diff --git a/mission/controller/PowerController.cpp b/mission/controller/PowerController.cpp index 595a74f2..38db8847 100644 --- a/mission/controller/PowerController.cpp +++ b/mission/controller/PowerController.cpp @@ -34,7 +34,20 @@ ReturnValue_t PowerController::getParameter(uint8_t domainId, uint8_t parameterI ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues, uint16_t startAtIndex) { - return returnvalue::FAILED; + switch (domainId) { + case 0x0: // direct members + switch (parameterId) { + case 0x0: + parameterWrapper->set(batteryInternalResistance); + break; + default: + return INVALID_IDENTIFIER_ID; + } + break; + default: + return INVALID_DOMAIN_ID; + }; + return returnvalue::OK; } void PowerController::performControlOperation() { @@ -53,6 +66,7 @@ void PowerController::performControlOperation() { case InternalState::READY: { // if (mode != MODE_OFF) { sif::debug << "oh shit, now i gotta do something" << std::endl; + calculateStateOfCharge(); // do something //} break; @@ -69,6 +83,8 @@ ReturnValue_t PowerController::initializeLocalDataPool(localpool::DataPool &loca LocalPoolDataSetBase *PowerController::getDataSetHandle(sid_t sid) { switch (sid.ownerSetId) { + case pwrctrl::STATE_OF_CHARGE_DATA: + return &stateOfChargeData; default: return nullptr; } @@ -86,3 +102,86 @@ ReturnValue_t PowerController::checkModeCommand(Mode_t mode, Submode_t submode, } return INVALID_MODE; } + +void PowerController::calculateStateOfCharge() { + // get time + timeval now; + Clock::getClock_timeval(&now); + + // update EPS hk values + ReturnValue_t result = updateEpsData(); + + float iBat = p60CoreHk.batteryCurrent.value + bpxBatteryHk.heaterCurrent.value + + bpxBatteryHk.dischargeCurrent.value; + + // Open Circuit Voltage Charge + // ToDo: battery heater and battery discharge currents missing + float vBatCorrected = p60CoreHk.batteryVoltage.value - iBat * batteryInternalResistance; + uint8_t lookUpTableIdx; + for (lookUpTableIdx = 24; lookUpTableIdx > 0; lookUpTableIdx--) { + if (lookUpTableOcv[1][lookUpTableIdx] < vBatCorrected) { + break; + } + } + // ToDo: check indexing + float openCircuitVoltageCharge = + lookUpTableOcv[0][lookUpTableIdx] + + (vBatCorrected - lookUpTableOcv[1][lookUpTableIdx]) * + (lookUpTableOcv[1][lookUpTableIdx + 1] - lookUpTableOcv[1][lookUpTableIdx]) / + (lookUpTableOcv[0][lookUpTableIdx + 1] - lookUpTableOcv[0][lookUpTableIdx]); + + // Coulomb Counter + float coulombCounterCharge = 0; + if (stateOfChargeData.coulombCounterCharge.value == 0) + coulombCounterCharge = openCircuitVoltageCharge; + else { + double timeDiff = timevalOperations::toDouble(now - oldTime); + coulombCounterCharge = stateOfChargeData.coulombCounterCharge.value + iBat * timeDiff; + } + + // commit TM + { + PoolReadGuard pg(&stateOfChargeData); + stateOfChargeData.openCircuitVoltageCharge.value = + charge2stateOfCharge(openCircuitVoltageCharge); + stateOfChargeData.coulombCounterCharge.value = charge2stateOfCharge(coulombCounterCharge); + stateOfChargeData.setValidity(true, true); + } + + // store time for next run + oldTime = now; +} + +ReturnValue_t PowerController::updateEpsData() { + std::vector results; + { + PoolReadGuard pgBat(&bpxBatteryHk); + results.push_back(pgBat.getReadResult()); + } + { + PoolReadGuard pgP60(&p60CoreHk); + results.push_back(pgP60.getReadResult()); + } + { + PoolReadGuard pgPdu1(&pdu1CoreHk); + results.push_back(pgPdu1.getReadResult()); + } + { + PoolReadGuard pgPdu2(&pdu2CoreHk); + results.push_back(pgPdu2.getReadResult()); + } + { + PoolReadGuard pgAcu(&acuCoreHk); + results.push_back(pgAcu.getReadResult()); + } + for (const auto &result : results) { + if (result != returnvalue::OK) { + return result; + } + } + return returnvalue::OK; +} + +float PowerController::charge2stateOfCharge(float capacity) { + return capacity / batteryMaximumCapacity; +} diff --git a/mission/controller/PowerController.h b/mission/controller/PowerController.h index 70a7b297..e49e6b71 100644 --- a/mission/controller/PowerController.h +++ b/mission/controller/PowerController.h @@ -3,12 +3,15 @@ #include #include +#include #include #include #include #include #include +#include + class PowerController : public ExtendedControllerBase, public ReceivesParameterMessagesIF { public: static constexpr dur_millis_t INIT_DELAY = 500; @@ -39,6 +42,55 @@ class PowerController : public ExtendedControllerBase, public ReceivesParameterM uint32_t* msToReachTheMode) override; void performControlOperation() override; + void calculateStateOfCharge(); + ReturnValue_t updateEpsData(); + float charge2stateOfCharge(float capacity); + + // Parameters + float batteryInternalResistance = 70 / 2 / 1000; // [Ohm] + float batteryMaximumCapacity = 2.6 * 2; // [Ah] + + // OCV Look-up-Table + float lookUpTableOcv[2][25] = { + {0.00000000e+00, 3.16227766e-04, 4.52809661e-04, 6.48382625e-04, 9.28425483e-04, + 1.32942162e-03, 1.90361194e-03, 2.72580074e-03, 3.90310099e-03, 5.58888885e-03, + 8.00278514e-03, 1.14592671e-02, 1.64086377e-02, 2.34956903e-02, 3.36437110e-02, + 4.81747620e-02, 6.89819174e-02, 9.87758887e-02, 1.41438170e-01, 2.02526713e-01, + 2.90000000e-01, 3.00000000e-01, 3.62820513e-01, 4.25641026e-01, 4.88461538e-01, + 5.51282051e-01, 6.14102564e-01, 6.76923077e-01, 7.39743590e-01, 8.02564103e-01, + 8.65384615e-01, 9.28205128e-01, 9.91025641e-01, 1.05384615e+00, 1.11666667e+00, + 1.17948718e+00, 1.24230769e+00, 1.30512821e+00, 1.36794872e+00, 1.43076923e+00, + 1.49358974e+00, 1.55641026e+00, 1.61923077e+00, 1.68205128e+00, 1.74487179e+00, + 1.80769231e+00, 1.87051282e+00, 1.93333333e+00, 1.99615385e+00, 2.05897436e+00, + 2.12179487e+00, 2.18461538e+00, 2.24743590e+00, 2.31025641e+00, 2.37307692e+00, + 2.43589744e+00, 2.49871795e+00, 2.56153846e+00, 2.62435897e+00, 2.68717949e+00, + 2.75000000e+00, 2.81282051e+00, 2.87564103e+00, 2.93846154e+00, 3.00128205e+00, + 3.06410256e+00, 3.12692308e+00, 3.18974359e+00, 3.25256410e+00, 3.31538462e+00, + 3.37820513e+00, 3.44102564e+00, 3.50384615e+00, 3.56666667e+00, 3.62948718e+00, + 3.69230769e+00, 3.75512821e+00, 3.81794872e+00, 3.88076923e+00, 3.94358974e+00, + 4.00641026e+00, 4.06923077e+00, 4.13205128e+00, 4.19487179e+00, 4.25769231e+00, + 4.32051282e+00, 4.38333333e+00, 4.44615385e+00, 4.50897436e+00, 4.57179487e+00, + 4.63461538e+00, 4.69743590e+00, 4.76025641e+00, 4.82307692e+00, 4.88589744e+00, + 4.94871795e+00, 5.01153846e+00, 5.07435897e+00, 5.13717949e+00, 5.20000000e+00}, + {12.52033533, 12.58720948, 12.61609309, 12.65612591, 12.67105282, 12.69242681, 12.72303245, + 12.76685696, 12.80313768, 12.83600741, 12.8830739, 12.94720576, 13.00112629, 13.07833563, + 13.17486308, 13.27128842, 13.37713879, 13.49275604, 13.60395193, 13.68708863, 13.75196335, + 13.7582376, 13.79298643, 13.82885799, 13.87028849, 13.91585718, 13.96701874, 14.02343574, + 14.07665641, 14.12626342, 14.1675095, 14.20582917, 14.23342159, 14.25724476, 14.27264301, + 14.28922389, 14.30898535, 14.32750837, 14.34358057, 14.35965277, 14.37698366, 14.3943261, + 14.41079196, 14.42679817, 14.44261008, 14.45771025, 14.47281042, 14.48751461, 14.50193089, + 14.5164887, 14.53193477, 14.54738084, 14.56341235, 14.58054578, 14.59799552, 14.61632769, + 14.63716465, 14.66935073, 14.70511347, 14.74315094, 14.77251031, 14.80005585, 14.8315427, + 14.86078285, 14.89444687, 14.93495892, 14.97114013, 15.01055751, 15.0538516, 15.09698825, + 15.14850029, 15.18947994, 15.24249483, 15.28521713, 15.335695, 15.37950723, 15.43241224, + 15.48082213, 15.53314287, 15.58907248, 15.64030253, 15.68385331, 15.74149122, 15.80051882, + 15.84959348, 15.90443241, 15.95743724, 16.01283068, 16.07629253, 16.13470801, 16.1890518, + 16.24200781, 16.30521118, 16.37368429, 16.43661267, 16.49604875, 16.56223813, 16.62741412, + 16.67249918, 16.74926904}}; + + // Variables + timeval oldTime; + // HK Datasets for Calculation BpxBatteryHk bpxBatteryHk = BpxBatteryHk(objects::BPX_BATT_HANDLER); P60Dock::CoreHkSet p60CoreHk = P60Dock::CoreHkSet(objects::P60DOCK_HANDLER); diff --git a/mission/controller/controllerdefinitions/PowerCtrlDefinitions.h b/mission/controller/controllerdefinitions/PowerCtrlDefinitions.h index d4eeeed0..770889c1 100644 --- a/mission/controller/controllerdefinitions/PowerCtrlDefinitions.h +++ b/mission/controller/controllerdefinitions/PowerCtrlDefinitions.h @@ -11,16 +11,22 @@ namespace pwrctrl { enum SetIds : uint32_t { STATE_OF_CHARGE_DATA }; enum PoolIds : lp_id_t { - + OPEN_CIRCUIT_VOLTAGE_CHARGE, + COULOMB_COUNTER_CHARGE, }; -static constexpr uint8_t STATE_OF_CHARGE_ENTRIES = 6; +static constexpr uint8_t STATE_OF_CHARGE_ENTRIES = 2; class StateOfChargedData : public StaticLocalDataSet { public: StateOfChargedData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, STATE_OF_CHARGE_DATA) {} + lp_var_t openCircuitVoltageCharge = + lp_var_t(sid.objectId, OPEN_CIRCUIT_VOLTAGE_CHARGE, this); + lp_var_t coulombCounterCharge = + lp_var_t(sid.objectId, COULOMB_COUNTER_CHARGE, this); + private: }; diff --git a/mission/pollingSeqTables.cpp b/mission/pollingSeqTables.cpp index 8f052e77..e2517abd 100644 --- a/mission/pollingSeqTables.cpp +++ b/mission/pollingSeqTables.cpp @@ -133,6 +133,9 @@ ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::ACU_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::POWER_CONTROLLER, length * 0.6, 0); + if (thisSequence->checkSequence() != returnvalue::OK) { sif::error << "GomSpace PST initialization failed" << std::endl; return returnvalue::FAILED; @@ -591,9 +594,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::POWER_CONTROLLER, length * config::spiSched::SCHED_BLOCK_10_PERIOD, - 0); - /* Radiation sensor */ thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);