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battery - fix BATTERY_NOT_PRESENT detection, detection logic change #13599

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May 4, 2024
Merged

battery - fix BATTERY_NOT_PRESENT detection, detection logic change #13599

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72fe040
battery - fix BATTERY_NOT_PRESENT detection, detection logic change
ledvinap Apr 28, 2024
6495218
battery - improve stable voltage detection
ledvinap Apr 29, 2024
4ec6328
battery - fuix typos, improve comments
ledvinap Apr 30, 2024
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26 changes: 11 additions & 15 deletions src/main/sensors/battery.c
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Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,6 @@
*
*/

#define VBAT_STABLE_MAX_DELTA 10 // 100mV
#define LVC_AFFECT_TIME 10000000 //10 secs for the LVC to slowly kick in

// Battery monitoring stuff
Expand Down Expand Up @@ -159,20 +158,14 @@ void batteryUpdateVoltage(timeUs_t currentTimeUs)
break;
}

if (!voltageMeter.isVoltageStable && cmp32(millis(), voltageMeter.prevDisplayFilteredTime) >= PREV_DISPLAY_FILTERED_TIME_DIFF) {
if ((voltageState == BATTERY_NOT_PRESENT || voltageState == BATTERY_INIT) && isVoltageFromBattery()) {
voltageMeter.isVoltageStable = abs(voltageMeter.prevDisplayFiltered - voltageMeter.displayFiltered) <= VBAT_STABLE_MAX_DELTA;
}

voltageMeter.prevDisplayFiltered = voltageMeter.displayFiltered;
voltageMeter.prevDisplayFilteredTime = millis();
}
voltageStableUpdate(&voltageMeter);

DEBUG_SET(DEBUG_BATTERY, 0, voltageMeter.unfiltered);
DEBUG_SET(DEBUG_BATTERY, 1, voltageMeter.displayFiltered);
DEBUG_SET(DEBUG_BATTERY, 4, voltageMeter.isVoltageStable ? 1 : 0);
DEBUG_SET(DEBUG_BATTERY, 3, voltageMeter.voltageStableBits);
DEBUG_SET(DEBUG_BATTERY, 4, voltageIsStable(&voltageMeter) ? 1 : 0);
DEBUG_SET(DEBUG_BATTERY, 5, isVoltageFromBattery() ? 1 : 0);
DEBUG_SET(DEBUG_BATTERY, 6, voltageMeter.prevDisplayFiltered);
DEBUG_SET(DEBUG_BATTERY, 6, voltageMeter.voltageStablePrevFiltered);
DEBUG_SET(DEBUG_BATTERY, 7, voltageState);
}

Expand Down Expand Up @@ -205,7 +198,9 @@ bool isVoltageFromBattery(void)

void batteryUpdatePresence(void)
{
if ((voltageState == BATTERY_NOT_PRESENT || voltageState == BATTERY_INIT) && isVoltageFromBattery() && voltageMeter.isVoltageStable) {
if ((voltageState == BATTERY_NOT_PRESENT || voltageState == BATTERY_INIT)
&& isVoltageFromBattery()
&& voltageIsStable(&voltageMeter)) {
// Battery has just been connected - calculate cells, warning voltages and reset state

consumptionState = voltageState = BATTERY_OK;
Expand All @@ -232,11 +227,12 @@ void batteryUpdatePresence(void)
batteryCriticalHysteresisVoltage = (batteryCriticalVoltage > batteryConfig()->vbathysteresis) ? batteryCriticalVoltage - batteryConfig()->vbathysteresis : 0;
lowVoltageCutoff.percentage = 100;
lowVoltageCutoff.startTime = 0;
} else if (voltageState != BATTERY_NOT_PRESENT && voltageMeter.isVoltageStable && !isVoltageFromBattery()) {
} else if (voltageState != BATTERY_NOT_PRESENT
&& voltageIsStable(&voltageMeter)
&& !isVoltageFromBattery()) {
/* battery has been disconnected - can take a while for filter cap to disharge so we use a threshold of batteryConfig()->vbatnotpresentcellvoltage */
consumptionState = voltageState = BATTERY_NOT_PRESENT;

voltageMeter.isVoltageStable = false;

batteryCellCount = 0;
batteryWarningVoltage = 0;
batteryCriticalVoltage = 0;
Expand Down
32 changes: 29 additions & 3 deletions src/main/sensors/voltage.c
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <stdlib.h>

#include "platform.h"

Expand Down Expand Up @@ -89,10 +90,10 @@ const uint8_t supportedVoltageMeterCount = ARRAYLEN(voltageMeterIds);
void voltageMeterReset(voltageMeter_t *meter)
{
meter->displayFiltered = 0;
meter->prevDisplayFiltered = 0;
meter->prevDisplayFilteredTime = 0;
meter->voltageStablePrevFiltered = 0;
meter->voltageStableLastUpdate = 0;
meter->voltageStableBits = 0;
meter->unfiltered = 0;
meter->isVoltageStable = false;
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
meter->sagFiltered = 0;
#endif
Expand Down Expand Up @@ -362,3 +363,28 @@ void voltageMeterRead(voltageMeterId_e id, voltageMeter_t *meter)
voltageMeterReset(meter);
}
}

// update voltageStableBits
// new 1 bit (= stable) is shifted in every VOLTAGE_STABLE_UPDATE_MS
// when difference is larger than VOLTAGE_STABLE_MAX_DELTA, LSB of shift register is
// reset to 0 (logical AND) and voltageStablePrevFiltered is updated with new voltage value
void voltageStableUpdate(voltageMeter_t* vm)
{
const uint32_t now = millis();
// test voltage on each call
if (abs(vm->voltageStablePrevFiltered - vm->displayFiltered) > VOLTAGE_STABLE_MAX_DELTA) {
// reset stable voltage reference
vm->voltageStablePrevFiltered = vm->displayFiltered;
vm->voltageStableBits &= ~BIT(0); // voltage threshold exceeded in this period, clear LSB/BIT(0)
}
if (cmp32(now, vm->voltageStableLastUpdate) >= VOLTAGE_STABLE_TICK_MS) {
vm->voltageStableBits = (vm->voltageStableBits << 1) | BIT(0); // start with 'stable' state
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is | BIT(0) really necessary as << 1 shifts a 0 already?

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It it bit zero (LSB), not bit with value of 0. New 1 bit is shifted in on each update and possibly cleared above.

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Makes sense!

vm->voltageStableLastUpdate = now;
}
}

// voltage is stable when it was within VOLTAGE_STABLE_MAX_DELTA for 10 update periods
bool voltageIsStable(voltageMeter_t* vm)
{
return __builtin_popcount(vm->voltageStableBits & (BIT(VOLTAGE_STABLE_BITS_TOTAL + 1) - 1)) >= VOLTAGE_STABLE_BITS_THRESHOLD;
}
23 changes: 17 additions & 6 deletions src/main/sensors/voltage.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,12 @@
#define SLOW_VOLTAGE_TASK_FREQ_HZ 50
#define FAST_VOLTAGE_TASK_FREQ_HZ 200

#define PREV_DISPLAY_FILTERED_TIME_DIFF 500 // ms
#define VOLTAGE_STABLE_TICK_MS 100
#define VOLTAGE_STABLE_BITS_TOTAL 11 // number of samples to test
#define VOLTAGE_STABLE_BITS_THRESHOLD 10 // number of samples tham must be within delta (~1s)
#define VOLTAGE_STABLE_MAX_DELTA 10 // 100mV

STATIC_ASSERT(VOLTAGE_STABLE_BITS_TOTAL < sizeof(uint16_t) * 8, "not enough voltageStableBits");

//
// meters
Expand All @@ -43,11 +48,11 @@ extern const char * const voltageMeterSourceNames[VOLTAGE_METER_COUNT];
// WARNING - do not mix usage of VOLTAGE_METER_* and VOLTAGE_SENSOR_*, they are separate concerns.

typedef struct voltageMeter_s {
uint16_t displayFiltered; // voltage in 0.01V steps
uint16_t prevDisplayFiltered; // voltage in 0.01V steps
timeMs_t prevDisplayFilteredTime;
bool isVoltageStable;
uint16_t unfiltered; // voltage in 0.01V steps
uint16_t displayFiltered; // voltage in 0.01V steps
uint16_t voltageStablePrevFiltered; // last filtered voltage sample
timeMs_t voltageStableLastUpdate;
uint16_t voltageStableBits; // rolling bitmask, bit 1 if battery difference is within threshold, shifted left
uint16_t unfiltered; // voltage in 0.01V steps
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
uint16_t sagFiltered; // voltage in 0.01V steps
#endif
Expand Down Expand Up @@ -116,6 +121,12 @@ void voltageMeterESCRefresh(void);
void voltageMeterESCReadCombined(voltageMeter_t *voltageMeter);
void voltageMeterESCReadMotor(uint8_t motor, voltageMeter_t *voltageMeter);

//
// api for battery stable voltage detection
//

void voltageStableUpdate(voltageMeter_t* vm);
bool voltageIsStable(voltageMeter_t* vm);

//
// API for reading/configuring current meters by id.
Expand Down