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2050 holgerb 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Software Nutzungsbedingungen (english version: see below)
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// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
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// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
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// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
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// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
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// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
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// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
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// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
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// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
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// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
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// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
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// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
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// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
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// + des Mitverschuldens offen.
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// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
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// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
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// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
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// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
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// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
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// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
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// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
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// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Software LICENSING TERMS
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
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// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 
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// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
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// + The Software may only be used with the Licensor's products.
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// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
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// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
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// + agreement shall be the property of the Licensor.
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// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
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// + features that can be used to identify the program may not be altered or defaced by the customer.
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// + The customer shall be responsible for taking reasonable precautions
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// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
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// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
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// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
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// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
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// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
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// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
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// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
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// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
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// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
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// + #### END OF LICENSING TERMS ####
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// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include "capacity.h"
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#include "twimaster.h"
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#include "main.h"
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#include "timer0.h"
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#include "analog.h"
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//#define CAPACITY_UPDATE_INTERVAL 10 // 10 ms
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#define CAPACITY_UPDATE_INTERVAL 50 // 50 ms  = 20Hz
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#define FC_OFFSET_CURRENT 5  // calculate with a current of 0.5A
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#define BL_OFFSET_CURRENT 2  // calculate with a current of 0.2A
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// global varialbles
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unsigned short update_timer =  0;
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Capacity_t Capacity;
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// initialize capacity calculation
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void Capacity_Init(void)
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{
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        Capacity.ActualCurrent = 0;
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        Capacity.UsedCapacity = 0;
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        Capacity.ActualPower = 0;
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        Capacity.MinOfMaxPWM = 0;
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        update_timer = SetDelay(CAPACITY_UPDATE_INTERVAL);
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}
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + extended Current measurement -> 200 = 20A    201 = 21A    255 = 75A (20+55)
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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unsigned int BL3_Current(unsigned char who) // in 0,1A
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{
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 if(Motor[who].Current == 255) return(0); // invalid
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 if(Motor[who].Current <= 200) return(Motor[who].Current);
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 else
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 {
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  if(Motor[who].Version & MOTOR_STATE_BL30) return(200 + 10 * ((unsigned int)Motor[who].Current-200));
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  else return(Motor[who].Current);
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 }
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}
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// called in main loop at a regular interval
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void Capacity_Update(void)
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{
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        unsigned short Current, SetSum; // max value will be 255 * 12 = 3060
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        static unsigned short SubCounter = 0;
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        static unsigned short CurrentOffset = 0;
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        static unsigned long SumCurrentOffset = 0;
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        unsigned char i, NumOfMotors, MinOfMaxPWM;
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        if(CheckDelay(update_timer))
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        {
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                update_timer += CAPACITY_UPDATE_INTERVAL; // do not use SetDelay to avoid timing leaks
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                // determine sum of all present BL currents and setpoints
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                Current = 0;
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                SetSum = 0;
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                NumOfMotors = 0;
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                MinOfMaxPWM = 255;
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                if(Capacity.MinOfMaxPWM == 254)                 FC_StatusFlags3 |= FC_STATUS3_REDUNDANCE_AKTIVE;
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//              else if(Capacity.MinOfMaxPWM == 255)    FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_AKTIVE;
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                for(i = 0; i < MAX_MOTORS; i++)
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                {
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                        if(Motor[i].State & MOTOR_STATE_PRESENT_MASK/* && Mixer.Motor[i][MIX_GAS]*/)
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                        {
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                                NumOfMotors++;
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                                if(Motor[i].Current > 200)
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                                 {
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                                  Current += BL3_Current(i); // extended Current measurement -> 200 = 20A    201 = 21A    255 = 75A (20+55)
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                                 }
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                                 else Current += (unsigned int)(Motor[i].Current);
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                                SetSum +=  (unsigned int)(Motor[i].SetPoint);
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                                if(Motor[i].MaxPWM < MinOfMaxPWM) MinOfMaxPWM = Motor[i].MaxPWM;
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                                else
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                                if(Motor[i].MaxPWM == 255) FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_AKTIVE;
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                        }
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                }
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                Capacity.MinOfMaxPWM = MinOfMaxPWM;
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                if(SetSum == 0) // if all setpoints are 0
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                { // determine offsets of motor currents
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                        #define CURRENT_AVERAGE 8  // 8bit = 256 * 10 ms = 2.56s average time
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                        CurrentOffset = (unsigned int)(SumCurrentOffset>>CURRENT_AVERAGE);
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                        SumCurrentOffset -= CurrentOffset;
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                        SumCurrentOffset += Current;
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                        // after averaging set current to static offset
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                        Current = FC_OFFSET_CURRENT;
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                        FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_AKTIVE;      
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                }
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                else // some motors are running, includes also motor test condition, where "MotorRunning" is false
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                {   // subtract offset
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                        if(Current > CurrentOffset) Current -= CurrentOffset;
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                        else Current = 0;
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                        // add the FC and BL Offsets
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                        Current += FC_OFFSET_CURRENT + NumOfMotors * BL_OFFSET_CURRENT;
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                }
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                // update actual Current
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                Capacity.ActualCurrent = Current;
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                // update actual Power
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                if(Current < 255)       Capacity.ActualPower = (UBat * Current) / 100; // in W higher resolution
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                else                            Capacity.ActualPower = (UBat * (Current/4)) / 25; // in W
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                // update used capacity
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                SubCounter += Current;
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                // 100mA * 1ms * CAPACITY_UPDATE_INTERVAL = 1 mA * 100 ms * CAPACITY_UPDATE_INTERVAL
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                // = 1mA * 0.1s * CAPACITY_UPDATE_INTERVAL = 1mA * 1min / (600 / CAPACITY_UPDATE_INTERVAL)
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                // = 1mAh / (36000 / CAPACITY_UPDATE_INTERVAL)
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                #define SUB_COUNTER_LIMIT (36000 / CAPACITY_UPDATE_INTERVAL)
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                while(SubCounter > SUB_COUNTER_LIMIT)
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                {
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                        Capacity.UsedCapacity++;                        // we have one mAh more
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                        SubCounter -= SUB_COUNTER_LIMIT;        // keep the remaining sub part
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                }
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        } // EOF check delay update timer
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}