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1486 killagreg 1
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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 // + Copyright (c) Holger Buss, Ingo Busker
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 // + Thanks to Marcel Haller (Lion) for the nice idea and first implementation
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 // + Nur für den privaten Gebrauch
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 // + www.MikroKopter.com
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 // + 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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 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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 // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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 // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
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 // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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 // + bzgl. der Nutzungsbedingungen aufzunehmen.
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 // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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 // + Verkauf von Luftbildaufnahmen, usw.
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 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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 // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
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 // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
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 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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 // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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 // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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 // + eindeutig als Ursprung verlinkt werden
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 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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 // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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 // + Benutzung auf eigene Gefahr
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 // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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 // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
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 // + mit unserer Zustimmung zulässig
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 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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 // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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 // + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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 // + this list of conditions and the following disclaimer.
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 // +   * 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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 // +     from this software without specific prior written permission.
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 // +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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 // +     for non-commercial use (directly or indirectly)
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 // +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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 // +     with our written permission
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 // +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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 // +     clearly linked as origin
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 // +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
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 // +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 // +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 // +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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 // +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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 // +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 // +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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 // +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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 // +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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 // +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 // +  POSSIBILITY OF SUCH DAMAGE.
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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 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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// 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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                for(i = 0; i < MAX_MOTORS; i++)
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                {
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                        if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
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                        {
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                                NumOfMotors++;
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                                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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                        }
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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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                }
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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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                if(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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}