bms/Application/app/sox/soc.c

#include "soc.h"
#include "app/sox/measure.h"
#include "app/sox/measure_task.h"
#include "app/nv_storage.h"
#include "libs/logger.h"
#include "Least_Square.h"
#include "health.h"
#include "state.h"

#define LEAST_SQUARE 0

static soc_t _soc;
static uint8_t chargering = 0;
static u64     current_sample_ts = 0; //ms
static u32     force_full_ts = 0xFFFFFFFF; //s
static float     soc_delta_time = 0;
static float     max_soc_delta_time = 0;
static float _charger_coefficient = 1.0f;
static float _discharger_coefficient = 1.0f;
static uint8_t is_force_full = 0;
static uint8_t is_force_empty = 0;
uint32_t charger_remain_time = 0;

#define MAX_TIME_FULL_TO_EMPTY (5 * 24 * 3600) //充满到欠压5天内达到，可以校准最小电量
#define DEFALUT_MAX_COULOMB (MAX_HA * 3600.0f)
#define DEFALUT_MIN_COULOMB (25.0f * 3600.0f)
#define FULL_MAX_VOLTAGE (53500)//mV
#define FULL_MIN_CURRENT (500.0f) //mA
static void calibrate_soc_by_ocv(void);

#if LEAST_SQUARE==1
static void _least_square_timer_handler(shark_timer_t *timer);
static least_square_t discharger_vol_coef;
static least_square_t discharger_cell_coef;
static least_square_t discharger_capacity_coef;
static shark_timer_t least_square_timer = {.handler = _least_square_timer_handler};
static int least_square_time = 0;
static int least_square_started = 0;
#define LEAST_SQUARE_STEP_TIME 1000 * 5
#endif
void soc_init(void){
	set_log_level(MOD_SOC, L_debug);
	
	current_sample_ts = shark_get_mseconds();
	if (nv_restore_soc() != 0){
		soc_warning("SOC: nv storage is not inited, use default value!!\n");
		_soc.coulomb_min = 0;
		_soc.coulomb_max = DEFALUT_MAX_COULOMB; //30HA,这个值最总需要soh模块给
		_soc.flags = 0;
		_soc.charger_coulomb = 0;
		_soc.pre_charger_coulomb = 0;
		_soc.dischrger_coulomb = 0;
		_soc.pre_discharger_coulomb = 0;
		_soc.total_coulomb = 0;
	}
	if ((_soc.flags & SOC_FLAG_CALIBRATED) == 0){
		calibrate_soc_by_ocv();
		nv_save_soc();
	}
	soc_log();
}

#if LEAST_SQUARE==1
static void start_least_square(int start){
	if (start && !least_square_started) {
		least_square_init(&discharger_vol_coef, 10);
		least_square_init(&discharger_cell_coef, 10);
		least_square_init(&discharger_capacity_coef, 10);
		least_square_time = 0;
		least_square_started = 1;
		shark_timer_post(&least_square_timer, LEAST_SQUARE_STEP_TIME);
	}else if (!start && least_square_started){
		least_square_time = 0;
		least_square_started = 0;
		shark_timer_cancel(&least_square_timer);
	}
}

static void _least_square_timer_handler(shark_timer_t *timer){
	if (least_square_put(&discharger_vol_coef, least_square_time, bms_state_get()->pack_voltage/1000.0f) == 1) {
		soc_error("voltage: A = %f, B = %f, v: %f\n", discharger_vol_coef.coeff.Ka, discharger_vol_coef.coeff.Cb, get_y_by_x(&discharger_vol_coef, least_square_time));
		int delta = get_x_by_y(&discharger_vol_coef, bms_health_pack_lower_voltage()/1000.0f) - get_x_by_y(&discharger_vol_coef, bms_state_get()->pack_voltage/1000.0f);
		soc_error("remain %d s to reach lower pack voltage\n", delta);
	}
	if (least_square_put(&discharger_cell_coef, least_square_time, bms_state_get()->cell_min_vol/1000.0f) == 1) {
		soc_error("cell: A = %f, B = %f, v: %f\n", discharger_cell_coef.coeff.Ka, discharger_cell_coef.coeff.Cb, get_y_by_x(&discharger_cell_coef, least_square_time));
		int delta = get_x_by_y(&discharger_cell_coef, bms_health_cell_lower_voltage()/1000.0f) - get_x_by_y(&discharger_cell_coef, bms_state_get()->cell_min_vol/1000.0f);
		soc_error("remain %d s to reach lower cell voltage\n", delta);
	}
	if (least_square_put(&discharger_capacity_coef, least_square_time, _soc.coulomb_now/3600.0f) == 1) {
		soc_error("capacity: A = %f, B = %f, c: %f\n", discharger_capacity_coef.coeff.Ka, discharger_capacity_coef.coeff.Cb, get_y_by_x(&discharger_capacity_coef, least_square_time));
		int delta = get_x_by_y(&discharger_capacity_coef, _soc.coulomb_min/3600.0f) - get_x_by_y(&discharger_capacity_coef, _soc.coulomb_now/3600.0f);
		soc_error("remain %d s to reach 0 min AH\n", delta);
	}
	least_square_time ++;
	shark_timer_post(&least_square_timer, LEAST_SQUARE_STEP_TIME);
}
#endif

#define TOHA(x) (float)(x/3600.0f)
void soc_log(void){
	soc_debug("C flags 0x%x\n", _soc.flags);
	soc_debug("C now: %.4f\n", TOHA(_soc.coulomb_now));
	soc_debug("C min: %.4f\n", TOHA(_soc.coulomb_min));
	soc_debug("C max: %.4f\n", TOHA(_soc.coulomb_max));
	soc_debug("C char: %.4f\n", TOHA(_soc.charger_coulomb));
	soc_debug("C dischar: %.4f\n", TOHA(_soc.dischrger_coulomb));
	soc_debug("C pre char: %.4f\n", TOHA(_soc.pre_discharger_coulomb));
	soc_debug("C pre dischar: %.4f\n", TOHA(_soc.pre_charger_coulomb));
	soc_debug("C tol: %.2f\n", _soc.total_coulomb);
	soc_debug("C energy: %f\n", _soc.energy);
	soc_debug("C delta time %f,%f\n", max_soc_delta_time, soc_delta_time);
	if (chargering){
		soc_debug("C remain %d\n", charger_remain_time);
	}
}

//初始上电或者nv出问题后，通过开路电压对soc做一次初略校准
static void calibrate_soc_by_ocv(void){
	uint16_t pack_vol = 0;
	for (int i = 0; i < CELLS_NUM; i++){
		pack_vol += measure_value()->cell_vol[i];
	}
	if (pack_vol < (2700 * CELLS_NUM)){
		_soc.capacity = 0;
	}else if (pack_vol < (2950 * CELLS_NUM)){
		_soc.capacity = 5;
	}else if (pack_vol < (3200 * CELLS_NUM)){
		_soc.capacity = 15;
	}else if (pack_vol < (3400 * CELLS_NUM)){
		_soc.capacity = 25;
	}else if (pack_vol < (3500 * CELLS_NUM)){
		_soc.capacity = 85;
	}else if (pack_vol < (3550 * CELLS_NUM)){
		_soc.capacity = 95;
	}else {
		_soc.capacity = 100;
	}
	_soc.coulomb_now = (_soc.coulomb_max - _soc.coulomb_min) * _soc.capacity / 100.0f + _soc.coulomb_min;
	soc_warning("SOC: calibrate_soc_by_ocv -> capacity = %d, pack_voltage = %d\n", _soc.capacity, pack_vol);
}

static __inline__ float _delta_time(void){
	u32 delta = shark_get_mseconds() - current_sample_ts;
	current_sample_ts = shark_get_mseconds();
	soc_delta_time = (float)delta / (1000.0f);
	if (soc_delta_time > max_soc_delta_time){
		max_soc_delta_time = soc_delta_time;
	}
	return soc_delta_time; //秒
}

static __inline__ int can_modify_min_cap(void){
	if (shark_get_seconds() > force_full_ts){
		if ((shark_get_seconds() - force_full_ts) > MAX_TIME_FULL_TO_EMPTY) {
			return 0;
		}else {
			return 1;
		}
	}
	return 0;
}

static void _force_capacity_full(void){
	_soc.capacity = 100;
	is_force_full = 1;
	force_full_ts = shark_get_seconds();
}

int soc_update_by_ocv(void){
	static int ocv_full_count = 0;
	int changed = 0;
	if (_soc.flags & SOC_FLAG_CALIBRATED){
		if (!chargering){
			if (bms_health()->is_work_temp_normal) {
				if (!is_force_empty && (bms_health()->powerdown_lower_voltage || bms_health()->sigle_cell_lower_voltage || bms_health()->discharger_lower_voltage)) {
					if (can_modify_min_cap()){
						_soc.coulomb_min = _soc.coulomb_now; //已经校准过了，而且电池在常温下进入powerdown，最小容量修正为当前容量
					}else {
						_soc.coulomb_now = _soc.coulomb_min;
					}
					_soc.capacity = 0;
					is_force_empty = 1;
					changed = 1;
					soc_warning("current coulomb %f\n", _soc.coulomb_now);
				}
			}
		}
		if (chargering && !is_force_full){
			if (bms_health()->sigle_cell_over_voltage) {
				_force_capacity_full();
				ocv_full_count = 0;
				changed = 1;
			}else if (bms_state_get()->pack_voltage >= (FULL_MAX_VOLTAGE) && (measure_value()->load_current <= FULL_MIN_CURRENT)){
				if (bms_state_get()->ps_charger_mask && !bms_state_get()->ps_charger_in) { //ps100 上报无充电器，不做处理
					ocv_full_count = 0;
					return changed;
				}
				if (ocv_full_count++ >= 100) {
					_force_capacity_full();
					ocv_full_count = 0;
					changed = 1;
				}
			}else {
				ocv_full_count = 0;
			}
		}
	}
	return changed;
}


static void soc_calibrate(uint8_t prev_charge_status){
	static int cali_full_count = 0;
	if (!(_soc.flags & SOC_FLAG_CALIBRATED)){
		if (chargering){//用ocv进行严格校准
			if (!is_force_full){
				if ((measure_value()->load_current <= FULL_MIN_CURRENT) && (bms_state_get()->pack_voltage >= FULL_MAX_VOLTAGE)){
					cali_full_count ++;
				}
				if (cali_full_count == 10 || bms_health()->sigle_cell_over_voltage) {
					soc_debug("calibrate Capacity to 100, measure_value()->load_current %d\n", measure_value()->load_current);
					_force_capacity_full();
				}
			}
		}else if (prev_charge_status){
			if(!is_force_full && ((bms_state_get()->pack_voltage >= FULL_MAX_VOLTAGE) || bms_health()->sigle_cell_over_voltage)){
				soc_debug("calibrate Capacity to 100\n");
				_force_capacity_full();
			}
		}
	}
}

static void soc_update_charger_remain_time(void){
	if (!chargering) {
		return;
	}
	float delta_c = _soc.coulomb_max - _soc.coulomb_now;
	float current = measure_value()->load_current / 1000.0f; //A
	uint32_t remain = delta_c / current / 60; //分钟
	if (charger_remain_time == 0){
		charger_remain_time = remain;
	}else if (remain < charger_remain_time){
		charger_remain_time = remain;
	}
	if (_soc.capacity == 100) {
		charger_remain_time = 0;
	}
}

uint32_t soc_get_cycle(void){
	return _soc.total_coulomb/MAX_HA/2;
}

uint32_t soc_get_charger_remain_time(void){
	return charger_remain_time;
}

static void soc_update_by_current_and_time(float current_now, float delta_time, uint8_t prev_charge_status){
	double current = current_now / 1000.0f; //A
	double delta_q = current * delta_time;
	if (chargering){
		delta_q = delta_q * _charger_coefficient;
		_soc.charger_coulomb += abs(delta_q);
	}else {
		delta_q = delta_q * _discharger_coefficient;
		_soc.dischrger_coulomb += abs(delta_q); //转为正数
	}
	_soc.coulomb_now = _soc.coulomb_now + delta_q; //充电加, 放电减

	if (_soc.coulomb_now < 0){
		_soc.coulomb_now = 0;
	}else if (_soc.coulomb_now > _soc.coulomb_max) {
		_soc.coulomb_now = _soc.coulomb_max;
	}
	uint8_t old_cap = _soc.capacity;
	if ((_soc.coulomb_now - _soc.coulomb_min) >= 0){
		_soc.capacity = ((_soc.coulomb_now - _soc.coulomb_min)/(_soc.coulomb_max - _soc.coulomb_min) + 0.005f) * 100;//四舍五入
	}else {
		_soc.capacity = 0;
	}
	if (_soc.capacity > 100){
		_soc.capacity = 100;
	}
	if (chargering && (_soc.capacity == 100) && (!is_force_full)){
		_soc.capacity = 99;//充电的时候必须通过ocv才能把电量校准到100
	}else if (!chargering && (_soc.capacity == 0) && !is_force_empty){
		_soc.capacity = 1;
	}
	if (is_force_empty && (_soc.capacity == 1)) {
		_soc.capacity = 0;
	}
	//通过电压校准SOC，只能在电压范围的两端校准
	soc_update_by_ocv();
	soc_calibrate(prev_charge_status);

	//如果没有校准过，充电过程中，电量100%后，设置校准标志位
	if (chargering && (_soc.capacity == 100)){
		_soc.coulomb_now = _soc.coulomb_max;//充满后，当前容量设置为最大容量
		if ((_soc.flags & SOC_FLAG_CALIBRATED) == 0){
			_soc.flags |= SOC_FLAG_CALIBRATED;
			nv_save_soc();
			soc_warning("calibrate OK, charging coulomb: %f\n", _soc.charger_coulomb);
		}else { //如果校准过，单电芯过压，100%的容量，设置最大容量为当前容量
			if (bms_health()->sigle_cell_over_voltage){
#if 0	/* 暂时去掉，最大容量不变化，只校准欠压后的可放电的最小容量 */			
				if ((_soc.coulomb_now >= DEFALUT_MIN_COULOMB) && (_soc.coulomb_now <= DEFALUT_MAX_COULOMB)) {
					_soc.coulomb_max = _soc.coulomb_now;
					soc_warning("signal cell over vol, cap full, reset coul max to coul now: %f\n", _soc.coulomb_max);
				}
#endif 				
			}
		}
	}
	_soc.energy = bms_state_get()->pack_voltage/1000.f * (_soc.coulomb_now - _soc.coulomb_min);
	if (old_cap != _soc.capacity) {
		nv_save_soc();
	}

}

/*休眠bms功耗 + 电芯自放电 28天 3% (28天1AH)*/
void soc_update_for_deepsleep(float sleep_time){
	soc_update_by_current_and_time(-(0.32f + 1000.0f/(24.f * 28.f)), sleep_time, 0); //休眠功耗310uA(300uA + 10uA固定消耗)
}

void soc_update(void){
	uint8_t pre_chargering = chargering;
	if (!chargering && bms_state_get()->charging){
		_soc.pre_charger_coulomb = _soc.charger_coulomb;
		_soc.charger_coulomb = 0;//clear charing
		_soc.total_coulomb += _soc.pre_charger_coulomb / 3600.0f;
		chargering = 1;
		if (_soc.capacity < 100) {
			is_force_full = 0;
		}
#if LEAST_SQUARE==1		
		start_least_square(0);
#endif
		soc_warning("changed to chargering, current = %d\n", measure_value()->load_current);
	}else if (chargering && !bms_state_get()->charging){
		_soc.pre_discharger_coulomb = _soc.dischrger_coulomb;
		_soc.dischrger_coulomb = 0; //clear discharger
		_soc.total_coulomb += _soc.pre_discharger_coulomb / 3600.0f;
		chargering = 0;
		charger_remain_time = 0;
		soc_warning("changed to dischargering, current = %d\n", measure_value()->load_current);
	}
#if LEAST_SQUARE==1	
	if(!chargering && abs(measure_value()->load_current) >= 5000){
		start_least_square(1);
	}
#endif
	if (chargering && is_force_empty){
		//欠压后，只有当充电0.5%后，才显示真实电量，防止骑行过程电量0，1跳变
		if (_soc.charger_coulomb / (_soc.coulomb_max - _soc.coulomb_min) >= 0.005) {
			is_force_empty = 0;
		}
	}else if (!chargering && is_force_full) {
		if (_soc.dischrger_coulomb / (_soc.coulomb_max - _soc.coulomb_min) >= 0.005) {
			is_force_full = 0;
		}
	}
	soc_update_by_current_and_time(measure_value()->load_current, _delta_time(), pre_chargering);
	soc_update_charger_remain_time();
}

soc_t *get_soc(void){
	return &_soc;
}