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Add power state initialisation

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This commit is contained in:
Phillip Kühne 2025-02-13 21:12:40 +01:00
parent b0068333c8
commit 115b0e0679
Signed by: phillip
GPG Key ID: E4C1C4D2F90902AA
2 changed files with 83 additions and 39 deletions
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51
src/power/Power.cpp
View File

@ -27,8 +27,8 @@ void Power::begin() {
powerScheduler = &PowerScheduler::getPowerScheduler(
PowerParameters::Battery::CELL_CURRENT_1C_MA,
PowerParameters::Battery::CELL_CURRENT_2C_MA);
Power::initPowerState();
Power::recalculateCurrentBudgets();
Power::updatePowerStateHandler();
TaskHandle_t xHandle = NULL;
xTaskCreate(vTaskUpdatePowerState, "vTaskPowerStateUpdate", 4096, NULL,
tskIDLE_PRIORITY, &xHandle);
@ -108,11 +108,11 @@ float Power::getBatteryVoltage() {
return batteryVoltage;
}
int Power::getBatteryChargePercent() { return percentRemaining; }
float Power::getBatteryChargePercent() { return percentRemaining; }
float Power::getBatteryChargeCoulombs() { return coloumbsRemaining; }
int Power::getBatteryVoltageChargePercent() {
float Power::getBatteryVoltageChargePercent() {
// Directly get the battery voltage and calculate the charge state based on
// the discharge curve.
float batteryVoltage = getBatteryVoltage();
@ -166,9 +166,9 @@ void Power::updatePowerStateHandler() {
// Get battery charge state from voltage curve
chargeState = getBatteryVoltageChargePercent();
} else {
// Calculate battery charge state from Charge consumption
// Estimate battery charge state from charge consumption
float oldChargeState = lastSOC[latestSoCIndex];
float chargeState =
chargeState =
oldChargeState - ((coloumbsConsumedSinceLastUpdate /
PowerParameters::Battery::CELL_CHARGE_FULL_COLOUMB) *
100);
@ -212,6 +212,45 @@ void Power::initPowerState(void) {
lastPowerStateUpdate = xTaskGetTickCount();
// TODO: Get initial battery charge state based on voltage, set coloumbs based
// on that
const float initialChargePercentages = getBatteryVoltageChargePercent();
for (int i = 0; i < PowerParameters::Battery::AVERAGING_SAMPLES; i++) {
lastSOC[i] = initialChargePercentages;
}
coloumbsRemaining = initialChargePercentages / 100 *
PowerParameters::Battery::CELL_CHARGE_FULL_COLOUMB;
constexpr float fullColoumbs =
PowerParameters::Battery::CELL_CHARGE_FULL_COLOUMB;
percentRemaining = initialChargePercentages;
}
void Power::dumpPowerStatistics() {
Serial.printf("======== Dezibot Power Statistics ========\r\n");
Serial.printf("Current: %f mA\r\n", Power::getCurrentCurrent());
Serial.printf("Battery Voltage: %f V\r\n", Power::getBatteryVoltage());
Serial.printf("Battery Charge: %f %%\r\n", Power::getBatteryChargePercent());
Serial.printf("Battery Charge: %f Coulombs\r\n", Power::getBatteryChargeCoulombs());
Serial.printf("Max 3.3V Current in this state: %f mA\r\n", Power::getMax3V3Current());
Serial.printf("=========================================\r\n");
}
void Power::dumpConsumerStatistics() {
Serial.printf("======== Dezibot Consumer Statistics ========\r\n");
Serial.printf("ESP: %f mA\r\n", Power::getConsumerCurrent(PowerParameters::PowerConsumers::ESP));
Serial.printf("WIFI: %f mA\r\n", Power::getConsumerCurrent(PowerParameters::PowerConsumers::WIFI));
Serial.printf("LED_RGB_TOP_LEFT: %f mA\r\n", Power::getConsumerCurrent(PowerParameters::PowerConsumers::LED_RGB_TOP_LEFT));
Serial.printf("LED_RGB_TOP_RIGHT: %f mA\r\n", Power::getConsumerCurrent(PowerParameters::PowerConsumers::LED_RGB_TOP_RIGHT));
Serial.printf("LED_RGB_BOTTOM: %f mA\r\n", Power::getConsumerCurrent(PowerParameters::PowerConsumers::LED_RGB_BOTTOM));
Serial.printf("RGBW_SENSOR: %f mA\r\n", Power::getConsumerCurrent(PowerParameters::PowerConsumers::RGBW_SENSOR));
Serial.printf("LED_IR_BOTTOM: %f mA\r\n", Power::getConsumerCurrent(PowerParameters::PowerConsumers::LED_IR_BOTTOM));
Serial.printf("LED_IR_FRONT: %f mA\r\n", Power::getConsumerCurrent(PowerParameters::PowerConsumers::LED_IR_FRONT));
Serial.printf("PT_IR: %f mA\r\n", Power::getConsumerCurrent(PowerParameters::PowerConsumers::PT_IR));
Serial.printf("PT_DL: %f mA\r\n", Power::getConsumerCurrent(PowerParameters::PowerConsumers::PT_DL));
Serial.printf("LED_UV: %f mA\r\n", Power::getConsumerCurrent(PowerParameters::PowerConsumers::LED_UV));
Serial.printf("DISPLAY_OLED: %f mA\r\n", Power::getConsumerCurrent(PowerParameters::PowerConsumers::DISPLAY_OLED));
Serial.printf("MOTOR_LEFT: %f mA\r\n", Power::getConsumerCurrent(PowerParameters::PowerConsumers::MOTOR_LEFT));
Serial.printf("MOTOR_RIGHT: %f mA\r\n", Power::getConsumerCurrent(PowerParameters::PowerConsumers::MOTOR_RIGHT));
Serial.printf("IMU: %f mA\r\n", Power::getConsumerCurrent(PowerParameters::PowerConsumers::IMU));
Serial.printf("=============================================\r\n");
}
int Power::latestSoCIndex = 0;
@ -219,7 +258,7 @@ float Power::lastSOC[PowerParameters::Battery::AVERAGING_SAMPLES] = {0};
TickType_t Power::lastPowerStateUpdate = 0;
float Power::coloumbsRemaining =
PowerParameters::Battery::CELL_CHARGE_FULL_COLOUMB;
int Power::percentRemaining = 100.0;
float Power::percentRemaining = 100.0;
PowerScheduler *Power::powerScheduler = nullptr;
Power::Power() {}

71
src/power/Power.h
View File

@ -17,6 +17,34 @@ enum TaskResumptionReason { POWER_AVAILABLE, TIMEOUT };
class Power {
protected:
/// @brief PowerScheduler instance to manage power consumption
static PowerScheduler *powerScheduler;
/*
* Power State
*/
/// @brief last time of power state update
static TickType_t lastPowerStateUpdate;
/// @brief remaining Charge in coulombs
static float coloumbsRemaining;
/// @brief remaining Charge in percent
static float percentRemaining;
/// @brief Circular array of last calculated values for current state of
/// charge
static float lastSOC[PowerParameters::Battery::AVERAGING_SAMPLES];
static int latestSoCIndex;
/// @brief Add calculated value to circular array, pushing out oldest value
static void addSoCSample(float soc);
/// @brief initialize the power state
static void initPowerState(void);
public:
static void begin(void);
Power();
@ -30,10 +58,11 @@ public:
/// @brief Request an allowance of a certain number of milliamperes from the
/// power scheduler without waiting for it (meaning it will not be scheduled
/// for future allocation). Only one can be active per consumer.
/// @param neededCurrent the amount of current we want to be accounted for (in
/// mA)
/// @param neededCurrent the amount of current we want to be accounted for
/// (in mA)
/// @return whether the current could be successfully allocated
static bool tryAccquireCurrentAllowance(PowerParameters::PowerConsumers consumer,
static bool
tryAccquireCurrentAllowance(PowerParameters::PowerConsumers consumer,
uint16_t neededcurrent,
uint16_t requestedDurationMs = 0);
/// @brief "Return" the current currently allocated to a consumer
@ -65,19 +94,18 @@ public:
// @brief Get current consumption of a consumer
static float getConsumerCurrent(PowerParameters::PowerConsumers consumer);
/// @brief Get battery voltage measurement.
/// @return Battery Terminal Voltage in Volts
static float getBatteryVoltage();
/// @brief Get estimated battery charge state as percentage
/// @return Battery charge state in percent
static int getBatteryChargePercent();
static float getBatteryChargePercent();
/// @brief Get estimated battery charge state as percentage based on
// voltage directly
/// @return Battery charge state in percent
static int getBatteryVoltageChargePercent();
static float getBatteryVoltageChargePercent();
/// @brief Get estimated battery charge state as coulombs
/// @return Battery charge state in coulombs
@ -92,34 +120,11 @@ public:
/// @note needs to be public for task creation
static void updatePowerStateHandler();
protected:
/// @brief PowerScheduler instance to manage power consumption
static PowerScheduler *powerScheduler;
/// @brief dump power statistics to serial
static void dumpPowerStatistics();
/*
* Power State
*/
/// @brief last time of power state update
static TickType_t lastPowerStateUpdate;
/// @brief remaining Charge in coulombs
static float coloumbsRemaining;
/// @brief remaining Charge in percent
static int percentRemaining;
/// @brief Circular array of last calculated values for current state of
/// charge
static float lastSOC[PowerParameters::Battery::AVERAGING_SAMPLES];
static int latestSoCIndex;
/// @brief Add calculated value to circular array, pushing out oldest value
static void addSoCSample(float soc);
/// @brief initialize the power state
static void initPowerState(void);
/// @brief dump consumer statistics to serial
static void dumpConsumerStatistics();
};
extern Power power;