uint16_t* regvalue) +{ + uint8_t buf[2]; + + int ret = ina219_access(priv, regaddr, true, buf, 2); + + if (ret == 0) + { + *regvalue = ((uint16_t)buf[0] << 8) | (uint16_t)buf[1]; + } + + return ret; +} + +static int ina219_write16(FAR struct ina219_dev_s *priv, uint8_t regaddr, + FAR uint16_t regvalue) +{ + uint8_t buf[2]; + + int ret; + + buf[0] = (regvalue >> 8) & 0xff; + buf[1] = regvalue & 0xff; + + ret = ina219_access(priv, regaddr, false, buf, 2); + + return ret; +} + +/**************************************************************************** + * Name: ina219_readpower + * + * Description: + * Read the current and voltage register with special scaling + * + ****************************************************************************/ + +static int ina219_readpower(FAR struct ina219_dev_s *priv, + FAR struct ina219_s *buffer) +{ + uint16_t reg; + int64_t tmp; + + int ret; + + /* Read the raw bus voltage */ + + ret = ina219_read16(priv, INA219_REG_BUS_VOLTAGE, ®); + if (ret < 0) + { + snerr("ERROR: ina219_read16 failed: %d\n", ret); + return ret; + } + + /* Convert register value to bus voltage */ + + reg >>= 3; /* 3 LSB of reg contains status bits */ + buffer->voltage = ((uint32_t)reg) * 4000LU; + + /* Read the raw shunt voltage */ + + ret = ina219_read16(priv, INA219_REG_SHUNT_VOLTAGE, ®); + if (ret < 0) + { + snerr("ERROR: ina219_read16 failed: %d\n", ret); + return ret; + } + + /* Convert register value to shunt voltage */ + + tmp = ((int64_t)(int16_t)reg) * 10LL; /* micro volts across shunt */ + + /* Convert shunt voltage to current across the shunt resistor. + * I(uA) = U(uV)/R(ohms) + * = U(uV)/(R(uohms)/1000000) + * = U(uV) * 1000000 / R(uohms) + * We use a temporary 64-bit accumulator to avoid overflows. + */ + + tmp = tmp * 1000000LL; + tmp = tmp / (int64_t)priv->shunt_resistor_value; + + buffer->current = (int32_t)tmp; + + sninfo("Voltage: %u uV, Current: %d uA\n", + buffer->voltage, buffer->current); + + return OK; +} + +/**************************************************************************** + * Name: ina219_open + * + * Description: + * This function is called whenever the INA219 device is opened. + * + ****************************************************************************/ + +static int ina219_open(FAR struct file *filep) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct ina219_dev_s *priv = inode->i_private; + + return ina219_write16(priv, INA219_REG_CONFIG, + priv->config | INA219_CONFIG_OPMODE_SBCONT); +} + +/**************************************************************************** + * Name: ina219_close + * + * Description: + * This routine is called when the INA219 device is closed. + * + ****************************************************************************/ + +static int ina219_close(FAR struct file *filep) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct ina219_dev_s *priv = inode->i_private; + + return ina219_write16(priv, INA219_REG_CONFIG, + priv->config | INA219_CONFIG_OPMODE_OFF); +} + +/**************************************************************************** + * Name: ina219_read + ****************************************************************************/ + +static ssize_t ina219_read(FAR struct file *filep, FAR char *buffer, + size_t buflen) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct ina219_dev_s *priv = inode->i_private; + FAR struct ina219_s *ptr; + ssize_t nsamples; + int i; + int ret; + + /* How many samples were requested to get? */ + + nsamples = buflen / sizeof(struct ina219_s); + ptr = (FAR struct ina219_s *)buffer; + + sninfo("buflen: %d nsamples: %d\n", buflen, nsamples); + + /* Get the requested number of samples */ + + for (i = 0; i < nsamples; i++) + { + struct ina219_s pwr; + + /* Read the next struct ina219_s power value */ + + ret = ina219_readpower(priv, &pwr); + if (ret < 0) + { + snerr("ERROR: ina219_readpower failed: %d\n", ret); + return (ssize_t)ret; + } + + /* Save the temperature value in the user buffer */ + + *ptr++ = pwr; + } + + return nsamples * sizeof(struct ina219_s); +} + +/**************************************************************************** + * Name: ina219_write + ****************************************************************************/ + +static ssize_t ina219_write(FAR struct file *filep, FAR const char *buffer, + size_t buflen) +{ + return -ENOSYS; +} + +/**************************************************************************** + * Name: ina219_ioctl + ****************************************************************************/ + +static int ina219_ioctl(FAR struct file *filep, int cmd, unsigned long arg) +{ + return -ENOTTY; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: ina219_register + * + * Description: + * Register the INA219 character device as 'devpath' + * + * Input Parameters: + * devpath - The full path to the driver to register. E.g., "/dev/pwrmntr0" + * i2c - An instance of the I2C interface to use to communicate with INA219 + * addr - The I2C address of the INA219. + * shuntval - the shunt resistor value in micro-ohms. + * + * Returned Value: + * Zero (OK) on success; a negated errno value on failure. + * + ****************************************************************************/ + +int ina219_register(FAR const char *devpath, FAR struct i2c_master_s *i2c, + uint8_t addr, int32_t shuntval, uint16_t config) +{ + FAR struct ina219_dev_s *priv; + int ret = 0; + + /* Sanity check */ + + DEBUGASSERT(i2c != NULL); + + /* Initialize the ina219 device structure */ + + priv = (FAR struct ina219_dev_s *)kmm_malloc(sizeof(struct ina219_dev_s)); + if (priv == NULL) + { + snerr("ERROR: Failed to allocate instance\n"); + return -ENOMEM; + } + + priv->i2c = i2c; + priv->addr = addr; + priv->shunt_resistor_value = shuntval; + + /* Save the config (except opmode) */ + + priv->config = config & ~INA219_CONFIG_OPMODE_MASK; + + /* Apply config, keep chip switched off */ + + ret = ina219_write16(priv, INA219_REG_CONFIG, + priv->config | INA219_CONFIG_OPMODE_OFF); + if (ret < 0) + { + snerr("ERROR: Failed to apply config: %d\n", ret); + goto errout; + } + + /* Register the character driver */ + + ret = register_driver(devpath, &g_ina219fops, 0666, priv); + if (ret < 0) + { + snerr("ERROR: Failed to register driver: %d\n", ret); + goto errout; + } + + sninfo("(addr=0x%02x) registered at %s\n", priv->addr, devpath); + return ret; + +errout: + kmm_free(priv); + return ret; +} diff --git a/include/nuttx/sensors/ina219.h b/include/nuttx/sensors/ina219.h new file mode 100644 index 0000000000..04eac1a34b --- /dev/null +++ b/include/nuttx/sensors/ina219.h @@ -0,0 +1,144 @@ +/**************************************************************************** + * include/nuttx/sensors/ina219.h + * + * Copyright (C) 2017 Giorgio Groß. All rights reserved. + * Author: Giorgio Groß + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef __INCLUDE_NUTTX_SENSORS_INA219_H +#define __INCLUDE_NUTTX_SENSORS_INA219_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include + +#if defined(CONFIG_I2C) && defined(CONFIG_SENSORS_INA219) + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* INA219 Register Definitions ***********************************************/ +/* INA219 Config Register bits */ + +#define INA219_CONFIG_SADC_SHIFT 3 +#define INA219_CONFIG_SADC_MASK (15 << INA219_CONFIG_SADC_SHIFT) +#define INA219_CONFIG_SADC_9BIT ( 0 << INA219_CONFIG_SADC_SHIFT) +#define INA219_CONFIG_SADC_10BIT ( 1 << INA219_CONFIG_SADC_SHIFT) +#define INA219_CONFIG_SADC_11BIT ( 2 << INA219_CONFIG_SADC_SHIFT) +#define INA219_CONFIG_SADC_12BIT ( 3 << INA219_CONFIG_SADC_SHIFT) +#define INA219_CONFIG_SADC_AVG2 ( 9 << INA219_CONFIG_SADC_SHIFT) +#define INA219_CONFIG_SADC_AVG4 (10 << INA219_CONFIG_SADC_SHIFT) +#define INA219_CONFIG_SADC_AVG8 (11 << INA219_CONFIG_SADC_SHIFT) +#define INA219_CONFIG_SADC_AVG16 (12 << INA219_CONFIG_SADC_SHIFT) +#define INA219_CONFIG_SADC_AVG32 (13 << INA219_CONFIG_SADC_SHIFT) +#define INA219_CONFIG_SADC_AVG64 (14 << INA219_CONFIG_SADC_SHIFT) +#define INA219_CONFIG_SADC_AVG128 (15 << INA219_CONFIG_SADC_SHIFT) + +#define INA219_CONFIG_BADC_SHIFT 7 +#define INA219_CONFIG_BADC_MASK (15 << INA219_CONFIG_BADC_SHIFT) +#define INA219_CONFIG_BADC_9BIT ( 0 << INA219_CONFIG_BADC_SHIFT) +#define INA219_CONFIG_BADC_10BIT ( 1 << INA219_CONFIG_BADC_SHIFT) +#define INA219_CONFIG_BADC_11BIT ( 2 << INA219_CONFIG_BADC_SHIFT) +#define INA219_CONFIG_BADC_12BIT ( 3 << INA219_CONFIG_BADC_SHIFT) +#define INA219_CONFIG_BADC_AVG2 ( 9 << INA219_CONFIG_BADC_SHIFT) +#define INA219_CONFIG_BADC_AVG4 (10 << INA219_CONFIG_BADC_SHIFT) +#define INA219_CONFIG_BADC_AVG8 (11 << INA219_CONFIG_BADC_SHIFT) +#define INA219_CONFIG_BADC_AVG16 (12 << INA219_CONFIG_BADC_SHIFT) +#define INA219_CONFIG_BADC_AVG32 (13 << INA219_CONFIG_BADC_SHIFT) +#define INA219_CONFIG_BADC_AVG64 (14 << INA219_CONFIG_BADC_SHIFT) +#define INA219_CONFIG_BADC_AVG128 (15 << INA219_CONFIG_BADC_SHIFT) + +#define INA219_CONFIG_PGA_X1 (0 << 11) /* 40 mV shunt voltage range */ +#define INA219_CONFIG_PGA_X2 (1 << 11) /* 80 mV shunt voltage range */ +#define INA219_CONFIG_PGA_X4 (2 << 11) /* 160 mV shunt voltage range */ +#define INA219_CONFIG_PGA_X8 (3 << 11) /* 320 mV shunt voltage range */ + +#define INA219_CONFIG_RANGE_16V 0 +#define INA219_CONFIG_RANGE_32V (1 << 13) + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +struct i2c_master_s; + +struct ina219_s +{ + uint32_t voltage; /* [microvolt] max 4.2 kV - device max 26V */ + int32_t current; /* [microampere] max 2.1 kA - sensor is bidirectional */ +}; + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +#ifdef __cplusplus +#define EXTERN extern "C" +extern "C" +{ +#else +#define EXTERN extern +#endif + +/**************************************************************************** + * Name: ina219_register + * + * Description: + * Register the ina219 character device as 'devpath' + * + * Input Parameters: + * devpath - The full path to the driver to register. E.g., "/dev/pwrmntr0" + * i2c - An instance of the I2C interface to use to communicate with INA219 + * addr - The I2C address of the INA219. The base I2C address of the INA219 + * is 0x40. Bits 0-3 can be controlled to get 16 unique addresses from 0x40 + * through 0x4f. + * shuntval - resistor value in microohms + * config - a combination of the constants defined earlier in this file + * + * Returned Value: + * Zero (OK) on success; a negated errno value on failure. + * + ****************************************************************************/ + +int ina219_register(FAR const char *devpath, FAR struct i2c_master_s *i2c, + uint8_t addr, int32_t shuntval, uint16_t config); + +#undef EXTERN +#ifdef __cplusplus +} +#endif + +#endif /* CONFIG_I2C && CONFIG_SENSORS_INA219 */ +#endif /* __INCLUDE_NUTTX_SENSORS_INA219_H */