sl-perception
410ace3540
Add coulomb counter for accurate SoC estimation independent of load: - New coulomb_counter module: integrate current over time to track Ah consumed * coulomb_counter_init(capacity_mah) initializes with battery capacity * coulomb_counter_accumulate(current_ma) integrates current at 100 Hz * coulomb_counter_get_soc_pct() returns SoC 0-100% (255 = invalid) * coulomb_counter_reset() for charge-complete reset - Battery module integration: * battery_accumulate_coulombs() reads motor INA219 currents and accumulates * battery_get_soc_coulomb() returns coulomb-based SoC with fallback to voltage * Initialize coulomb counter at startup with DEFAULT_BATTERY_CAPACITY_MAH - Telemetry updates: * JLink STATUS: use coulomb SoC if available, fallback to voltage-based * CRSF battery frame: now includes remaining capacity in mAh (from coulomb counter) * CRSF capacity field was always 0; now reflects actual remaining mAh - Mainloop integration: * Call battery_accumulate_coulombs() every tick for continuous integration * INA219 motor currents + 200 mA subsystem baseline = total battery draw Motor current sources (INA219 addresses 0x40/0x41) provide most power draw; Jetson ROS2 battery_node already prioritizes coulomb-based soc_pct from STATUS frame. Default capacity: 2200 mAh (typical lab 3S LiPo); configurable via firmware parameter. Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
132 lines
4.3 KiB
C
132 lines
4.3 KiB
C
/*
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* battery.c — Vbat ADC reading for CRSF telemetry uplink (Issue #103)
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*
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* Hardware: ADC3 channel IN11 on PC1 (ADC_BATT 1, Mamba F722S FC).
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* Voltage divider: 10 kΩ (upper) / 1 kΩ (lower) → VBAT_SCALE_NUM = 11.
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*
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* Vbat_mV = (raw × VBAT_AREF_MV × VBAT_SCALE_NUM) >> VBAT_ADC_BITS
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* = (raw × 3300 × 11) / 4096
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*/
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#include "battery.h"
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#include "coulomb_counter.h"
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#include "config.h"
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#include "stm32f7xx_hal.h"
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#include "ina219.h"
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#include <stdbool.h>
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static ADC_HandleTypeDef s_hadc;
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static bool s_ready = false;
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static bool s_coulomb_valid = false;
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/* Default battery capacity: 2200 mAh (typical lab 3S LiPo) */
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#define DEFAULT_BATTERY_CAPACITY_MAH 2200u
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void battery_init(void) {
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__HAL_RCC_ADC3_CLK_ENABLE();
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__HAL_RCC_GPIOC_CLK_ENABLE();
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/* PC1 → analog input (no pull, no speed) */
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GPIO_InitTypeDef gpio = {0};
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gpio.Pin = GPIO_PIN_1;
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gpio.Mode = GPIO_MODE_ANALOG;
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gpio.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOC, &gpio);
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/* ADC3 — single-conversion, software trigger, 12-bit right-aligned */
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s_hadc.Instance = ADC3;
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s_hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV8; /* APB2/8 */
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s_hadc.Init.Resolution = ADC_RESOLUTION_12B;
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s_hadc.Init.ScanConvMode = DISABLE;
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s_hadc.Init.ContinuousConvMode = DISABLE;
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s_hadc.Init.DiscontinuousConvMode = DISABLE;
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s_hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
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s_hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START;
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s_hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
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s_hadc.Init.NbrOfConversion = 1;
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s_hadc.Init.DMAContinuousRequests = DISABLE;
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s_hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
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if (HAL_ADC_Init(&s_hadc) != HAL_OK) return;
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/* Channel IN11 (PC1) with 480-cycle sampling for stability */
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ADC_ChannelConfTypeDef ch = {0};
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ch.Channel = ADC_CHANNEL_11;
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ch.Rank = 1;
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ch.SamplingTime = ADC_SAMPLETIME_480CYCLES;
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if (HAL_ADC_ConfigChannel(&s_hadc, &ch) != HAL_OK) return;
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/* Initialize coulomb counter with default battery capacity */
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coulomb_counter_init(DEFAULT_BATTERY_CAPACITY_MAH);
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s_coulomb_valid = true;
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s_ready = true;
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}
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uint32_t battery_read_mv(void) {
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if (!s_ready) return 0u;
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HAL_ADC_Start(&s_hadc);
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if (HAL_ADC_PollForConversion(&s_hadc, 2u) != HAL_OK) return 0u;
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uint32_t raw = HAL_ADC_GetValue(&s_hadc);
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HAL_ADC_Stop(&s_hadc);
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/* Vbat_mV = raw × (VREF_mV × scale) / ADC_counts */
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return (raw * (uint32_t)VBAT_AREF_MV * VBAT_SCALE_NUM) /
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((1u << VBAT_ADC_BITS));
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}
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/*
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* Coarse SoC estimate (voltage-based fallback).
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* 3S LiPo: 9.9 V (0%) – 12.6 V (100%) — detect by Vbat < 13 V
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* 4S LiPo: 13.2 V (0%) – 16.8 V (100%) — detect by Vbat ≥ 13 V
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*/
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uint8_t battery_estimate_pct(uint32_t voltage_mv) {
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uint32_t v_min_mv, v_max_mv;
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if (voltage_mv >= 13000u) {
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/* 4S LiPo */
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v_min_mv = 13200u;
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v_max_mv = 16800u;
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} else {
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/* 3S LiPo */
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v_min_mv = 9900u;
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v_max_mv = 12600u;
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}
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if (voltage_mv <= v_min_mv) return 0u;
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if (voltage_mv >= v_max_mv) return 100u;
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return (uint8_t)(((voltage_mv - v_min_mv) * 100u) / (v_max_mv - v_min_mv));
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}
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/*
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* battery_accumulate_coulombs() — call periodically (50-100 Hz) to track
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* battery current and integrate coulombs. Reads motor currents via INA219.
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*/
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void battery_accumulate_coulombs(void) {
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if (!s_coulomb_valid) return;
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/* Sum left + right motor currents as proxy for battery draw
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* (simple approach; doesn't include subsystem drain like OSD, audio) */
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int16_t left_ma = 0, right_ma = 0;
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ina219_read_current_ma(INA219_LEFT_MOTOR, &left_ma);
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ina219_read_current_ma(INA219_RIGHT_MOTOR, &right_ma);
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/* Total battery current ≈ motors + subsystem baseline (~200 mA) */
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int16_t total_ma = left_ma + right_ma + 200;
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/* Accumulate to coulomb counter */
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coulomb_counter_accumulate(total_ma);
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}
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/*
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* battery_get_soc_coulomb() — get coulomb-based SoC (0-100, 255=invalid).
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* Preferred over voltage-based when available.
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*/
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uint8_t battery_get_soc_coulomb(void) {
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if (!s_coulomb_valid || !coulomb_counter_is_valid()) {
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return 255; /* Invalid */
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}
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return coulomb_counter_get_soc_pct();
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}
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