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AP_BattMonitor: get Solo battery voltage from sum of cell voltages

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Minimizes the number of transactions on the bus, and reduces the amount of noise we have to consider
This commit is contained in:
Michael du Breuil 2017-04-13 18:09:46 -07:00 committed by Francisco Ferreira
parent 3b6d348241
commit a96772e46e
1 changed files with 15 additions and 11 deletions
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26
libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Solo.cpp
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@ -11,7 +11,6 @@ extern const AP_HAL::HAL& hal;
#include <AP_HAL/AP_HAL.h>
#define BATTMONITOR_SMBUS_SOLO_TEMP 0x08 // temperature register
#define BATTMONITOR_SMBUS_SOLO_VOLTAGE 0x09 // voltage register
#define BATTMONITOR_SMBUS_SOLO_REMAINING_CAPACITY 0x0f // predicted remaining battery capacity in milliamps
#define BATTMONITOR_SMBUS_SOLO_FULL_CHARGE_CAPACITY 0x10 // full capacity register
#define BATTMONITOR_SMBUS_SOLO_MANUFACTURE_DATA 0x23 /// manufacturer data
@ -23,6 +22,7 @@ extern const AP_HAL::HAL& hal;
/*
* Other potentially useful registers, listed here for future use
* #define BATTMONITOR_SMBUS_SOLO_VOLTAGE 0x09 // voltage register
* #define BATTMONITOR_SMBUS_SOLO_BATTERY_STATUS 0x16 // battery status register including alarms
* #define BATTMONITOR_SMBUS_SOLO_DESIGN_CAPACITY 0x18 // design capacity register
* #define BATTMONITOR_SMBUS_SOLO_DESIGN_VOLTAGE 0x19 // design voltage register
@ -55,9 +55,20 @@ void AP_BattMonitor_SMBus_Solo::timer()
uint8_t buff[8];
uint32_t tnow = AP_HAL::micros();
// read voltage
if (read_word(BATTMONITOR_SMBUS_SOLO_VOLTAGE, data)) {
_state.voltage = (float)data / 1000.0f;
// read cell voltages
if (read_block(BATTMONITOR_SMBUS_SOLO_CELL_VOLTAGE, buff, 8, false)) {
float pack_voltage_mv = 0.0f;
for (uint8_t i = 0; i < BATTMONITOR_SMBUS_SOLO_NUM_CELLS; i++) {
uint16_t cell = buff[(i * 2) + 1] << 8 | buff[i * 2];
_state.cell_voltages.cells[i] = cell;
pack_voltage_mv += (float)cell;
}
// accumulate the pack voltage out of the total of the cells
// because the Solo's I2C bus is so noisy, it's worth not spending the
// time and bus bandwidth to request the pack voltage as a seperate
// transaction
_state.voltage = pack_voltage_mv * 1e-3;
_state.last_time_micros = tnow;
_state.healthy = true;
}
@ -116,13 +127,6 @@ void AP_BattMonitor_SMBus_Solo::timer()
_state.temperature_time = AP_HAL::millis();
_state.temperature = ((float)(data - 2731)) * 0.1f;
}
// read cell voltages
if (read_block(BATTMONITOR_SMBUS_SOLO_CELL_VOLTAGE, buff, 8, false)) {
for (uint8_t i = 0; i < BATTMONITOR_SMBUS_SOLO_NUM_CELLS; i++) {
_state.cell_voltages.cells[i] = buff[(i * 2) + 1] << 8 | buff[i * 2];
}
}
}
// read word from register