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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2050 | holgerb | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + www.MikroKopter.com |
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| 3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 4 | // + Software Nutzungsbedingungen (english version: see below) |
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| 5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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| 6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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| 7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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| 8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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| 9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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| 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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| 12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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| 13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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| 14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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| 15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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| 16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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| 18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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| 19 | // + des Mitverschuldens offen. |
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| 20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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| 21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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| 23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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| 24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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| 25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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| 26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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| 27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 29 | // + Software LICENSING TERMS |
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| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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| 32 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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| 33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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| 34 | // + The Software may only be used with the Licensor's products. |
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| 35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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| 36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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| 37 | // + agreement shall be the property of the Licensor. |
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| 38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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| 39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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| 40 | // + The customer shall be responsible for taking reasonable precautions |
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| 41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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| 42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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| 43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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| 44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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| 45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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| 46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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| 47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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| 48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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| 49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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| 50 | // + #### END OF LICENSING TERMS #### |
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| 51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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| 52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 53 | |||
| 1486 | killagreg | 54 | #include "capacity.h" |
| 55 | #include "twimaster.h" |
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| 56 | #include "main.h" |
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| 57 | #include "timer0.h" |
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| 1526 | killagreg | 58 | #include "analog.h" |
| 1486 | killagreg | 59 | |
| 2386 | holgerb | 60 | //#define CAPACITY_UPDATE_INTERVAL 10 // 10 ms |
| 2443 | holgerb | 61 | #define CAPACITY_UPDATE_INTERVAL 50 // 50 ms = 20Hz |
| 1523 | holgerb | 62 | #define FC_OFFSET_CURRENT 5 // calculate with a current of 0.5A |
| 1510 | killagreg | 63 | #define BL_OFFSET_CURRENT 2 // calculate with a current of 0.2A |
| 1486 | killagreg | 64 | |
| 65 | // global varialbles |
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| 66 | unsigned short update_timer = 0; |
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| 67 | Capacity_t Capacity; |
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| 68 | |||
| 69 | // initialize capacity calculation |
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| 70 | void Capacity_Init(void) |
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| 71 | { |
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| 72 | Capacity.ActualCurrent = 0; |
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| 73 | Capacity.UsedCapacity = 0; |
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| 1529 | killagreg | 74 | Capacity.ActualPower = 0; |
| 1672 | killagreg | 75 | Capacity.MinOfMaxPWM = 0; |
| 1486 | killagreg | 76 | update_timer = SetDelay(CAPACITY_UPDATE_INTERVAL); |
| 77 | } |
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| 78 | |||
| 2386 | holgerb | 79 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 80 | // + extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
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| 81 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 82 | unsigned int BL3_Current(unsigned char who) // in 0,1A |
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| 83 | { |
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| 2391 | holgerb | 84 | if(Motor[who].Current == 255) return(0); // invalid |
| 2386 | holgerb | 85 | if(Motor[who].Current <= 200) return(Motor[who].Current); |
| 86 | else |
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| 87 | { |
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| 88 | if(Motor[who].Version & MOTOR_STATE_BL30) return(200 + 10 * ((unsigned int)Motor[who].Current-200)); |
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| 89 | else return(Motor[who].Current); |
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| 90 | } |
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| 91 | } |
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| 1486 | killagreg | 92 | |
| 93 | // called in main loop at a regular interval |
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| 94 | void Capacity_Update(void) |
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| 95 | { |
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| 1510 | killagreg | 96 | unsigned short Current, SetSum; // max value will be 255 * 12 = 3060 |
| 1486 | killagreg | 97 | static unsigned short SubCounter = 0; |
| 1488 | killagreg | 98 | static unsigned short CurrentOffset = 0; |
| 99 | static unsigned long SumCurrentOffset = 0; |
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| 1672 | killagreg | 100 | unsigned char i, NumOfMotors, MinOfMaxPWM; |
| 1486 | killagreg | 101 | |
| 102 | if(CheckDelay(update_timer)) |
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| 103 | { |
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| 104 | update_timer += CAPACITY_UPDATE_INTERVAL; // do not use SetDelay to avoid timing leaks |
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| 1488 | killagreg | 105 | // determine sum of all present BL currents and setpoints |
| 106 | Current = 0; |
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| 1510 | killagreg | 107 | SetSum = 0; |
| 108 | NumOfMotors = 0; |
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| 1672 | killagreg | 109 | MinOfMaxPWM = 255; |
| 2528 | holgerb | 110 | if(Capacity.MinOfMaxPWM == 254) FC_StatusFlags3 |= FC_STATUS3_REDUNDANCE_AKTIVE; |
| 111 | // else if(Capacity.MinOfMaxPWM == 255) FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_AKTIVE; |
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| 2418 | holgerb | 112 | |
| 1486 | killagreg | 113 | for(i = 0; i < MAX_MOTORS; i++) |
| 114 | { |
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| 2391 | holgerb | 115 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK/* && Mixer.Motor[i][MIX_GAS]*/) |
| 1486 | killagreg | 116 | { |
| 1510 | killagreg | 117 | NumOfMotors++; |
| 2386 | holgerb | 118 | if(Motor[i].Current > 200) |
| 119 | { |
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| 120 | Current += BL3_Current(i); // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
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| 121 | } |
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| 122 | else Current += (unsigned int)(Motor[i].Current); |
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| 1510 | killagreg | 123 | SetSum += (unsigned int)(Motor[i].SetPoint); |
| 2528 | holgerb | 124 | if(Motor[i].MaxPWM <= MinOfMaxPWM) MinOfMaxPWM = Motor[i].MaxPWM; |
| 125 | else |
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| 126 | if(Motor[i].MaxPWM == 255) FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_AKTIVE; |
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| 1486 | killagreg | 127 | } |
| 128 | } |
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| 1672 | killagreg | 129 | Capacity.MinOfMaxPWM = MinOfMaxPWM; |
| 1510 | killagreg | 130 | if(SetSum == 0) // if all setpoints are 0 |
| 1486 | killagreg | 131 | { // determine offsets of motor currents |
| 1510 | killagreg | 132 | #define CURRENT_AVERAGE 8 // 8bit = 256 * 10 ms = 2.56s average time |
| 133 | CurrentOffset = (unsigned int)(SumCurrentOffset>>CURRENT_AVERAGE); |
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| 1488 | killagreg | 134 | SumCurrentOffset -= CurrentOffset; |
| 135 | SumCurrentOffset += Current; |
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| 1510 | killagreg | 136 | // after averaging set current to static offset |
| 137 | Current = FC_OFFSET_CURRENT; |
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| 2528 | holgerb | 138 | FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_AKTIVE; |
| 1486 | killagreg | 139 | } |
| 1510 | killagreg | 140 | else // some motors are running, includes also motor test condition, where "MotorRunning" is false |
| 141 | { // subtract offset |
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| 142 | if(Current > CurrentOffset) Current -= CurrentOffset; |
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| 143 | else Current = 0; |
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| 144 | // add the FC and BL Offsets |
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| 145 | Current += FC_OFFSET_CURRENT + NumOfMotors * BL_OFFSET_CURRENT; |
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| 146 | } |
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| 147 | |||
| 148 | // update actual Current |
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| 149 | Capacity.ActualCurrent = Current; |
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| 1526 | killagreg | 150 | // update actual Power |
| 1529 | killagreg | 151 | if(Current < 255) Capacity.ActualPower = (UBat * Current) / 100; // in W higher resolution |
| 152 | else Capacity.ActualPower = (UBat * (Current/4)) / 25; // in W |
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| 1510 | killagreg | 153 | |
| 154 | // update used capacity |
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| 155 | SubCounter += Current; |
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| 156 | |||
| 1501 | holgerb | 157 | // 100mA * 1ms * CAPACITY_UPDATE_INTERVAL = 1 mA * 100 ms * CAPACITY_UPDATE_INTERVAL |
| 158 | // = 1mA * 0.1s * CAPACITY_UPDATE_INTERVAL = 1mA * 1min / (600 / CAPACITY_UPDATE_INTERVAL) |
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| 159 | // = 1mAh / (36000 / CAPACITY_UPDATE_INTERVAL) |
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| 160 | #define SUB_COUNTER_LIMIT (36000 / CAPACITY_UPDATE_INTERVAL) |
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| 2389 | holgerb | 161 | while(SubCounter > SUB_COUNTER_LIMIT) |
| 1501 | holgerb | 162 | { |
| 163 | Capacity.UsedCapacity++; // we have one mAh more |
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| 164 | SubCounter -= SUB_COUNTER_LIMIT; // keep the remaining sub part |
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| 165 | } |
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| 1486 | killagreg | 166 | } // EOF check delay update timer |
| 167 | } |