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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 | 57 | ||
58 | #define CAPACITY_UPDATE_INTERVAL 10 // 10 ms |
58 | #define CAPACITY_UPDATE_INTERVAL 10 // 10 ms |
- | 59 | #define OFFSET_CURRENT 4 // always calculate with a Current of 0,4A |
|
59 | 60 | ||
60 | // global varialbles |
61 | // global varialbles |
61 | unsigned short update_timer = 0; |
62 | unsigned short update_timer = 0; |
62 | Capacity_t Capacity; |
63 | Capacity_t Capacity; |
63 | 64 | ||
64 | // initialize capacity calculation |
65 | // initialize capacity calculation |
65 | void Capacity_Init(void) |
66 | void Capacity_Init(void) |
66 | { |
67 | { |
67 | Capacity.ActualCurrent = 0; |
68 | Capacity.ActualCurrent = 0; |
68 | Capacity.UsedCapacity = 0; |
69 | Capacity.UsedCapacity = 0; |
69 | 70 | ||
70 | update_timer = SetDelay(CAPACITY_UPDATE_INTERVAL); |
71 | update_timer = SetDelay(CAPACITY_UPDATE_INTERVAL); |
71 | } |
72 | } |
72 | 73 | ||
73 | 74 | ||
74 | // called in main loop at a regular interval |
75 | // called in main loop at a regular interval |
75 | void Capacity_Update(void) |
76 | void Capacity_Update(void) |
76 | { |
77 | { |
77 | unsigned short Current, SetSum; // max value will be 255 * 12 = 3060 |
78 | unsigned short Current, SetSum; // max value will be 255 * 12 = 3060 |
78 | static unsigned short SubCounter = 0; |
79 | static unsigned short SubCounter = 0; |
79 | static unsigned short CurrentOffset = 0; |
80 | static unsigned short CurrentOffset = 0; |
80 | static unsigned long SumCurrentOffset = 0; |
81 | static unsigned long SumCurrentOffset = 0; |
81 | unsigned char i; |
82 | unsigned char i; |
82 | 83 | ||
83 | if(CheckDelay(update_timer)) |
84 | if(CheckDelay(update_timer)) |
84 | { |
85 | { |
85 | update_timer += CAPACITY_UPDATE_INTERVAL; // do not use SetDelay to avoid timing leaks |
86 | update_timer += CAPACITY_UPDATE_INTERVAL; // do not use SetDelay to avoid timing leaks |
86 | 87 | ||
87 | // determine sum of all present BL currents and setpoints |
88 | // determine sum of all present BL currents and setpoints |
88 | Current = 0; |
89 | Current = 0; |
89 | SetSum = 0; |
90 | SetSum = 0; |
90 | for(i = 0; i < MAX_MOTORS; i++) |
91 | for(i = 0; i < MAX_MOTORS; i++) |
91 | { |
92 | { |
92 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
93 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
93 | { |
94 | { |
94 | Current += (int16_t)(Motor[i].Current); |
95 | Current += (int16_t)(Motor[i].Current); |
95 | SetSum += (int16_t)(Motor[i].SetPoint); |
96 | SetSum += (int16_t)(Motor[i].SetPoint); |
96 | } |
97 | } |
97 | } |
98 | } |
98 | 99 | ||
99 | if(SetSum != 0) // if one of the present motors has a setpoint > 0 |
100 | if(SetSum != 0) // if one of the present motors has a setpoint > 0 |
100 | { |
101 | { |
101 | if(Current > CurrentOffset) Capacity.ActualCurrent = Current - CurrentOffset; |
102 | if(Current > CurrentOffset) Capacity.ActualCurrent = Current - CurrentOffset; |
102 | else Capacity.ActualCurrent = 0; |
103 | else Capacity.ActualCurrent = 0; |
103 | // update used capacity |
104 | // update used capacity |
104 | SubCounter += Capacity.ActualCurrent; |
105 | SubCounter += Capacity.ActualCurrent; |
- | 106 | ||
105 | 107 | /* |
|
106 | // 100mA * 1ms * CAPACITY_UPDATE_INTERVAL = 1 mA * 100 ms * CAPACITY_UPDATE_INTERVAL |
108 | // 100mA * 1ms * CAPACITY_UPDATE_INTERVAL = 1 mA * 100 ms * CAPACITY_UPDATE_INTERVAL |
107 | // = 1mA * 0.1s * CAPACITY_UPDATE_INTERVAL = 1mA * 1min / (600 / CAPACITY_UPDATE_INTERVAL) |
109 | // = 1mA * 0.1s * CAPACITY_UPDATE_INTERVAL = 1mA * 1min / (600 / CAPACITY_UPDATE_INTERVAL) |
108 | // = 1mAh / (36000 / CAPACITY_UPDATE_INTERVAL) |
110 | // = 1mAh / (36000 / CAPACITY_UPDATE_INTERVAL) |
109 | #define SUB_COUNTER_LIMIT (36000 / CAPACITY_UPDATE_INTERVAL) |
111 | #define SUB_COUNTER_LIMIT (36000 / CAPACITY_UPDATE_INTERVAL) |
110 | if(SubCounter > SUB_COUNTER_LIMIT) |
112 | if(SubCounter > SUB_COUNTER_LIMIT) |
111 | { |
113 | { |
112 | Capacity.UsedCapacity++; // we have one mAh more |
114 | Capacity.UsedCapacity++; // we have one mAh more |
113 | SubCounter -= SUB_COUNTER_LIMIT; // keep the remaining sub part |
115 | SubCounter -= SUB_COUNTER_LIMIT; // keep the remaining sub part |
114 | } |
116 | } |
- | 117 | */ |
|
115 | } |
118 | } |
116 | else // motors are stopped |
119 | else // motors are stopped |
117 | { // determine offsets of motor currents |
120 | { // determine offsets of motor currents |
118 | Capacity.ActualCurrent = 0; |
121 | Capacity.ActualCurrent = 0; |
119 | #define CURRENT_AVERAGE 256L // 256 * 10 ms = 2.56s average time |
122 | #define CURRENT_AVERAGE 256L // 256 * 10 ms = 2.56s average time |
120 | CurrentOffset = (unsigned short)(SumCurrentOffset/CURRENT_AVERAGE); |
123 | CurrentOffset = (unsigned short)(SumCurrentOffset/CURRENT_AVERAGE); |
121 | SumCurrentOffset -= CurrentOffset; |
124 | SumCurrentOffset -= CurrentOffset; |
122 | SumCurrentOffset += Current; |
125 | SumCurrentOffset += Current; |
123 | } |
126 | } |
- | 127 | SubCounter += OFFSET_CURRENT; |
|
- | 128 | // 100mA * 1ms * CAPACITY_UPDATE_INTERVAL = 1 mA * 100 ms * CAPACITY_UPDATE_INTERVAL |
|
- | 129 | // = 1mA * 0.1s * CAPACITY_UPDATE_INTERVAL = 1mA * 1min / (600 / CAPACITY_UPDATE_INTERVAL) |
|
- | 130 | // = 1mAh / (36000 / CAPACITY_UPDATE_INTERVAL) |
|
- | 131 | #define SUB_COUNTER_LIMIT (36000 / CAPACITY_UPDATE_INTERVAL) |
|
- | 132 | if(SubCounter > SUB_COUNTER_LIMIT) |
|
- | 133 | { |
|
- | 134 | Capacity.UsedCapacity++; // we have one mAh more |
|
- | 135 | SubCounter -= SUB_COUNTER_LIMIT; // keep the remaining sub part |
|
- | 136 | } |
|
124 | } // EOF check delay update timer |
137 | } // EOF check delay update timer |
125 | } |
138 | } |
126 | 139 | ||
127 | 140 |