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add lower limit to prevent triggering on power loss (#20720)

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Co-authored-by: Comma Device <device@comma.ai>
pull/68/head
robbederks 5 years ago committed by GitHub
parent 64d2ec38f2
commit 13a6e3c68f
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1 changed files with 5 additions and 2 deletions
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  1. 7
      selfdrive/thermald/power_monitoring.py

7
selfdrive/thermald/power_monitoring.py
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@ -16,7 +16,8 @@ CAR_VOLTAGE_LOW_PASS_K = 0.091 # LPF gain for 5s tau (dt/tau / (dt/tau + 1))
CAR_BATTERY_CAPACITY_uWh = 30e6 CAR_BATTERY_CAPACITY_uWh = 30e6
CAR_CHARGING_RATE_W = 45 CAR_CHARGING_RATE_W = 45
VBATT_PAUSE_CHARGING = 11.0 VBATT_PAUSE_CHARGING = 11.0 # Lower limit on the LPF car battery voltage
VBATT_INSTANT_PAUSE_CHARGING = 7.0 # Lower limit on the instant car battery voltage measurements to avoid triggering on instant power loss
MAX_TIME_OFFROAD_S = 30*3600 MAX_TIME_OFFROAD_S = 30*3600
class PowerMonitoring: class PowerMonitoring:
@ -27,6 +28,7 @@ class PowerMonitoring:
self.power_used_uWh = 0 # Integrated power usage in uWh since going into offroad self.power_used_uWh = 0 # Integrated power usage in uWh since going into offroad
self.next_pulsed_measurement_time = None self.next_pulsed_measurement_time = None
self.car_voltage_mV = 12e3 # Low-passed version of pandaState voltage self.car_voltage_mV = 12e3 # Low-passed version of pandaState voltage
self.car_voltage_instant_mV = 12e3 # Last value of pandaState voltage
self.integration_lock = threading.Lock() self.integration_lock = threading.Lock()
car_battery_capacity_uWh = self.params.get("CarBatteryCapacity") car_battery_capacity_uWh = self.params.get("CarBatteryCapacity")
@ -51,6 +53,7 @@ class PowerMonitoring:
return return
# Low-pass battery voltage # Low-pass battery voltage
self.car_voltage_instant_mV = pandaState.pandaState.voltage
self.car_voltage_mV = ((pandaState.pandaState.voltage * CAR_VOLTAGE_LOW_PASS_K) + (self.car_voltage_mV * (1 - CAR_VOLTAGE_LOW_PASS_K))) self.car_voltage_mV = ((pandaState.pandaState.voltage * CAR_VOLTAGE_LOW_PASS_K) + (self.car_voltage_mV * (1 - CAR_VOLTAGE_LOW_PASS_K)))
# Cap the car battery power and save it in a param every 10-ish seconds # Cap the car battery power and save it in a param every 10-ish seconds
@ -161,7 +164,7 @@ class PowerMonitoring:
now = sec_since_boot() now = sec_since_boot()
disable_charging = False disable_charging = False
disable_charging |= (now - offroad_timestamp) > MAX_TIME_OFFROAD_S disable_charging |= (now - offroad_timestamp) > MAX_TIME_OFFROAD_S
disable_charging |= (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3)) disable_charging |= (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3)) and (self.car_voltage_instant_mV > (VBATT_INSTANT_PAUSE_CHARGING * 1e3))
disable_charging |= (self.car_battery_capacity_uWh <= 0) disable_charging |= (self.car_battery_capacity_uWh <= 0)
disable_charging &= (not pandaState.pandaState.ignitionLine and not pandaState.pandaState.ignitionCan) disable_charging &= (not pandaState.pandaState.ignitionLine and not pandaState.pandaState.ignitionCan)
disable_charging &= (not self.params.get_bool("DisablePowerDown")) disable_charging &= (not self.params.get_bool("DisablePowerDown"))

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