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| 1486 | killagreg | 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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| 1526 | killagreg | 57 | #include "analog.h" |
| 1486 | killagreg | 58 | |
| 59 | #define CAPACITY_UPDATE_INTERVAL 10 // 10 ms |
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| 1523 | holgerb | 60 | #define FC_OFFSET_CURRENT 5 // calculate with a current of 0.5A |
| 1510 | killagreg | 61 | #define BL_OFFSET_CURRENT 2 // calculate with a current of 0.2A |
| 1486 | killagreg | 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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| 1529 | killagreg | 72 | Capacity.ActualPower = 0; |
| 1672 | killagreg | 73 | Capacity.MinOfMaxPWM = 0; |
| 1486 | killagreg | 74 | update_timer = SetDelay(CAPACITY_UPDATE_INTERVAL); |
| 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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| 1510 | killagreg | 81 | unsigned short Current, SetSum; // max value will be 255 * 12 = 3060 |
| 1486 | killagreg | 82 | static unsigned short SubCounter = 0; |
| 1488 | killagreg | 83 | static unsigned short CurrentOffset = 0; |
| 84 | static unsigned long SumCurrentOffset = 0; |
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| 1672 | killagreg | 85 | unsigned char i, NumOfMotors, MinOfMaxPWM; |
| 1486 | killagreg | 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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| 1488 | killagreg | 90 | // determine sum of all present BL currents and setpoints |
| 91 | Current = 0; |
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| 1510 | killagreg | 92 | SetSum = 0; |
| 93 | NumOfMotors = 0; |
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| 1672 | killagreg | 94 | MinOfMaxPWM = 255; |
| 1486 | killagreg | 95 | for(i = 0; i < MAX_MOTORS; i++) |
| 96 | { |
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| 97 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
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| 98 | { |
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| 1510 | killagreg | 99 | NumOfMotors++; |
| 100 | Current += (unsigned int)(Motor[i].Current); |
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| 101 | SetSum += (unsigned int)(Motor[i].SetPoint); |
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| 1672 | killagreg | 102 | if(Motor[i].MaxPWM < MinOfMaxPWM) MinOfMaxPWM = Motor[i].MaxPWM; |
| 1486 | killagreg | 103 | } |
| 104 | } |
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| 1672 | killagreg | 105 | Capacity.MinOfMaxPWM = MinOfMaxPWM; |
| 106 | |||
| 1510 | killagreg | 107 | if(SetSum == 0) // if all setpoints are 0 |
| 1486 | killagreg | 108 | { // determine offsets of motor currents |
| 1510 | killagreg | 109 | #define CURRENT_AVERAGE 8 // 8bit = 256 * 10 ms = 2.56s average time |
| 110 | CurrentOffset = (unsigned int)(SumCurrentOffset>>CURRENT_AVERAGE); |
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| 1488 | killagreg | 111 | SumCurrentOffset -= CurrentOffset; |
| 112 | SumCurrentOffset += Current; |
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| 1510 | killagreg | 113 | // after averaging set current to static offset |
| 114 | Current = FC_OFFSET_CURRENT; |
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| 1486 | killagreg | 115 | } |
| 1510 | killagreg | 116 | else // some motors are running, includes also motor test condition, where "MotorRunning" is false |
| 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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| 1526 | killagreg | 126 | // update actual Power |
| 1529 | killagreg | 127 | if(Current < 255) Capacity.ActualPower = (UBat * Current) / 100; // in W higher resolution |
| 128 | else Capacity.ActualPower = (UBat * (Current/4)) / 25; // in W |
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| 1510 | killagreg | 129 | |
| 130 | // update used capacity |
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| 131 | SubCounter += Current; |
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| 132 | |||
| 1501 | holgerb | 133 | // 100mA * 1ms * CAPACITY_UPDATE_INTERVAL = 1 mA * 100 ms * CAPACITY_UPDATE_INTERVAL |
| 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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| 1486 | killagreg | 142 | } // EOF check delay update timer |
| 143 | } |