Subversion Repositories FlightCtrl

Rev

Go to most recent revision | Details | Last modification | View Log | RSS feed

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