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extend battery lib with messuared values and new

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calculation
This commit is contained in:
kleiax
2023-04-26 15:55:34 +02:00
parent 5081290164
commit c2048ae949
3 changed files with 129 additions and 32 deletions
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lib/Battery/battery.cpp
+73 -9
View File
@@ -15,17 +15,29 @@ Battery::Battery(uint8_t pin, uint32_t r1, uint32_t r2) {
this->pin = pin;
this->r1 = r1;
this->r2 = r2;
this->calculateBatteryVoltage();
this->initBuffer();
}
void Battery::loop() {
Battery::Battery(uint8_t pin) {
this->pin = pin;
this->initBuffer();
}
bool Battery::loop() {
if (millis() - this->lastMillis < this->delay)
return;
this->calculateBatteryVoltage();
this->calculateBatteryPercent();
return false;
this->readAdcToBuf();
this->loopCounter++;
this->lastMillis = millis();
if (this->loopCounter == this->calulationDelayMultiplier) {
this->calculateBatteryVoltage();
this->calculateBatteryPercent();
return true;
this->loopCounter = 0;
}
return false;
}
double Battery::getBatteryVoltage() {
@@ -39,9 +51,9 @@ bool Battery::isBatteryLow(uint8_t percent) {
return false;
}
double Battery::readInputVoltage() {
double Battery::calculateInputVoltage() {
// Reference voltage is 3v3 so maximum reading is 3v3 = 4095 in range 0 to 4095
double reading = analogRead(this->pin);
double reading = this->getBufAvg();
if(reading < 1 || reading > 4095) return 0;
return - 0.000000000000016 * pow(reading,4)
+ 0.000000000118171 * pow(reading,3)
@@ -51,7 +63,34 @@ double Battery::readInputVoltage() {
}
void Battery::calculateBatteryVoltage() {
this->batteryVoltage = (readInputVoltage() * (double) (this->r1 + this->r2)) / (double) this->r2;
if (this->r1 && this->r2) {
this->batteryVoltage = (this->calculateInputVoltage() * (double) (this->r1 + this->r2)) / (double) this->r2;
return;
}
uint16_t adcValue = this->getBufAvg();
if (adcValue < this->rawAdcVoltages[0]) {
this->batteryVoltage = -1;
return;
}
if (adcValue > this->rawAdcVoltages[this->rawAdcVoltagesCount] + 50) {
this->batteryVoltage = -2;
return;
}
uint8_t index;
for (index = 1; index < this->rawAdcVoltagesCount; index++) {
if (adcValue < this->rawAdcVoltages[index])
break;
}
double indexDelta = this->rawAdcVoltages[index] - this->rawAdcVoltages[index - 1];
double valueDelta = this->rawAdcVoltages[index] - adcValue;
double voltage = this->startVoltage + (index - 1) * this->stepVoltage;
voltage += valueDelta / indexDelta * this->stepVoltage;
this->batteryVoltage = voltage;
// std::cout << "Battery::calculateBatteryVoltage() - Voltage: " << voltage << " Index: " <<(int) index << " adcValue: " << (int) adcValue <<" iD: " << indexDelta << " vD: " << valueDelta << std::endl;
}
void Battery::calculateBatteryPercent() {
@@ -75,3 +114,28 @@ void Battery::calculateBatteryPercent() {
}
this->batteryPercent = i * (100 / (size - 1));
}
void Battery::readAdcToBuf() {
this->adcBuffer[this->bufferPos] = analogRead(this->pin);
this->bufferPos++;
if (this->bufferPos == Battery::bufferSize)
this->bufferPos = 0;
// std::cout << "Battery::readAdcToBuf added Value: " << this->adcBuffer[this->bufferPos] << std::endl;
}
void Battery::initBuffer() {
for (uint8_t i = 0; i < Battery::bufferSize; i++)
this->adcBuffer[i] = 0;
}
uint16_t Battery::getBufAvg() {
uint32_t res = 0;
uint8_t emptyPos = 0;
for (uint8_t i = 0; i < Battery::bufferSize; i++) {
if (this->adcBuffer[i] == 0)
emptyPos++;
res += this->adcBuffer[i];
}
return res / (Battery::bufferSize - emptyPos);
}
lib/Battery/battery.h
+34 -11
View File
@@ -9,8 +9,8 @@
*
*/
#ifndef AKKU_H
#define AKKU_H
#ifndef BATTERY_H
#define BATTERY_H
#include <stdint.h>
#include <iostream>
@@ -39,11 +39,14 @@ class Battery {
* @param r2 Second resistor of the voltage devider.
*/
Battery(uint8_t pin, uint32_t r1, uint32_t r2);
Battery(uint8_t pin);
/**
* @brief Read new values if the delay is reached.
* @brief Read new values if the delay is reached.
*
* @return bool true if new values are calculated
*/
void loop();
bool loop();
/**
* @brief Set the delay to wait befor new values are read
@@ -87,19 +90,28 @@ class Battery {
bool isBatteryLow(uint8_t percent);
private:
double readInputVoltage();
double calculateInputVoltage();
void calculateBatteryVoltage();
void calculateBatteryPercent();
void readAdcToBuf();
void initBuffer();
uint16_t getBufAvg();
static const uint8_t bufferSize = 30;
uint8_t absurdLowVoltage = 5;
uint8_t pin;
uint8_t batteryPercent;
uint8_t batteryPercent = 0;
uint8_t batteryLowPercent = 10;
uint16_t delay = 20000;
uint32_t r1;
uint32_t r2;
uint8_t bufferPos = 0;
uint8_t delay = 100;
uint8_t calulationDelayMultiplier = 10;
uint8_t loopCounter = 0;
uint16_t adcBuffer[bufferSize];
uint32_t r1 = 0;
uint32_t r2 = 0;
uint64_t lastMillis = 0;
double batteryVoltage;
double batteryVoltage = 0;
const float capacityVoltages[21] = {9.82, 10.83, 11.06, 11.12, // 0 5 10 15
11.18, 11.24, 11.3, 11.36, // 20 25 30 35
@@ -107,6 +119,17 @@ class Battery {
11.62, 11.74, 11.86, 11.95, // 60 65 70 75
12.07, 12.25, 12.33, 12.45, // 80 85 90 95
12.6 };
const uint8_t rawAdcVoltagesCount = 60;
const double startVoltage = 7;
const double stepVoltage = 0.1;
const uint16_t rawAdcVoltages[60] = // from 7.0V to 12.9V in 0.1V steps
{1820, 1851, 1880, 1910, 1937, 1967, 1992, 2020, 2048, 2080,
2109, 2136, 2163, 2189, 2218, 2244, 2273, 2302, 2334, 2363,
2391, 2415, 2441, 2471, 2499, 2531, 2557, 2587, 2617, 2646,
2674, 2699, 2730, 2761, 2791, 2816, 2843, 2872, 2900, 2930,
2958, 2991, 3017, 3049, 3080, 3115, 3144, 3178, 3208, 3242,
3276, 3313, 3346, 3389, 3433, 3470, 3509, 3548, 3590, 3636};
};
#endif // AKKU_H
#endif // BATTERY_H
src/main.cpp
+22 -12
View File
@@ -77,7 +77,7 @@ void setup() {
spiPort = new SPIClass(HSPI);
spiPort->begin(UBLOX_GNSS_SPI_SCK, UBLOX_GNSS_SPI_CIPO, UBLOX_GNSS_SPI_COPI, UBLOX_GNSS_SPI_CS);
mainBattery = new Battery(35, 692000, 218500);
mainBattery = new Battery(35);
controlPad = new ControlPad();
Wire.begin(21, 19);
@@ -137,18 +137,25 @@ void loop() {
main_m->update();
lcdWrapper->loop();
mainBattery->loop();
if (mainBattery->isBatteryLow(10)) {
moveController.emergencyStop();
bool newValues = mainBattery->loop();
uint16_t voltage = (uint16_t) (mainBattery->getBatteryVoltage() * 100);
if (newValues) {
static uint8_t batteryLowCounter = 0;
if (mainBattery->isBatteryLow(10))
batteryLowCounter++;
else
batteryLowCounter = 0;
lcd->setCursor(0, 0);
lcd->printf("Low Battery: %u", voltage);
lcd->setCursor(0, 1);
lcd->print("Please turn off.");
while (true);
if (batteryLowCounter >= 10) {
moveController.emergencyStop();
uint16_t voltage = (uint16_t) (mainBattery->getBatteryVoltage() * 100);
lcd->setCursor(0, 0);
lcd->printf("Low Battery: %u", voltage);
lcd->setCursor(0, 1);
lcd->print("Please turn off.");
while (true);
}
}
}
@@ -202,7 +209,7 @@ void makeMenu() {
MenuSysteminformation* sys_m = new MenuSysteminformation(mainBattery);
MenuRoute* rout_m = new MenuRoute(driveManager->getNavigation()->getRoute());
// Set Menus on LCD
// Set Menus on LCD and set update time
main_m->setLcd(lcdWrapper);
mode_m->setLcd(lcdWrapper);
pid_m->setLcd(lcdWrapper);
@@ -213,10 +220,13 @@ void makeMenu() {
auto_m->setLcd(lcdWrapper);
testM_m->setLcd(lcdWrapper);
gps_m->setLcd(lcdWrapper);
gps_m->setUpdateDelay(1000);
sys_m->setLcd(lcdWrapper);
sys_m->setUpdateDelay(1500);
rout_m->setLcd(lcdWrapper);
// Entry for the main menu
MenuAction* mode_e = new MenuAction("Mode", mode_m);
MenuAction* gps_e = new MenuAction("GPS", gps_m);