AP_BattMonitor: added MAX_AMPS and SHUNT parameters for INA239

allows for a wider range of current
ArduPilot · Mar 12, 2024 · a444004 · a444004
1 parent 8a06ee4
commit a444004
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Showing 2 changed files with 30 additions and 2 deletions.
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_INA239.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_INA239.cpp
@@ -30,11 +30,34 @@ extern const AP_HAL::HAL& hal;
 #define HAL_BATTMON_INA239_MAX_CURRENT 90
 #endif
 
+const AP_Param::GroupInfo AP_BattMonitor_INA239::var_info[] = {
+
+    // @Param: MAX_AMPS
+    // @DisplayName: Battery monitor max current
+    // @Description: This controls the maximum current the INA239 sensor will work with.
+    // @Range: 1 400
+    // @Units: A
+    // @User: Advanced
+    AP_GROUPINFO("MAX_AMPS", 27, AP_BattMonitor_INA239, max_amps, HAL_BATTMON_INA239_MAX_CURRENT),
+
+    // @Param: SHUNT
+    // @DisplayName: Battery monitor shunt resistor
+    // @Description: This sets the shunt resistor used in the device
+    // @Range: 0.0001 0.01
+    // @Units: Ohm
+    // @User: Advanced
+    AP_GROUPINFO("SHUNT", 28, AP_BattMonitor_INA239, rShunt, HAL_BATTMON_INA239_SHUNT_RESISTANCE),
+
+    AP_GROUPEND
+};
+
 AP_BattMonitor_INA239::AP_BattMonitor_INA239(AP_BattMonitor &mon,
                                              AP_BattMonitor::BattMonitor_State &mon_state,
                                              AP_BattMonitor_Params &params)
         : AP_BattMonitor_Backend(mon, mon_state, params)
 {
+    AP_Param::setup_object_defaults(this, var_info);
+    _state.var_info = var_info;
 }
 
 void AP_BattMonitor_INA239::init(void)
@@ -61,8 +84,8 @@ void AP_BattMonitor_INA239::configure(void)
     }
 
     voltage_LSB = 3.125e-3;
-    current_LSB = float(HAL_BATTMON_INA239_MAX_CURRENT) / 0x8000;
-    const int16_t shunt_cal = 819.2 * 1e6 * current_LSB * HAL_BATTMON_INA239_SHUNT_RESISTANCE;
+    current_LSB = max_amps.get() / 0x8000;
+    const int16_t shunt_cal = 819.2 * 1e6 * current_LSB * rShunt.get();
     int16_t shunt_cal2 = 0;
 
     if (!write_word(REG_SHUNT_CAL, shunt_cal) ||

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_INA239.h b/libraries/AP_BattMonitor/AP_BattMonitor_INA239.h
@@ -23,6 +23,8 @@ class AP_BattMonitor_INA239 : public AP_BattMonitor_Backend
     void init(void) override;
     void read() override;
 
+    static const struct AP_Param::GroupInfo var_info[];
+
 protected:
     AP_HAL::OwnPtr<AP_HAL::Device> dev;
 
@@ -44,6 +46,9 @@ class AP_BattMonitor_INA239 : public AP_BattMonitor_Backend
     } accumulate;
     float current_LSB;
     float voltage_LSB;
+
+    AP_Float max_amps;
+    AP_Float rShunt;
 };
 
 #endif // AP_BATTERY_INA239_ENABLED