Add INA226 battery meter support

cmake/pg_struct_sizes.reference.db

@@ -1,7 +1,7 @@
 adcChannelConfig_t               4 0
 armingConfig_t                   6 3
 barometerConfig_t                8 5
-batteryMetersConfig_t           24 2
+batteryMetersConfig_t           24 3
 beeperConfig_t                  12 2
 blackboxConfig_t                16 4
 compassConfig_t                 24 6

docs/Settings.md

@@ -634,11 +634,11 @@ This sets the output voltage to current scaling for the current sensor in 0.1 mV
 
 ### current_meter_type
 
-ADC, VIRTUAL, FAKE, ESC, SMARTPORT, NONE. The virtual current sensor, once calibrated, estimates the current value from throttle position.
+ADC, VIRTUAL, FAKE, ESC, SMARTPORT, INA226, NONE. The virtual current sensor, once calibrated, estimates the current value from throttle position.
 
 | Default | Min | Max |
 | --- | --- | --- |
-| ADC |  |  |
+| _target default_ |  |  |
 
 ---
 
@@ -2072,6 +2072,16 @@ Power draw at zero throttle used for remaining flight time/distance estimation i
 
 ---
 
+### ina_shunt_res_uohm
+
+INA226 shunt resistor value in micro-ohms.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| _target default_ | 1 | 4294967295 |
+
+---
+
 ### inav_allow_dead_reckoning
 
 Defines if INAV will dead-reckon over short GPS outages. May also be useful for indoors OPFLOW navigation
@@ -6594,11 +6604,11 @@ Maximum voltage per cell in 0.01V units, default is 4.20V
 
 ### vbat_meter_type
 
-Vbat voltage source. Possible values: `NONE`, `ADC`, `SMARTPORT`, `ESC`. `ESC` requires ESC telemetry enabled and running. `SMARTPORT` requires SmartPort Master enabled and running.
+Vbat voltage source. Possible values: `NONE`, `ADC`, `SMARTPORT`, `ESC`, `INA226`. `ESC` requires ESC telemetry enabled and running. `SMARTPORT` requires SmartPort Master enabled and running. `INA226` requires an INA226 I2C sensor.
 
 | Default | Min | Max |
 | --- | --- | --- |
-| ADC |  |  |
+| _target default_ |  |  |
 
 ---
 

src/main/CMakeLists.txt

@@ -103,6 +103,9 @@ main_sources(COMMON_SRC
     drivers/adc.c
     drivers/adc.h
 
+    drivers/ina226.c
+    drivers/ina226.h
+
     drivers/barometer/barometer.h
     drivers/barometer/barometer_bmp085.c
     drivers/barometer/barometer_bmp085.h

src/main/blackbox/blackbox.c

@@ -1911,10 +1911,14 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("motorOutput", "%d,%d",                  getThrottleIdleValue(),getMaxThrottle());
         BLACKBOX_PRINT_HEADER_LINE("acc_1G", "%u",                          acc.dev.acc_1G);
 
-#ifdef USE_ADC
+#ifdef USE_BATTERY_VOLTAGE_SENSOR
         BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
             if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {
+#ifdef USE_ADC
                 blackboxPrintfHeaderLine("vbat_scale", "%u", batteryMetersConfig()->voltage.scale / 10);
+#else
+                blackboxPrintfHeaderLine("vbat_scale", "%u", 0);
+#endif
             } else {
                 xmitState.headerIndex += 2; // Skip the next two vbat fields too
             }

src/main/drivers/bus.h

@@ -149,6 +149,7 @@ typedef enum {
     DEVHW_SDCARD,       // Generic SD-Card
     DEVHW_IRLOCK,       // IR-Lock visual positioning hardware
     DEVHW_PCF8574,      // 8-bit I/O expander
+    DEVHW_INA226,       // I2C current and voltage monitor
 } devHardwareType_e;
 
 typedef enum {

src/main/drivers/ina226.c

@@ -0,0 +1,128 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify this software
+ * under the terms of the GNU General Public License as published by the Free
+ * Software Foundation, either version 3 of the License, or (at your option) any
+ * later version.
+ *
+ * INAV is distributed in the hope that it will be useful, but WITHOUT ANY
+ * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
+ * A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+ */
+
+#include <stddef.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#if defined(USE_INA226)
+
+#include "drivers/ina226.h"
+
+#define INA226_REG_SHUNT_VOLTAGE     0x01
+#define INA226_REG_BUS_VOLTAGE       0x02
+#define INA226_REG_MANUFACTURER_ID   0xFE
+#define INA226_REG_DIE_ID            0xFF
+
+#define INA226_MANUFACTURER_ID       0x5449
+#define INA226_DIE_ID                0x2260
+#define INA226_DIE_ID_MASK           0xFFF0
+
+static bool ina226ReadRegister(ina226Dev_t *dev, uint8_t reg, uint16_t *value)
+{
+    if (!dev || !dev->busDev || !value) {
+        return false;
+    }
+
+    uint8_t buffer[2];
+    if (!busReadBuf(dev->busDev, reg, buffer, sizeof(buffer))) {
+        return false;
+    }
+
+    *value = ((uint16_t)buffer[0] << 8) | buffer[1];
+    return true;
+}
+
+uint16_t ina226BusVoltageToCentivolts(uint16_t rawBusVoltage)
+{
+    // INA226 bus voltage LSB is 1.25mV: raw * 125 / 1000 = centivolts.
+    return ((uint32_t)rawBusVoltage * 125 + 500) / 1000;
+}
+
+int16_t ina226ShuntVoltageToCentiamps(int16_t rawShuntVoltage, uint32_t shuntMicroOhm)
+{
+    if (shuntMicroOhm == 0) {
+        return 0;
+    }
+
+    const int32_t centiAmps = (int32_t)rawShuntVoltage * 250 / (int32_t)shuntMicroOhm;
+
+    if (centiAmps > INT16_MAX) {
+        return INT16_MAX;
+    }
+
+    if (centiAmps < INT16_MIN) {
+        return INT16_MIN;
+    }
+
+    return centiAmps;
+}
+
+bool ina226Detect(ina226Dev_t *dev)
+{
+    uint16_t manufacturerId;
+    uint16_t dieId;
+
+    return ina226ReadRegister(dev, INA226_REG_MANUFACTURER_ID, &manufacturerId)
+        && ina226ReadRegister(dev, INA226_REG_DIE_ID, &dieId)
+        && manufacturerId == INA226_MANUFACTURER_ID
+        && (dieId & INA226_DIE_ID_MASK) == INA226_DIE_ID;
+}
+
+bool ina226Init(ina226Dev_t *dev)
+{
+    if (!dev) {
+        return false;
+    }
+
+    dev->busDev = busDeviceInit(BUSTYPE_I2C, DEVHW_INA226, 0, OWNER_CURRENT_METER);
+
+    if (!dev->busDev) {
+        return false;
+    }
+
+    if (!ina226Detect(dev)) {
+        busDeviceDeInit(dev->busDev);
+        dev->busDev = NULL;
+        return false;
+    }
+
+    return true;
+}
+
+bool ina226ReadBusVoltage(ina226Dev_t *dev, uint16_t *centiVolts)
+{
+    uint16_t rawBusVoltage;
+
+    if (!centiVolts || !ina226ReadRegister(dev, INA226_REG_BUS_VOLTAGE, &rawBusVoltage)) {
+        return false;
+    }
+
+    *centiVolts = ina226BusVoltageToCentivolts(rawBusVoltage);
+    return true;
+}
+
+bool ina226ReadShuntCurrent(ina226Dev_t *dev, uint32_t shuntMicroOhm, int16_t *centiAmps)
+{
+    uint16_t rawShuntVoltage;
+
+    if (!centiAmps || !ina226ReadRegister(dev, INA226_REG_SHUNT_VOLTAGE, &rawShuntVoltage)) {
+        return false;
+    }
+
+    *centiAmps = ina226ShuntVoltageToCentiamps((int16_t)rawShuntVoltage, shuntMicroOhm);
+    return true;
+}
+
+#endif

src/main/drivers/ina226.h

@@ -0,0 +1,33 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify this software
+ * under the terms of the GNU General Public License as published by the Free
+ * Software Foundation, either version 3 of the License, or (at your option) any
+ * later version.
+ *
+ * INAV is distributed in the hope that it will be useful, but WITHOUT ANY
+ * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
+ * A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+ */
+
+#pragma once
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "drivers/bus.h"
+
+#define INA226_DEFAULT_I2C_ADDRESS 0x40
+
+typedef struct ina226Dev_s {
+    busDevice_t *busDev;
+} ina226Dev_t;
+
+bool ina226Init(ina226Dev_t *dev);
+bool ina226Detect(ina226Dev_t *dev);
+bool ina226ReadBusVoltage(ina226Dev_t *dev, uint16_t *centiVolts);
+bool ina226ReadShuntCurrent(ina226Dev_t *dev, uint32_t shuntMicroOhm, int16_t *centiAmps);
+
+uint16_t ina226BusVoltageToCentivolts(uint16_t rawBusVoltage);
+int16_t ina226ShuntVoltageToCentiamps(int16_t rawShuntVoltage, uint32_t shuntMicroOhm);

src/main/drivers/resource.c

@@ -22,7 +22,7 @@ const char * const ownerNames[OWNER_TOTAL_COUNT] = {
     "RANGEFINDER", "SYSTEM", "SPI", "QUADSPI", "I2C", "SDCARD", "FLASH", "USB", "BEEPER", "OSD",
     "BARO", "MPU", "INVERTER", "LED STRIP", "LED", "RECEIVER", "TRANSMITTER",
     "VTX", "SPI_PREINIT", "COMPASS", "TEMPERATURE", "1-WIRE", "AIRSPEED", "OLED DISPLAY",
-    "PINIO", "IRLOCK"
+    "PINIO", "IRLOCK", "CURRENT METER"
 };
 
 const char * const resourceNames[RESOURCE_TOTAL_COUNT] = {

src/main/drivers/resource.h

@@ -54,6 +54,7 @@ typedef enum {
     OWNER_OLED_DISPLAY,
     OWNER_PINIO,
     OWNER_IRLOCK,
+    OWNER_CURRENT_METER,
     OWNER_TOTAL_COUNT
 } resourceOwner_e;
 

src/main/fc/fc_msp.c

@@ -866,8 +866,12 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU16(dst, 0);
 #endif
 
+#ifdef USE_BATTERY_VOLTAGE_SENSOR
 #ifdef USE_ADC
         sbufWriteU8(dst, batteryMetersConfig()->voltage.scale / 10);
+#else
+        sbufWriteU8(dst, 0);
+#endif
         sbufWriteU8(dst, currentBatteryProfile->voltage.cellMin / 10);
         sbufWriteU8(dst, currentBatteryProfile->voltage.cellMax / 10);
         sbufWriteU8(dst, currentBatteryProfile->voltage.cellWarning / 10);
@@ -905,8 +909,12 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU16(dst, 0);
 #endif
 
+#ifdef USE_BATTERY_VOLTAGE_SENSOR
 #ifdef USE_ADC
         sbufWriteU16(dst, batteryMetersConfig()->voltage.scale);
+#else
+        sbufWriteU16(dst, 0);
+#endif
         sbufWriteU8(dst, batteryMetersConfig()->voltageSource);
         sbufWriteU8(dst, currentBatteryProfile->cells);
         sbufWriteU16(dst, currentBatteryProfile->voltage.cellDetect);
@@ -941,8 +949,12 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
 
     case MSP2_INAV_BATTERY_CONFIG:
+#ifdef USE_BATTERY_VOLTAGE_SENSOR
 #ifdef USE_ADC
         sbufWriteU16(dst, batteryMetersConfig()->voltage.scale);
+#else
+        sbufWriteU16(dst, 0);
+#endif
         sbufWriteU8(dst, batteryMetersConfig()->voltageSource);
         sbufWriteU8(dst, currentBatteryProfile->cells);
         sbufWriteU16(dst, currentBatteryProfile->voltage.cellDetect);
@@ -1081,8 +1093,12 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
 
     case MSP_VOLTAGE_METER_CONFIG:
+#ifdef USE_BATTERY_VOLTAGE_SENSOR
 #ifdef USE_ADC
         sbufWriteU8(dst, batteryMetersConfig()->voltage.scale / 10);
+#else
+        sbufWriteU8(dst, 0);
+#endif
         sbufWriteU8(dst, currentBatteryProfile->voltage.cellMin / 10);
         sbufWriteU8(dst, currentBatteryProfile->voltage.cellMax / 10);
         sbufWriteU8(dst, currentBatteryProfile->voltage.cellWarning / 10);
@@ -2159,8 +2175,12 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         sbufReadU16(src);
 #endif
 
+#ifdef USE_BATTERY_VOLTAGE_SENSOR
 #ifdef USE_ADC
         batteryMetersConfigMutable()->voltage.scale = sbufReadU8(src) * 10;
+#else
+        sbufReadU8(src);
+#endif
         currentBatteryProfileMutable->voltage.cellMin = sbufReadU8(src) * 10;         // vbatlevel_warn1 in MWC2.3 GUI
         currentBatteryProfileMutable->voltage.cellMax = sbufReadU8(src) * 10;         // vbatlevel_warn2 in MWC2.3 GUI
         currentBatteryProfileMutable->voltage.cellWarning = sbufReadU8(src) * 10;     // vbatlevel when buzzer starts to alert
@@ -2204,8 +2224,12 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             sbufReadU16(src);
 #endif
 
+#ifdef USE_BATTERY_VOLTAGE_SENSOR
 #ifdef USE_ADC
             batteryMetersConfigMutable()->voltage.scale = sbufReadU16(src);
+#else
+            sbufReadU16(src);
+#endif
             batteryMetersConfigMutable()->voltageSource = sbufReadU8(src);
             currentBatteryProfileMutable->cells = sbufReadU8(src);
             currentBatteryProfileMutable->voltage.cellDetect = sbufReadU16(src);
@@ -2247,8 +2271,12 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 
     case MSP2_INAV_SET_BATTERY_CONFIG:
         if (dataSize == 29) {
+#ifdef USE_BATTERY_VOLTAGE_SENSOR
 #ifdef USE_ADC
             batteryMetersConfigMutable()->voltage.scale = sbufReadU16(src);
+#else
+            sbufReadU16(src);
+#endif
             batteryMetersConfigMutable()->voltageSource = sbufReadU8(src);
             currentBatteryProfileMutable->cells = sbufReadU8(src);
             currentBatteryProfileMutable->voltage.cellDetect = sbufReadU16(src);
@@ -3140,8 +3168,12 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 
     case MSP_SET_VOLTAGE_METER_CONFIG:
         if (dataSize == 4) {
+#ifdef USE_BATTERY_VOLTAGE_SENSOR
 #ifdef USE_ADC
             batteryMetersConfigMutable()->voltage.scale = sbufReadU8(src) * 10;
+#else
+            sbufReadU8(src);
+#endif
             currentBatteryProfileMutable->voltage.cellMin = sbufReadU8(src) * 10;
             currentBatteryProfileMutable->voltage.cellMax = sbufReadU8(src) * 10;
             currentBatteryProfileMutable->voltage.cellWarning = sbufReadU8(src) * 10;

src/main/fc/fc_tasks.c

@@ -135,15 +135,15 @@ void taskUpdateBattery(timeUs_t currentTimeUs)
 #endif
     }
 
-#ifdef USE_ADC
+#ifdef USE_BATTERY_VOLTAGE_SENSOR
     if (feature(FEATURE_VBAT)) {
         batteryUpdate(BatMonitoringTimeSinceLastServiced);
     }
 
     if (feature(FEATURE_VBAT) && isAmperageConfigured()) {
         powerMeterUpdate(BatMonitoringTimeSinceLastServiced);
         sagCompensatedVBatUpdate(currentTimeUs, BatMonitoringTimeSinceLastServiced);
-#if defined(USE_POWER_LIMITS) && defined(USE_ADC)
+#if defined(USE_POWER_LIMITS) && defined(USE_BATTERY_VOLTAGE_SENSOR)
         powerLimiterUpdate(BatMonitoringTimeSinceLastServiced);
 #endif
     }