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px4-firmware
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battery: pass voltage and current by setter

This commit is contained in:
Matthias Grob 2021-12-01 18:16:59 +01:00
parent 39641494da
commit e70d70468a
10 changed files with 71 additions and 75 deletions
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3
boards/bitcraze/crazyflie/syslink/syslink_main.cpp
View File

@ -405,7 +405,8 @@ Syslink::handle_message(syslink_message_t *msg)
//memcpy(&iset, &msg->data[5], sizeof(float));
_battery.setConnected(true);
_battery.updateBatteryStatus(t, vbat, -1);
_battery.updateVoltage(vbat);
_battery.updateBatteryStatus(t);
// Update battery charge state
if (charging) {

24
src/drivers/power_monitor/ina226/ina226.cpp
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@ -84,11 +84,9 @@ INA226::INA226(const I2CSPIDriverConfig &config, int battery_index) :
// We need to publish immediately, to guarantee that the first instance of the driver publishes to uORB instance 0
_battery.setConnected(false);
_battery.updateBatteryStatus(
hrt_absolute_time(),
0.0,
0.0
);
_battery.updateVoltage(0.f);
_battery.updateCurrent(0.f);
_battery.updateBatteryStatus(hrt_absolute_time());
}
INA226::~INA226()
@ -229,11 +227,9 @@ INA226::collect()
}
_battery.setConnected(success);
_battery.updateBatteryStatus(
hrt_absolute_time(),
(float) _bus_voltage * INA226_VSCALE,
(float) _current * _current_lsb
);
_battery.updateVoltage(static_cast<float>(_bus_voltage * INA226_VSCALE));
_battery.updateCurrent(static_cast<float>(_current * _current_lsb));
_battery.updateBatteryStatus(hrt_absolute_time());
perf_end(_sample_perf);
@ -297,11 +293,9 @@ INA226::RunImpl()
} else {
_battery.setConnected(false);
_battery.updateBatteryStatus(
hrt_absolute_time(),
0.0f,
0.0f
);
_battery.updateVoltage(0.f);
_battery.updateCurrent(0.f);
_battery.updateBatteryStatus(hrt_absolute_time());
if (init() != PX4_OK) {
ScheduleDelayed(INA226_INIT_RETRY_INTERVAL_US);

24
src/drivers/power_monitor/ina228/ina228.cpp
View File

@ -86,11 +86,9 @@ INA228::INA228(const I2CSPIDriverConfig &config, int battery_index) :
// We need to publish immediately, to guarantee that the first instance of the driver publishes to uORB instance 0
_battery.setConnected(false);
_battery.updateBatteryStatus(
hrt_absolute_time(),
0.0,
0.0
);
_battery.updateVoltage(0.f);
_battery.updateCurrent(0.f);
_battery.updateBatteryStatus(hrt_absolute_time());
}
INA228::~INA228()
@ -310,11 +308,9 @@ INA228::collect()
}
_battery.setConnected(success);
_battery.updateBatteryStatus(
hrt_absolute_time(),
(float) _bus_voltage * INA228_VSCALE,
(float) _current * _current_lsb
);
_battery.updateVoltage(static_cast<float>(_bus_voltage * INA228_VSCALE));
_battery.updateCurrent(static_cast<float>(_current * _current_lsb));
_battery.updateBatteryStatus(hrt_absolute_time());
perf_end(_sample_perf);
@ -378,11 +374,9 @@ INA228::RunImpl()
} else {
_battery.setConnected(false);
_battery.updateBatteryStatus(
hrt_absolute_time(),
0.0f,
0.0f
);
_battery.updateVoltage(0.f);
_battery.updateCurrent(0.f);
_battery.updateBatteryStatus(hrt_absolute_time());
if (init() != PX4_OK) {
ScheduleDelayed(INA228_INIT_RETRY_INTERVAL_US);

24
src/drivers/power_monitor/ina238/ina238.cpp
View File

@ -69,11 +69,9 @@ INA238::INA238(const I2CSPIDriverConfig &config, int battery_index) :
// We need to publish immediately, to guarantee that the first instance of the driver publishes to uORB instance 0
_battery.setConnected(false);
_battery.updateBatteryStatus(
hrt_absolute_time(),
0.0,
0.0
);
_battery.updateVoltage(0.f);
_battery.updateCurrent(0.f);
_battery.updateBatteryStatus(hrt_absolute_time());
}
INA238::~INA238()
@ -197,11 +195,9 @@ int INA238::collect()
}
_battery.setConnected(success);
_battery.updateBatteryStatus(
hrt_absolute_time(),
(float) bus_voltage * INA238_VSCALE,
(float) current * _current_lsb
);
_battery.updateVoltage(static_cast<float>(bus_voltage * INA238_VSCALE));
_battery.updateCurrent(static_cast<float>(current * _current_lsb));
_battery.updateBatteryStatus(hrt_absolute_time());
perf_end(_sample_perf);
@ -256,11 +252,9 @@ void INA238::RunImpl()
} else {
_battery.setConnected(false);
_battery.updateBatteryStatus(
hrt_absolute_time(),
0.0f,
0.0f
);
_battery.updateVoltage(0.f);
_battery.updateCurrent(0.f);
_battery.updateBatteryStatus(hrt_absolute_time());
if (init() != PX4_OK) {
ScheduleDelayed(INA238_INIT_RETRY_INTERVAL_US);

20
src/drivers/power_monitor/voxlpm/voxlpm.cpp
View File

@ -72,11 +72,9 @@ VOXLPM::init()
if (_ch_type == VOXLPM_CH_TYPE_VBATT) {
_battery.setConnected(false);
_battery.updateBatteryStatus(
hrt_absolute_time(),
0.0,
0.0
);
_battery.updateVoltage(0.f);
_battery.updateCurrent(0.f);
_battery.updateBatteryStatus(hrt_absolute_time());
}
/* do I2C init, it will probe the bus for two possible configurations, LTC2946 or INA231 */
@ -345,9 +343,9 @@ VOXLPM::measure()
case VOXLPM_CH_TYPE_VBATT: {
_battery.setConnected(true);
_battery.updateBatteryStatus(tnow,
_voltage,
_amperage);
_battery.updateVoltage(_voltage);
_battery.updateCurrent(_amperage);
_battery.updateBatteryStatus(tnow);
}
// fallthrough
@ -371,9 +369,9 @@ VOXLPM::measure()
switch (_ch_type) {
case VOXLPM_CH_TYPE_VBATT: {
_battery.setConnected(true);
_battery.updateBatteryStatus(tnow,
0.0,
0.0);
_battery.updateVoltage(0.f);
_battery.updateCurrent(0.f);
_battery.updateBatteryStatus(tnow);
}
break;

28
src/lib/battery/battery.cpp
View File

@ -97,16 +97,26 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us,
updateParams();
}
void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a)
void Battery::updateVoltage(const float voltage_v)
{
_voltage_v = voltage_v;
_voltage_filter_v.update(voltage_v);
}
void Battery::updateCurrent(const float current_a)
{
_current_a = current_a;
_current_filter_a.update(current_a);
}
void Battery::updateBatteryStatus(const hrt_abstime &timestamp)
{
if (!_battery_initialized) {
_voltage_filter_v.reset(voltage_v);
_current_filter_a.reset(current_a);
_voltage_filter_v.reset(_voltage_v);
_current_filter_a.reset(_current_a);
}
_voltage_filter_v.update(voltage_v);
_current_filter_a.update(current_a);
sumDischarged(timestamp, current_a);
sumDischarged(timestamp, _current_a);
estimateStateOfCharge(_voltage_filter_v.getState(), _current_filter_a.getState());
computeScale();
@ -122,15 +132,15 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v,
}
battery_status_s battery_status{};
battery_status.voltage_v = voltage_v;
battery_status.voltage_v = _voltage_v;
battery_status.voltage_filtered_v = _voltage_filter_v.getState();
battery_status.current_a = current_a;
battery_status.current_a = _current_a;
battery_status.current_filtered_a = _current_filter_a.getState();
battery_status.current_average_a = _current_average_filter_a.getState();
battery_status.discharged_mah = _discharged_mah;
battery_status.remaining = _state_of_charge;
battery_status.scale = _scale;
battery_status.time_remaining_s = computeRemainingTime(current_a);
battery_status.time_remaining_s = computeRemainingTime(_current_a);
battery_status.temperature = NAN;
battery_status.cell_count = _params.n_cells;
battery_status.connected = _connected;

8
src/lib/battery/battery.h
View File

@ -87,15 +87,15 @@ public:
void setPriority(const uint8_t priority) { _priority = priority; }
void setConnected(const bool connected) { _connected = connected; }
void updateVoltage(const float voltage_v);
void updateCurrent(const float current_a);
/**
* Update current battery status message.
*
* @param voltage_raw: Battery voltage, in Volts
* @param current_raw: Battery current, in Amps
* @param timestamp: Time at which the ADC was read (use hrt_absolute_time())
*/
void updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a);
void updateBatteryStatus(const hrt_abstime &timestamp);
protected:
struct {
@ -143,7 +143,9 @@ private:
const uint8_t _source{};
uint8_t _priority{0};
bool _battery_initialized{false};
float _voltage_v{0.f};
AlphaFilter<float> _voltage_filter_v;
float _current_a{-1};
AlphaFilter<float> _current_filter_a;
AlphaFilter<float> _current_average_filter_a;
AlphaFilter<float> _throttle_filter;

4
src/modules/battery_status/analog_battery.cpp
View File

@ -81,7 +81,9 @@ AnalogBattery::updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw,
(BOARD_ADC_OPEN_CIRCUIT_V <= BOARD_VALID_UV || is_valid());
Battery::setConnected(connected);
Battery::updateBatteryStatus(timestamp, voltage_v, current_a);
Battery::updateVoltage(voltage_v);
Battery::updateCurrent(current_a);
Battery::updateBatteryStatus(timestamp);
}
bool AnalogBattery::is_valid()

7
src/modules/esc_battery/EscBattery.cpp
View File

@ -100,10 +100,9 @@ EscBattery::Run()
average_voltage_v /= esc_status.esc_count;
_battery.setConnected(true);
_battery.updateBatteryStatus(
esc_status.timestamp,
average_voltage_v,
total_current_a);
_battery.updateVoltage(average_voltage_v);
_battery.updateCurrent(total_current_a);
_battery.updateBatteryStatus(esc_status.timestamp);
}
}

4
src/modules/simulator/battery_simulator/BatterySimulator.cpp
View File

@ -100,7 +100,9 @@ void BatterySimulator::Run()
vbatt *= _battery.cell_count();
_battery.setConnected(true);
_battery.updateBatteryStatus(now_us, vbatt, ibatt);
_battery.updateVoltage(vbatt);
_battery.updateCurrent(ibatt);
_battery.updateBatteryStatus(now_us);
perf_end(_loop_perf);
}