cleanup driver and sample, additional documentation
This commit is contained in:
John Pauley
parent
d3629908d4
commit
698d1685f0
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@ -1,41 +1,49 @@
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package i2c
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// INA3221Driver is a driver for the Texas Instruments INA3221 device. The INA3221 is a three-channel
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// current and bus voltage monitor with an I2C and SMBUS compatible interface.
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//
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// INA3221 data sheet and specifications can be found at http://www.ti.com/product/INA3221
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//
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// This module was tested with SwitchDoc Labs INA3221 breakout board found at http://www.switchdoc.com/
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import (
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"gobot.io/x/gobot"
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)
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type Channel uint8
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// INA3221Channel type that defines which INA3221 channel to read from.
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type INA3221Channel uint8
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const (
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// I2C ADDRESS/BITS
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INA3221_ADDRESS uint8 = 0x40 //1000000 (A0+A1=GND)
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INA3221_READ uint8 = 0x01
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INA3221_REG_CONFIG uint8 = 0x00 // CONFIG REGISTER (R/W)
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INA3221_CONFIG_RESET uint16 = 0x8000 //Reset Bit
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INA3221_CONFIG_ENABLE_CHAN1 uint16 = 0x4000 //Enable Channel 1
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INA3221_CONFIG_ENABLE_CHAN2 uint16 = 0x2000 //Enable Channel 2
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INA3221_CONFIG_ENABLE_CHAN3 uint16 = 0x1000 //Enable Channel 3
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INA3221_CONFIG_AVG2 uint16 = 0x0800 //AVG Samples Bit 2 - See table 3 spec
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INA3221_CONFIG_AVG1 uint16 = 0x0400 //AVG Samples Bit 1 - See table 3 spec
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INA3221_CONFIG_AVG0 uint16 = 0x0200 //AVG Samples Bit 0 - See table 3 spec
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INA3221_CONFIG_VBUS_CT2 uint16 = 0x0100 //VBUS bit 2 Conversion time - See table 4 spec
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INA3221_CONFIG_VBUS_CT1 uint16 = 0x0080 //VBUS bit 1 Conversion time - See table 4 spec
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INA3221_CONFIG_VBUS_CT0 uint16 = 0x0040 //VBUS bit 0 Conversion time - See table 4 spec
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INA3221_CONFIG_VSH_CT2 uint16 = 0x0020 //Vshunt bit 2 Conversion time - See table 5 spec
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INA3221_CONFIG_VSH_CT1 uint16 = 0x0010 //Vshunt bit 1 Conversion time - See table 5 spec
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INA3221_CONFIG_VSH_CT0 uint16 = 0x0008 //Vshunt bit 0 Conversion time - See table 5 spec
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INA3221_CONFIG_MODE_2 uint16 = 0x0004 //Operating Mode bit 2 - See table 6 spec
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INA3221_CONFIG_MODE_1 uint16 = 0x0002 //Operating Mode bit 1 - See table 6 spec
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INA3221_CONFIG_MODE_0 uint16 = 0x0001 //Operating Mode bit 0 - See table 6 spec
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INA3221_REG_SHUNTVOLTAGE_1 uint8 = 0x01 // SHUNT VOLTAGE REGISTER (R)
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INA3221_REG_BUSVOLTAGE_1 uint8 = 0x02 // BUS VOLTAGE REGISTER (R)
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SHUNT_RESISTOR_VALUE float64 = 0.1 //default shunt resistor value of 0.1 Ohm
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ina3221Address uint8 = 0x40 // 1000000 (A0+A1=GND)
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ina3221Read uint8 = 0x01
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ina3221RegConfig uint8 = 0x00 // CONFIG REGISTER (R/W)
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ina3221ConfigReset uint16 = 0x8000 // Reset Bit
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ina3221ConfigEnableChan1 uint16 = 0x4000 // Enable INA3221 Channel 1
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ina3221ConfigEnableChan2 uint16 = 0x2000 // Enable INA3221 Channel 2
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ina3221ConfigEnableChan3 uint16 = 0x1000 // Enable INA3221 Channel 3
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ina3221ConfigAvg2 uint16 = 0x0800 // AVG Samples Bit 2 - See table 3 spec
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ina3221ConfigAvg1 uint16 = 0x0400 // AVG Samples Bit 1 - See table 3 spec
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ina3221ConfigAvg0 uint16 = 0x0200 // AVG Samples Bit 0 - See table 3 spec
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ina3221ConfigVBusCT2 uint16 = 0x0100 // VBUS bit 2 Conversion time - See table 4 spec
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ina3221ConfigVBusCT1 uint16 = 0x0080 // VBUS bit 1 Conversion time - See table 4 spec
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ina3221ConfigVBusCT0 uint16 = 0x0040 // VBUS bit 0 Conversion time - See table 4 spec
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ina3221ConfigVShCT2 uint16 = 0x0020 // Vshunt bit 2 Conversion time - See table 5 spec
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ina3221ConfigVShCT1 uint16 = 0x0010 // Vshunt bit 1 Conversion time - See table 5 spec
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ina3221ConfigVShCT0 uint16 = 0x0008 // Vshunt bit 0 Conversion time - See table 5 spec
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ina3221ConfigMode2 uint16 = 0x0004 // Operating Mode bit 2 - See table 6 spec
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ina3221ConfigMode1 uint16 = 0x0002 // Operating Mode bit 1 - See table 6 spec
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ina3221ConfigMode0 uint16 = 0x0001 // Operating Mode bit 0 - See table 6 spec
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ina3221RegShuntVoltage1 uint8 = 0x01 // SHUNT VOLTAGE REGISTER (R)
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ina3221RegBusVoltage1 uint8 = 0x02 // BUS VOLTAGE REGISTER (R)
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ina3221ShuntResistorValue float64 = 0.1 // default shunt resistor value of 0.1 Ohm
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INA3221Channel1 Channel = 1
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INA3221Channel2 Channel = 2
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INA3221Channel3 Channel = 3
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INA3221Channel1 INA3221Channel = 1
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INA3221Channel2 INA3221Channel = 2
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INA3221Channel3 INA3221Channel = 3
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)
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// INA3221Driver is a driver for the INA3221 three-channel current and bus voltage monitoring device.
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type INA3221Driver struct {
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name string
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connector Connector
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@ -44,11 +52,18 @@ type INA3221Driver struct {
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halt chan bool
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}
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// NewINA3221Driver creates a new driver with the specified i2c interface.
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// Params:
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// conn Connector - the Adaptor to use with this Driver
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//
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// Optional params:
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// i2c.WithBus(int): bus to use with this driver
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// i2c.WithAddress(int): address to use with this driver
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func NewINA3221Driver(c Connector, options ...func(Config)) *INA3221Driver {
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i := &INA3221Driver{
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name: "Ina3221",
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name: gobot.DefaultName("INA3221"),
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connector: c,
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Config: NewConfig(),
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Config: NewConfig(),
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}
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for _, option := range options {
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@ -77,7 +92,7 @@ func (i *INA3221Driver) Connection() gobot.Connection {
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func (i *INA3221Driver) Start() error {
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var err error
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bus := i.GetBusOrDefault(i.connector.GetDefaultBus())
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address := i.GetAddressOrDefault(int(INA3221_ADDRESS))
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address := i.GetAddressOrDefault(int(ina3221Address))
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if i.connection, err = i.connector.GetConnection(address, bus); err != nil {
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return err
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@ -96,7 +111,7 @@ func (i *INA3221Driver) Halt() error {
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}
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// GetBusVoltage gets the bus voltage in Volts
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func (i *INA3221Driver) GetBusVoltage(channel Channel) (float64, error) {
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func (i *INA3221Driver) GetBusVoltage(channel INA3221Channel) (float64, error) {
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value, err := i.getBusVoltageRaw(channel)
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if err != nil {
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return 0, err
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@ -106,7 +121,7 @@ func (i *INA3221Driver) GetBusVoltage(channel Channel) (float64, error) {
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}
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// GetShuntVoltage Gets the shunt voltage in mV
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func (i *INA3221Driver) GetShuntVoltage(channel Channel) (float64, error) {
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func (i *INA3221Driver) GetShuntVoltage(channel INA3221Channel) (float64, error) {
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value, err := i.getShuntVoltageRaw(channel)
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if err != nil {
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return 0, err
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@ -116,18 +131,18 @@ func (i *INA3221Driver) GetShuntVoltage(channel Channel) (float64, error) {
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}
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// GetCurrent gets the current value in mA, taking into account the config settings and current LSB
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func (i *INA3221Driver) GetCurrent(channel Channel) (float64, error) {
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func (i *INA3221Driver) GetCurrent(channel INA3221Channel) (float64, error) {
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value, err := i.GetShuntVoltage(channel)
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if err != nil {
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return 0, err
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}
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ma := value / SHUNT_RESISTOR_VALUE
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ma := value / ina3221ShuntResistorValue
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return ma, nil
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}
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// GetLoadVoltage gets the load voltage in mV
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func (i *INA3221Driver) GetLoadVoltage(channel Channel) (float64, error) {
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func (i *INA3221Driver) GetLoadVoltage(channel INA3221Channel) (float64, error) {
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bv, err := i.GetBusVoltage(channel)
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if err != nil {
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return 0, err
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@ -142,46 +157,56 @@ func (i *INA3221Driver) GetLoadVoltage(channel Channel) (float64, error) {
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}
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// getBusVoltageRaw gets the raw bus voltage (16-bit signed integer, so +-32767)
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func (i *INA3221Driver) getBusVoltageRaw(channel Channel) (int16, error) {
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val, err := i.connection.ReadWordData(INA3221_REG_BUSVOLTAGE_1 + (uint8(channel)-1)*2)
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func (i *INA3221Driver) getBusVoltageRaw(channel INA3221Channel) (uint16, error) {
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val, err := i.readWordFromRegister(ina3221RegBusVoltage1 + (uint8(channel)-1)*2)
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if err != nil {
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return 0, err
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}
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value := int32(val)
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value := uint32(val)
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if value > 0x7FFF {
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value -= 0x10000
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}
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return int16(value), nil
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return uint16(value), nil
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}
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// getShuntVoltageRaw gets the raw shunt voltage (16-bit signed integer, so +-32767)
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func (i *INA3221Driver) getShuntVoltageRaw(channel Channel) (int16, error) {
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v, err := i.connection.ReadWordData(INA3221_REG_SHUNTVOLTAGE_1 + (uint8(channel)-1)*2)
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func (i *INA3221Driver) getShuntVoltageRaw(channel INA3221Channel) (uint16, error) {
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val, err := i.readWordFromRegister(ina3221RegShuntVoltage1 + (uint8(channel)-1)*2)
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if err != nil {
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return 0, err
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}
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value := int32(v)
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value := uint32(val)
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if value > 0x7FFF {
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value -= 0x10000
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}
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return int16(value), nil
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return uint16(value), nil
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}
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// initialize initializes the device
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// reads word from supplied register address
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func (i *INA3221Driver) readWordFromRegister(reg uint8) (uint16, error) {
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val, err := i.connection.ReadWordData(reg)
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if err != nil {
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return 0, err
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}
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return uint16((val << 8) | ((val >> 8) & 0xFF)), nil
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}
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// initialize initializes the INA3221 device
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func (i *INA3221Driver) initialize() error {
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config := INA3221_CONFIG_ENABLE_CHAN1 |
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INA3221_CONFIG_ENABLE_CHAN2 |
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INA3221_CONFIG_ENABLE_CHAN3 |
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INA3221_CONFIG_AVG1 |
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INA3221_CONFIG_VBUS_CT2 |
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INA3221_CONFIG_VSH_CT2 |
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INA3221_CONFIG_MODE_2 |
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INA3221_CONFIG_MODE_1 |
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INA3221_CONFIG_MODE_0
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config := ina3221ConfigEnableChan1 |
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ina3221ConfigEnableChan2 |
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ina3221ConfigEnableChan3 |
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ina3221ConfigAvg1 |
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ina3221ConfigVBusCT2 |
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ina3221ConfigVShCT2 |
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ina3221ConfigMode2 |
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ina3221ConfigMode1 |
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ina3221ConfigMode0
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return i.connection.WriteWordData(INA3221_REG_CONFIG, config)
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return i.connection.WriteWordData(ina3221RegConfig, config)
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}
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@ -3,15 +3,14 @@ package i2c
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import (
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"testing"
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"errors"
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"gobot.io/x/gobot"
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"gobot.io/x/gobot/gobottest"
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"errors"
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"bytes"
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)
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var _ gobot.Driver = (*INA3221Driver)(nil)
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func initTestINA3221Driver() (*INA3221Driver) {
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func initTestINA3221Driver() *INA3221Driver {
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d, _ := initTestINA3221DriverWithStubbedAdaptor()
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return d
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}
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@ -56,21 +55,3 @@ func TestINA3221Driver_Halt(t *testing.T) {
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d := initTestINA3221Driver()
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gobottest.Assert(t, d.Halt(), nil)
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}
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//func TestINA3221Driver_Measurements(t *testing.T) {
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// d, a := initTestINA3221DriverWithStubbedAdaptor()
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// a.i2cReadImpl = func(b []byte) (int, error) {
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// buf := new(bytes.Buffer)
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// if a.written[len(a.written)-1] == INA3221_REG_BUSVOLTAGE_1 {
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// buf.Write([]byte{0x09, 0x33})
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// }
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// copy(b, buf.Bytes())
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// return buf.Len(), nil
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// }
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//
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// d.Start()
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//
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// bv, err := d.GetBusVoltage(INA3221Channel1)
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// gobottest.Assert(t, err, nil)
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// t.Logf("bv1: %f", bv)
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//}
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@ -1,12 +1,12 @@
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package main
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import (
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"fmt"
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"time"
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"gobot.io/x/gobot"
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"gobot.io/x/gobot/drivers/i2c"
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"gobot.io/x/gobot/platforms/raspi"
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"log"
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)
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func main() {
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@ -17,33 +17,35 @@ func main() {
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work := func() {
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gobot.Every(5*time.Second, func() {
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bv, err := ina.GetBusVoltage(i2c.INA3221Channel1)
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if err != nil {
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for _, ch := range []i2c.INA3221Channel{i2c.INA3221Channel1, i2c.INA3221Channel2, i2c.INA3221Channel3} {
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val, err := ina.GetBusVoltage(ch)
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if err != nil {
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fmt.Printf("INA3221Channel %v Bus Voltage error: %v\n", ch, err)
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}
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fmt.Printf("INA3221Channel %v Bus Voltage: %fV\n", ch, val)
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val, err = ina.GetShuntVoltage(ch)
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if err != nil {
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fmt.Printf("INA3221Channel %v Shunt Voltage error: %v\n", ch, err)
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}
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fmt.Printf("INA3221Channel %v Shunt Voltage: %fV\n", ch, val)
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val, err = ina.GetCurrent(ch)
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if err != nil {
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fmt.Printf("INA3221Channel %v Current error: %v\n", ch, err)
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}
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fmt.Printf("INA3221Channel %v Current: %fmA\n", ch, val)
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val, err = ina.GetLoadVoltage(ch)
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if err != nil {
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fmt.Printf("INA3221Channel %v Load Voltage error: %v\n", ch, err)
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}
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fmt.Printf("INA3221Channel %v Load Voltage: %fV\n", ch, val)
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}
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log.Printf("Ch 1 Bus Voltage: %f", bv)
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sv, err := ina.GetShuntVoltage(i2c.INA3221Channel1)
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if err != nil {
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}
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log.Printf("Ch 1 Shunt Voltage: %f", sv)
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ma, err := ina.GetCurrent(i2c.INA3221Channel1)
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if err != nil {
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}
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log.Printf("Ch 1 Current: %f", ma)
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lv, err := ina.GetLoadVoltage(i2c.INA3221Channel1)
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if err != nil {
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}
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log.Printf("Ch 1 Load Voltage: %f", lv)
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})
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}
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robot := gobot.NewRobot("ina3221Robot",
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robot := gobot.NewRobot("INA3221 Robot",
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[]gobot.Connection{r},
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[]gobot.Device{ina},
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work,
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