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Merged
koren-flytrex merged 4 commits into from
Mar 31, 2026
Merged

FWD-723: new BatteryInfoEx #16

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3aff9d6
FWD-723: new BatteryInfoEx
grisharevzin Mar 25, 2026
4d68e1b
Added CC_EEPROM_FAILED
grisharevzin Mar 30, 2026
d38f7b1
CHARGING_SEPARATION -> SEPARATION and other typos
grisharevzin Mar 31, 2026
204f740
Typo fixed
grisharevzin Mar 31, 2026
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126 changes: 68 additions & 58 deletions uavcan/equipment/power/1097.BatteryInfoEx.uavcan
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Expand Up @@ -3,63 +3,73 @@
# https://docs.google.com/spreadsheets/d/1uEEfnQlMEymqpjMPGG-jhk5R2maAyZMZhrMTCv0htKY/edit#gid=1073892483
#

float32 charge_intergrator_ah
float16 cfet_temp_dc
float16 dfet_temp_dc
float16 pcb_temp_bq_dc
float16 rear_cell_temp_dc
float16 cell_board_temp_dc
float16 front_cell_temp_dc
float16 load_voltage_v
float16 charger_voltage_v
float16 pack_voltage_v
float16 current_a
float16[12] cell_voltage_v
float16 max_cell_v
float16 min_cell_v
float16 stack_delta_v
uint7 relative_soc_pct
float16 non_clamped_soc
uint8 active_bq_alert_code
float16 cfet_temp_dc # [°C] Charge FET Group Temperature
float16 dfet_temp_dc # [°C] Discharge FET Group Temperature
float16 pcb_temp_bq_dc # [°C] BQ76952 internal sensor temperature
float16[3] pack_temp_sensor_dc # [°C] Pack Sensors temperature
float16 charger_voltage_v # [V] Voltage at the CHARGE connection
float16 pack_voltage_v # [V] Voltage of the cell stack (CELL14..16)
uint8 num_cells # [integer] Cell count
float16 nominal_voltage_v # [V] Battery nominal voltage (cell nominal voltage x number of cells)
float16[14] cell_voltage_v # [V] Per-cell voltages
float16 max_cell_v # [V] Max cell voltage
float16 min_cell_v # [V] Min cell voltage
float16 stack_delta_v # [V] sum(cell_voltage_v) - pack_voltage_v
float16 soc # [0..1] Precise state-of-charge

uint36 CUV = 1 # Cell undervoltage
uint36 OVC = 2 # Overcurrent
uint36 COV = 4 # Cell overvoltage
uint36 OTHER_HW_FAULT = 8 # Hardware fault
uint36 TOSF = 16 # Measurement self-control fault
uint36 FATAL_CUV = 32 # Fatal cell undervoltage
uint36 BAD_TEMP_SENSOR = 64 # Invalid temperature sensor
uint36 FATAL_COV = 128 # Fatal cell overvoltage
uint36 DCF = 256 # Discharge circuit hardware failure
uint36 CCF = 512 # Charge circuit hardware failure
uint36 INTEGRATOR_UNRELIABLE = 1024 # Unreliable SoC integrator
uint36 OUT_OF_BALANCE = 2048 # Large voltage differences between cells
uint36 BQ_COMMS_FAILURE = 4096 # BQ76952 not accessible
uint36 CONFIG_UNACCEPTABLE = 8192 # BQ76952 misconfigured
uint36 OTHER_SW_FAULT = 16384 # Undefined software fault
uint36 NONSTANDARD_MODE = 32768 # BMS in factory mode(s)
uint36 CHG_ERROR = 64536 # Charger error
uint36 LO_VOLTAGE_DIFFERENCE = 131072 # Large voltage difference between batteries
uint36 LO_UNSAFE_TEMP = 262144 # Temp too high to enable output
uint36 LO_HW_FAULT = 524288 # Other hardware fault prevents enabling the output
uint36 LO_OTHER_UNSAFE = 1048576 # Other battery is in unsafe condition
uint36 LO_CHARGING_SEPARATION = 2097152 # THe battery is charging
uint36 LO_OTHER_NOT_IN_USE = 4194304 # Other battery recently disabled
uint36 LO_LOAD_VOLTAGE = 8388608 # Load voltage present on bus
uint36 CHG_TOO_HOT = 16777216 # Too hot for charging
uint36 CHG_TOO_COLD = 33554432 # Too cold for charging
uint36 CHG_PRESENT = 67108864 # Charger is present
uint36 CHG_REQUESTED = 134217728 # Charging is requested
uint36 CHG_TO_TERM = 268435456 # Charging to termination is requested
uint36 CHG_FULL = 536870912 # Battery is fully charged
uint36 CHG_CHARGING = 1073741824 # Battery is charging
uint36 TH_WARNING = 2147483648 # High temp
uint36 TH_FATAL = 4294967296 # Extreme high temp
uint36 TC_WARNING = 8589934592 # Low temp
uint36 TC_FATAL = 17179869184 # Extreme low temp
uint36 OUTPUT_ENABLED = 34359738368 # Battery output enabled
uint36 extended_status # Bitfield
float16 room_temp_target_energy_wh # [W x h] The energy that the battery would've had, if its temperature were 20 °C, and it were charged to CHARGE_TARGET_SOC.
float16 room_temp_present_energy_wh # [W x h] The energy that the battery would've had in the present state, if its temperature were 20 °C.
float16 energy_derating_aging_wh # [W x h] The energy that is inaccessible due to aging (non-reversible)
float16 energy_derating_temperature_wh # [W x h] The energy that is inaccessible due to (cold) temperature
float16 energy_self_drain_wh # [W x h] The energy that was drained from the battery by self-discharge
uint8 target_soc_pct # [%] Set to the CHARGE_TARGET_SOC DroneCAN parameter
uint8 temp_corrected_target_soc_pct # [%] Maximum state-of-charge "achieveable" under present conditions
uint8 cc_cv_point_pct # [%] Estimated CC/CV point
uint20 charger_id # [integer] Active Charger ID

uint16 balanced_cells
float32 lifetime_charge_ah
uint32 bq_config_crc
uint64 CUV = 1 # Cell undervoltage
uint64 OVC = 2 # Overcurrent
uint64 COV = 4 # Cell overvoltage
uint64 OTHER_HW_FAULT = 8 # Other hardware fault
uint64 TOSF = 16 # Sum of cell voltages not equal to the stack voltage
uint64 FATAL_CUV = 32 # Fatal cell undervoltage
uint64 BAD_TEMP_SENSOR = 64 # Invalid temperature sensor
uint64 FATAL_COV = 128 # Fatal cell overvoltage
uint64 DCF = 256 # Discharge circuit hardware failure
uint64 CCF = 512 # Charge circuit hardware failure
uint64 DYNAMICS_NOT_CONVERGED = 1024 # Battery model dynamics are not converged
uint64 OUT_OF_BALANCE = 2048 # Large voltage differences between cells
uint64 BQ_COMMS_FAILURE = 4096 # BQ76952 not accessible
uint64 CONFIG_UNACCEPTABLE = 8192 # BQ76952 misconfigured
uint64 OTHER_SW_FAULT = 16384 # Undefined software fault
uint64 NONSTANDARD_MODE = 32768 # BMS in non-operational mode
uint64 CHG_ERROR = 64536 # Charger error
uint64 LO_VOLTAGE_DIFFERENCE = 131072 # Lockout: Large voltage difference between batteries
uint64 LO_UNSAFE_TEMP = 262144 # Lockout: Temp too high to enable output
uint64 LO_HW_FAULT = 524288 # Lockout: Output inhibitited
uint64 LO_OTHER_UNSAFE = 1048576 # Lockout: Other battery is in unsafe condition
uint64 LO_SEPARATION = 2097152 # Lockout: The other battery is charging
uint64 LO_OTHER_RECENTLY_DISABLED = 4194304 # Lockout: The other battery was recently disabled
uint64 OUTPUT_RECENTLY_DISABLED = 8388608 # The output was recently disabled
uint64 CHG_TOO_HOT = 16777216 # Too hot for charging
uint64 CHG_TOO_COLD = 33554432 # Too cold for charging
uint64 CHG_PRESENT = 67108864 # A charger is present
uint64 CHG_REQUESTED = 134217728 # Charging is requested
uint64 VOLTAGES_VALID = 268435456 # Voltages reported by the BMS are valid
uint64 CHG_ALT_CONTROL = 536870912 # Alternative Charging Control is active
uint64 CHG_CHARGING = 1073741824 # Battery is charging
uint64 TH_WARNING = 2147483648 # High temp
uint64 TH_FATAL = 4294967296 # Extreme high temp
uint64 TC_WARNING = 8589934592 # Low temp
uint64 TC_FATAL = 17179869184 # Extreme low temp
uint64 OUTPUT_ENABLED = 34359738368 # Battery output enabled
uint64 RESET_CC_NOT_ALLOWED = 68719476736 # Charge integrator not allowed
uint64 RELAXATION_CONDITIONS = 137438953472 # Battery is in relaxation conditions
uint64 CHG_GRACEFUL_STOP = 274877906944 # Graceful Charging Stop is active
uint64 BUTTON_PRESSED = 549755813888 # The button is currently depressed
uint64 ARMED = 1099511627776 # The battery is considered armed
uint64 CC_EEPROM_FAILED = 2199023255552 # The EEPROM of the Cell Carrier is not working
uint64 extended_status # Bitfield

uint16 balanced_cells # [Bitfield] Each bit represents a cell that's being discharged to balance the pack
float32 lifetime_charge_ah # [A x h] Battery Mileage, total charge that passed through the battery
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