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sys/battery: add hysteresis to full level check #483

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Merged
laurensvalk merged 1 commit into from
Jul 14, 2026
+11 −1
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sys/battery: add hysteresis to full level check #483

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12 changes: 11 additions & 1 deletion lib/pbio/sys/battery.c
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@

// These values are for LEGO rechargeable battery packs
#define LIION_FULL_MV 8190 // 4.095V per cell
#define LIION_FULL_HYSTERESIS_MV 100 // 50mV per cell hysteresis on full level check
#define LIION_OK_MV 7200 // 3.6V per cell
#define LIION_LOW_MV 6800 // 3.4V per cell
#define LIION_CRITICAL_MV 6000 // 3.0V per cell
Expand Down Expand Up @@ -127,7 +128,16 @@ void pbsys_battery_poll(void) {
* This is only valid on hubs with a built-in battery charger.
*/
bool pbsys_battery_is_full(void) {
return pbio_battery_get_average_voltage() >= LIION_FULL_MV;
static bool was_full;
int32_t voltage = pbio_battery_get_average_voltage();

if (was_full) {
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was_full = voltage >= LIION_FULL_MV - LIION_FULL_HYSTERESIS_MV;
} else {
was_full = voltage >= LIION_FULL_MV;
}

return was_full;
}

#endif // PBSYS_CONFIG_BATTERY
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