A3：INA226 驱动 + 六片地址表
地址表按设计文档 §8.2 钉死（0x40/41/44/45/42 + 输入侧 0x43），只走 ina226_rail_addr()，并有一条测试专门拦「ina_addr = 0x40 + ch」这一手 （CH3/CH4/CH5 三路全错，需求 §10.4）。 驱动只经 hal_i2c_*：认件（MFG/DIE ID）、写 Config 0x4327 + CAL 2048 并 回读校验、读 V/I/分流/功率。电流有符号，反灌为负（SW-8 判据）。 巡检走 read_vi()，每片两次事务，对应 §10.3 的 8% I²C 占用。 两条留给下次的坑：寄存器指针不依赖自增（sim 会自增、真件不会，靠自增 在宿主机上测不出来）；CAL 丢了不报错只让 Current/Power 恒读 0，所以 有 ina226_check()。 Co-Authored-By: Claude Opus 5 <[email protected]> Claude-Session: https://claude.ai/code/session_01QYuExfgyYa6DzRRcUso8M8
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zhou yang
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/* INA226 驱动。只经 hal_i2c_*，不碰任何平台头文件。 */
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#include "ina226.h"
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#include <assert.h>
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#include <stddef.h>
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#include "hal_i2c.h"
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/* 设计文档 §8.2：CH1..CH5。⚠️ 不是 0x40 起顺排，CH3/CH4/CH5 三路都不是。 */
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static const uint8_t s_rail_addr[INA226_RAIL_COUNT] = { 0x40, 0x41, 0x44, 0x45, 0x42 };
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const uint8_t ina226_all_addr[INA226_COUNT] = { 0x40, 0x41, 0x44, 0x45, 0x42, INA226_ADDR_INPUT };
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uint8_t ina226_rail_addr(int rail)
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{
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assert(rail >= 1 && rail <= INA226_RAIL_COUNT); /* 越界是代码写错，不许悄悄返回一个地址 */
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return s_rail_addr[rail - 1];
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}
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bool ina226_addr_table_ok(void)
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{
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/* 同一条 I²C 上的其它器件（§8.2）：撞上任何一个都是硬件表被改坏了。 */
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static const uint8_t others[] = { 0x4A, 0x4B, 0x20, 0x48 };
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for (int i = 0; i < INA226_COUNT; i++) {
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if (ina226_all_addr[i] > 0x7f) {
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return false;
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}
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for (int j = i + 1; j < INA226_COUNT; j++) {
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if (ina226_all_addr[i] == ina226_all_addr[j]) {
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return false;
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}
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}
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for (size_t k = 0; k < sizeof(others); k++) {
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if (ina226_all_addr[i] == others[k]) {
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return false;
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}
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}
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}
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/* 前五个必须和 rail 表逐个一致 —— 两张表分家的那天就是错一路的那天。 */
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for (int i = 0; i < INA226_RAIL_COUNT; i++) {
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if (ina226_all_addr[i] != s_rail_addr[i]) {
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return false;
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}
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}
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return true;
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}
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/* ---- 寄存器读写 ---------------------------------------------------------
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⚠️ 每次读之前都重写一遍寄存器指针，**不依赖指针自增**：INA226 的指针按 datasheet
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是停在最后写入值上的（未在实物上验过，B1 上板时确认）。而 sim 的假器件是**会**自增的，
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所以「靠自增一次读完 0x01~0x04」在宿主机上能绿，到板上会把四个量读成同一个。 */
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static hal_err_t read_reg(uint8_t addr, uint8_t reg, uint16_t *raw)
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{
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uint8_t rd[2];
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hal_err_t err = hal_i2c_write_read(addr, ®, 1, rd, sizeof(rd));
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if (err != HAL_OK) {
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return err;
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}
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*raw = (uint16_t)(((uint16_t)rd[0] << 8) | rd[1]); /* 大端 */
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return HAL_OK;
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}
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static hal_err_t write_reg(uint8_t addr, uint8_t reg, uint16_t val)
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{
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const uint8_t wr[3] = { reg, (uint8_t)(val >> 8), (uint8_t)(val & 0xff) };
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return hal_i2c_write(addr, wr, sizeof(wr));
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}
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static hal_err_t write_verify(uint8_t addr, uint8_t reg, uint16_t val)
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{
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hal_err_t err = write_reg(addr, reg, val);
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if (err != HAL_OK) {
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return err;
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}
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uint16_t back = 0;
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err = read_reg(addr, reg, &back);
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if (err != HAL_OK) {
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return err;
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}
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return back == val ? HAL_OK : HAL_ERR_BUS;
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}
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/* ---- 换算 ---------------------------------------------------------------- */
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static int32_t div_round(int32_t num, int32_t den) /* 四舍五入，负数远离零 */
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{
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return num >= 0 ? (num + den / 2) / den : (num - den / 2) / den;
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}
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static int32_t s16(uint16_t raw) { return (int32_t)(int16_t)raw; }
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static int32_t bus_mv_of(uint16_t raw) { return div_round((int32_t)raw * 5, 4); } /* 1.25 mV */
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static int32_t shunt_uv_of(uint16_t raw) { return div_round(s16(raw) * 5, 2); } /* 2.5 µV */
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static int32_t current_ua_of(uint16_t raw) { return s16(raw) * INA226_CURRENT_LSB_UA; }
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static int32_t power_mw_of(uint16_t raw) { return div_round((int32_t)raw * 25, 2); } /* 12.5 mW */
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/* ---- 对外 ---------------------------------------------------------------- */
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hal_err_t ina226_probe(uint8_t addr)
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{
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uint16_t mfg = 0;
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hal_err_t err = read_reg(addr, INA226_REG_MFG_ID, &mfg);
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if (err != HAL_OK) {
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return err;
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}
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uint16_t die = 0;
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err = read_reg(addr, INA226_REG_DIE_ID, &die);
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if (err != HAL_OK) {
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return err;
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}
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/* 应答了但不是 INA226：地址跳线焊错 / 贴错件。不能当「没这个器件」混过去。 */
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return (mfg == INA226_MFG_ID && die == INA226_DIE_ID) ? HAL_OK : HAL_ERR_BUS;
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}
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hal_err_t ina226_init(uint8_t addr)
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{
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hal_err_t err = write_verify(addr, INA226_REG_CONFIG, INA226_CONFIG);
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if (err != HAL_OK) {
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return err;
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}
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return write_verify(addr, INA226_REG_CALIB, INA226_CALIB);
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}
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hal_err_t ina226_check(uint8_t addr)
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{
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uint16_t cal = 0;
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hal_err_t err = read_reg(addr, INA226_REG_CALIB, &cal);
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if (err != HAL_OK) {
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return err;
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}
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return cal == INA226_CALIB ? HAL_OK : HAL_ERR_BUS;
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}
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#define READ_ONE(fn, conv, reg) \
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hal_err_t fn(uint8_t addr, int32_t *out) \
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{ \
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if (out == NULL) { \
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return HAL_ERR_ARG; \
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} \
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uint16_t raw = 0; \
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hal_err_t err = read_reg(addr, (reg), &raw); \
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if (err != HAL_OK) { \
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return err; \
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} \
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*out = conv(raw); \
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return HAL_OK; \
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}
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READ_ONE(ina226_read_bus_mv, bus_mv_of, INA226_REG_BUS_V)
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READ_ONE(ina226_read_shunt_uv, shunt_uv_of, INA226_REG_SHUNT_V)
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READ_ONE(ina226_read_current_ua, current_ua_of, INA226_REG_CURRENT)
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READ_ONE(ina226_read_power_mw, power_mw_of, INA226_REG_POWER)
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hal_err_t ina226_read_vi(uint8_t addr, ina226_vi_t *out)
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{
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if (out == NULL) {
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return HAL_ERR_ARG;
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}
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hal_err_t err = ina226_read_bus_mv(addr, &out->bus_mv);
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if (err != HAL_OK) {
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return err;
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}
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return ina226_read_current_ua(addr, &out->current_ua);
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}
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hal_err_t ina226_read_all(uint8_t addr, ina226_sample_t *out)
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{
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if (out == NULL) {
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return HAL_ERR_ARG;
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}
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hal_err_t err = ina226_read_bus_mv(addr, &out->bus_mv);
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if (err == HAL_OK) {
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err = ina226_read_shunt_uv(addr, &out->shunt_uv);
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}
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if (err == HAL_OK) {
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err = ina226_read_current_ua(addr, &out->current_ua);
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}
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if (err == HAL_OK) {
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err = ina226_read_power_mw(addr, &out->power_mw);
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}
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return err;
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}
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