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1754 | - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
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3 | // + Thanks to Marcel Haller (Lion) for the nice idea and first implementation |
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4 | // + Nur für den privaten Gebrauch |
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5 | // + www.MikroKopter.com |
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6 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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7 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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8 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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9 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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10 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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11 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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12 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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13 | // + Verkauf von Luftbildaufnahmen, usw. |
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14 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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15 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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16 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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17 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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18 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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19 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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20 | // + eindeutig als Ursprung verlinkt werden |
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21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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22 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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23 | // + Benutzung auf eigene Gefahr |
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24 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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26 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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27 | // + mit unserer Zustimmung zulässig |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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32 | // + this list of conditions and the following disclaimer. |
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33 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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34 | // + from this software without specific prior written permission. |
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35 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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36 | // + for non-commercial use (directly or indirectly) |
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37 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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38 | // + with our written permission |
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39 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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40 | // + clearly linked as origin |
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41 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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42 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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43 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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44 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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45 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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46 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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47 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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48 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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49 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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50 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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51 | // + POSSIBILITY OF SUCH DAMAGE. |
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52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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53 | #include "capacity.h" |
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54 | #include "twimaster.h" |
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55 | #include "main.h" |
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56 | #include "timer0.h" |
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57 | #include "analog.h" |
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58 | |||
59 | #define CAPACITY_UPDATE_INTERVAL 10 // 10 ms |
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60 | #define FC_OFFSET_CURRENT 5 // calculate with a current of 0.5A |
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61 | #define BL_OFFSET_CURRENT 2 // calculate with a current of 0.2A |
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62 | |||
63 | // global varialbles |
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64 | unsigned short update_timer = 0; |
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65 | Capacity_t Capacity; |
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66 | |||
67 | // initialize capacity calculation |
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68 | void Capacity_Init(void) |
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69 | { |
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70 | Capacity.ActualCurrent = 0; |
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71 | Capacity.UsedCapacity = 0; |
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72 | Capacity.ActualPower = 0; |
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73 | Capacity.MinOfMaxPWM = 0; |
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74 | update_timer = SetDelay(CAPACITY_UPDATE_INTERVAL); |
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75 | } |
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76 | |||
77 | |||
78 | // called in main loop at a regular interval |
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79 | void Capacity_Update(void) |
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80 | { |
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81 | unsigned short Current, SetSum; // max value will be 255 * 12 = 3060 |
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82 | static unsigned short SubCounter = 0; |
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83 | static unsigned short CurrentOffset = 0; |
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84 | static unsigned long SumCurrentOffset = 0; |
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85 | unsigned char i, NumOfMotors, MinOfMaxPWM; |
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86 | |||
87 | if(CheckDelay(update_timer)) |
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88 | { |
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89 | update_timer += CAPACITY_UPDATE_INTERVAL; // do not use SetDelay to avoid timing leaks |
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90 | // determine sum of all present BL currents and setpoints |
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91 | Current = 0; |
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92 | SetSum = 0; |
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93 | NumOfMotors = 0; |
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94 | MinOfMaxPWM = 255; |
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95 | for(i = 0; i < MAX_MOTORS; i++) |
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96 | { |
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97 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
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98 | { |
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99 | NumOfMotors++; |
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100 | Current += (unsigned int)(Motor[i].Current); |
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101 | SetSum += (unsigned int)(Motor[i].SetPoint); |
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102 | if(Motor[i].MaxPWM < MinOfMaxPWM) MinOfMaxPWM = Motor[i].MaxPWM; |
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103 | } |
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104 | } |
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105 | Capacity.MinOfMaxPWM = MinOfMaxPWM; |
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106 | |||
107 | if(SetSum == 0) // if all setpoints are 0 |
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108 | { // determine offsets of motor currents |
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109 | #define CURRENT_AVERAGE 8 // 8bit = 256 * 10 ms = 2.56s average time |
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110 | CurrentOffset = (unsigned int)(SumCurrentOffset>>CURRENT_AVERAGE); |
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111 | SumCurrentOffset -= CurrentOffset; |
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112 | SumCurrentOffset += Current; |
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113 | // after averaging set current to static offset |
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114 | Current = FC_OFFSET_CURRENT; |
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115 | } |
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116 | else // some motors are running, includes also motor test condition, where "MotorRunning" is false |
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117 | { // subtract offset |
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118 | if(Current > CurrentOffset) Current -= CurrentOffset; |
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119 | else Current = 0; |
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120 | // add the FC and BL Offsets |
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121 | Current += FC_OFFSET_CURRENT + NumOfMotors * BL_OFFSET_CURRENT; |
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122 | } |
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123 | |||
124 | // update actual Current |
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125 | Capacity.ActualCurrent = Current; |
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126 | // update actual Power |
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127 | if(Current < 255) Capacity.ActualPower = (UBat * Current) / 100; // in W higher resolution |
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128 | else Capacity.ActualPower = (UBat * (Current/4)) / 25; // in W |
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129 | |||
130 | // update used capacity |
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131 | SubCounter += Current; |
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132 | |||
133 | // 100mA * 1ms * CAPACITY_UPDATE_INTERVAL = 1 mA * 100 ms * CAPACITY_UPDATE_INTERVAL |
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134 | // = 1mA * 0.1s * CAPACITY_UPDATE_INTERVAL = 1mA * 1min / (600 / CAPACITY_UPDATE_INTERVAL) |
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135 | // = 1mAh / (36000 / CAPACITY_UPDATE_INTERVAL) |
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136 | #define SUB_COUNTER_LIMIT (36000 / CAPACITY_UPDATE_INTERVAL) |
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137 | if(SubCounter > SUB_COUNTER_LIMIT) |
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138 | { |
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139 | Capacity.UsedCapacity++; // we have one mAh more |
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140 | SubCounter -= SUB_COUNTER_LIMIT; // keep the remaining sub part |
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141 | } |
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142 | } // EOF check delay update timer |
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143 | } |