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AP_BattMonitor: SMBus Generic reads up to 12 cell voltages

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Checks for the highest cell for 15 seconds and then reduces the cell voltage calls to cover only those cells that actually exist

also renames SMBus _last_cell_update_us
This commit is contained in:
Randy Mackay 2020-06-03 10:59:54 +09:00
parent b1c3ea467b
commit cc6298e7ac
3 changed files with 49 additions and 14 deletions
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4
libraries/AP_BattMonitor/AP_BattMonitor.h
View File

@ -19,6 +19,8 @@
#define AP_BATT_MONITOR_RES_EST_TC_1 0.5f
#define AP_BATT_MONITOR_RES_EST_TC_2 0.1f
#define AP_BATT_MONITOR_CELLS_MAX 12
#ifndef HAL_BATTMON_SMBUS_ENABLE
#define HAL_BATTMON_SMBUS_ENABLE 1
#endif
@ -71,7 +73,7 @@ public:
}
struct cells {
uint16_t cells[MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN];
uint16_t cells[AP_BATT_MONITOR_CELLS_MAX];
};
// The BattMonitor_State structure is filled in by the backend driver

52
libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Generic.cpp
View File

@ -5,14 +5,21 @@
#include "AP_BattMonitor_SMBus_Generic.h"
#include <utility>
uint8_t maxell_cell_ids[] = { 0x3f, // cell 1
0x3e, // cell 2
0x3d, // cell 3
0x3c, // cell 4
0x3b, // cell 5
0x3a}; // cell 6
uint8_t smbus_cell_ids[] = { 0x3f, // cell 1
0x3e, // cell 2
0x3d, // cell 3
0x3c, // cell 4
0x3b, // cell 5
0x3a, // cell 6
0x39, // cell 7
0x38, // cell 8
0x37, // cell 9
0x36, // cell 10
0x35, // cell 11
0x34}; // cell 12
#define SMBUS_READ_BLOCK_MAXIMUM_TRANSFER 0x20 // A Block Read or Write is allowed to transfer a maximum of 32 data bytes.
#define SMBUS_CELL_COUNT_CHECK_TIMEOUT 15000000 // check cell count for up to 15 seconds
/*
* Other potentially useful registers, listed here for future use
@ -44,7 +51,7 @@ void AP_BattMonitor_SMBus_Generic::timer()
return;
}
uint16_t data;
uint16_t data = UINT16_MAX;
uint32_t tnow = AP_HAL::micros();
// read voltage (V)
@ -54,13 +61,36 @@ void AP_BattMonitor_SMBus_Generic::timer()
_state.healthy = true;
}
// assert that BATTMONITOR_SMBUS_NUM_CELLS_MAX matches smbus_cell_ids
static_assert(BATTMONITOR_SMBUS_NUM_CELLS_MAX == ARRAY_SIZE(smbus_cell_ids), "BATTMONITOR_SMBUS_NUM_CELLS_MAX must match smbus_cell_ids");
// check cell count
if (!_cell_count_fixed) {
if (_state.healthy) {
// when battery first becomes healthy, start check of cell count
if (_cell_count_check_start_us == 0) {
_cell_count_check_start_us = tnow;
}
if (tnow - _cell_count_check_start_us > SMBUS_CELL_COUNT_CHECK_TIMEOUT) {
// give up checking cell count after 15sec of continuous healthy battery reads
_cell_count_fixed = true;
}
} else {
// if battery becomes unhealthy restart cell count check
_cell_count_check_start_us = 0;
}
}
// read cell voltages
for (uint8_t i = 0; i < BATTMONITOR_SMBUS_MAXELL_NUM_CELLS; i++) {
if (read_word(maxell_cell_ids[i], data)) {
for (uint8_t i = 0; i < (_cell_count_fixed ? _cell_count : BATTMONITOR_SMBUS_NUM_CELLS_MAX); i++) {
if (read_word(smbus_cell_ids[i], data) && (data > 0) && (data < UINT16_MAX)) {
_has_cell_voltages = true;
_state.cell_voltages.cells[i] = data;
_last_cell_update_ms[i] = tnow;
} else if ((tnow - _last_cell_update_ms[i]) > AP_BATTMONITOR_SMBUS_TIMEOUT_MICROS) {
_last_cell_update_us[i] = tnow;
if (!_cell_count_fixed) {
_cell_count = MAX(_cell_count, i + 1);
}
} else if ((tnow - _last_cell_update_us[i]) > AP_BATTMONITOR_SMBUS_TIMEOUT_MICROS) {
_state.cell_voltages.cells[i] = UINT16_MAX;
}
}

7
libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Generic.h
View File

@ -2,7 +2,7 @@
#include "AP_BattMonitor_SMBus.h"
#define BATTMONITOR_SMBUS_MAXELL_NUM_CELLS 6
#define BATTMONITOR_SMBUS_NUM_CELLS_MAX 12
class AP_BattMonitor_SMBus_Generic : public AP_BattMonitor_SMBus
{
@ -26,5 +26,8 @@ private:
uint8_t read_block(uint8_t reg, uint8_t* data, bool append_zero) const;
uint8_t _pec_confirmed; // count of the number of times PEC has been confirmed as working
uint32_t _last_cell_update_ms[BATTMONITOR_SMBUS_MAXELL_NUM_CELLS]; // system time of last successful read of cell voltage
uint32_t _last_cell_update_us[BATTMONITOR_SMBUS_NUM_CELLS_MAX]; // system time of last successful read of cell voltage
uint32_t _cell_count_check_start_us; // system time we started attempting to count the number of cells
uint8_t _cell_count; // number of cells returning voltages
bool _cell_count_fixed; // true when cell count check is complete
};