laeBatt.cxx File Reference

Laelaps battery management and energy monitoring class implementation. More...

#include <sys/types.h>
#include <unistd.h>
#include <string>
#include "rnr/rnrconfig.h"
#include "rnr/log.h"
#include "Laelaps/laelaps.h"
#include "Laelaps/laeUtils.h"
#include "Laelaps/laeTune.h"
#include "Laelaps/laeMotor.h"
#include "Laelaps/laeDb.h"
#include "Laelaps/laeBatt.h"

Go to the source code of this file.

Classes
struct	LiIonCellSoCVEntry
	Lithium-Ion State of Charge - Cell Voltage table. More...
struct	LiIonCellCSoCEntry
	Specific Current - State of Charge/Battery Voltage table entry. More...

Functions
static double	linearInterp (double x, double x0, double x1, double y0, double y1)
	Linear interpolate. More...
static double	lookupSoC (double fV, LiIonCellSoCVEntry tbl[], size_t n)
	Lookup State of Charge, given the battery voltage. More...

Variables
static const double	OdroidXU3MinAmps = 1.0
static const double	OdroidXU3Volts = 1.8
static const double	OdroidXU4MinAmps = 1.0
static const double	OdroidXU4Volts = 1.8
static const double	RoboClaw2x30AAmps = 0.03
static const double	RoboClaw2x30AVolts = 5.0
static const double	Naze32Amps = 0.50
static const double	Naxe32Volts = 5.0
static const double	BattChargerAmps = 0.0
static const double	BattChargerVolts = 0.0
static const double	ArduinoAmps = 0.01
static const double	ArduinoVolts = 5.0
static const double	OtherAmps = 0.01
static const double	OtherVolts = 5.0
static LiIonCellSoCVEntry	LiIonCellSoCVTbl_0C []
	SoC-V table for an 0C unloaded single cell. More...
static LiIonCellSoCVEntry	LiIonCellSoCVTbl_1C []
	SoC-V table for an 1C single cell. More...
static LiIonCellSoCVEntry	LiIonCellSoCVTbl_2C []
	SoC-V table for an 2C single cell. More...
static LiIonCellSoCVEntry	LiIonCellSoCVTbl_3C []
	SoC-V table for an 3C single cell. More...
static LiIonCellCSoCEntry	LiIonCellSoCTbls []
	C - SoC-V table of tables. More...

Detailed Description

Laelaps battery management and energy monitoring class implementation.

LastChangedDate

2016-03-02 11:18:30 -0700 (Wed, 02 Mar 2016)

Rev

4337

A class instance runs under the control of the WatchDog thread.

Author

Robin Knight (robin.nosp@m..kni.nosp@m.ght@r.nosp@m.oadn.nosp@m.arrow.nosp@m.s.co.nosp@m.m)

Copyright

© 2015-2017. RoadNarrows LLC.
http://www.roadnarrows.com
All Rights Reserved

Definition in file laeBatt.cxx.

Function Documentation

static double linearInterp ( double  x, double  x0, double  x1, double  y0, double  y1  )

static

Linear interpolate.

Parameters

x	X input in [x0, x1].
x0	Lower domain value.
x1	Upper domain value.
y0	Lower range value.
y1	Upper range value.

Returns

Interpolated Y output in [y0, y1].

Definition at line 195 of file laeBatt.cxx.

Referenced by laelaps::LaeBattery::estimateBatteryStateOfCharge(), and lookupSoC().

{
  return y0 + (x - x0)/(x1 - x0) * (y1 - y0);
}

static double lookupSoC ( double  fV, LiIonCellSoCVEntry  tbl[], size_t  n  )

static

Lookup State of Charge, given the battery voltage.

Linear interpolation is performed as necessary.

Parameters

fV	Input battery voltage.
tbl	SoC - V table.
n	Number of table entries.

Returns

Interpolated SoC.

Definition at line 211 of file laeBatt.cxx.

References linearInterp(), and LiIonCellSoCVEntry::m_fSoC.

Referenced by laelaps::LaeBattery::estimateBatteryStateOfCharge().

{
  size_t  i;

  // table list voltage for single cell
  fV /= (double)LaeTuneBattCells; 

  // search accending table for nearest entries
  for(i = 0; i < n; ++i)
  {
    if( tbl[i].m_fV >= fV )
    {
      break;
    }
  }

  // lower boundary case
  if( i == 0 )
  {
    return tbl[i].m_fSoC;
  }
  // upper boundary case
  else if( i == n )
  {
    return tbl[i-1].m_fSoC;
  }
  // interpolate
  else
  {
    return linearInterp(fV, tbl[i-1].m_fV,    tbl[i].m_fV,
                            tbl[i-1].m_fSoC,  tbl[i].m_fSoC);
  }
}

Variable Documentation

LiIonCellCSoCEntry LiIonCellSoCTbls[]

static

Initial value:

= 
{
  {0.0, LiIonCellSoCVTbl_0C, arraysize(LiIonCellSoCVTbl_0C)},
  {1.0, LiIonCellSoCVTbl_1C, arraysize(LiIonCellSoCVTbl_1C)},
  {2.0, LiIonCellSoCVTbl_2C, arraysize(LiIonCellSoCVTbl_2C)},
  {3.0, LiIonCellSoCVTbl_3C, arraysize(LiIonCellSoCVTbl_3C)}
}

C - SoC-V table of tables.

Definition at line 176 of file laeBatt.cxx.

LiIonCellSoCVEntry LiIonCellSoCVTbl_0C[]

static

Initial value:

=
{
  {  0.0, 3.00}, { 10.0, 3.62}, { 20.0, 3.70}, { 30.0, 3.74}, { 40.0, 3.78},
  { 50.0, 3.84}, { 60.0, 3.88}, { 70.0, 3.93}, { 80.0, 3.97}, { 90.0, 4.05},
  {100.0, 4.20}
}

SoC-V table for an 0C unloaded single cell.

Definition at line 136 of file laeBatt.cxx.

LiIonCellSoCVEntry LiIonCellSoCVTbl_1C[]

static

Initial value:

=
{
  {  0.0, 2.00}, { 10.0, 3.50}, { 20.0, 3.55}, { 30.0, 3.60}, { 40.0, 3.65},
  { 50.0, 3.70}, { 60.0, 3.75}, { 70.0, 3.78}, { 80.0, 3.80}, { 90.0, 3.90},
  {100.0, 4.05}
}

SoC-V table for an 1C single cell.

Definition at line 146 of file laeBatt.cxx.

LiIonCellSoCVEntry LiIonCellSoCVTbl_2C[]

static

Initial value:

=
{
  {  0.0, 1.00}, { 10.0, 2.90}, { 20.0, 3.45}, { 30.0, 3.55}, { 40.0, 3.60},
  { 50.0, 3.65}, { 60.0, 3.70}, { 70.0, 3.75}, { 80.0, 3.76}, { 90.0, 3.80},
  {100.0, 4.00}
}

SoC-V table for an 2C single cell.

Definition at line 156 of file laeBatt.cxx.

LiIonCellSoCVEntry LiIonCellSoCVTbl_3C[]

static

Initial value:

=
{
  {  0.0, 0.10}, { 10.0, 0.50}, { 20.0, 3.30}, { 30.0, 3.45}, { 40.0, 3.51},
  { 50.0, 3.60}, { 60.0, 3.65}, { 70.0, 3.70}, { 80.0, 3.74}, { 90.0, 3.78},
  {100.0, 4.00}
}

SoC-V table for an 3C single cell.

Definition at line 166 of file laeBatt.cxx.