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| 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) Holger Buss, Ingo Busker |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
| 3 | // + Thanks to Marcel Haller (Lion) for the nice idea and first implementation |
3 | // + Thanks to Marcel Haller (Lion) for the nice idea and first implementation |
| 4 | // + Nur für den privaten Gebrauch |
4 | // + Nur für den privaten Gebrauch |
| 5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
| 6 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
6 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 7 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 8 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
8 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 9 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
9 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| 10 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
10 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| 11 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
11 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| 12 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
12 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 13 | // + Verkauf von Luftbildaufnahmen, usw. |
13 | // + Verkauf von Luftbildaufnahmen, usw. |
| 14 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 15 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
15 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 16 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
16 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 17 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 18 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
18 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 19 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
19 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 20 | // + eindeutig als Ursprung verlinkt werden |
20 | // + eindeutig als Ursprung verlinkt werden |
| 21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 22 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
22 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| 23 | // + Benutzung auf eigene Gefahr |
23 | // + Benutzung auf eigene Gefahr |
| 24 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
24 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| 25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 26 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
26 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 27 | // + mit unserer Zustimmung zulässig |
27 | // + mit unserer Zustimmung zulässig |
| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 29 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
29 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 31 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
31 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 32 | // + this list of conditions and the following disclaimer. |
32 | // + this list of conditions and the following disclaimer. |
| 33 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
33 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| 34 | // + from this software without specific prior written permission. |
34 | // + from this software without specific prior written permission. |
| 35 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
35 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| 36 | // + for non-commercial use (directly or indirectly) |
36 | // + for non-commercial use (directly or indirectly) |
| 37 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
37 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 38 | // + with our written permission |
38 | // + with our written permission |
| 39 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
39 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 40 | // + clearly linked as origin |
40 | // + clearly linked as origin |
| 41 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
41 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| 42 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
42 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 43 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
43 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 44 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
44 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 45 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
45 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 46 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
46 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 47 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
47 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 48 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
48 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 49 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
49 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 50 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
50 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 51 | // + POSSIBILITY OF SUCH DAMAGE. |
51 | // + POSSIBILITY OF SUCH DAMAGE. |
| 52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 53 | #include "capacity.h" |
53 | #include "capacity.h" |
| 54 | #include "twimaster.h" |
54 | #include "twimaster.h" |
| 55 | #include "main.h" |
55 | #include "main.h" |
| 56 | #include "timer0.h" |
56 | #include "timer0.h" |
| 57 | #include "analog.h" |
57 | #include "analog.h" |
| 58 | 58 | ||
| 59 | #define CAPACITY_UPDATE_INTERVAL 10 // 10 ms |
59 | #define CAPACITY_UPDATE_INTERVAL 10 // 10 ms |
| 60 | #define FC_OFFSET_CURRENT 5 // calculate with a current of 0.5A |
60 | #define FC_OFFSET_CURRENT 5 // calculate with a current of 0.5A |
| 61 | #define BL_OFFSET_CURRENT 2 // calculate with a current of 0.2A |
61 | #define BL_OFFSET_CURRENT 2 // calculate with a current of 0.2A |
| 62 | 62 | ||
| 63 | // global varialbles |
63 | // global varialbles |
| 64 | unsigned short update_timer = 0; |
64 | unsigned short update_timer = 0; |
| 65 | Capacity_t Capacity; |
65 | Capacity_t Capacity; |
| 66 | 66 | ||
| 67 | // initialize capacity calculation |
67 | // initialize capacity calculation |
| 68 | void Capacity_Init(void) |
68 | void Capacity_Init(void) |
| 69 | { |
69 | { |
| 70 | Capacity.ActualCurrent = 0; |
70 | Capacity.ActualCurrent = 0; |
| 71 | Capacity.UsedCapacity = 0; |
71 | Capacity.UsedCapacity = 0; |
| 72 | Capacity.ActualPower = 0; |
72 | Capacity.ActualPower = 0; |
| 73 | Capacity.MinOfMaxPWM = 0; |
73 | Capacity.MinOfMaxPWM = 0; |
| 74 | Capacity.RemainCapacity = (EE_Parameter.UserParam1*100); |
74 | Capacity.RemainCapacity = (EE_Parameter.UserParam1*100); |
| 75 | update_timer = SetDelay(CAPACITY_UPDATE_INTERVAL); |
75 | update_timer = SetDelay(CAPACITY_UPDATE_INTERVAL); |
| 76 | } |
76 | } |
| 77 | 77 | ||
| 78 | 78 | ||
| 79 | // called in main loop at a regular interval |
79 | // called in main loop at a regular interval |
| 80 | void Capacity_Update(void) |
80 | void Capacity_Update(void) |
| 81 | { |
81 | { |
| 82 | unsigned short Current, SetSum; // max value will be 255 * 12 = 3060 |
82 | unsigned short Current, SetSum; // max value will be 255 * 12 = 3060 |
| 83 | static unsigned short SubCounter = 0; |
83 | static unsigned short SubCounter = 0; |
| 84 | static unsigned short CurrentOffset = 0; |
84 | static unsigned short CurrentOffset = 0; |
| 85 | static unsigned long SumCurrentOffset = 0; |
85 | static unsigned long SumCurrentOffset = 0; |
| 86 | unsigned char i, NumOfMotors, MinOfMaxPWM; |
86 | unsigned char i, NumOfMotors, MinOfMaxPWM; |
| 87 | 87 | ||
| 88 | if(CheckDelay(update_timer)) |
88 | if(CheckDelay(update_timer)) |
| 89 | { |
89 | { |
| 90 | update_timer += CAPACITY_UPDATE_INTERVAL; // do not use SetDelay to avoid timing leaks |
90 | update_timer += CAPACITY_UPDATE_INTERVAL; // do not use SetDelay to avoid timing leaks |
| 91 | // determine sum of all present BL currents and setpoints |
91 | // determine sum of all present BL currents and setpoints |
| 92 | Current = 0; |
92 | Current = 0; |
| 93 | SetSum = 0; |
93 | SetSum = 0; |
| 94 | NumOfMotors = 0; |
94 | NumOfMotors = 0; |
| 95 | MinOfMaxPWM = 255; |
95 | MinOfMaxPWM = 255; |
| 96 | for(i = 0; i < MAX_MOTORS; i++) |
96 | for(i = 0; i < MAX_MOTORS; i++) |
| 97 | { |
97 | { |
| 98 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
98 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
| 99 | { |
99 | { |
| 100 | NumOfMotors++; |
100 | NumOfMotors++; |
| 101 | Current += (unsigned int)(Motor[i].Current); |
101 | Current += (unsigned int)(Motor[i].Current); |
| 102 | SetSum += (unsigned int)(Motor[i].SetPoint); |
102 | SetSum += (unsigned int)(Motor[i].SetPoint); |
| 103 | if(Motor[i].MaxPWM < MinOfMaxPWM) MinOfMaxPWM = Motor[i].MaxPWM; |
103 | if(Motor[i].MaxPWM < MinOfMaxPWM) MinOfMaxPWM = Motor[i].MaxPWM; |
| 104 | } |
104 | } |
| 105 | } |
105 | } |
| 106 | Capacity.MinOfMaxPWM = MinOfMaxPWM; |
106 | Capacity.MinOfMaxPWM = MinOfMaxPWM; |
| 107 | 107 | ||
| 108 | if(SetSum == 0) // if all setpoints are 0 |
108 | if(SetSum == 0) // if all setpoints are 0 |
| 109 | { // determine offsets of motor currents |
109 | { // determine offsets of motor currents |
| 110 | #define CURRENT_AVERAGE 8 // 8bit = 256 * 10 ms = 2.56s average time |
110 | #define CURRENT_AVERAGE 8 // 8bit = 256 * 10 ms = 2.56s average time |
| 111 | CurrentOffset = (unsigned int)(SumCurrentOffset>>CURRENT_AVERAGE); |
111 | CurrentOffset = (unsigned int)(SumCurrentOffset>>CURRENT_AVERAGE); |
| 112 | SumCurrentOffset -= CurrentOffset; |
112 | SumCurrentOffset -= CurrentOffset; |
| 113 | SumCurrentOffset += Current; |
113 | SumCurrentOffset += Current; |
| 114 | // after averaging set current to static offset |
114 | // after averaging set current to static offset |
| 115 | Current = FC_OFFSET_CURRENT; |
115 | Current = FC_OFFSET_CURRENT; |
| 116 | } |
116 | } |
| 117 | else // some motors are running, includes also motor test condition, where "MotorRunning" is false |
117 | else // some motors are running, includes also motor test condition, where "MotorRunning" is false |
| 118 | { // subtract offset |
118 | { // subtract offset |
| 119 | if(Current > CurrentOffset) Current -= CurrentOffset; |
119 | if(Current > CurrentOffset) Current -= CurrentOffset; |
| 120 | else Current = 0; |
120 | else Current = 0; |
| 121 | // add the FC and BL Offsets |
121 | // add the FC and BL Offsets |
| 122 | Current += FC_OFFSET_CURRENT + NumOfMotors * BL_OFFSET_CURRENT; |
122 | Current += FC_OFFSET_CURRENT + NumOfMotors * BL_OFFSET_CURRENT; |
| 123 | } |
123 | } |
| 124 | 124 | ||
| 125 | // update actual Current |
125 | // update actual Current |
| 126 | Capacity.ActualCurrent = Current; |
126 | Capacity.ActualCurrent = Current; |
| 127 | // update actual Power |
127 | // update actual Power |
| 128 | if(Current < 255) Capacity.ActualPower = (UBat * Current) / 100; // in W higher resolution |
128 | if(Current < 255) Capacity.ActualPower = (UBat * Current) / 100; // in W higher resolution |
| 129 | else Capacity.ActualPower = (UBat * (Current/4)) / 25; // in W |
129 | else Capacity.ActualPower = (UBat * (Current/4)) / 25; // in W |
| 130 | 130 | ||
| 131 | // update used capacity |
131 | // update used capacity |
| 132 | SubCounter += Current; |
132 | SubCounter += Current; |
| 133 | 133 | ||
| 134 | // 100mA * 1ms * CAPACITY_UPDATE_INTERVAL = 1 mA * 100 ms * CAPACITY_UPDATE_INTERVAL |
134 | // 100mA * 1ms * CAPACITY_UPDATE_INTERVAL = 1 mA * 100 ms * CAPACITY_UPDATE_INTERVAL |
| 135 | // = 1mA * 0.1s * CAPACITY_UPDATE_INTERVAL = 1mA * 1min / (600 / CAPACITY_UPDATE_INTERVAL) |
135 | // = 1mA * 0.1s * CAPACITY_UPDATE_INTERVAL = 1mA * 1min / (600 / CAPACITY_UPDATE_INTERVAL) |
| 136 | // = 1mAh / (36000 / CAPACITY_UPDATE_INTERVAL) |
136 | // = 1mAh / (36000 / CAPACITY_UPDATE_INTERVAL) |
| 137 | #define SUB_COUNTER_LIMIT (36000 / CAPACITY_UPDATE_INTERVAL) |
137 | #define SUB_COUNTER_LIMIT (36000 / CAPACITY_UPDATE_INTERVAL) |
| 138 | if(SubCounter > SUB_COUNTER_LIMIT) |
138 | if(SubCounter > SUB_COUNTER_LIMIT) |
| 139 | { |
139 | { |
| 140 | Capacity.UsedCapacity++; // we have one mAh more |
140 | Capacity.UsedCapacity++; // we have one mAh more |
| 141 | SubCounter -= SUB_COUNTER_LIMIT; // keep the remaining sub part |
141 | SubCounter -= SUB_COUNTER_LIMIT; // keep the remaining sub part |
| - | 142 | ||
| - | 143 | //Added by metro |
|
| 142 | Capacity.RemainCapacity=(EE_Parameter.UserParam1*100)-Capacity.UsedCapacity; //Added by metro |
144 | Capacity.RemainCapacity=(EE_Parameter.UserParam1*100)-Capacity.UsedCapacity; |
| 143 | if((Capacity.RemainCapacity<=500)&&(Capacity.RemainCapacity%100==0)&&(EE_Parameter.UserParam1!=0)) beeptime = 10000; |
145 | if((Capacity.RemainCapacity<=0)&&(Capacity.RemainCapacity%100==0)&&(EE_Parameter.UserParam1!=0)) |
| - | 146 | { |
|
| - | 147 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
|
| - | 148 | if(BeepMuster == 0xffff) |
|
| - | 149 | { |
|
| - | 150 | beeptime = (abs(Capacity.RemainCapacity/100)+1)*2000; |
|
| - | 151 | BeepMuster = 0x0400; |
|
| - | 152 | } |
|
| - | 153 | } |
|
| - | 154 | else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
|
| - | 155 | //End Added by metro |
|
| 144 | } |
156 | } |
| 145 | 157 | ||
| 146 | 158 | ||
| 147 | } // EOF check delay update timer |
159 | } // EOF check delay update timer |
| 148 | } |
160 | } |
| 149 | 161 | ||