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Updated batt_smbus. #9080

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merged 6 commits into from
Mar 15, 2018
Merged

Updated batt_smbus. #9080

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b27c047
Updated and expanded batt_smbus to work with bq40z50-R2. Expanded bat…
AlexKlimaj Mar 1, 2018
973deb3
merge upstream master and resolve conflicts
AlexKlimaj Mar 2, 2018
179bc8d
Changed errx to PX4_ERR
AlexKlimaj Mar 2, 2018
2edd9fc
Added PX4_ERR returns
AlexKlimaj Mar 2, 2018
88b3915
Merge remote-tracking branch 'upstream/master'
AlexKlimaj Mar 14, 2018
9a7c219
Batt_smbus. Added complementary filter to remaining capacity, reverse…
AlexKlimaj Mar 14, 2018
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48 changes: 30 additions & 18 deletions src/drivers/batt_smbus/batt_smbus.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -541,38 +541,50 @@ BATT_SMBUS::cycle()
}

// read remaining capacity
if (_batt_capacity > 0) {
if (read_reg(BATT_SMBUS_REMAINING_CAPACITY, tmp) == OK) {
if (read_reg(BATT_SMBUS_REMAINING_CAPACITY, tmp) == OK) {

if (tmp > _batt_capacity) {
PX4_WARN("Remaining Cap greater than total: Cap:%hu RemainingCap:%hu", (uint16_t)_batt_capacity, (uint16_t)tmp);
_batt_capacity = (uint16_t)tmp;
}
if (tmp > _batt_capacity) {
PX4_WARN("Remaining Cap greater than total: Cap:%hu RemainingCap:%hu", (uint16_t)_batt_capacity, (uint16_t)tmp);
_batt_capacity = (uint16_t)tmp;
}

new_report.remaining = (float)(1.000f - (((float)_batt_capacity - (float)tmp) / (float)_batt_capacity));
// Calculate remaining capacity percent with complementary filter
new_report.remaining = (float)(_last_report.remaining * 0.8f) + (float)(0.2f * (float)(1.000f - (((
float)_batt_capacity - (float)tmp) / (float)_batt_capacity)));

// calculate total discharged amount
new_report.discharged_mah = (float)((float)_batt_startup_capacity - (float)tmp);
}
// calculate total discharged amount
new_report.discharged_mah = (float)((float)_batt_startup_capacity - (float)tmp);
}

// read battery temperature and covert to Celsius
if (read_reg(BATT_SMBUS_TEMP, tmp) == OK) {
new_report.temperature = (float)(((float)tmp / 10.0f) - 273.15f);
}

// propagate warning state only if the state
if (new_report.remaining < _emergency_thr) {
//Check if remaining % is out of range
if ((new_report.remaining > 1.00f) || (new_report.remaining <= 0.00f)) {
new_report.warning = battery_status_s::BATTERY_WARNING_EMERGENCY;
}

//Check if discharged amount is greater than the starting capacity
else if (new_report.discharged_mah > (float)_batt_startup_capacity) {
new_report.warning = battery_status_s::BATTERY_WARNING_EMERGENCY;
}

} else if (new_report.remaining < _crit_thr) {
new_report.warning = battery_status_s::BATTERY_WARNING_CRITICAL;
// propagate warning state
else {
if (new_report.remaining > _low_thr) {
new_report.warning = battery_status_s::BATTERY_WARNING_NONE;

} else if (new_report.remaining < _low_thr) {
new_report.warning = battery_status_s::BATTERY_WARNING_LOW;
} else if (new_report.remaining > _crit_thr) {
new_report.warning = battery_status_s::BATTERY_WARNING_LOW;

} else {
new_report.warning = battery_status_s::BATTERY_WARNING_NONE;
} else if (new_report.remaining > _emergency_thr) {
new_report.warning = battery_status_s::BATTERY_WARNING_CRITICAL;

} else {
new_report.warning = battery_status_s::BATTERY_WARNING_EMERGENCY;
}
}

new_report.capacity = _batt_capacity;
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