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refactor(ina226): rewrite driver for robustness and clarity #27364

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250c022
refactor(ina226): rewrite driver for robustness and clarity
dakejahl May 17, 2026
6697d05
fix(ina226): mask reserved bits when verifying CONFIGURATION register
dakejahl May 18, 2026
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8 changes: 4 additions & 4 deletions src/drivers/auterion_autostarter/AuterionAutostarter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -173,19 +173,19 @@ int AuterionAutostarter::ina226_probe(const uint32_t instance) const
msgv[1].buffer = rxdata;
msgv[1].length = sizeof(rxdata);

txdata[0] = {INA226_MFG_ID};
txdata[0] = static_cast<uint8_t>(ina226::Register::MFG_ID);
ret = I2C_TRANSFER(i2c.get(), msgv, 2);
uint16_t value = static_cast<uint16_t>(rxdata[1] | rxdata[0] << 8);

if (ret != PX4_OK || value != INA226_MFG_ID_TI) {
if (ret != PX4_OK || value != ina226::MANFID) {
ret = PX4_ERROR;

} else {
txdata[0] = {INA226_MFG_DIEID};
txdata[0] = static_cast<uint8_t>(ina226::Register::DIE_ID);
ret = I2C_TRANSFER(i2c.get(), msgv, 2);
value = static_cast<uint16_t>(rxdata[1] | rxdata[0] << 8);

if (ret != PX4_OK || value != INA226_MFG_DIE) {
if (ret != PX4_OK || value != ina226::DIEID) {
ret = PX4_ERROR;
}
}
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3 changes: 0 additions & 3 deletions src/drivers/power_monitor/ina226/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -33,10 +33,7 @@
px4_add_module(
MODULE drivers__ina226
MAIN ina226
COMPILE_FLAGS
-Wno-cast-align # TODO: fix and enable
SRCS
ina226_main.cpp
ina226.cpp
MODULE_CONFIG
ina226_params.yaml
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