diff --git a/drivers/i2c/ina3221_driver.go b/drivers/i2c/ina3221_driver.go index a7ee941f..19c83159 100644 --- a/drivers/i2c/ina3221_driver.go +++ b/drivers/i2c/ina3221_driver.go @@ -1,41 +1,49 @@ package i2c +// INA3221Driver is a driver for the Texas Instruments INA3221 device. The INA3221 is a three-channel +// current and bus voltage monitor with an I2C and SMBUS compatible interface. +// +// INA3221 data sheet and specifications can be found at http://www.ti.com/product/INA3221 +// +// This module was tested with SwitchDoc Labs INA3221 breakout board found at http://www.switchdoc.com/ + import ( "gobot.io/x/gobot" ) -type Channel uint8 +// INA3221Channel type that defines which INA3221 channel to read from. +type INA3221Channel uint8 const ( - // I2C ADDRESS/BITS - INA3221_ADDRESS uint8 = 0x40 //1000000 (A0+A1=GND) - INA3221_READ uint8 = 0x01 - INA3221_REG_CONFIG uint8 = 0x00 // CONFIG REGISTER (R/W) - INA3221_CONFIG_RESET uint16 = 0x8000 //Reset Bit - INA3221_CONFIG_ENABLE_CHAN1 uint16 = 0x4000 //Enable Channel 1 - INA3221_CONFIG_ENABLE_CHAN2 uint16 = 0x2000 //Enable Channel 2 - INA3221_CONFIG_ENABLE_CHAN3 uint16 = 0x1000 //Enable Channel 3 - INA3221_CONFIG_AVG2 uint16 = 0x0800 //AVG Samples Bit 2 - See table 3 spec - INA3221_CONFIG_AVG1 uint16 = 0x0400 //AVG Samples Bit 1 - See table 3 spec - INA3221_CONFIG_AVG0 uint16 = 0x0200 //AVG Samples Bit 0 - See table 3 spec - INA3221_CONFIG_VBUS_CT2 uint16 = 0x0100 //VBUS bit 2 Conversion time - See table 4 spec - INA3221_CONFIG_VBUS_CT1 uint16 = 0x0080 //VBUS bit 1 Conversion time - See table 4 spec - INA3221_CONFIG_VBUS_CT0 uint16 = 0x0040 //VBUS bit 0 Conversion time - See table 4 spec - INA3221_CONFIG_VSH_CT2 uint16 = 0x0020 //Vshunt bit 2 Conversion time - See table 5 spec - INA3221_CONFIG_VSH_CT1 uint16 = 0x0010 //Vshunt bit 1 Conversion time - See table 5 spec - INA3221_CONFIG_VSH_CT0 uint16 = 0x0008 //Vshunt bit 0 Conversion time - See table 5 spec - INA3221_CONFIG_MODE_2 uint16 = 0x0004 //Operating Mode bit 2 - See table 6 spec - INA3221_CONFIG_MODE_1 uint16 = 0x0002 //Operating Mode bit 1 - See table 6 spec - INA3221_CONFIG_MODE_0 uint16 = 0x0001 //Operating Mode bit 0 - See table 6 spec - INA3221_REG_SHUNTVOLTAGE_1 uint8 = 0x01 // SHUNT VOLTAGE REGISTER (R) - INA3221_REG_BUSVOLTAGE_1 uint8 = 0x02 // BUS VOLTAGE REGISTER (R) - SHUNT_RESISTOR_VALUE float64 = 0.1 //default shunt resistor value of 0.1 Ohm + ina3221Address uint8 = 0x40 // 1000000 (A0+A1=GND) + ina3221Read uint8 = 0x01 + ina3221RegConfig uint8 = 0x00 // CONFIG REGISTER (R/W) + ina3221ConfigReset uint16 = 0x8000 // Reset Bit + ina3221ConfigEnableChan1 uint16 = 0x4000 // Enable INA3221 Channel 1 + ina3221ConfigEnableChan2 uint16 = 0x2000 // Enable INA3221 Channel 2 + ina3221ConfigEnableChan3 uint16 = 0x1000 // Enable INA3221 Channel 3 + ina3221ConfigAvg2 uint16 = 0x0800 // AVG Samples Bit 2 - See table 3 spec + ina3221ConfigAvg1 uint16 = 0x0400 // AVG Samples Bit 1 - See table 3 spec + ina3221ConfigAvg0 uint16 = 0x0200 // AVG Samples Bit 0 - See table 3 spec + ina3221ConfigVBusCT2 uint16 = 0x0100 // VBUS bit 2 Conversion time - See table 4 spec + ina3221ConfigVBusCT1 uint16 = 0x0080 // VBUS bit 1 Conversion time - See table 4 spec + ina3221ConfigVBusCT0 uint16 = 0x0040 // VBUS bit 0 Conversion time - See table 4 spec + ina3221ConfigVShCT2 uint16 = 0x0020 // Vshunt bit 2 Conversion time - See table 5 spec + ina3221ConfigVShCT1 uint16 = 0x0010 // Vshunt bit 1 Conversion time - See table 5 spec + ina3221ConfigVShCT0 uint16 = 0x0008 // Vshunt bit 0 Conversion time - See table 5 spec + ina3221ConfigMode2 uint16 = 0x0004 // Operating Mode bit 2 - See table 6 spec + ina3221ConfigMode1 uint16 = 0x0002 // Operating Mode bit 1 - See table 6 spec + ina3221ConfigMode0 uint16 = 0x0001 // Operating Mode bit 0 - See table 6 spec + ina3221RegShuntVoltage1 uint8 = 0x01 // SHUNT VOLTAGE REGISTER (R) + ina3221RegBusVoltage1 uint8 = 0x02 // BUS VOLTAGE REGISTER (R) + ina3221ShuntResistorValue float64 = 0.1 // default shunt resistor value of 0.1 Ohm - INA3221Channel1 Channel = 1 - INA3221Channel2 Channel = 2 - INA3221Channel3 Channel = 3 + INA3221Channel1 INA3221Channel = 1 + INA3221Channel2 INA3221Channel = 2 + INA3221Channel3 INA3221Channel = 3 ) +// INA3221Driver is a driver for the INA3221 three-channel current and bus voltage monitoring device. type INA3221Driver struct { name string connector Connector @@ -44,11 +52,18 @@ type INA3221Driver struct { halt chan bool } +// NewINA3221Driver creates a new driver with the specified i2c interface. +// Params: +// conn Connector - the Adaptor to use with this Driver +// +// Optional params: +// i2c.WithBus(int): bus to use with this driver +// i2c.WithAddress(int): address to use with this driver func NewINA3221Driver(c Connector, options ...func(Config)) *INA3221Driver { i := &INA3221Driver{ - name: "Ina3221", + name: gobot.DefaultName("INA3221"), connector: c, - Config: NewConfig(), + Config: NewConfig(), } for _, option := range options { @@ -77,7 +92,7 @@ func (i *INA3221Driver) Connection() gobot.Connection { func (i *INA3221Driver) Start() error { var err error bus := i.GetBusOrDefault(i.connector.GetDefaultBus()) - address := i.GetAddressOrDefault(int(INA3221_ADDRESS)) + address := i.GetAddressOrDefault(int(ina3221Address)) if i.connection, err = i.connector.GetConnection(address, bus); err != nil { return err @@ -96,7 +111,7 @@ func (i *INA3221Driver) Halt() error { } // GetBusVoltage gets the bus voltage in Volts -func (i *INA3221Driver) GetBusVoltage(channel Channel) (float64, error) { +func (i *INA3221Driver) GetBusVoltage(channel INA3221Channel) (float64, error) { value, err := i.getBusVoltageRaw(channel) if err != nil { return 0, err @@ -106,7 +121,7 @@ func (i *INA3221Driver) GetBusVoltage(channel Channel) (float64, error) { } // GetShuntVoltage Gets the shunt voltage in mV -func (i *INA3221Driver) GetShuntVoltage(channel Channel) (float64, error) { +func (i *INA3221Driver) GetShuntVoltage(channel INA3221Channel) (float64, error) { value, err := i.getShuntVoltageRaw(channel) if err != nil { return 0, err @@ -116,18 +131,18 @@ func (i *INA3221Driver) GetShuntVoltage(channel Channel) (float64, error) { } // GetCurrent gets the current value in mA, taking into account the config settings and current LSB -func (i *INA3221Driver) GetCurrent(channel Channel) (float64, error) { +func (i *INA3221Driver) GetCurrent(channel INA3221Channel) (float64, error) { value, err := i.GetShuntVoltage(channel) if err != nil { return 0, err } - ma := value / SHUNT_RESISTOR_VALUE + ma := value / ina3221ShuntResistorValue return ma, nil } // GetLoadVoltage gets the load voltage in mV -func (i *INA3221Driver) GetLoadVoltage(channel Channel) (float64, error) { +func (i *INA3221Driver) GetLoadVoltage(channel INA3221Channel) (float64, error) { bv, err := i.GetBusVoltage(channel) if err != nil { return 0, err @@ -142,46 +157,56 @@ func (i *INA3221Driver) GetLoadVoltage(channel Channel) (float64, error) { } // getBusVoltageRaw gets the raw bus voltage (16-bit signed integer, so +-32767) -func (i *INA3221Driver) getBusVoltageRaw(channel Channel) (int16, error) { - val, err := i.connection.ReadWordData(INA3221_REG_BUSVOLTAGE_1 + (uint8(channel)-1)*2) +func (i *INA3221Driver) getBusVoltageRaw(channel INA3221Channel) (uint16, error) { + val, err := i.readWordFromRegister(ina3221RegBusVoltage1 + (uint8(channel)-1)*2) if err != nil { return 0, err } - value := int32(val) + value := uint32(val) if value > 0x7FFF { value -= 0x10000 } - return int16(value), nil + return uint16(value), nil } // getShuntVoltageRaw gets the raw shunt voltage (16-bit signed integer, so +-32767) -func (i *INA3221Driver) getShuntVoltageRaw(channel Channel) (int16, error) { - v, err := i.connection.ReadWordData(INA3221_REG_SHUNTVOLTAGE_1 + (uint8(channel)-1)*2) +func (i *INA3221Driver) getShuntVoltageRaw(channel INA3221Channel) (uint16, error) { + val, err := i.readWordFromRegister(ina3221RegShuntVoltage1 + (uint8(channel)-1)*2) if err != nil { return 0, err } - value := int32(v) + value := uint32(val) if value > 0x7FFF { value -= 0x10000 } - return int16(value), nil + return uint16(value), nil } -// initialize initializes the device +// reads word from supplied register address +func (i *INA3221Driver) readWordFromRegister(reg uint8) (uint16, error) { + val, err := i.connection.ReadWordData(reg) + if err != nil { + return 0, err + } + + return uint16((val << 8) | ((val >> 8) & 0xFF)), nil +} + +// initialize initializes the INA3221 device func (i *INA3221Driver) initialize() error { - config := INA3221_CONFIG_ENABLE_CHAN1 | - INA3221_CONFIG_ENABLE_CHAN2 | - INA3221_CONFIG_ENABLE_CHAN3 | - INA3221_CONFIG_AVG1 | - INA3221_CONFIG_VBUS_CT2 | - INA3221_CONFIG_VSH_CT2 | - INA3221_CONFIG_MODE_2 | - INA3221_CONFIG_MODE_1 | - INA3221_CONFIG_MODE_0 + config := ina3221ConfigEnableChan1 | + ina3221ConfigEnableChan2 | + ina3221ConfigEnableChan3 | + ina3221ConfigAvg1 | + ina3221ConfigVBusCT2 | + ina3221ConfigVShCT2 | + ina3221ConfigMode2 | + ina3221ConfigMode1 | + ina3221ConfigMode0 - return i.connection.WriteWordData(INA3221_REG_CONFIG, config) + return i.connection.WriteWordData(ina3221RegConfig, config) } diff --git a/drivers/i2c/ina3221_driver_test.go b/drivers/i2c/ina3221_driver_test.go index b3c1fa6f..0ef0b1e4 100644 --- a/drivers/i2c/ina3221_driver_test.go +++ b/drivers/i2c/ina3221_driver_test.go @@ -3,15 +3,14 @@ package i2c import ( "testing" + "errors" "gobot.io/x/gobot" "gobot.io/x/gobot/gobottest" - "errors" - "bytes" ) var _ gobot.Driver = (*INA3221Driver)(nil) -func initTestINA3221Driver() (*INA3221Driver) { +func initTestINA3221Driver() *INA3221Driver { d, _ := initTestINA3221DriverWithStubbedAdaptor() return d } @@ -56,21 +55,3 @@ func TestINA3221Driver_Halt(t *testing.T) { d := initTestINA3221Driver() gobottest.Assert(t, d.Halt(), nil) } - -//func TestINA3221Driver_Measurements(t *testing.T) { -// d, a := initTestINA3221DriverWithStubbedAdaptor() -// a.i2cReadImpl = func(b []byte) (int, error) { -// buf := new(bytes.Buffer) -// if a.written[len(a.written)-1] == INA3221_REG_BUSVOLTAGE_1 { -// buf.Write([]byte{0x09, 0x33}) -// } -// copy(b, buf.Bytes()) -// return buf.Len(), nil -// } -// -// d.Start() -// -// bv, err := d.GetBusVoltage(INA3221Channel1) -// gobottest.Assert(t, err, nil) -// t.Logf("bv1: %f", bv) -//} diff --git a/examples/raspi_ina3221.go b/examples/raspi_ina3221.go index 684477c7..0627b088 100644 --- a/examples/raspi_ina3221.go +++ b/examples/raspi_ina3221.go @@ -1,12 +1,12 @@ package main import ( + "fmt" "time" "gobot.io/x/gobot" "gobot.io/x/gobot/drivers/i2c" "gobot.io/x/gobot/platforms/raspi" - "log" ) func main() { @@ -17,33 +17,35 @@ func main() { work := func() { gobot.Every(5*time.Second, func() { - bv, err := ina.GetBusVoltage(i2c.INA3221Channel1) - if err != nil { + for _, ch := range []i2c.INA3221Channel{i2c.INA3221Channel1, i2c.INA3221Channel2, i2c.INA3221Channel3} { + val, err := ina.GetBusVoltage(ch) + if err != nil { + fmt.Printf("INA3221Channel %v Bus Voltage error: %v\n", ch, err) + } + fmt.Printf("INA3221Channel %v Bus Voltage: %fV\n", ch, val) + val, err = ina.GetShuntVoltage(ch) + if err != nil { + fmt.Printf("INA3221Channel %v Shunt Voltage error: %v\n", ch, err) + } + fmt.Printf("INA3221Channel %v Shunt Voltage: %fV\n", ch, val) + + val, err = ina.GetCurrent(ch) + if err != nil { + fmt.Printf("INA3221Channel %v Current error: %v\n", ch, err) + } + fmt.Printf("INA3221Channel %v Current: %fmA\n", ch, val) + + val, err = ina.GetLoadVoltage(ch) + if err != nil { + fmt.Printf("INA3221Channel %v Load Voltage error: %v\n", ch, err) + } + fmt.Printf("INA3221Channel %v Load Voltage: %fV\n", ch, val) } - log.Printf("Ch 1 Bus Voltage: %f", bv) - - sv, err := ina.GetShuntVoltage(i2c.INA3221Channel1) - if err != nil { - - } - log.Printf("Ch 1 Shunt Voltage: %f", sv) - - ma, err := ina.GetCurrent(i2c.INA3221Channel1) - if err != nil { - - } - log.Printf("Ch 1 Current: %f", ma) - - lv, err := ina.GetLoadVoltage(i2c.INA3221Channel1) - if err != nil { - - } - log.Printf("Ch 1 Load Voltage: %f", lv) }) } - robot := gobot.NewRobot("ina3221Robot", + robot := gobot.NewRobot("INA3221 Robot", []gobot.Connection{r}, []gobot.Device{ina}, work,