src/main/sensors/battery.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include "config/parameter_group.h"
  21 #include "drivers/time.h"
  22
  23 #ifndef VBAT_SCALE_DEFAULT
  24 #define VBAT_SCALE_DEFAULT 1100
  25 #endif
  26 #define VBAT_SCALE_MIN 0
  27 #define VBAT_SCALE_MAX 65535
  28
  29 #ifndef CURRENT_METER_SCALE
  30 #define CURRENT_METER_SCALE 400 // for Allegro ACS758LCB-100U (40mV/A)
  31 #endif
  32
  33 #ifndef CURRENT_METER_OFFSET
  34 #define CURRENT_METER_OFFSET 0
  35 #endif
  36
  37 #ifndef MAX_BATTERY_PROFILE_COUNT
  38 #define MAX_BATTERY_PROFILE_COUNT 3
  39 #endif
  40
  41 typedef enum {
  42     CURRENT_SENSOR_NONE = 0,
  43     CURRENT_SENSOR_ADC,
  44     CURRENT_SENSOR_VIRTUAL,
  45     CURRENT_SENSOR_ESC,
  46     CURRENT_SENSOR_MAX = CURRENT_SENSOR_VIRTUAL
  47 } currentSensor_e;
  48
  49 typedef enum {
  50     VOLTAGE_SENSOR_NONE = 0,
  51     VOLTAGE_SENSOR_ADC,
  52     VOLTAGE_SENSOR_ESC
  53 } voltageSensor_e;
  54
  55 typedef enum {
  56     BAT_CAPACITY_UNIT_MAH,
  57     BAT_CAPACITY_UNIT_MWH,
  58 } batCapacityUnit_e;
  59
  60 typedef struct {
  61   uint8_t profile_index;
  62   uint16_t max_voltage;
  63 } profile_comp_t;
  64
  65 typedef enum {
  66     BAT_VOLTAGE_RAW,
  67     BAT_VOLTAGE_SAG_COMP
  68 } batVoltageSource_e;
  69
  70 typedef struct batteryMetersConfig_s {
  71
  72 #ifdef USE_ADC
  73     struct {
  74         uint16_t scale;
  75         voltageSensor_e type;
  76     } voltage;
  77 #endif
  78
  79     struct {
  80         int16_t scale;          // scale the current sensor output voltage to milliamps. Value in 1/10th mV/A
  81         int16_t offset;         // offset of the current sensor in millivolt steps
  82         currentSensor_e type;   // type of current meter used, either ADC or virtual
  83     } current;
  84
  85     batVoltageSource_e voltageSource;
  86
  87     uint32_t cruise_power;      // power drawn by the motor(s) at cruise throttle/speed (cW)
  88     uint16_t idle_power;        // power drawn by the system when the motor(s) are stopped (cW)
  89     uint8_t rth_energy_margin;  // Energy that should be left after RTH (%), used for remaining time/distance before RTH
  90
  91     float throttle_compensation_weight;
  92
  93 } batteryMetersConfig_t;
  94
  95 typedef struct batteryProfile_s {
  96
  97 #ifdef USE_ADC
  98     uint8_t cells;
  99
 100     struct {
 101         uint16_t cellDetect;    // maximum voltage per cell, used for auto-detecting battery cell count in 0.01V units, default is 430 (4.3V)
 102         uint16_t cellMax;       // maximum voltage per cell, used for auto-detecting battery voltage in 0.01V units, default is 421 (4.21V)
 103         uint16_t cellMin;       // minimum voltage per cell, this triggers battery critical alarm, in 0.01V units, default is 330 (3.3V)
 104         uint16_t cellWarning;   // warning voltage per cell, this triggers battery warning alarm, in 0.01V units, default is 350 (3.5V)
 105     } voltage;
 106 #endif
 107
 108     struct {
 109         uint32_t value;         // mAh or mWh (see capacity.unit)
 110         uint32_t warning;       // mAh or mWh (see capacity.unit)
 111         uint32_t critical;      // mAh or mWh (see capacity.unit)
 112         batCapacityUnit_e unit; // Describes unit of capacity.value, capacity.warning and capacity.critical
 113     } capacity;
 114
 115 } batteryProfile_t;
 116
 117 PG_DECLARE(batteryMetersConfig_t, batteryMetersConfig);
 118 PG_DECLARE_ARRAY(batteryProfile_t, MAX_BATTERY_PROFILE_COUNT, batteryProfiles);
 119
 120 extern const batteryProfile_t *currentBatteryProfile;
 121
 122 typedef enum {
 123     BATTERY_OK = 0,
 124     BATTERY_WARNING,
 125     BATTERY_CRITICAL,
 126     BATTERY_NOT_PRESENT
 127 } batteryState_e;
 128
 129
 130 uint16_t batteryAdcToVoltage(uint16_t src);
 131 batteryState_e getBatteryState(void);
 132 bool batteryWasFullWhenPluggedIn(void);
 133 bool batteryUsesCapacityThresholds(void);
 134 void batteryInit(void);
 135 void setBatteryProfile(uint8_t profileIndex);
 136 void activateBatteryProfile(void);
 137 void batteryDisableProfileAutoswitch(void);
 138
 139 bool isBatteryVoltageConfigured(void);
 140 bool isPowerSupplyImpedanceValid(void);
 141 uint16_t getBatteryVoltage(void);
 142 uint16_t getBatteryRawVoltage(void);
 143 uint16_t getBatterySagCompensatedVoltage(void);
 144 uint16_t getBatteryWarningVoltage(void);
 145 uint8_t getBatteryCellCount(void);
 146 uint16_t getBatteryRawAverageCellVoltage(void);
 147 uint16_t getBatteryAverageCellVoltage(void);
 148 uint16_t getBatterySagCompensatedAverageCellVoltage(void);
 149 uint32_t getBatteryRemainingCapacity(void);
 150 uint16_t getPowerSupplyImpedance(void);
 151
 152 bool isAmperageConfigured(void);
 153 int16_t getAmperage(void);
 154 int32_t getPower(void);
 155 int32_t getMAhDrawn(void);
 156 int32_t getMWhDrawn(void);
 157
 158 #ifdef USE_ADC
 159 void batteryUpdate(timeUs_t timeDelta);
 160 void sagCompensatedVBatUpdate(timeUs_t currentTime, timeUs_t timeDelta);
 161 void powerMeterUpdate(timeUs_t timeDelta);
 162 #endif
 163
 164 void currentMeterUpdate(timeUs_t timeDelta);
 165
 166 uint8_t calculateBatteryPercentage(void);
 167 float calculateThrottleCompensationFactor(void);
 168 int32_t calculateAveragePower(void);
 169 int32_t calculateAverageEfficiency(void);
 170 int32_t heatLossesCompensatedPower(int32_t power);