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>
46 lines
1.5 KiB
C
46 lines
1.5 KiB
C
#ifndef COULOMB_COUNTER_H
|
||
#define COULOMB_COUNTER_H
|
||
|
||
/*
|
||
* coulomb_counter.h — Battery coulomb counter for SoC estimation (Issue #325)
|
||
*
|
||
* Integrates battery current over time to track Ah consumed and remaining.
|
||
* Provides accurate SoC independent of load, with fallback to voltage.
|
||
*
|
||
* Usage:
|
||
* 1. Call coulomb_counter_init(capacity_mah) at startup
|
||
* 2. Call coulomb_counter_accumulate(current_ma) at 50–100 Hz
|
||
* 3. Call coulomb_counter_get_soc_pct() to get current SoC
|
||
* 4. Call coulomb_counter_reset() on charge complete
|
||
*/
|
||
|
||
#include <stdint.h>
|
||
#include <stdbool.h>
|
||
|
||
/* Initialize coulomb counter with battery capacity (mAh). */
|
||
void coulomb_counter_init(uint16_t capacity_mah);
|
||
|
||
/*
|
||
* Accumulate coulomb from current reading + elapsed time.
|
||
* Call this at regular intervals (e.g., 50–100 Hz from telemetry loop).
|
||
* current_ma: battery current in milliamps (positive = discharge)
|
||
*/
|
||
void coulomb_counter_accumulate(int16_t current_ma);
|
||
|
||
/* Get current SoC as percentage (0–100, 255 = error). */
|
||
uint8_t coulomb_counter_get_soc_pct(void);
|
||
|
||
/* Get consumed mAh (total charge removed from battery). */
|
||
uint16_t coulomb_counter_get_consumed_mah(void);
|
||
|
||
/* Get remaining capacity in mAh. */
|
||
uint16_t coulomb_counter_get_remaining_mah(void);
|
||
|
||
/* Reset accumulated coulombs (e.g., on charge complete). */
|
||
void coulomb_counter_reset(void);
|
||
|
||
/* Check if coulomb counter is active (initialized and has measurements). */
|
||
bool coulomb_counter_is_valid(void);
|
||
|
||
#endif /* COULOMB_COUNTER_H */
|