Battery monitor (see battery.h). More...

#include "battery.h"
#include "proto_v2.h"
#include "spsc.h"
#include <math.h>
#include <string.h>

Include dependency graph for battery.c:

Macros
#define	DETECT_MS 500u /* battery present and stable before counting cells */

#define	R_WIN_MS 100u /* window of the internal resistance estimate */

#define	R_MIN_DI 0.5f /* A: load step needed for an estimate */

#define	REST_I 0.3f /* A: below this the pack is "resting" */

#define	SOC_REST_TAU 2.0f /* s */

#define	SOC_V_TAU 10.0f /* s: voltage-only state of charge */

#define	SOC_CORR_TAU 600.0f /* s: pull of the voltage on the coulomb counter */

#define	I_SLOW_TAU 10.0f /* s: current used for the time left */

Functions
float	batt_soc_from_ocv (float v)
	LiPo open-circuit voltage → state of charge 0…1 (exposed for the tests)

static float	lpf (float y, float x, float dt, float tau)

static float	clamp01 (float v)

void	batt_init (const batt_cfg_t *cfg)

void	batt_set_scales (float sv, float si)

void	batt_get_cfg (batt_cfg_t *out)

const batt_state_t *	batt_state (void)
	state as computed by the last step (same context)

void	batt_read (batt_state_t *out)
	seqlock snapshot for other tasks; keeps *out on a race

static void	publish (void)

static void	lost_battery (void)

static void	r_estimate (float v, float i, uint32_t dt)

static uint8_t	level_of (float cv, const batt_limits_t *L, float hyst)

void	batt_step (float pin_v, float cur_pin_v, uint32_t dt_ms, uint8_t armed, const batt_limits_t *L)
	one sample: pin voltages, time step, armed flag (flight-control context)

Variables
static batt_cfg_t	s_cfg

static batt_state_t	s

static uint32_t	s_present_ms

static uint32_t	s_absent_ms

static uint32_t	s_below_ms [4]

static uint32_t	s_recover_ms

static uint8_t	s_have_anchor

static uint8_t	s_have_f

static float	s_soc_anchor

static float	s_used_anchor

static float	s_i_slow

static float	s_wv

static float	s_wi

static uint32_t	s_wn

static uint32_t	s_wms

static float	s_pv

static float	s_pi

static uint8_t	s_have_pw

static volatile uint32_t	s_seq

static batt_state_t	s_pub

static const float	k_ocv [21]

Detailed Description

Battery monitor (see battery.h).

Definition in file battery.c.

Macro Definition Documentation

◆ DETECT_MS

#define DETECT_MS 500u /* battery present and stable before counting cells */

Definition at line 11 of file battery.c.

◆ R_WIN_MS

#define R_WIN_MS 100u /* window of the internal resistance estimate */

Definition at line 12 of file battery.c.

◆ R_MIN_DI

#define R_MIN_DI 0.5f /* A: load step needed for an estimate */

Definition at line 13 of file battery.c.

◆ REST_I

#define REST_I 0.3f /* A: below this the pack is "resting" */

Definition at line 14 of file battery.c.

◆ SOC_REST_TAU

#define SOC_REST_TAU 2.0f /* s */

Definition at line 15 of file battery.c.

◆ SOC_V_TAU

#define SOC_V_TAU 10.0f /* s: voltage-only state of charge */

Definition at line 16 of file battery.c.

◆ SOC_CORR_TAU

#define SOC_CORR_TAU 600.0f /* s: pull of the voltage on the coulomb counter */

Definition at line 17 of file battery.c.

◆ I_SLOW_TAU

#define I_SLOW_TAU 10.0f /* s: current used for the time left */

Definition at line 18 of file battery.c.

Function Documentation

◆ batt_soc_from_ocv()

float batt_soc_from_ocv ( float v )

LiPo open-circuit voltage → state of charge 0…1 (exposed for the tests)

Definition at line 41 of file battery.c.

References k_ocv.

Referenced by batt_step().

Here is the caller graph for this function:

◆ lpf()

static float lpf	(	float	y,
		float	x,
		float	dt,
		float	tau
	)

static

Definition at line 54 of file battery.c.

Referenced by batt_step().

Here is the caller graph for this function:

◆ clamp01()

static float clamp01 ( float v )

static

Definition at line 55 of file battery.c.

Referenced by batt_step().

Here is the caller graph for this function:

◆ batt_init()

void batt_init ( const batt_cfg_t * cfg )

Definition at line 57 of file battery.c.

References BATT_R_CELL_DEFAULT, batt_state_t::r_cell, batt_state_t::remain_s, s, s_absent_ms, s_below_ms, s_cfg, s_have_anchor, s_have_f, s_have_pw, s_i_slow, s_present_ms, s_pub, s_recover_ms, s_seq, s_soc_anchor, s_used_anchor, s_wi, s_wms, s_wn, s_wv, batt_cfg_t::scale_i, batt_cfg_t::scale_v, and batt_cfg_t::sens_v_per_a.

Referenced by batt_task_init().

Here is the caller graph for this function:

◆ batt_set_scales()

void batt_set_scales	(	float	sv,
		float	si
	)

Definition at line 75 of file battery.c.

References s_cfg, batt_cfg_t::scale_i, and batt_cfg_t::scale_v.

Referenced by batt_task_step().

Here is the caller graph for this function:

◆ batt_get_cfg()

void batt_get_cfg ( batt_cfg_t * out )

Definition at line 81 of file battery.c.

References s_cfg.

Referenced by batt_task_step().

Here is the caller graph for this function:

◆ batt_state()

const batt_state_t * batt_state ( void )

state as computed by the last step (same context)

Definition at line 82 of file battery.c.

References s.

Referenced by batt_task_step().

Here is the caller graph for this function:

◆ batt_read()

void batt_read ( batt_state_t * out )

seqlock snapshot for other tasks; keeps *out on a race

Definition at line 84 of file battery.c.

References s_pub, s_seq, and SPSC_BARRIER.

Referenced by batt_now().

Here is the caller graph for this function:

◆ publish()

static void publish ( void )

static

Definition at line 96 of file battery.c.

References s, s_pub, s_seq, and SPSC_BARRIER.

Referenced by batt_step().

Here is the caller graph for this function:

◆ lost_battery()

static void lost_battery ( void )

static

Definition at line 105 of file battery.c.

References batt_state_t::cell_rest_v, batt_state_t::cell_v, batt_state_t::cells, batt_state_t::level, batt_state_t::pct, batt_state_t::present, PV2_BATT_OK, batt_state_t::remain_s, s, s_below_ms, s_have_anchor, s_have_pw, s_present_ms, s_recover_ms, and batt_state_t::soc.

Referenced by batt_step().

Here is the caller graph for this function:

◆ r_estimate()

static void r_estimate	(	float	v,
		float	i,
		uint32_t	dt
	)

static

Definition at line 121 of file battery.c.

References batt_state_t::cells, batt_state_t::r_cell, R_MIN_DI, R_WIN_MS, s, s_have_pw, s_pi, s_pv, s_wi, s_wms, s_wn, and s_wv.

Referenced by batt_step().

Here is the caller graph for this function:

◆ level_of()

static uint8_t level_of	(	float	cv,
		const batt_limits_t *	L,
		float	hyst
	)

static

Definition at line 137 of file battery.c.

References PV2_BATT_CRITICAL, PV2_BATT_EMERGENCY, PV2_BATT_LOW, and PV2_BATT_OK.

Referenced by batt_step().

Here is the caller graph for this function:

◆ batt_step()

void batt_step	(	float	pin_v,
		float	cur_pin_v,
		uint32_t	dt_ms,
		uint8_t	armed,
		const batt_limits_t *	L
	)

one sample: pin voltages, time step, armed flag (flight-control context)

Definition at line 145 of file battery.c.

References BATT_ABSENT_V, BATT_CELL_DETECT_V, BATT_LEVEL_MS, BATT_PRESENT_V, BATT_RECOVER_HYST, BATT_RECOVER_MS, BATT_RESERVE_SOC, batt_soc_from_ocv(), batt_state_t::cell_rest_v, batt_state_t::cell_v, batt_state_t::cells, clamp01(), batt_state_t::current, DETECT_MS, batt_cfg_t::has_current, I_SLOW_TAU, L, batt_state_t::level, level_of(), lost_battery(), lpf(), n, batt_state_t::pct, batt_state_t::present, publish(), PV2_BATT_OK, batt_state_t::r_cell, r_estimate(), batt_state_t::remain_s, REST_I, s, s_absent_ms, s_below_ms, s_cfg, s_have_anchor, s_have_f, s_i_slow, s_present_ms, s_recover_ms, s_soc_anchor, s_used_anchor, batt_cfg_t::scale_i, batt_cfg_t::scale_v, batt_cfg_t::sens_v_per_a, batt_state_t::soc, SOC_CORR_TAU, SOC_REST_TAU, SOC_V_TAU, batt_state_t::used_mah, batt_state_t::vbat, and batt_state_t::vbat_raw.

Referenced by batt_task_step().

Here is the call graph for this function:

Here is the caller graph for this function:

Variable Documentation

◆ s_cfg

batt_cfg_t s_cfg

static

Definition at line 20 of file battery.c.

Referenced by batt_get_cfg(), batt_init(), batt_set_scales(), and batt_step().

◆ s

batt_state_t s

static

Definition at line 21 of file battery.c.

Referenced by alt_est_predict(), alt_est_tof(), appl_silence_ms(), batt_init(), batt_state(), batt_step(), batt_task_post_scales(), cal_from_v1(), calib_finish(), config_desc(), dev_desc(), events(), ext_step(), ext_take(), fsh_cal_pop(), fsh_cal_push(), fsh_est_write(), iekf_init(), imu_fifo_level(), is_used(), itf_desc(), lang_desc(), log_erase_all(), log_mount(), log_used_pct(), logf_flight(), lost_battery(), map_status(), mfr_desc(), next(), prod_desc(), publish(), put(), r_estimate(), read_hdr(), send_system(), serial_desc(), set_used(), and vl53_poll().

◆ s_present_ms

uint32_t s_present_ms

static

Definition at line 22 of file battery.c.

Referenced by batt_init(), batt_step(), and lost_battery().

◆ s_absent_ms

uint32_t s_absent_ms

static

Definition at line 22 of file battery.c.

Referenced by batt_init(), and batt_step().

◆ s_below_ms

uint32_t s_below_ms[4]

static

Definition at line 23 of file battery.c.

Referenced by batt_init(), batt_step(), and lost_battery().

◆ s_recover_ms

uint32_t s_recover_ms

static

Definition at line 23 of file battery.c.

Referenced by batt_init(), batt_step(), and lost_battery().

◆ s_have_anchor

uint8_t s_have_anchor

static

Definition at line 24 of file battery.c.

Referenced by batt_init(), batt_step(), and lost_battery().

◆ s_have_f

uint8_t s_have_f

static

Definition at line 24 of file battery.c.

Referenced by batt_init(), and batt_step().

◆ s_soc_anchor

float s_soc_anchor

static

Definition at line 25 of file battery.c.

Referenced by batt_init(), and batt_step().

◆ s_used_anchor

float s_used_anchor

static

Definition at line 25 of file battery.c.

Referenced by batt_init(), and batt_step().

◆ s_i_slow

float s_i_slow

static

Definition at line 25 of file battery.c.

Referenced by batt_init(), and batt_step().

◆ s_wv

float s_wv

static

Definition at line 27 of file battery.c.

Referenced by batt_init(), and r_estimate().

◆ s_wi

float s_wi

static

Definition at line 27 of file battery.c.

Referenced by batt_init(), and r_estimate().

◆ s_wn

uint32_t s_wn

static

Definition at line 28 of file battery.c.

Referenced by batt_init(), and r_estimate().

◆ s_wms

uint32_t s_wms

static

Definition at line 28 of file battery.c.

Referenced by batt_init(), and r_estimate().

◆ s_pv

float s_pv

static

Definition at line 29 of file battery.c.

Referenced by r_estimate().

◆ s_pi

float s_pi

static

Definition at line 29 of file battery.c.

Referenced by r_estimate().

◆ s_have_pw

uint8_t s_have_pw

static

Definition at line 30 of file battery.c.

Referenced by batt_init(), lost_battery(), and r_estimate().

◆ s_seq

volatile uint32_t s_seq

static

Definition at line 32 of file battery.c.

Referenced by batt_init(), batt_read(), and publish().

◆ s_pub

batt_state_t s_pub

static

Definition at line 33 of file battery.c.

Referenced by batt_init(), batt_read(), and publish().

◆ k_ocv

const float k_ocv[21]

static

Initial value:

= {
    3.27f, 3.61f, 3.69f, 3.71f, 3.73f, 3.75f, 3.77f, 3.79f, 3.80f, 3.82f, 3.84f,
    3.85f, 3.87f, 3.91f, 3.95f, 3.98f, 4.02f, 4.08f, 4.11f, 4.15f, 4.20f
}

Definition at line 36 of file battery.c.

Referenced by batt_soc_from_ocv().

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ DETECT_MS

◆ R_WIN_MS

◆ R_MIN_DI

◆ REST_I

◆ SOC_REST_TAU

◆ SOC_V_TAU

◆ SOC_CORR_TAU

◆ I_SLOW_TAU

Function Documentation

◆ batt_soc_from_ocv()

◆ lpf()

◆ clamp01()

◆ batt_init()

◆ batt_set_scales()

◆ batt_get_cfg()

◆ batt_state()

◆ batt_read()

◆ publish()

◆ lost_battery()

◆ r_estimate()

◆ level_of()

◆ batt_step()

Variable Documentation

◆ s_cfg

◆ s

◆ s_present_ms

◆ s_absent_ms

◆ s_below_ms

◆ s_recover_ms

◆ s_have_anchor

◆ s_have_f

◆ s_soc_anchor

◆ s_used_anchor

◆ s_i_slow

◆ s_wv

◆ s_wi

◆ s_wn

◆ s_wms

◆ s_pv

◆ s_pi

◆ s_have_pw

◆ s_seq

◆ s_pub

◆ k_ocv