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Power/BATMANv2: add/get parameter value of confidence calculation of BQ. #266

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Power/BATMANv2: add/get parameter value of confidence calculation of BQ. #266

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16 changes: 13 additions & 3 deletions src/Power/BATMANv2/Driver.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,11 +70,13 @@ namespace Power
//! Cell Voltage
float cell_volt[16];
//! State of new data received
bool state_new_data[9];
bool state_new_data[10];
//! Time, in min to full empty battery
float time_empty;
//! Time, in min, to full charge of battery
float time_full;
//! Error in calculation of capacity
int max_error;
};

//! Serial port
Expand All @@ -100,7 +102,8 @@ namespace Power
void
resetStateNewData(void)
{
for(uint8_t t = 0; t < 8; t++)
m_batManData.max_error = 100;
for(uint8_t t = 0; t < 9; t++)
m_batManData.state_new_data[t] = false;
}

Expand Down Expand Up @@ -280,9 +283,16 @@ namespace Power
m_task->debug("Average Time to Full: %.0f min", m_batManData.time_full);
m_batManData.state_new_data[8] = true;
}
else if (std::strcmp(parameter, "$ERROR") == 0)
{
parameter = std::strtok(NULL, ",");
std::sscanf(parameter, "%d", &m_batManData.max_error);
m_task->debug("Error: %d %%", m_batManData.max_error);
m_batManData.state_new_data[9] = true;
}

bool result = true;
for(uint8_t t = 0; t < 8; t++)
for(uint8_t t = 0; t < 9; t++)
{
if(m_batManData.state_new_data[t] == false)
result = false;
Expand Down
23 changes: 13 additions & 10 deletions src/Power/BATMANv2/Task.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -374,7 +374,7 @@ namespace Power
{
m_fuel.setTimeStamp(m_tstamp);
m_fuel.value = (m_driver->m_batManData.r_cap * 100) / m_driver->m_batManData.f_cap;
m_fuel.confidence = 100;
m_fuel.confidence = 100 - m_driver->m_batManData.max_error;
dispatch(m_fuel, DF_KEEP_TIME);
}

Expand All @@ -383,12 +383,12 @@ namespace Power
std::memset(&m_bufer_entity, '\0', sizeof(m_bufer_entity));
if (m_driver->m_batManData.time_full > 0)
{
std::sprintf(m_bufer_entity, "fuel reserve - ETF: %s", minutesToTime(m_driver->m_batManData.time_full).c_str());
std::sprintf(m_bufer_entity, "Fuel reserve - ETF: %s", minutesToTime(m_driver->m_batManData.time_full).c_str());
setEntityState(IMC::EntityState::ESTA_ERROR, Utils::String::str(DTR(m_bufer_entity)));
}
else if((m_driver->m_batManData.time_empty > 0))
{
std::sprintf(m_bufer_entity, "fuel reserve - ETD: %s", minutesToTime(m_driver->m_batManData.time_empty).c_str());
std::sprintf(m_bufer_entity, "Fuel reserve - ETD: %s", minutesToTime(m_driver->m_batManData.time_empty).c_str());
setEntityState(IMC::EntityState::ESTA_ERROR, Utils::String::str(DTR(m_bufer_entity)));
}
else
Expand All @@ -401,12 +401,12 @@ namespace Power
std::memset(&m_bufer_entity, '\0', sizeof(m_bufer_entity));
if (m_driver->m_batManData.time_full > 0)
{
std::sprintf(m_bufer_entity, "fuel warning - ETF: %s", minutesToTime(m_driver->m_batManData.time_full).c_str());
std::sprintf(m_bufer_entity, "Fuel warning - ETF: %s", minutesToTime(m_driver->m_batManData.time_full).c_str());
setEntityState(IMC::EntityState::ESTA_NORMAL, Utils::String::str(DTR(m_bufer_entity)));
}
else if((m_driver->m_batManData.time_empty > 0))
{
std::sprintf(m_bufer_entity, "fuel warning - ETD: %s", minutesToTime(m_driver->m_batManData.time_empty).c_str());
std::sprintf(m_bufer_entity, "Fuel warning - ETD: %s", minutesToTime(m_driver->m_batManData.time_empty).c_str());
setEntityState(IMC::EntityState::ESTA_NORMAL, Utils::String::str(DTR(m_bufer_entity)));
}
else
Expand All @@ -419,12 +419,12 @@ namespace Power
std::memset(&m_bufer_entity, '\0', sizeof(m_bufer_entity));
if (m_driver->m_batManData.time_full > 0)
{
std::sprintf(m_bufer_entity, "fuel running low - ETF: %s", minutesToTime(m_driver->m_batManData.time_full).c_str());
std::sprintf(m_bufer_entity, "Fuel running low - ETF: %s", minutesToTime(m_driver->m_batManData.time_full).c_str());
setEntityState(IMC::EntityState::ESTA_NORMAL, Utils::String::str(DTR(m_bufer_entity)));
}
else if ((m_driver->m_batManData.time_empty > 0))
{
std::sprintf(m_bufer_entity, "fuel running low - ETD: %s", minutesToTime(m_driver->m_batManData.time_empty).c_str());
std::sprintf(m_bufer_entity, "Fuel running low - ETD: %s", minutesToTime(m_driver->m_batManData.time_empty).c_str());
setEntityState(IMC::EntityState::ESTA_NORMAL, Utils::String::str(DTR(m_bufer_entity)));
}
else
Expand All @@ -438,21 +438,24 @@ namespace Power

if (m_driver->m_batManData.time_full > 0)
std::sprintf(m_bufer_entity,
"H: %d %%, Volt: %.3f V, RCap: %.3f Ah, ETF: %s",
"C: %d %%, H: %d %%, V: %.2f V, RC: %.2f Ah, ETF: %s",
(100 - m_driver->m_batManData.max_error),
m_driver->m_batManData.health,
m_driver->m_batManData.voltage,
m_driver->m_batManData.r_cap,
minutesToTime(m_driver->m_batManData.time_full).c_str());
else if (m_driver->m_batManData.time_empty > 0)
std::sprintf(m_bufer_entity,
"H: %d %%, Volt: %.3f V, RCap: %.3f Ah, ETD: %s",
"C: %d %%, H: %d %%, V: %.2f V, RC: %.2f Ah, ETD: %s",
(100 - m_driver->m_batManData.max_error),
m_driver->m_batManData.health,
m_driver->m_batManData.voltage,
m_driver->m_batManData.r_cap,
minutesToTime(m_driver->m_batManData.time_empty).c_str());
else
std::sprintf(m_bufer_entity,
"H: %d %%, Volt: %.3f V, RCap: %.3f Ah",
"C: %d %%, H: %d %%, V: %.2f V, RC: %.2f Ah",
(100 - m_driver->m_batManData.max_error),
m_driver->m_batManData.health,
m_driver->m_batManData.voltage,
m_driver->m_batManData.r_cap);
Expand Down