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ina238: retry if read fails #24163

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ina238: retry if read fails #24163

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f7dd43e
ina238: retry if read fails
AlexKlimaj Jan 2, 2025
c90e87e
ina238: increase retries and only publish not connected if register c…
AlexKlimaj Jan 6, 2025
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44 changes: 27 additions & 17 deletions src/drivers/power_monitor/ina238/ina238.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,14 +96,19 @@ int INA238::read(uint8_t address, uint16_t &data)
{
// read desired little-endian value via I2C
uint16_t received_bytes;
const int ret = transfer(&address, 1, (uint8_t *)&received_bytes, sizeof(received_bytes));
int ret = PX4_ERROR;

if (ret == PX4_OK) {
data = swap16(received_bytes);
for (size_t i = 0; i < 6; i++) {
ret = transfer(&address, 1, (uint8_t *)&received_bytes, sizeof(received_bytes));

} else {
perf_count(_comms_errors);
PX4_DEBUG("i2c::transfer returned %d", ret);
if (ret == PX4_OK) {
data = swap16(received_bytes);
break;

} else {
perf_count(_comms_errors);
PX4_DEBUG("i2c::transfer returned %d", ret);
}
}

return ret;
Expand Down Expand Up @@ -231,6 +236,16 @@ int INA238::collect()
success = success && (RegisterRead(Register::CURRENT, (uint16_t &)current) == PX4_OK);
success = success && (RegisterRead(Register::DIETEMP, (uint16_t &)temperature) == PX4_OK);

if (success) {
_battery.updateVoltage(static_cast<float>(bus_voltage * INA238_VSCALE));
_battery.updateCurrent(static_cast<float>(current * _current_lsb));
_battery.updateTemperature(static_cast<float>(temperature * INA238_TSCALE));

_battery.setConnected(success);

_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
}

if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
// check configuration registers periodically or immediately following any failure
if (RegisterCheck(_register_cfg[_checked_register])) {
Expand All @@ -242,26 +257,21 @@ int INA238::collect()
PX4_DEBUG("register check failed");
perf_count(_bad_register_perf);
success = false;
}
}

if (!success) {
PX4_DEBUG("error reading from sensor");
bus_voltage = current = 0;
}
_battery.setConnected(success);

_battery.setConnected(success);
_battery.updateVoltage(static_cast<float>(bus_voltage * INA238_VSCALE));
_battery.updateCurrent(static_cast<float>(current * _current_lsb));
_battery.updateTemperature(static_cast<float>(temperature * INA238_TSCALE));
_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
}
}

perf_end(_sample_perf);

if (success) {
return PX4_OK;

} else {
PX4_DEBUG("error reading from sensor");

return PX4_ERROR;
}
}
Expand Down
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