AP_BattMonitor: Adds smart battery shutdown framework and TI BQ battery monitor #27288

IanBurwell · 2024-06-12T14:45:38Z

Adds ability to command shutdown of a smart-battery system via PREFLIGHT_REBOOT_SHUTDOWN, with an example BattMonitor backend that supports being commanded to poweroff.
We use the TI BQ40Z60 and BQ40Z80 chips at GreenSight in our Dreamer line of drones, and use this shutdown functionality to allow full system shutdown from a companion computer.
Note that the TI BQ BattMonitor backend also includes logic to reset the chip's emergency shutdown flag upon successful boot. This is used to ensure the battery stays on after charging is initiated.

Similar functionality was also implemented in a sibling PR that uses LUA but which lacks the broader framework for battery shutdown.

IanBurwell · 2024-06-12T14:46:27Z

Sibling PR: #27287

IamPete1

I think this should hook into the existing battery power off stuff somehow.

ardupilot/libraries/AP_BattMonitor/AP_BattMonitor.cpp

Lines 1013 to 1014 in e83afcf

    
           // Check's each smart battery instance for its powering off state and broadcasts notifications 
        
           void AP_BattMonitor::checkPoweringOff(void)

That is for the shutdown signal coming in from the battery rather than the other way round. But we probably should send that mavlink MAV_CMD_POWER_OFF_INITIATED in this case too.

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_TIBQ.cpp

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_TIBQ.h

libraries/GCS_MAVLink/GCS_Common.cpp

libraries/AP_BattMonitor/AP_BattMonitor.cpp

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_TIBQ.cpp

IamPete1

Is the shutdown functionality unique to the TI BQ? Or is the new driver really just a flag to say that its SMBus battery that can shutdown?

libraries/AP_BattMonitor/AP_BattMonitor.cpp

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_TIBQ.cpp

libraries/GCS_MAVLink/GCS_Common.cpp

Hwurzburg

need to update

ardupilot/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp

Line 24 in 8734aa8

    
           // @Values: 0:Disabled,3:Analog Voltage Only,4:Analog Voltage and Current,5:Solo,6:Bebop,7:SMBus-Generic,8:DroneCAN-BatteryInfo,9:ESC,10:Sum Of Selected Monitors,11:FuelFlow,12:FuelLevelPWM,13:SMBUS-SUI3,14:SMBUS-SUI6,15:NeoDesign,16:SMBus-Maxell,17:Generator-Elec,18:Generator-Fuel,19:Rotoye,20:MPPT,21:INA2XX,22:LTC2946,23:Torqeedo,24:FuelLevelAnalog,25:Synthetic Current and Analog Voltage,26:INA239_SPI,27:EFI,28:AD7091R5,29:Scripting

IanBurwell · 2024-07-15T13:04:26Z

I believe the functionality to command shutdown is not unique to the BQ, but that the back-end interface is chipset specific. Shutting down a TI BQ40Z chip is initiated via SMBus ManufactureAccess() which is not consistent between different SMBus batteries. The bootup logic to clear the EMSHUT flag on the other hand is a BQ-specific requirement, which is why I didn't include any sort of abstraction in AP_BatteryMonitor for that sequence.

tridge

please look at how MAV_CMD_BATTERY_RESET is done, this should be similar

tridge · 2024-07-15T23:38:34Z

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -3398,6 +3398,18 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_int_t &pac
        }
    }

+#if AP_BATTERY_ENABLED
+    // Check if shutdown is requested
+    if (is_equal(packet.param1, 2.0f)) {


I don't think this should be in PREFLIGHT_REBOOT_SHUTDOWN
I think we need MAV_CMD_BATTERY_CONTROL command, which takes a bitmask of batterys to apply this to, and which allows for both shutdown and startup

peterbarker · 2024-07-15T23:37:38Z

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_TIBQ.cpp

+    // Semaphore is needed in case this is called from another thread
+    WITH_SEMAPHORE(_dev->get_semaphore());
+
+    uint8_t cmd[] = {0x00, 0x10, 0x00};


Suggested change

uint8_t cmd[] = {0x00, 0x10, 0x00};

static const uint8_t cmd[] {0x00, 0x10, 0x00};

peterbarker · 2024-07-15T23:37:51Z

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_TIBQ.cpp

+    WITH_SEMAPHORE(_dev->get_semaphore());
+
+    uint8_t cmd[] = {0x00, 0x10, 0x00};
+    if (!_dev->transfer(cmd, 3, nullptr, 0)) {


Suggested change

if (!_dev->transfer(cmd, 3, nullptr, 0)) {

if (!_dev->transfer(cmd, sizeof(cmd), nullptr, 0)) {

peterbarker · 2024-07-15T23:38:07Z

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_TIBQ.cpp

+    } else {
+        _state.is_powering_off = true;
+    }


Suggested change

} else {

_state.is_powering_off = true;

}

}

_state.is_powering_off = true;

peterbarker · 2024-07-15T23:38:55Z

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_TIBQ.cpp

+void AP_BattMonitor_SMBus_TIBQ::timer() {
+    if (_exit_emshut) {
+        // Exit EMERGENCY SHUTDOWN state in case it was engaged on the last poweroff:
+        uint8_t cmd[] = {0x00, 0xA7, 0x23};


Suggested change

uint8_t cmd[] = {0x00, 0xA7, 0x23};

static const uint8_t cmd[] {0x00, 0xA7, 0x23};

peterbarker · 2024-07-15T23:39:11Z

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_TIBQ.cpp

+    if (_exit_emshut) {
+        // Exit EMERGENCY SHUTDOWN state in case it was engaged on the last poweroff:
+        uint8_t cmd[] = {0x00, 0xA7, 0x23};
+        if (_dev->transfer(cmd, 3, nullptr, 0)) {


Suggested change

if (_dev->transfer(cmd, 3, nullptr, 0)) {

if (_dev->transfer(cmd, sizeof(cmd), nullptr, 0)) {

peterbarker · 2024-07-15T23:39:56Z

libraries/AP_BattMonitor/AP_BattMonitor.cpp

+// Attempts to shut down all batteries that support doing so
+bool AP_BattMonitor::shutdown()
+{
+    if (!can_shutdown() || _num_instances == 0) {


Shouldn't we be returning "true" for "we can shut down all 0 batteries"?

tridge · 2024-07-15T23:49:54Z

discussed on dev call, decided the lua approach is better
#27287

IanBurwell · 2024-07-16T20:00:06Z

Closing as it was decided that this would better fit as a script, which is implemented in #27287

IanBurwell mentioned this pull request Jun 12, 2024

AP_Scripting: Adds I2C transfer() bindings and an example #27287

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IanBurwell force-pushed the ti_bq_pr branch from 0d701b1 to 0458510 Compare June 12, 2024 14:55

IanBurwell marked this pull request as draft June 12, 2024 15:09

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IanBurwell marked this pull request as ready for review June 13, 2024 18:33

IamPete1 reviewed Jun 16, 2024

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IanBurwell force-pushed the ti_bq_pr branch from 6da890b to 5ae7bcb Compare June 17, 2024 22:14

IanBurwell commented Jun 17, 2024

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libraries/AP_BattMonitor/AP_BattMonitor_SMBus_TIBQ.cpp Outdated Show resolved Hide resolved

IamPete1 self-requested a review June 21, 2024 06:39

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IanBurwell added 2 commits July 11, 2024 14:46

AP_BattMonitor: Add architecture to shutdown batteries

6f51f00

AP_BattMonitor_SMBus_TIBQ: Added new TIBQ battery monitor

1b11515

IanBurwell force-pushed the ti_bq_pr branch from c35c0f2 to 1b11515 Compare July 11, 2024 18:46

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IanBurwell closed this Jul 16, 2024

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AP_BattMonitor: Adds smart battery shutdown framework and TI BQ battery monitor #27288

AP_BattMonitor: Adds smart battery shutdown framework and TI BQ battery monitor #27288

IanBurwell commented Jun 12, 2024 •

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IanBurwell commented Jul 16, 2024

	// Check's each smart battery instance for its powering off state and broadcasts notifications
	void AP_BattMonitor::checkPoweringOff(void)

	uint8_t cmd[] = {0x00, 0x10, 0x00};
	static const uint8_t cmd[] {0x00, 0x10, 0x00};

	if (!_dev->transfer(cmd, 3, nullptr, 0)) {
	if (!_dev->transfer(cmd, sizeof(cmd), nullptr, 0)) {

	uint8_t cmd[] = {0x00, 0xA7, 0x23};
	static const uint8_t cmd[] {0x00, 0xA7, 0x23};

	if (_dev->transfer(cmd, 3, nullptr, 0)) {
	if (_dev->transfer(cmd, sizeof(cmd), nullptr, 0)) {

AP_BattMonitor: Adds smart battery shutdown framework and TI BQ battery monitor #27288

AP_BattMonitor: Adds smart battery shutdown framework and TI BQ battery monitor #27288

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