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

msg/BatteryStatus.msg

@@ -1,67 +1,67 @@
-uint64 timestamp			# time since system start (microseconds)
+uint64 timestamp				# time since system start (microseconds)
-bool connected				# Whether or not a battery is connected, based on a voltage threshold
+bool connected					# Whether or not a battery is connected, based on a voltage threshold
-float32 voltage_v			# Battery voltage in volts, 0 if unknown
+float32 voltage_v				# Battery voltage in volts, 0 if unknown
-float32 current_a			# Battery current in amperes, -1 if unknown
+float32 current_a				# Battery current in amperes, -1 if unknown
-float32 current_average_a	# Battery current average in amperes (for FW average in level flight), -1 if unknown
+float32 current_average_a			# Battery current average in amperes (for FW average in level flight), -1 if unknown
-float32 discharged_mah		# Discharged amount in mAh, -1 if unknown
+float32 discharged_mah				# Discharged amount in mAh, -1 if unknown
-float32 remaining			# From 1 to 0, -1 if unknown
+float32 remaining				# From 1 to 0, -1 if unknown
-float32 scale				# Power scaling factor, >= 1, or -1 if unknown
+float32 scale					# Power scaling factor, >= 1, or -1 if unknown
-float32 time_remaining_s	# predicted time in seconds remaining until battery is empty under previous averaged load, NAN if unknown
+float32 time_remaining_s			# predicted time in seconds remaining until battery is empty under previous averaged load, NAN if unknown
-float32 temperature			# temperature of the battery. NaN if unknown
+float32 temperature				# Temperature of the battery in degrees Celcius, NaN if unknown
-uint8 cell_count			# Number of cells, 0 if unknown
+uint8 cell_count				# Number of cells, 0 if unknown
 
 uint8 BATTERY_SOURCE_POWER_MODULE = 0
 uint8 BATTERY_SOURCE_EXTERNAL = 1
 uint8 BATTERY_SOURCE_ESCS = 2
-uint8 source				# Battery source
+uint8 source					# Battery source
-uint8 priority				# Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
+uint8 priority					# Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
-uint16 capacity				# actual capacity of the battery
+uint16 capacity					# actual capacity of the battery
-uint16 cycle_count			# number of discharge cycles the battery has experienced
+uint16 cycle_count				# number of discharge cycles the battery has experienced
-uint16 average_time_to_empty	# predicted remaining battery capacity based on the average rate of discharge in min
+uint16 average_time_to_empty			# predicted remaining battery capacity based on the average rate of discharge in min
-uint16 serial_number		# serial number of the battery pack
+uint16 serial_number				# serial number of the battery pack
-uint16 manufacture_date		# manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
+uint16 manufacture_date				# manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
-uint16 state_of_health		# state of health. FullChargeCapacity/DesignCapacity, 0-100%.
+uint16 state_of_health				# state of health. FullChargeCapacity/DesignCapacity, 0-100%.
-uint16 max_error			# max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
+uint16 max_error				# max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
 uint8 id					# ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed.
-uint16 interface_error		# interface error counter
+uint16 interface_error				# interface error counter
 
-float32[14] voltage_cell_v		# Battery individual cell voltages, 0 if unknown
+float32[14] voltage_cell_v			# Battery individual cell voltages, 0 if unknown
-float32 max_cell_voltage_delta	# Max difference between individual cell voltages
+float32 max_cell_voltage_delta			# Max difference between individual cell voltages
 
-bool is_powering_off			# Power off event imminent indication, false if unknown
+bool is_powering_off				# Power off event imminent indication, false if unknown
-bool is_required			# Set if the battery is explicitly required before arming
+bool is_required				# Set if the battery is explicitly required before arming
 
 
-uint8 BATTERY_WARNING_NONE = 0		# no battery low voltage warning active
+uint8 BATTERY_WARNING_NONE = 0			# no battery low voltage warning active
-uint8 BATTERY_WARNING_LOW = 1		# warning of low voltage
+uint8 BATTERY_WARNING_LOW = 1			# warning of low voltage
-uint8 BATTERY_WARNING_CRITICAL = 2	# critical voltage, return / abort immediately
+uint8 BATTERY_WARNING_CRITICAL = 2		# critical voltage, return / abort immediately
-uint8 BATTERY_WARNING_EMERGENCY = 3	# immediate landing required
+uint8 BATTERY_WARNING_EMERGENCY = 3		# immediate landing required
-uint8 BATTERY_WARNING_FAILED = 4	# the battery has failed completely
+uint8 BATTERY_WARNING_FAILED = 4		# the battery has failed completely
-uint8 BATTERY_STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field.
+uint8 BATTERY_STATE_UNHEALTHY = 6 		# Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field.
-uint8 BATTERY_STATE_CHARGING = 7 # Battery is charging
+uint8 BATTERY_STATE_CHARGING = 7 		# Battery is charging
 
-uint8 BATTERY_FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
+uint8 BATTERY_FAULT_DEEP_DISCHARGE = 0 		# Battery has deep discharged
-uint8 BATTERY_FAULT_SPIKES = 1 # Voltage spikes
+uint8 BATTERY_FAULT_SPIKES = 1 			# Voltage spikes
-uint8 BATTERY_FAULT_CELL_FAIL= 2 # One or more cells have failed
+uint8 BATTERY_FAULT_CELL_FAIL= 2 		# One or more cells have failed
-uint8 BATTERY_FAULT_OVER_CURRENT = 3 # Over-current
+uint8 BATTERY_FAULT_OVER_CURRENT = 3 		# Over-current
-uint8 BATTERY_FAULT_OVER_TEMPERATURE = 4 # Over-temperature
+uint8 BATTERY_FAULT_OVER_TEMPERATURE = 4 	# Over-temperature
-uint8 BATTERY_FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
+uint8 BATTERY_FAULT_UNDER_TEMPERATURE = 5 	# Under-temperature fault
-uint8 BATTERY_FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with battery one
+uint8 BATTERY_FAULT_INCOMPATIBLE_VOLTAGE = 6 	# Vehicle voltage is not compatible with battery one
-uint8 BATTERY_FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
+uint8 BATTERY_FAULT_INCOMPATIBLE_FIRMWARE = 7 	# Battery firmware is not compatible with current autopilot firmware
-uint8 BATTERY_FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
+uint8 BATTERY_FAULT_INCOMPATIBLE_MODEL = 8 	# Battery model is not supported by the system
-uint8 BATTERY_FAULT_HARDWARE_FAILURE = 9 # hardware problem
+uint8 BATTERY_FAULT_HARDWARE_FAILURE = 9 	# hardware problem
-uint8 BATTERY_FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
+uint8 BATTERY_FAULT_FAILED_TO_ARM = 10 		# Battery had a problem while arming
-uint8 BATTERY_FAULT_COUNT = 11 # Counter - keep it as last element!
+uint8 BATTERY_FAULT_COUNT = 11 			# Counter - keep it as last element!
 
-uint16 faults		# Smart battery supply status/fault flags (bitmask) for health indication.
+uint16 faults					# Smart battery supply status/fault flags (bitmask) for health indication.
-uint8 warning		# Current battery warning
+uint8 warning					# Current battery warning
 
 uint8 MAX_INSTANCES = 4
 
-float32 full_charge_capacity_wh     # The compensated battery capacity
+float32 full_charge_capacity_wh     		# The compensated battery capacity
-float32 remaining_capacity_wh       # The compensated battery capacity remaining
+float32 remaining_capacity_wh       		# The compensated battery capacity remaining
-uint16 over_discharge_count         # Number of battery overdischarge
+uint16 over_discharge_count         		# Number of battery overdischarge
-float32 nominal_voltage             # Nominal voltage of the battery pack
+float32 nominal_voltage             		# Nominal voltage of the battery pack
 
 float32 internal_resistance_estimate            # [Ohm] Internal resistance per cell estimate
 float32 ocv_estimate                            # [V] Open circuit voltage estimate

src/drivers/power_monitor/ina228/ina228.cpp

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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]