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soc values
pranay-o Sep 6, 2026
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pranay-o Sep 6, 2026
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soc shi
pranay-o Sep 6, 2026
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pranay-o Sep 10, 2026
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334 changes: 334 additions & 0 deletions firmware/hexray/BMS/src/app/app_soc.cpp
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Original file line number Diff line number Diff line change
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#include "app_soc.hpp"
#include "app_pack.hpp"
#include "app_canTx.hpp"
#include "app_tractiveSystem.hpp"

#include <array>
#include <cstddef>

namespace
{
constexpr size_t CELLS_IN_PARALLEL = 4;
constexpr size_t P30B_SOC_N = 21U;
constexpr size_t P30B_TEMP_N = 4U;
using P30BTable = std::array<std::array<float, P30B_TEMP_N>, P30B_SOC_N>;

// Capacity of a single cell in ampere-seconds (Ah * 3600), not of a 4P group
constexpr float P30B_CAP_AS = 10800.000000f;

constexpr std::array<float, P30B_SOC_N> P30B_SOC_BP = {
{ 0.0000f, 0.0500f, 0.1000f, 0.1500f, 0.2000f, 0.2500f, 0.3000f, 0.3500f, 0.4000f, 0.4500f, 0.5000f, 0.5500f,
0.6000f, 0.6500f, 0.7000f, 0.7500f, 0.8000f, 0.8500f, 0.9000f, 0.9500f, 1.0000f }
};

constexpr std::array<float, P30B_TEMP_N> P30B_TEMP_BP_C = {
{ 10.00f, 23.00f, 35.00f, 45.00f }
};

// Open circuit voltage of one cell, in volts.
constexpr P30BTable P30B_OCV_V = { {
{ { 2.93650000f, 2.94040000f, 2.92633333f, 2.91900000f } },
{ { 3.16150000f, 3.15846667f, 3.15166667f, 3.14850000f } },
{ { 3.26100000f, 3.25753333f, 3.25166667f, 3.24900000f } },
{ { 3.33950000f, 3.33646667f, 3.33200000f, 3.33000000f } },
{ { 3.41400000f, 3.41270000f, 3.40983333f, 3.40850000f } },
{ { 3.47500000f, 3.47326667f, 3.47066667f, 3.46950000f } },
{ { 3.53300000f, 3.53126667f, 3.52966667f, 3.52900000f } },
{ { 3.57600000f, 3.57513333f, 3.57466667f, 3.57450000f } },
{ { 3.62250000f, 3.62250000f, 3.62283333f, 3.62300000f } },
{ { 3.67050000f, 3.67180000f, 3.67266667f, 3.67300000f } },
{ { 3.72250000f, 3.72336667f, 3.72550000f, 3.72650000f } },
{ { 3.76700000f, 3.76916667f, 3.77183333f, 3.77300000f } },
{ { 3.81050000f, 3.81266667f, 3.81533333f, 3.81650000f } },
{ { 3.85250000f, 3.85423333f, 3.85683333f, 3.85800000f } },
{ { 3.90600000f, 3.90643333f, 3.90850000f, 3.90950000f } },
{ { 3.95450000f, 3.95536667f, 3.95683333f, 3.95750000f } },
{ { 4.00850000f, 4.00936667f, 4.01050000f, 4.01100000f } },
{ { 4.05600000f, 4.05686667f, 4.05833333f, 4.05900000f } },
{ { 4.07800000f, 4.07930000f, 4.08083333f, 4.08150000f } },
{ { 4.09900000f, 4.10116667f, 4.10283333f, 4.10350000f } },
{ { 4.16650000f, 4.16780000f, 4.17100000f, 4.17250000f } },
} };

// d(OCV)/d(SOC) in volts per unit SOC
constexpr P30BTable P30B_dOCV_dSOC = { {
{ { 4.50000000f, 4.36133333f, 4.50666667f, 4.59000000f } },
{ { 3.24500000f, 3.17133333f, 3.25333333f, 3.30000000f } },
{ { 1.78000000f, 1.78000000f, 1.80333333f, 1.81500000f } },
{ { 1.53000000f, 1.55166667f, 1.58166667f, 1.59500000f } },
{ { 1.35500000f, 1.36800000f, 1.38666667f, 1.39500000f } },
{ { 1.19000000f, 1.18566667f, 1.19833333f, 1.20500000f } },
{ { 1.01000000f, 1.01866667f, 1.04000000f, 1.05000000f } },
{ { 0.89500000f, 0.91233333f, 0.93166667f, 0.94000000f } },
{ { 0.94500000f, 0.96666667f, 0.98000000f, 0.98500000f } },
{ { 1.00000000f, 1.00866667f, 1.02666667f, 1.03500000f } },
{ { 0.96500000f, 0.97366667f, 0.99166667f, 1.00000000f } },
{ { 0.88000000f, 0.89300000f, 0.89833333f, 0.90000000f } },
{ { 0.85500000f, 0.85066667f, 0.85000000f, 0.85000000f } },
{ { 0.95500000f, 0.93766667f, 0.93166667f, 0.93000000f } },
{ { 1.02000000f, 1.01133333f, 1.00000000f, 0.99500000f } },
{ { 1.02500000f, 1.02933333f, 1.02000000f, 1.01500000f } },
{ { 1.01500000f, 1.01500000f, 1.01500000f, 1.01500000f } },
{ { 0.69500000f, 0.69933333f, 0.70333333f, 0.70500000f } },
{ { 0.43000000f, 0.44300000f, 0.44500000f, 0.44500000f } },
{ { 0.88500000f, 0.88500000f, 0.90166667f, 0.91000000f } },
{ { 1.35000000f, 1.33266667f, 1.36333333f, 1.38000000f } },
} };

// Series resistance of one cell while discharging, in ohms.
constexpr P30BTable P30B_R0_DIS_OHM = { {
{ { 0.07083453f, 0.05563725f, 0.03550818f, 0.01513335f } },
{ { 0.07083453f, 0.05563725f, 0.03550818f, 0.01513335f } },
{ { 0.01045934f, 0.00315000f, 0.01853349f, 0.01795000f } },
{ { 0.02484000f, 0.01953264f, 0.01715625f, 0.01601668f } },
{ { 0.02073636f, 0.01770543f, 0.01580122f, 0.01475000f } },
{ { 0.01783676f, 0.01564444f, 0.01475714f, 0.01404375f } },
{ { 0.01484375f, 0.01445484f, 0.01369833f, 0.01290000f } },
{ { 0.01649875f, 0.01067419f, 0.00928793f, 0.00787143f } },
{ { 0.01825405f, 0.01256912f, 0.00989138f, 0.00860200f } },
{ { 0.01750000f, 0.01257857f, 0.01029844f, 0.00925000f } },
{ { 0.01713750f, 0.01201667f, 0.01036212f, 0.00890172f } },
{ { 0.01681111f, 0.01231176f, 0.01082000f, 0.00968594f } },
{ { 0.01739429f, 0.01202500f, 0.01069394f, 0.00946000f } },
{ { 0.01680000f, 0.01239375f, 0.01071935f, 0.00925536f } },
{ { 0.01782344f, 0.01292333f, 0.01108704f, 0.00985000f } },
{ { 0.01791094f, 0.01331000f, 0.01122593f, 0.01032593f } },
{ { 0.01801111f, 0.01272344f, 0.01123387f, 0.01036000f } },
{ { 0.01850000f, 0.01323714f, 0.01134394f, 0.01023333f } },
{ { 0.01861250f, 0.01294821f, 0.01101731f, 0.00976667f } },
{ { 0.01882647f, 0.01357273f, 0.01135714f, 0.00978158f } },
{ { 0.01882647f, 0.01357273f, 0.01135714f, 0.00978158f } },
} };

// RC branch resistance of one cell while discharging, in ohms.
constexpr P30BTable P30B_R1_DIS_OHM = { {
{ { 0.25501617f, 0.15832715f, 0.15887515f, 1723712.76189689f } }, // bad fit
{ { 0.25501617f, 0.15832715f, 0.15887515f, 1723712.76189689f } }, // bad fit
{ { 0.12435599f, 0.10125000f, 8772007.78175694f, 1079585.57379464f } }, // bad fit
{ { 0.02929333f, 0.03280582f, 0.03189375f, 226265.23958991f } }, // bad fit
{ { 0.01586070f, 0.01644790f, 0.01693767f, 0.01715000f } },
{ { 0.01422540f, 0.01219556f, 0.01301786f, 0.01428958f } },
{ { 0.01507530f, 0.01069766f, 0.01044258f, 0.00960000f } },
{ { 0.01351077f, 0.01165544f, 0.01054033f, 0.01046190f } },
{ { 0.01257407f, 0.01153422f, 0.00994473f, 0.00883411f } },
{ { 0.01250000f, 0.01190476f, 0.01081490f, 0.00945000f } },
{ { 0.01286250f, 0.01145833f, 0.01114082f, 0.00987181f } },
{ { 0.01300317f, 0.01157824f, 0.01200500f, 0.01095252f } },
{ { 0.01211876f, 0.01098500f, 0.01134452f, 0.01029000f } },
{ { 0.01143333f, 0.01086339f, 0.01146953f, 0.01005020f } },
{ { 0.01130265f, 0.01013917f, 0.00911681f, 0.00857500f } },
{ { 0.01188536f, 0.01024000f, 0.00920220f, 0.00923771f } },
{ { 0.01300317f, 0.01130265f, 0.01049260f, 0.01029000f } },
{ { 0.01250000f, 0.01181580f, 0.01134452f, 0.01066667f } },
{ { 0.01000417f, 0.00946512f, 0.00885542f, 0.00853333f } },
{ { 0.00793035f, 0.00744394f, 0.00714286f, 0.00647467f } },
{ { 0.00793035f, 0.00744394f, 0.00714286f, 0.00647467f } },
} };

// RC branch time constant of one cell while discharging, in seconds.
constexpr P30BTable P30B_TAU1_DIS_S = { {
{ { 30.51133733f, 30.66089373f, 65.98486785f, 894272663.74314451f } }, // bad fit
{ { 30.51133733f, 30.66089373f, 65.98486785f, 894272663.74314451f } }, // bad fit
{ { 28.97967789f, 24.66303462f, 11318785970.07135963f, 2453602231.18314409f } }, // bad fit
{ { 38.11494687f, 60.24635791f, 84.90187016f, 914204893.76948404f } }, // bad fit
{ { 17.46666335f, 35.43178459f, 50.39028822f, 64.87159195f } },
{ { 13.58106366f, 22.63299846f, 39.79079143f, 58.19019522f } },
{ { 11.92848837f, 20.08683828f, 32.01283740f, 34.76059497f } },
{ { 23.69699636f, 15.96281797f, 17.12481575f, 16.15406563f } },
{ { 27.82616432f, 27.36279264f, 20.71028955f, 18.43915194f } },
{ { 19.57615189f, 28.03673252f, 26.01377645f, 24.66303462f } },
{ { 17.86940293f, 19.57615189f, 24.06649415f, 21.67572580f } },
{ { 17.38029748f, 21.61584858f, 29.72013412f, 29.33182797f } },
{ { 19.79825777f, 20.59699077f, 30.10834473f, 29.72013412f } },
{ { 17.86940293f, 27.55538335f, 39.23226389f, 35.87915009f } },
{ { 18.46390358f, 23.39487665f, 25.44253550f, 29.72013412f } },
{ { 16.34516968f, 21.27643145f, 21.48858984f, 29.26121629f } },
{ { 17.38029748f, 18.46390358f, 22.87210480f, 29.72013412f } },
{ { 19.57615189f, 25.25918085f, 30.10834473f, 34.76059497f } },
{ { 17.86940293f, 23.31026209f, 28.34295403f, 34.76059497f } },
{ { 12.04313898f, 22.97170887f, 28.03673252f, 28.45776931f } },
{ { 12.04313898f, 22.97170887f, 28.03673252f, 28.45776931f } },
} };

// Series resistance of one cell while charging, in ohms.
constexpr P30BTable P30B_R0_CHG_OHM = { {
{ { 0.02044130f, 0.01613875f, 0.01446711f, 0.01295588f } },
{ { 0.02044130f, 0.01613875f, 0.01446711f, 0.01295588f } },
{ { 0.02187750f, 0.01666200f, 0.01383261f, 0.01199167f } },
{ { 0.01905000f, 0.01452692f, 0.01228800f, 0.01144792f } },
{ { 0.01712742f, 0.01240000f, 0.01044333f, 0.00983333f } },
{ { 0.01614394f, 0.01145857f, 0.00942742f, 0.00834138f } },
{ { 0.01586528f, 0.01106912f, 0.00922353f, 0.00847500f } },
{ { 0.01607381f, 0.01122368f, 0.00935000f, 0.00870000f } },
{ { 0.01501842f, 0.01135147f, 0.00994844f, 0.00883710f } },
{ { 0.01548194f, 0.01188387f, 0.01061000f, 0.00967143f } },
{ { 0.01575294f, 0.01188710f, 0.01024821f, 0.00912308f } },
{ { 0.01565000f, 0.01192333f, 0.01004286f, 0.00886731f } },
{ { 0.01587000f, 0.01152500f, 0.00984286f, 0.00890000f } },
{ { 0.01515887f, 0.01091912f, 0.00987500f, 0.00873393f } },
{ { 0.01316071f, 0.01173333f, 0.01008182f, 0.00922759f } },
{ { 0.01466983f, 0.00935000f, 0.01076668f, 0.00881094f } },
{ { 0.01468600f, 0.01038378f, 0.00853088f, 0.00787500f } },
{ { 0.01649429f, 0.01163125f, 0.01033261f, 0.00907391f } },
{ { 0.01649394f, 0.01245000f, 0.01016731f, 0.00859167f } },
{ { 0.01775517f, 0.01226522f, 0.01037900f, 0.00904896f } },
{ { 0.01775517f, 0.01226522f, 0.01037900f, 0.00904896f } },
} };

// RC branch resistance of one cell while charging, in ohms.
constexpr P30BTable P30B_R1_CHG_OHM = { {
{ { 0.01620974f, 0.01751338f, 0.01427077f, 0.01221719f } },
{ { 0.01620974f, 0.01751338f, 0.01427077f, 0.01221719f } },
{ { 0.00691096f, 0.00844185f, 0.00780201f, 0.00816548f } },
{ { 0.00857500f, 0.00944808f, 0.00873422f, 0.00886637f } },
{ { 0.01056873f, 0.01250000f, 0.01143167f, 0.01109167f } },
{ { 0.01127856f, 0.01215297f, 0.01056873f, 0.01003135f } },
{ { 0.01240211f, 0.01152299f, 0.01148897f, 0.01109167f } },
{ { 0.01418528f, 0.01283632f, 0.01215000f, 0.01280000f } },
{ { 0.01351015f, 0.01165091f, 0.01081333f, 0.01046603f } },
{ { 0.01261006f, 0.01049260f, 0.01029000f, 0.00979857f } },
{ { 0.01195539f, 0.01046624f, 0.00946717f, 0.00879359f } },
{ { 0.01143333f, 0.01014095f, 0.00952381f, 0.00885542f } },
{ { 0.01194667f, 0.01012500f, 0.00952381f, 0.00960000f } },
{ { 0.02255692f, 0.01152299f, 0.01109167f, 0.00962971f } },
{ { 0.01951560f, 0.01386667f, 0.01150568f, 0.01022741f } },
{ { 0.01997612f, 0.01663750f, 226897.65965426f, 0.01129361f } }, // bad fit
{ { 0.01854019f, 0.01354788f, 0.01208112f, 0.01147500f } },
{ { 0.01361177f, 0.00904018f, 0.00780201f, 0.00791498f } },
{ { 0.01361177f, 0.00945000f, 0.00885542f, 0.00818833f } },
{ { 0.02007114f, 0.01562478f, 0.02063464f, 0.02475818f } },
{ { 0.02007114f, 0.01562478f, 0.02063464f, 0.02475818f } },
} };

// RC branch time constant of one cell while charging, in seconds.
constexpr P30BTable P30B_TAU1_CHG_S = { {
{ { 8.87165295f, 12.86953810f, 15.99760120f, 17.60612858f } },
{ { 8.87165295f, 12.86953810f, 15.99760120f, 17.60612858f } },
{ { 19.96903649f, 23.88285926f, 22.32019685f, 21.76125456f } },
{ { 29.72013412f, 37.27671435f, 32.52194339f, 39.07266895f } },
{ { 28.55491327f, 44.81420118f, 42.30319257f, 49.83288655f } },
{ { 21.10664896f, 31.66030274f, 28.55491327f, 31.09611078f } },
{ { 20.24215670f, 22.52600345f, 25.92940848f, 31.40173602f } },
{ { 23.74093145f, 23.64866498f, 24.66303462f, 34.76059497f } },
{ { 18.11369152f, 20.79120253f, 23.46952883f, 24.02919660f } },
{ { 18.96256110f, 22.87210480f, 29.72013412f, 32.74590996f } },
{ { 18.72369955f, 25.33863874f, 26.22142295f, 26.35118177f } },
{ { 17.86940293f, 26.11018876f, 28.03673252f, 28.34295403f } },
{ { 21.27643145f, 24.66303462f, 28.03673252f, 34.76059497f } },
{ { 37.40908149f, 22.52600345f, 31.40173602f, 30.17891850f } },
{ { 19.30714042f, 34.76059497f, 32.24195100f, 33.75347224f } },
{ { 20.26613977f, 22.12462197f, 916761456.07631612f, 33.84504642f } }, // bad fit
{ { 16.39974519f, 16.84140447f, 18.14299484f, 24.66303462f } },
{ { 15.05662094f, 15.90814866f, 22.32019685f, 30.28085308f } },
{ { 13.83125590f, 24.66303462f, 28.34295403f, 28.71032962f } },
{ { 19.84500334f, 27.69980701f, 50.28894551f, 73.45802012f } },
{ { 19.84500334f, 27.69980701f, 50.28894551f, 73.45802012f } },
} };

struct Interp {
float soc_i;
float soc_f;
float temp_i
float temp_f;
};

struct SocState {
float v1 = 0.0f;
float p00 = 0; //P_SOC (need to come up with initial value)
float p01 = 0.0f; //P_SOC_V1
float p11 = 0; //P_V1 (need to come up with initial value)
};

app::pack::PackChannel<app::pack::VoltStats>::Subscription volt_sub{ "soc_volt" };
app::pack::PackChannel<app::pack::TempStats>::Subscription temp_sub{ "soc_temp" };

app::soc::SocStats soc_stats{};
app::pack::VoltStats volt_stats{};
app::pack::TempStats temp_stats{};
io::adbms::Cells<SocState> soc_states{};


float lookup(const P30BTable &table, const Interp &in) {
}

void calculate(const app::pack::VoltStats &volts, const app::pack::TempStats &temps) {
const float dt_s = static_cast<float>(volt_stats.updated_ms - soc_stats.updated_ms) * 1.0e-3f;
soc_stats.updated_ms = volt_stats.updated_ms;

const float cell_current_a = -app::ts::getCurrent() / static_cast<float>(CELLS_IN_PARALLEL); //prob should change the convention (+ for discharge instead of + for charge) change this shit in ts file

const bool charging = cell_current_a < 0;
for (size_t seg = 0; seg < NUM_SEGMENTS; seg++) {
for (size_t cell = 0; cell < CELLS_PER_SEGMENT; cell++) {
if (!volts.valid[seg][cell])
continue;// should soc value go invalid???? prob not

const float temp_c = temps.valid[seg][cell] ? temps.temperatures[seg][cell] : 0; //what should be the invalid temp path

SocState &soc_state = soc_states[seg][cell];



// this is for reset so it can intialize with ocv lookup
if (!soc_stats.valid[seg][cell]) {
soc_stats.soc[seg][cell] =
soc_stats.valid[seg][cell] = true;
soc_state = {};
continue;
}

const float r0 = charging ? lookup(P30B_R0_CHG_OHM, soc, temp_c) : lookup(P30B_R0_DIS_OH, soc, temp_c);
const float r1 =
const float tau_s = charging ? lookup(P30B_TAU1_CHG_S, soc, temp_c) : lookup(P30B_TAU1_DIS_S, soc, temp_c);
const float a = std::exp(-dt_s / tau_s);

//Predict next state and covariance
soc_stats.soc[seg][cell] -= cell_current_a * dt_s / P30B_CAP_AS;
soc_state.v1 = a* soc_state.v1 + r1 * (1.0f - a) * cell_current_a;
soc_state.p00 += Q_SOC; // need to come up with this value
soc_state.p01 += a;
soc_state.p11 = a * a * soc_state.p11 + Q_V1; //need to come up with this value

//Calculate innovation
const float innovation = volts.votlages[seg][cell] - (lookup(P30B_OCV_V, ocv, temp) - r0 * cell_current_a - soc_state.v1);


}
}
}


}



} // namespace

namespace app::soc
{
void init()
{
app::pack::voltage_channel.subscribe(volt_sub);
app::pack::temperature_channel.subscribe(temp_sub);
//later will need to add ts_current channel s

}

void update()
{
while (const auto stats = volt_sub.pop(0))
volt_stats = *stats;
while (const auto stats = temp_sub.pop(0))
temp_stats = *stats;

if (volt_stats.updated_ms > soc_stats.updated_ms || temp_stats.updated_ms > soc_stats.updated_ms)
calculate(volt_stats, temp_stats);
}

void broadcast()
{
// The weakest cell sets what the pack can actually deliver.
app::can_tx::BMS_HvBatterySoc_set(
soc_stats.updated_ms != 0U ? static_cast<uint8_t>(soc_stats.min.value * 100.0f) : 0U);
}
} // namespace app::soc
21 changes: 21 additions & 0 deletions firmware/hexray/BMS/src/app/app_soc.hpp
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@@ -0,0 +1,21 @@
#pragma once

#include "app_pack.hpp"
#include "io_adbms.hpp"

#include <cstdint>

namespace app::soc
{
struct SocStats {
uint32_t updated_ms = 0U;
app::pack::LocatedValue max{};
app::pack::LocatedValue min{};
io::adbms::Cells<float> soc{};
app::pack::CellFlags valid{};
};

void init();
void update();
void broadcast();
} // namespace app::soc
6 changes: 3 additions & 3 deletions firmware/hexray/BMS/src/app/pack/app_pack_alerts.cpp
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Expand Up @@ -125,9 +125,9 @@ bool isThermOpenWireInfo(const OwcStats &stats)
return stats.updated_ms != 0U && anyClear(stats.therms_ok);
}

app::pack::PackChannel<VoltStats>::Subscription volt_sub{ "alerts_volt" };
app::pack::PackChannel<TempStats>::Subscription temp_sub{ "alerts_temp" };
app::pack::PackChannel<OwcStats>::Subscription owc_sub{ "alerts_owc" };
app::pack::PackChannel<app::pack::VoltStats>::Subscription volt_sub{ "alerts_volt" };
app::pack::PackChannel<app::pack::TempStats>::Subscription temp_sub{ "alerts_temp" };
app::pack::PackChannel<app::pack::OwcStats>::Subscription owc_sub{ "alerts_owc" };

bool volt_fault_active = false;
bool temp_fault_active = false;
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