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https://github.com/PX4/PX4-Autopilot.git
synced 2026-10-06 09:02:52 +08:00
refactor(ina226): rewrite driver for robustness and clarity (#27364)
* refactor(ina226): rewrite driver for robustness and clarity Mirrors the INA238 rewrite (#27359): - Non-blocking UNINITIALIZED -> RESET -> CONFIGURE -> MEASURE state machine. Each transition is its own RunImpl tick with an explicit ScheduleDelayed; init failures retry without losing the driver instance. - Tolerate ~2 s of consecutive collect() failures (MAX_CONSECUTIVE_FAILURES = DISCONNECT_DEBOUNCE_US / SAMPLE_INTERVAL_US) before a full reinit. Isolated I2C glitches just skip a cycle instead of dropping battery_status. - SAMPLE_INTERVAL_US = 100 ms, comfortably above the default ADC period of ~75.3 ms (588 us * 2 channels * 64 avg). MEASURE compensates for in-tick I2C time so each tick is exactly one interval apart. - CONFIGURE waits SAMPLE_INTERVAL_US + 5 ms before the first MEASURE read so the first averaged sample is ready. - checkConfigurationRotating() reads one of {CONFIGURATION, CALIBRATION} per cycle and compares it against the value we wrote, so an externally reset device is detected within two cycles. - '-t' arg validated against 1-3 at parse time; out-of-range values now exit with an error. - New perf counters ina226_bad_register and ina226_reinit for field diagnosis; current driver state is surfaced in 'ina226 status'. File layout: ina226_main.cpp folded into ina226.cpp. Constants/enums namespaced under ina226. Params switched to DEFINE_PARAMETERS, and the INA226_CONFIG raw-register override is removed in favor of a hardcoded continuous-conversion config. AuterionAutostarter::ina226_probe() updated to the new namespaced ina226::Register and ina226::MANFID / ina226::DIEID constants. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(ina226): mask reserved bits when verifying CONFIGURATION register The INA226 CONFIGURATION register has D15 (RST) self-clearing and D14:D12 reserved, with D14 reading back as 1 regardless of what is written. The verify step compared the raw read-back to the value we wrote, so the check failed on every cycle and the driver re-initialized itself every ~2 s. Mask the non-R/W bits before comparing. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> --------- Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
This commit is contained in:
Jacob Dahl
@@ -173,19 +173,19 @@ int AuterionAutostarter::ina226_probe(const uint32_t instance) const
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msgv[1].buffer = rxdata;
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msgv[1].length = sizeof(rxdata);
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txdata[0] = {INA226_MFG_ID};
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txdata[0] = static_cast<uint8_t>(ina226::Register::MFG_ID);
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ret = I2C_TRANSFER(i2c.get(), msgv, 2);
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uint16_t value = static_cast<uint16_t>(rxdata[1] | rxdata[0] << 8);
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if (ret != PX4_OK || value != INA226_MFG_ID_TI) {
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if (ret != PX4_OK || value != ina226::MANFID) {
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ret = PX4_ERROR;
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} else {
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txdata[0] = {INA226_MFG_DIEID};
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txdata[0] = static_cast<uint8_t>(ina226::Register::DIE_ID);
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ret = I2C_TRANSFER(i2c.get(), msgv, 2);
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value = static_cast<uint16_t>(rxdata[1] | rxdata[0] << 8);
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if (ret != PX4_OK || value != INA226_MFG_DIE) {
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if (ret != PX4_OK || value != ina226::DIEID) {
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ret = PX4_ERROR;
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}
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}
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@@ -33,10 +33,7 @@
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px4_add_module(
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MODULE drivers__ina226
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MAIN ina226
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COMPILE_FLAGS
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-Wno-cast-align # TODO: fix and enable
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SRCS
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ina226_main.cpp
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ina226.cpp
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MODULE_CONFIG
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ina226_params.yaml
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File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,130 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/module.h>
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#include "ina226.h"
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I2CSPIDriverBase *INA226::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
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{
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INA226 *instance = new INA226(config, config.custom1);
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if (instance == nullptr) {
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PX4_ERR("alloc failed");
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return nullptr;
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}
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if (config.keep_running) {
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if (instance->force_init() != PX4_OK) {
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PX4_INFO("Failed to init INA226 on bus %d, but will try again periodically.", config.bus);
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}
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} else if (instance->init() != PX4_OK) {
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delete instance;
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return nullptr;
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}
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return instance;
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}
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void
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INA226::print_usage()
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{
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PRINT_MODULE_DESCRIPTION(
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R"DESCR_STR(
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### Description
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Driver for the INA226 power monitor.
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Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
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For example, one instance can run on Bus 2, address 0x41, and one can run on Bus 2, address 0x43.
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If the INA226 module is not powered, then by default, initialization of the driver will fail. To change this, use
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the -f flag. If this flag is set, then if initialization fails, the driver will keep trying to initialize again
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every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without
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this flag set, the battery must be plugged in before starting the driver.
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)DESCR_STR");
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PRINT_MODULE_USAGE_NAME("ina226", "driver");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
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PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x41);
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PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG();
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PRINT_MODULE_USAGE_PARAM_INT('t', 1, 1, 3, "battery index for calibration values (1 or 3)", true);
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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}
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extern "C" int
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ina226_main(int argc, char *argv[])
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{
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int ch;
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using ThisDriver = INA226;
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BusCLIArguments cli{true, false};
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cli.i2c_address = INA226_BASEADDR;
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cli.default_i2c_frequency = 100000;
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cli.support_keep_running = true;
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cli.custom1 = 1;
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while ((ch = cli.getOpt(argc, argv, "t:")) != EOF) {
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switch (ch) {
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case 't': // battery index
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cli.custom1 = (int)strtol(cli.optArg(), NULL, 0);
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break;
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}
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}
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const char *verb = cli.optArg();
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if (!verb) {
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ThisDriver::print_usage();
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return -1;
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}
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BusInstanceIterator iterator(MODULE_NAME, cli, DRV_POWER_DEVTYPE_INA226);
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if (!strcmp(verb, "start")) {
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return ThisDriver::module_start(cli, iterator);
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}
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if (!strcmp(verb, "stop")) {
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return ThisDriver::module_stop(iterator);
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}
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if (!strcmp(verb, "status")) {
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return ThisDriver::module_status(iterator);
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}
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ThisDriver::print_usage();
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return -1;
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}
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@@ -9,16 +9,6 @@ parameters:
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type: boolean
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default: 0
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reboot_required: true
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INA226_CONFIG:
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description:
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short: INA226 Power Monitor Config
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type: int32
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default: 18139
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min: 0
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max: 65535
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decimal: 1
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increment: 1
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reboot_required: true
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INA226_CURRENT:
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description:
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short: INA226 Power Monitor Max Current
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