| 0,0 → 1,143 |
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| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + Thanks to Marcel Haller (Lion) for the nice idea and first implementation |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "capacity.h" |
| #include "twimaster.h" |
| #include "main.h" |
| #include "timer0.h" |
| #include "analog.h" |
| |
| #define CAPACITY_UPDATE_INTERVAL 10 // 10 ms |
| #define FC_OFFSET_CURRENT 5 // calculate with a current of 0.5A |
| #define BL_OFFSET_CURRENT 2 // calculate with a current of 0.2A |
| |
| // global varialbles |
| unsigned short update_timer = 0; |
| Capacity_t Capacity; |
| |
| // initialize capacity calculation |
| void Capacity_Init(void) |
| { |
| Capacity.ActualCurrent = 0; |
| Capacity.UsedCapacity = 0; |
| Capacity.ActualPower = 0; |
| Capacity.MinOfMaxPWM = 0; |
| update_timer = SetDelay(CAPACITY_UPDATE_INTERVAL); |
| } |
| |
| |
| // called in main loop at a regular interval |
| void Capacity_Update(void) |
| { |
| unsigned short Current, SetSum; // max value will be 255 * 12 = 3060 |
| static unsigned short SubCounter = 0; |
| static unsigned short CurrentOffset = 0; |
| static unsigned long SumCurrentOffset = 0; |
| unsigned char i, NumOfMotors, MinOfMaxPWM; |
| |
| if(CheckDelay(update_timer)) |
| { |
| update_timer += CAPACITY_UPDATE_INTERVAL; // do not use SetDelay to avoid timing leaks |
| // determine sum of all present BL currents and setpoints |
| Current = 0; |
| SetSum = 0; |
| NumOfMotors = 0; |
| MinOfMaxPWM = 255; |
| for(i = 0; i < MAX_MOTORS; i++) |
| { |
| if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
| { |
| NumOfMotors++; |
| Current += (unsigned int)(Motor[i].Current); |
| SetSum += (unsigned int)(Motor[i].SetPoint); |
| if(Motor[i].MaxPWM < MinOfMaxPWM) MinOfMaxPWM = Motor[i].MaxPWM; |
| } |
| } |
| Capacity.MinOfMaxPWM = MinOfMaxPWM; |
| |
| if(SetSum == 0) // if all setpoints are 0 |
| { // determine offsets of motor currents |
| #define CURRENT_AVERAGE 8 // 8bit = 256 * 10 ms = 2.56s average time |
| CurrentOffset = (unsigned int)(SumCurrentOffset>>CURRENT_AVERAGE); |
| SumCurrentOffset -= CurrentOffset; |
| SumCurrentOffset += Current; |
| // after averaging set current to static offset |
| Current = FC_OFFSET_CURRENT; |
| } |
| else // some motors are running, includes also motor test condition, where "MotorRunning" is false |
| { // subtract offset |
| if(Current > CurrentOffset) Current -= CurrentOffset; |
| else Current = 0; |
| // add the FC and BL Offsets |
| Current += FC_OFFSET_CURRENT + NumOfMotors * BL_OFFSET_CURRENT; |
| } |
| |
| // update actual Current |
| Capacity.ActualCurrent = Current; |
| // update actual Power |
| if(Current < 255) Capacity.ActualPower = (UBat * Current) / 100; // in W higher resolution |
| else Capacity.ActualPower = (UBat * (Current/4)) / 25; // in W |
| |
| // update used capacity |
| SubCounter += Current; |
| |
| // 100mA * 1ms * CAPACITY_UPDATE_INTERVAL = 1 mA * 100 ms * CAPACITY_UPDATE_INTERVAL |
| // = 1mA * 0.1s * CAPACITY_UPDATE_INTERVAL = 1mA * 1min / (600 / CAPACITY_UPDATE_INTERVAL) |
| // = 1mAh / (36000 / CAPACITY_UPDATE_INTERVAL) |
| #define SUB_COUNTER_LIMIT (36000 / CAPACITY_UPDATE_INTERVAL) |
| if(SubCounter > SUB_COUNTER_LIMIT) |
| { |
| Capacity.UsedCapacity++; // we have one mAh more |
| SubCounter -= SUB_COUNTER_LIMIT; // keep the remaining sub part |
| } |
| } // EOF check delay update timer |
| } |