analog_battery.cpp

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#include <stdio.h>
#include <float.h>
#include <lib/battery/battery.h>
#include "analog_battery.h"

// Defaults to use if the parameters are not set
#if BOARD_NUMBER_BRICKS > 0
#if defined(BOARD_BATT_V_LIST) && defined(BOARD_BATT_I_LIST)
static constexpr int   DEFAULT_V_CHANNEL[BOARD_NUMBER_BRICKS] = BOARD_BATT_V_LIST;
static constexpr int   DEFAULT_I_CHANNEL[BOARD_NUMBER_BRICKS] = BOARD_BATT_I_LIST;
#else
#error  "BOARD_BATT_V_LIST and BOARD_BATT_I_LIST need to be defined"
#endif
#else
static constexpr int DEFAULT_V_CHANNEL[1] = {-1};
static constexpr int DEFAULT_I_CHANNEL[1] = {-1};
#endif

AnalogBattery::AnalogBattery(int index, ModuleParams *parent, const int sample_interval_us, const uint8_t source,
			     const uint8_t priority) :
	Battery(index, parent, sample_interval_us, source)
{
	Battery::setPriority(priority);
	char param_name[17];

	_analog_param_handles.v_offs_cur = param_find("BAT_V_OFFS_CURR");

	snprintf(param_name, sizeof(param_name), "BAT%d_V_DIV", index);
	_analog_param_handles.v_div = param_find(param_name);

	snprintf(param_name, sizeof(param_name), "BAT%d_A_PER_V", index);
	_analog_param_handles.a_per_v = param_find(param_name);

	snprintf(param_name, sizeof(param_name), "BAT%d_V_CHANNEL", index);
	_analog_param_handles.v_channel = param_find(param_name);

	snprintf(param_name, sizeof(param_name), "BAT%d_V_FILT", index);
	_analog_param_handles.v_filt = param_find(param_name);

	snprintf(param_name, sizeof(param_name), "BAT%d_I_FILT", index);
	_analog_param_handles.i_filt = param_find(param_name);
}

void
AnalogBattery::updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw, float current_raw)
{
	float voltage_v = voltage_raw * _analog_params.v_div;
	const bool connected = voltage_v > BOARD_ADC_OPEN_CIRCUIT_V &&
			       (BOARD_ADC_OPEN_CIRCUIT_V <= BOARD_VALID_UV || is_valid());
	float current_a = (current_raw - _analog_params.v_offs_cur) * _analog_params.a_per_v;

	if (_analog_params.v_filt > FLT_EPSILON || _analog_params.i_filt > FLT_EPSILON) {
		if (_last_timestamp == 0) {
			_last_timestamp = timestamp;
		}

		const float dt = (timestamp - _last_timestamp) / 1e6f;
		_last_timestamp = timestamp;

		if (_analog_params.v_filt > FLT_EPSILON) {
			voltage_v = _voltage_filter.update(fmaxf(voltage_v, 0.f), dt);
		}

		if (_analog_params.i_filt > FLT_EPSILON) {
			current_a = _current_filter.update(fmaxf(current_a, 0.f), dt);
		}
	}

	Battery::setConnected(connected);
	Battery::updateVoltage(voltage_v);
	Battery::updateCurrent(current_a);
	Battery::updateAndPublishBatteryStatus(timestamp);
}

bool AnalogBattery::is_valid()
{
#ifdef BOARD_BRICK_VALID_LIST
	bool valid[BOARD_NUMBER_BRICKS] = BOARD_BRICK_VALID_LIST;
	return valid[_index - 1];
#else
	// TODO: Maybe return false instead?
	return true;
#endif
}

int AnalogBattery::get_voltage_channel()
{
	if (_analog_params.v_channel == V_CHANNEL_DISABLED) {
		return -1;

	} else if (_analog_params.v_channel >= 0) {
		return _analog_params.v_channel;

	} else {
		return DEFAULT_V_CHANNEL[_index - 1];
	}
}


int AnalogBattery::get_current_channel()
{
	return DEFAULT_I_CHANNEL[_index - 1];
}

void
AnalogBattery::updateParams()
{
	param_get(_analog_param_handles.v_div, &_analog_params.v_div);
	param_get(_analog_param_handles.a_per_v, &_analog_params.a_per_v);
	param_get(_analog_param_handles.v_channel, &_analog_params.v_channel);
	param_get(_analog_param_handles.v_offs_cur, &_analog_params.v_offs_cur);
	param_get(_analog_param_handles.v_filt, &_analog_params.v_filt);
	param_get(_analog_param_handles.i_filt, &_analog_params.i_filt);

	if (_analog_params.v_filt > FLT_EPSILON) {
		_voltage_filter = AlphaFilter<float>(_analog_params.v_filt);
	}

	if (_analog_params.i_filt > FLT_EPSILON) {
		_current_filter = AlphaFilter<float>(_analog_params.i_filt);
	}

	Battery::updateParams();
}