| /beta/Code Redesign killagreg/capacity.c |
|---|
| 0,0 → 1,118 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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 "fc.h" |
| #include "timer0.h" |
| #define CAPACITY_UPDATE_INTERVAL 10 // 10 ms |
| // global varialbles |
| uint16_t update_timer = 0; |
| Capacity_t Capacity; |
| // initialize capacity calculation |
| void Capacity_Init(void) |
| { |
| Capacity.ActualCurrent = 0; |
| Capacity.UsedCapacity = 0; |
| update_timer = SetDelay(CAPACITY_UPDATE_INTERVAL); |
| } |
| // called in main loop at a regular interval |
| void Capacity_Update(void) |
| { |
| static uint16_t SubCounter = 0; |
| static uint16_t SumCurrentOffset = 0; |
| uint16_t SumCurrent; // max value will be 255 * 12 = 3060 |
| uint8_t i; |
| if(CheckDelay(update_timer)) |
| { |
| update_timer += CAPACITY_UPDATE_INTERVAL; // do not use SetDelay to avoid timing leaks |
| // determine sum of all present BL currents |
| SumCurrent = 0; |
| for(i = 0; i < MAX_MOTORS; i++) |
| { |
| if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
| { |
| SumCurrent += (int16_t)(Motor[i].Current); |
| } |
| } |
| if(FCFlags & FCFLAG_MOTOR_RUN) |
| { |
| if(SumCurrent > SumCurrentOffset) Capacity.ActualCurrent -= SumCurrentOffset; |
| else Capacity.ActualCurrent = 0; |
| // update used capacity |
| SubCounter += Capacity.ActualCurrent; |
| // 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 |
| } |
| } |
| else // motors are stopped |
| { // determine offsets of motor currents |
| SumCurrentOffset = (15 * SumCurrentOffset + SumCurrent)/16; // 65535 / (12*255) = 21 for max averaging |
| } |
| } // EOF check delay update timer |
| } |
| /beta/Code Redesign killagreg/capacity.h |
|---|
| 0,0 → 1,19 |
| #ifndef _CAPACITY_H |
| #define _CAPACITY_H |
| #include <inttypes.h> |
| typedef struct |
| { |
| uint16_t ActualCurrent; // in 0.1A Steps |
| uint16_t UsedCapacity; // in mAh |
| } __attribute__((packed)) Capacity_t; |
| extern Capacity_t Capacity; |
| void Capacity_Init(void); |
| void Capacity_Update(void); |
| #endif //_CAPACITY_H |
| /beta/Code Redesign killagreg/libfc.a |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| /beta/Code Redesign killagreg/main.c |
|---|
| 74,6 → 74,7 |
| #include "twimaster.h" |
| #include "eeprom.h" |
| #include "libfc.h" |
| #include "capacity.h" |
| uint8_t BoardRelease = 10; |
| uint8_t LowVoltageWarning = 94; |
| 189,7 → 190,7 |
| #ifdef USE_MK3MAG |
| MK3MAG_Init(); |
| #endif |
| Capacity_Init(); |
| LIBFC_Init(); |
| GRN_ON; |
| 408,6 → 409,7 |
| }// EOF CheckDelay(timer) |
| LED_Update(); |
| Capacity_Update(); |
| } |
| #ifdef USE_NAVICTRL |
| /beta/Code Redesign killagreg/makefile |
|---|
| 110,7 → 110,7 |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart0.c timer0.c timer2.c analog.c menu.c led.c |
| SRC += twimaster.c rc.c fc.c eeprom.c mymath.c spektrum.c jetimenu.c |
| SRC += twimaster.c rc.c fc.c eeprom.c mymath.c spektrum.c jetimenu.c capacity.c |
| ifeq ($(EXT), MK3MAG) |
| SRC += mk3mag.c |
| /beta/Code Redesign killagreg/menu.c |
|---|
| 60,9 → 60,10 |
| #include "printf_P.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| #include "capacity.h" |
| #include "menu.h" |
| uint8_t MaxMenuItem = 15; |
| uint8_t MaxMenuItem = 16; |
| uint8_t MenuItem = 0; |
| 194,37 → 195,43 |
| LCD_printfxy(0,2,"Roll %4i(%3i)",AdValueAccRoll/2, AdBiasAccRoll/2); // factor 2 because of adding 2 samples in ADC ISR |
| LCD_printfxy(0,3,"Z %4i(%3i)",AdValueAccTop, (int16_t)AdBiasAccTop); |
| break; |
| case 7:// Accumulator Voltage / Remote Control Level |
| LCD_printfxy(0,0,"Voltage&Receiver"); |
| LCD_printfxy(0,1,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
| LCD_printfxy(0,2,"RC-Level: %4i", RC_Quality); |
| case 7://Discharge |
| LCD_printfxy(0,0,"Battery"); |
| LCD_printfxy(0,1,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
| LCD_printfxy(0,2,"Current: %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
| LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity); |
| break; |
| case 8:// Remote Control |
| LCD_printfxy(0,0,"Receiver"); |
| LCD_printfxy(0,1,"RC-RSSI: %4i", RC_RSSI); |
| LCD_printfxy(0,2,"RC-Quality: %4i", RC_Quality); |
| LCD_printfxy(0,3,"RC-Channels:%4i", RC_Channels); |
| break; |
| case 8:// Compass Menu Item |
| case 9:// Compass Menu Item |
| LCD_printfxy(0,0,"Compass"); |
| LCD_printfxy(0,1,"Course: %5i",CompassCourse); |
| LCD_printfxy(0,2,"Heading: %5i",CompassHeading); |
| LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse); |
| break; |
| case 9:// Poti Menu Item |
| case 10:// Poti Menu Item |
| LCD_printfxy(0,0,"Poti1: %3i" ,Poti[0]); |
| LCD_printfxy(0,1,"Poti2: %3i" ,Poti[1]); |
| LCD_printfxy(0,2,"Poti3: %3i" ,Poti[2]); |
| LCD_printfxy(0,3,"Poti4: %3i" ,Poti[3]); |
| break; |
| case 10:// Poti Menu Item |
| case 11:// Poti Menu Item |
| LCD_printfxy(0,0,"Poti5: %3i" ,Poti[4]); |
| LCD_printfxy(0,1,"Poti6: %3i" ,Poti[5]); |
| LCD_printfxy(0,2,"Poti7: %3i" ,Poti[6]); |
| LCD_printfxy(0,3,"Poti8: %3i" ,Poti[7]); |
| break; |
| case 11:// Servo Menu Item |
| case 12:// Servo Menu Item |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",FCParam.ServoNickControl); |
| LCD_printfxy(0,2,"Position: %3i",ServoNickValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoNickMin, ParamSet.ServoNickMax); |
| break; |
| case 12://Extern Control |
| case 13://Extern Control |
| LCD_printfxy(0,0,"ExternControl " ); |
| LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick, ExternControl.Roll); |
| LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",ExternControl.Gas, ExternControl.Yaw); |
| 231,7 → 238,7 |
| LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Height, ExternControl.Config); |
| break; |
| case 13://BL Communication errors |
| case 14://BL Communication errors |
| LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
| LCD_printfxy(0,1," %3d %3d %3d %3d ",Motor[0].State & MOTOR_STATE_ERROR_MASK,Motor[1].State & MOTOR_STATE_ERROR_MASK,Motor[2].State & MOTOR_STATE_ERROR_MASK,Motor[3].State & MOTOR_STATE_ERROR_MASK); |
| LCD_printfxy(0,2," %3d %3d %3d %3d ",Motor[4].State & MOTOR_STATE_ERROR_MASK,Motor[5].State & MOTOR_STATE_ERROR_MASK,Motor[6].State & MOTOR_STATE_ERROR_MASK,Motor[7].State & MOTOR_STATE_ERROR_MASK); |
| 238,7 → 245,7 |
| LCD_printfxy(0,3," %3d %3d %3d %3d ",Motor[8].State & MOTOR_STATE_ERROR_MASK,Motor[9].State & MOTOR_STATE_ERROR_MASK,Motor[10].State & MOTOR_STATE_ERROR_MASK,Motor[11].State & MOTOR_STATE_ERROR_MASK); |
| break; |
| case 14://BL Overview |
| case 15://BL Overview |
| LCD_printfxy(0,0,"BL-Ctrl found " ); |
| LCD_printfxy(0,1," %c %c %c %c ",'-' + 4 * (Motor[0].State>>7),'-' + 5 * (Motor[1].State>>7),'-' + 6 * (Motor[2].State>>7),'-' + 7 * (Motor[3].State>>7)); |
| LCD_printfxy(0,2," %c %c %c %c ",'-' + 8 * (Motor[4].State>>7),'-' + 9 * (Motor[5].State>>7),'-' + 10 * (Motor[6].State>>7),'-' + 11 * (Motor[7].State>>7)); |
| 248,7 → 255,7 |
| if(Motor[11].State>>7) LCD_printfxy(12,3,"12"); |
| break; |
| case 15:// flight time counter |
| case 16:// flight time counter |
| LCD_printfxy(0,0,"Flight-Time " ); |
| LCD_printfxy(0,1,"Total:%5u min",FlightMinutesTotal); |
| LCD_printfxy(0,2,"Trip: %5u min",FlightMinutes); |